-
Notifications
You must be signed in to change notification settings - Fork 9
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
4 changed files
with
136 additions
and
117 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| from .positioner_soft_done import PVPositionerSoftDone |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| """ | ||
| PVPositioner that computes ``done`` as a soft signal. | ||
| """ | ||
|
|
||
| from ophyd import Component | ||
| from ophyd import FormattedComponent | ||
| from ophyd import PVPositioner | ||
| from ophyd import Signal | ||
| from ophyd import EpicsSignal | ||
| from ophyd import EpicsSignalRO | ||
| import logging | ||
|
|
||
|
|
||
| logger = logging.getLogger(__name__) | ||
|
|
||
|
|
||
| class PVPositionerSoftDone(PVPositioner): | ||
| """ | ||
| PVPositioner that computes ``done`` as a soft signal. | ||
| PARAMETERS | ||
| prefix : str, optional | ||
| The device prefix used for all sub-positioners. | ||
| This is optional as it | ||
| may be desirable to specify full PV names for PVPositioners. | ||
| readback_pv : str, optional | ||
| PV prefix of the readback signal. | ||
| Disregarded if readback attribute is created. | ||
| setpoint_pv : str, optional | ||
| PV prefix of the setpoint signal. | ||
| Disregarded if setpoint attribute is created. | ||
| tolerance : float, optional | ||
| Motion tolerance. The motion is considered *done* when:: | ||
| abs(readback-setpoint) <= tolerance | ||
| Defaults to ``10^(-1*precision)``, | ||
| where ``precision = setpoint.precision``. | ||
| target_attr : str, optional | ||
| Used if the setpoint is controlled incrementally by EPICS | ||
| (like with a ramp). Then a target attribute signal must be | ||
| defined, and its name passed in this variable. | ||
| kwargs : | ||
| Passed to `ophyd.PVPositioner` | ||
| ATTRIBUTES | ||
| setpoint : Signal | ||
| The setpoint (request) signal | ||
| readback : Signal or None | ||
| The readback PV (e.g., encoder position PV) | ||
| actuate : Signal or None | ||
| The actuation PV to set when movement is requested | ||
| actuate_value : any, optional | ||
| The actuation value, sent to the actuate signal when motion is | ||
| requested | ||
| stop_signal : Signal or None | ||
| The stop PV to set when motion should be stopped | ||
| stop_value : any, optional | ||
| The value sent to stop_signal when a stop is requested | ||
| (new in apstools 1.5.2) | ||
| """ | ||
|
|
||
| # positioner | ||
| readback = FormattedComponent(EpicsSignalRO, "{prefix}{_readback_pv}", | ||
| kind="hinted", auto_monitor=True) | ||
| setpoint = FormattedComponent(EpicsSignal, "{prefix}{_setpoint_pv}", | ||
| kind="normal", put_complete=True) | ||
| done = Component(Signal, value=True, kind="config") | ||
| done_value = True | ||
|
|
||
| tolerance = Component(Signal, value=-1, kind="config") | ||
| report_dmov_changes = Component(Signal, value=False, kind="omitted") | ||
|
|
||
| @property | ||
| def precision(self): | ||
| return self.setpoint.precision | ||
|
|
||
| def cb_readback(self, *args, **kwargs): | ||
| """ | ||
| Called when readback changes (EPICS CA monitor event). | ||
| """ | ||
| diff = self.readback.get() - self._target.get() | ||
| _tolerance = (self.tolerance.get() if self.tolerance.get() >= 0 else | ||
| 10**(-1*self.precision)) | ||
| dmov = abs(diff) <= _tolerance | ||
| if self.report_dmov_changes.get() and dmov != self.done.get(): | ||
| logger.debug(f"{self.name} reached: {dmov}") | ||
| self.done.put(dmov) | ||
|
|
||
| def cb_setpoint(self, *args, **kwargs): | ||
| """ | ||
| Called when setpoint changes (EPICS CA monitor event). | ||
| When the setpoint is changed, force done=False. For any move, | ||
| done must go != done_value, then back to done_value (True). | ||
| Without this response, a small move (within tolerance) will not return. | ||
| Next update of readback will compute self.done. | ||
| """ | ||
| self.done.put(not self.done_value) | ||
|
|
||
| def __init__(self, prefix="", *, readback_pv="", setpoint_pv="", | ||
| tolerance=None, target_attr="setpoint", **kwargs): | ||
|
|
||
| self._setpoint_pv = setpoint_pv | ||
| self._readback_pv = readback_pv | ||
|
|
||
| super().__init__(prefix=prefix, **kwargs) | ||
|
|
||
| self._target = getattr(self, target_attr) | ||
|
|
||
| # Make the default alias for the readback the name of the | ||
| # positioner itself as in EpicsMotor. | ||
| self.readback.name = self.name | ||
|
|
||
| self.readback.subscribe(self.cb_readback) | ||
| self.setpoint.subscribe(self.cb_setpoint) | ||
| if tolerance: | ||
| self.tolerance.put(tolerance) | ||
|
|
||
| def _setup_move(self, position): | ||
| '''Move and do not wait until motion is complete (asynchronous)''' | ||
| self.log.debug('%s.setpoint = %s', self.name, position) | ||
| self._target.put(position, wait=True) | ||
| if self._target != self.setpoint: | ||
| self.setpoint.put(position, wait=True) | ||
| if self.actuate is not None: | ||
| self.log.debug('%s.actuate = %s', self.name, self.actuate_value) | ||
| self.actuate.put(self.actuate_value, wait=False) | ||
| self.cb_readback() # This is needed to force the first check. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters