Merge branch 'main' into dodal_692_convert_det_motion

setup.cfg

@@ -35,12 +35,12 @@ install_requires =
  # These dependencies may be issued as pre-release versions and should have a pin constraint
  # as by default pip-install will not upgrade to a pre-release.
  # 
- daq-config-server @ git+https://github.com/DiamondLightSource/daq-config-server.git
+ daq-config-server >= 0.1.1
  ophyd == 1.9.0
  ophyd-async >= 0.3a5
  bluesky >= 1.13.0a4
  blueapi >= 0.4.3-rc1
- dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@be6e51593e78613e68292fd4af630d138ffbbb01
+ dls-dodal @ git+https://github.com/DiamondLightSource/dodal.git@ce3193e0d6e0400752673b8a843cd4530ce71adb
 
 [options.entry_points]
 console_scripts =

src/hyperion/__main__.py

@@ -228,7 +228,7 @@ def compose_start_args(context: BlueskyContext, plan_name: str, action: Actions)
  parameters = experiment_internal_param_type(**json.loads(request.data))
  except Exception as e:
  raise ValueError(
- "Supplied parameters don't match the plan for this endpoint"
+ f"Supplied parameters don't match the plan for this endpoint {request.data}"
  ) from e
  return plan, parameters, plan_name, callback_type
 

src/hyperion/device_setup_plans/setup_panda.py

@@ -1,5 +1,6 @@
-import os
+from datetime import datetime
 from enum import Enum
+from importlib import resources
 from pathlib import Path
 
 import bluesky.plan_stubs as bps
@@ -15,11 +16,12 @@
  seq_table_from_rows,
 )
 
+import hyperion.resources.panda
 from hyperion.log import LOGGER
 
 MM_TO_ENCODER_COUNTS = 200000
 GENERAL_TIMEOUT = 60
-DETECTOR_TRIGGER_WIDTH = 1e-4
+TICKS_PER_MS = 1000 # Panda sequencer prescaler will be set to us
 
 
 class Enabled(Enum):
@@ -32,30 +34,35 @@ class PcapArm(Enum):
  DISARMED = "Disarm"
 
 
-def get_seq_table(
- parameters: PandAGridScanParams,
- exposure_distance_mm,
+def _get_seq_table(
+ parameters: PandAGridScanParams, exposure_distance_mm, time_between_steps_ms
 ) -> SeqTable:
  """
- -Exposure distance is the distance travelled by the sample each time the detector is exposed: exposure time * sample velocity
- -Setting a 'signal' means trigger PCAP internally and send signal to Eiger via physical panda output
- -When we wait for the position to be greater/lower, give a safe distance (X_STEP_SIZE/2 * MM_TO_ENCODER counts) to ensure the final trigger point
- is captured
+ Generate the sequencer table for the panda.
+
+ - Sending a 'trigger' means trigger PCAP internally and send signal to Eiger via physical panda output
+
  SEQUENCER TABLE:
- 1:Wait for physical trigger from motion script to mark start of scan / change of direction
- 2:Wait for POSA (X2) to be greater than X_START, then
- send a signal out every (minimum eiger exposure time + eiger dead time)
- 3:Wait for POSA (X2) to be greater than X_START + X_STEP_SIZE + a safe distance for the final trigger, then cut out the signal
- 4:Wait for physical trigger from motion script to mark change of direction
- 5:Wait for POSA (X2) to be less than X_START + X_STEP_SIZE + exposure distance, then
- send a signal out every (minimum eiger exposure time + eiger dead time)
- 6:Wait for POSA (X2) to be less than (X_START - safe distance + exposure distance), then cut out signal
- 7:Go back to step one.
+
+ 1. Wait for physical trigger from motion script to mark start of scan / change of direction
+ 2. Wait for POSA (X2) to be greater than X_START and send x_steps triggers every time_between_steps_ms
+ 3. Wait for physical trigger from motion script to mark change of direction
+ 4. Wait for POSA (X2) to be less than X_START + X_STEP_SIZE * x_steps + exposure distance, then
+ send x_steps triggers every time_between_steps_ms
+ 5. Go back to step one.
 
  For a more detailed explanation and a diagram, see https://github.com/DiamondLightSource/hyperion/wiki/PandA-constant%E2%80%90motion-scanning
- """
 
- safe_distance_x_counts = int(MM_TO_ENCODER_COUNTS * parameters.x_step_size / 2)
+ For documentation on Panda itself, see https://pandablocks.github.io/PandABlocks-FPGA/master/index.html
+
+ Args:
+ exposure_distance_mm: The distance travelled by the sample each time the detector is exposed: exposure time * sample velocity
+ time_between_steps_ms: The time taken to traverse between each grid step.
+ parameters: Parameters for the panda gridscan
+
+ Returns:
+ An instance of SeqTable describing the panda sequencer table
+ """
 
  start_of_grid_x_counts = int(parameters.x_start * MM_TO_ENCODER_COUNTS)
 
@@ -67,42 +74,43 @@ def get_seq_table(
 
  exposure_distance_x_counts = int(exposure_distance_mm * MM_TO_ENCODER_COUNTS)
 
+ num_pulses = parameters.x_steps
+
+ delay_between_pulses = time_between_steps_ms * TICKS_PER_MS
+
+ PULSE_WIDTH_US = 1
+
+ assert delay_between_pulses > PULSE_WIDTH_US
+
+ # BITA_1 trigger wired from TTLIN1, this is the trigger input
+
+ # +ve direction scan
  rows = [SeqTableRow(trigger=SeqTrigger.BITA_1, time2=1)]
+
  rows.append(
  SeqTableRow(
+ repeats=num_pulses,
  trigger=SeqTrigger.POSA_GT,
  position=start_of_grid_x_counts,
- time2=1,
+ time1=PULSE_WIDTH_US,
  outa1=True,
- outa2=True,
- )
- )
- rows.append(
- SeqTableRow(
- position=end_of_grid_x_counts + safe_distance_x_counts,
- trigger=SeqTrigger.POSA_GT,
- time2=1,
+ time2=delay_between_pulses - PULSE_WIDTH_US,
+ outa2=False,
  )
  )
 
+ # -ve direction scan
  rows.append(SeqTableRow(trigger=SeqTrigger.BITA_1, time2=1))
+
  rows.append(
  SeqTableRow(
+ repeats=num_pulses,
  trigger=SeqTrigger.POSA_LT,
  position=end_of_grid_x_counts + exposure_distance_x_counts,
- time2=1,
+ time1=PULSE_WIDTH_US,
  outa1=True,
- outa2=True,
- )
- )
-
- rows.append(
- SeqTableRow(
- trigger=SeqTrigger.POSA_LT,
- position=start_of_grid_x_counts
- - safe_distance_x_counts
- + exposure_distance_x_counts,
- time2=1,
+ time2=delay_between_pulses - PULSE_WIDTH_US,
+ outa2=False,
  )
  )
 
@@ -113,7 +121,6 @@ def get_seq_table(
 
 def setup_panda_for_flyscan(
  panda: HDFPanda,
- config_yaml_path: str,
  parameters: PandAGridScanParams,
  initial_x: float,
  exposure_time_s: float,
@@ -127,19 +134,28 @@ def setup_panda_for_flyscan(
 
  Args:
  panda (HDFPanda): The PandA Ophyd device
- config_yaml_path (str): Path to the yaml file containing the desired PandA PVs
  parameters (PandAGridScanParams): Grid parameters
  initial_x (float): Motor positions at time of PandA setup
  exposure_time_s (float): Detector exposure time per trigger
  time_between_x_steps_ms (float): Time, in ms, between each trigger. Equal to deadtime + exposure time
-
+ sample_velocity_mm_per_s (float): Velocity of the sample in mm/s = x_step_size_mm * 1000 /
+ time_between_x_steps_ms
  Returns:
  MsgGenerator
 
  Yields:
  Iterator[MsgGenerator]
  """
- yield from load_device(panda, config_yaml_path)
+ assert parameters.x_steps > 0
+ assert time_between_x_steps_ms * 1000 >= exposure_time_s
+ assert sample_velocity_mm_per_s * exposure_time_s < parameters.x_step_size
+
+ yield from bps.stage(panda, group="panda-config")
+
+ with resources.as_file(
+ resources.files(hyperion.resources.panda) / "panda-gridscan.yaml"
+ ) as config_yaml_path:
+ yield from load_device(panda, str(config_yaml_path))
 
  # Home the PandA X encoder using current motor position
  yield from bps.abs_set(
@@ -148,21 +164,11 @@ def setup_panda_for_flyscan(
  wait=True,
  )
 
- LOGGER.info(f"Setting PandA clock to period {time_between_x_steps_ms}")
-
- yield from bps.abs_set(
- panda.clock[1].period, # type: ignore
- time_between_x_steps_ms,
- group="panda-config",
- )
-
- yield from bps.abs_set(
- panda.pulse[1].width, DETECTOR_TRIGGER_WIDTH, group="panda-config"
- )
+ yield from bps.abs_set(panda.pulse[1].width, exposure_time_s, group="panda-config")
 
  exposure_distance_mm = sample_velocity_mm_per_s * exposure_time_s
 
- table = get_seq_table(parameters, exposure_distance_mm)
+ table = _get_seq_table(parameters, exposure_distance_mm, time_between_x_steps_ms)
 
  yield from bps.abs_set(panda.seq[1].table, table, group="panda-config")
 
@@ -195,27 +201,17 @@ def disarm_panda_for_gridscan(panda, group="disarm_panda_gridscan") -> MsgGenera
  yield from bps.abs_set(panda.pcap.arm, PcapArm.DISARMED.value, group=group) # type: ignore
  yield from bps.abs_set(panda.counter[1].enable, Enabled.DISABLED.value, group=group) # type: ignore
  yield from bps.abs_set(panda.seq[1].enable, Enabled.DISABLED.value, group=group)
- yield from bps.abs_set(
- panda.clock[1].enable, Enabled.DISABLED.value, group=group
- ) # While disarming the clock shouldn't be necessery,
- # it will stop the eiger continuing to trigger if something in the sequencer table goes wrong
  yield from bps.abs_set(panda.pulse[1].enable, Enabled.DISABLED.value, group=group)
  yield from bps.abs_set(panda.pcap.enable, Enabled.DISABLED.value, group=group) # type: ignore
  yield from bps.wait(group=group, timeout=GENERAL_TIMEOUT)
 
 
-def set_and_create_panda_directory(panda_directory: Path) -> MsgGenerator:
- """Updates and creates the panda subdirectory which is used by the PandA's PCAP.
- See https://github.com/DiamondLightSource/hyperion/issues/1385 for a better long
- term solution.
- """
+def set_panda_directory(panda_directory: Path) -> MsgGenerator:
+ """Updates the root folder which is used by the PandA's PCAP."""
 
- if not os.path.isdir(panda_directory):
- LOGGER.debug(f"Creating PandA PCAP subdirectory at {panda_directory}")
- # Assumes we have permissions, which should be true on Hyperion for now
- os.makedirs(panda_directory)
+ suffix = datetime.now().strftime("_%Y%m%d%H%M%S")
 
  async def set_panda_dir():
- await get_directory_provider().update(directory=panda_directory)
+ await get_directory_provider().update(directory=panda_directory, suffix=suffix)
 
  yield from bps.wait_for([set_panda_dir])

src/hyperion/experiment_plans/flyscan_xray_centre_plan.py

@@ -56,7 +56,7 @@
 )
 from hyperion.device_setup_plans.setup_panda import (
  disarm_panda_for_gridscan,
- set_and_create_panda_directory,
+ set_panda_directory,
  setup_panda_for_flyscan,
 )
 from hyperion.device_setup_plans.setup_zebra import (
@@ -77,10 +77,6 @@
 )
 from hyperion.utils.context import device_composite_from_context
 
-PANDA_SETUP_PATH = (
- "/dls_sw/i03/software/daq_configuration/panda_configs/flyscan_pcap_ignore_seq.yaml"
-)
-
 
 class SmargonSpeedException(Exception):
  pass
@@ -471,6 +467,7 @@ def _panda_tidy(fgs_composite: FlyScanXRayCentreComposite):
  yield from disarm_panda_for_gridscan(fgs_composite.panda, group)
  yield from _generic_tidy(fgs_composite, group, False)
  yield from bps.wait(group, timeout=10)
+ yield from bps.unstage(fgs_composite.panda)
 
 
 def _zebra_triggering_setup(
@@ -523,13 +520,11 @@ def _panda_triggering_setup(
  time_between_x_steps_ms,
  )
 
- panda_directory = Path(parameters.storage_directory, "panda")
-
- yield from set_and_create_panda_directory(panda_directory)
+ directory_provider_root = Path(parameters.storage_directory)
+ yield from set_panda_directory(directory_provider_root)
 
  yield from setup_panda_for_flyscan(
  fgs_composite.panda,
- PANDA_SETUP_PATH,
  parameters.panda_FGS_params,
  initial_xyz[0],
  parameters.exposure_time_s,

src/hyperion/experiment_plans/grid_detect_then_xray_centre_plan.py

@@ -108,16 +108,6 @@ def detect_grid_and_do_gridscan(
  composite: GridDetectThenXRayCentreComposite,
  parameters: GridScanWithEdgeDetect,
  oav_params: OAVParameters,
-):
- yield from ispyb_activation_wrapper(
- _detect_grid_and_do_gridscan(composite, parameters, oav_params), parameters
- )
-
-
-def _detect_grid_and_do_gridscan(
- composite: GridDetectThenXRayCentreComposite,
- parameters: GridScanWithEdgeDetect,
- oav_params: OAVParameters,
 ):
  assert composite.aperture_scatterguard.aperture_positions is not None
 
@@ -202,10 +192,13 @@ def grid_detect_then_xray_centre(
 
  oav_params = OAVParameters("xrayCentring", oav_config)
 
- plan_to_perform = detect_grid_and_do_gridscan(
- composite,
+ plan_to_perform = ispyb_activation_wrapper(
+ detect_grid_and_do_gridscan(
+ composite,
+ parameters,
+ oav_params,
+ ),
  parameters,
- oav_params,
  )
 
  return start_preparing_data_collection_then_do_plan(

src/hyperion/experiment_plans/oav_snapshot_plan.py

@@ -3,7 +3,7 @@
 
 from blueapi.core import MsgGenerator
 from bluesky import plan_stubs as bps
-from dodal.devices.aperturescatterguard import AperturePositions, ApertureScatterguard
+from dodal.devices.aperturescatterguard import ApertureScatterguard
 from dodal.devices.backlight import Backlight, BacklightPosition
 from dodal.devices.oav.oav_detector import OAV
 from dodal.devices.oav.oav_parameters import OAVParameters
@@ -39,9 +39,10 @@ def setup_oav_snapshot_plan(
  yield from bps.abs_set(
  composite.backlight, BacklightPosition.IN, group=OAV_SNAPSHOT_SETUP_GROUP
  )
+ assert composite.aperture_scatterguard.aperture_positions is not None
  yield from bps.abs_set(
  composite.aperture_scatterguard,
- AperturePositions.ROBOT_LOAD,
+ composite.aperture_scatterguard.aperture_positions.ROBOT_LOAD,
  group=OAV_SNAPSHOT_SETUP_GROUP,
  )