First commit

We have now a somehow working base for running slic at cristallina. So here is the code, I don't have commit rights in slic/cristallina directly.

PSSS_motion.py

+#!/usr/bin/env python
+#*-----------------------------------------------------------------------*
+#|                                                                       |
+#|  Copyright (c) 2014 by Paul Scherrer Institute (http://www.psi.ch)    |
+#|                                                                       |
+#|              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+#*-----------------------------------------------------------------------*
+'''
+motion procedures for PSSS:
+
+mode:
+ 0: homing
+ 1: calc energy and SPECTRUM_X out of camera arm angle
+    move CamPosX out of CristBendRot
+'''
+
+from __future__ import print_function
+from errno import ENETRESET
+import logging, sys, os, json
+import CaChannel,time
+import numpy as np
+
+
+class PSSS:
+
+  def __init__(self, args):
+    # import pdb; pdb.set_trace()
+    # sys.exit()
+    # {'mode': 0, 'stdout': True, 'var': []}
+    # {'mode': 5, 'stdout': True, 'var': ['SARFE10-PSSS059']}
+
+    self.args=args
+    prefix=self.args.var[0]
+    prefix=prefix[0:prefix.find('-')+1]
+    self.prefix=prefix
+    #print('Prefix='+prefix)
+    self.pv=dict()
+
+  def getPv(self,name):
+    try:
+      pv=self.pv[name]
+    except KeyError:
+      prefix=self.prefix
+      pv = CaChannel.CaChannel(prefix+name) ;pv.searchw()
+      self.pv[name]=pv
+    return pv
+
+  def moveLimit(self,m,val):
+    self.moveAbs(m,val)
+
+  def waitMotionDone(self,m):
+    s=m+'.DMOV'
+    pv=self.getPv(s)
+    sys.stdout.write('wait motion '+s+' ');sys.stdout.flush();
+    while pv.getw()==0:
+      sys.stdout.write('.');sys.stdout.flush();
+      time.sleep(.1)
+    print('done');
+
+  def setPos(self,m,ofs):
+    pvSET=self.getPv(m+'.SET')
+    pvVAL=self.getPv(m+'.VAL')
+    pvSET.putw(1)#Set
+    print('set ofset to %f'%ofs)
+    pvVAL.putw(ofs) #set value (without move)
+    time.sleep(.1) # wait for safety
+    pvSET.putw(0)#Use
+    time.sleep(.1) # wait for safety
+
+  def moveAbs(self,m,val):
+    pvVAL=self.getPv(m+'.VAL')
+    pvVAL.putw(val) #set position and move
+
+  def homing(self):
+    pvNameLst=('PSSS055:MOTOR_ROT_X1',
+               'PSSS055:MOTOR_X1',
+               'PSSS055:MOTOR_Y1',
+               'PSSS055:MOTOR_PROBE',
+               'PSSS059:MOTOR_X5',
+               'PSSS059:MOTOR_Y5',
+               'PSSS059:MOTOR_Z5',
+               'PSSS059:MOTOR_X3',
+               'PSSS059:MOTOR_Y3')
+
+    pvHOME = self.getPv('PSSS059:HOMING.VAL')
+    if pvHOME.getw(1) == 1:
+      print('homing still in progress. abort new procedure')
+      #return
+    pvHOME.putw(1)#homing in progress
+
+    try:
+      pvHomr=self.getPv(pvNameLst[0]+'.HOMR')
+      pvHomr.putw(1)#homing MOTOR_ROT_X1
+      self.waitMotionDone(pvNameLst[0])
+
+      homing=(
+        (1,200,10,0),      # PSSS055:MOTOR_X1         Home on +limit switch to +10mm
+        (2,10,4.475,2.22), # PSSS055:MOTOR_Y1         Home on +limit switch to +4.475mm
+        (3,50,0,-9),       # PSSS055:MOTOR_PROBE      Home on +limit switch to +0mm
+        (4,80,35,0),       # PSSS059:MOTOR_X5         Home on +limit switch to +35mm
+        (5,30,10,0),       # PSSS059:MOTOR_Y5         Home on +limit switch to +10mm
+#        (6,20,8.9,0),     # PSSS059:MOTOR_Z5         Home on +limit switch to +8.9mm  Set HLM to 10, LLM to -2mm
+        (7,30,1,0),        # PSSS059:MOTOR_X3         Home on +limit switch to +10mm
+        (8,30,1,-1.4),     # PSSS059:MOTOR_Y3         Home on +limit switch to +10mm
+         )
+      for idx,mvLim,setPos,mvPos in homing:
+        pvName=pvNameLst[idx]
+        print('homing %s %f %f %f'%(pvName,mvLim,setPos,mvPos))
+        self.moveLimit(pvName,mvLim)
+
+      for idx,mvLim,setPos,mvPos in homing:
+        pvName=pvNameLst[idx]
+        self.waitMotionDone(pvName)
+        self.setPos(pvName,setPos)
+
+      time.sleep(2);print ("sleep 2 sec.")
+      for idx,mvLim,setPos,mvPos in homing:
+        pvName=pvNameLst[idx]
+        self.moveAbs(pvName,mvPos)
+
+      for idx,mvLim,setPos,mvPos in homing:
+        pvName=pvNameLst[idx]
+        self.waitMotionDone(pvName)
+
+
+    except AssertionError as e: #BaseException as e:
+      print(e)
+      pvHOME.putw(3)#homing failed
+    else:
+      pvHOME.putw(2)#homing done
+
+
+  def set_energy_motor(self,energy2motor,scan=False, rotWait=False):
+    crystalType=self.getPv('PSSS059:CRYSTAL_SP').getw()
+    #crystalType=2
+    #print(crystalType)
+    #print(type(crystalType))
+    if crystalType==0: return
+    # 0 None
+    # 1 Si(111)R155
+    # 2 Si(220)R75
+    # 3 Si(220)R145
+    # 4 Si(220)R200
+    # 5 Si(333)R155
+
+    #load lut
+    fnXtlLst=(None,"Si111R155","Si220R75","Si220R145","Si220R200","Si333R155")
+    #print(__file__)
+    base=os.path.dirname(__file__)
+    fn=os.path.join(base,'lut'+fnXtlLst[crystalType]+'.txt')
+    lut= np.genfromtxt(fn, delimiter='\t',names=True)
+    #lut
+    #lut.dtype
+    #lut[1]['Energy']
+    #lut['Energy']
+    #lut=np.genfromtxt(fn, delimiter='\t',skip_header=1)
+    if energy2motor:
+      energy      =self.getPv('PSSS059:ENERGY').getw()
+      #energy      =6000
+      gratingType=self.getPv('PSSS055:GRATING_SP').getw()
+      #gratingType=3
+      camPosX='CamPosX'
+      if gratingType in(1,2):camPosX+='_100nm'
+      elif gratingType==3:camPosX+='_150nm'
+      elif gratingType==4:camPosX+='_200nm'
+
+      camArmRot   =np.interp(energy,lut['Energy'],lut['CamArmRot'])
+      cristBendRot=np.interp(energy,lut['Energy'],lut['CristBendRot'])
+      camPosX     =np.interp(energy,lut['Energy'],lut[camPosX])
+      evPerPix    =np.interp(energy,lut['Energy'],lut['EvPerPix'])
+    else:
+      camArmRot=self.getPv('PSSS059:MOTOR_ROT_X4').getw()
+      idx=~np.isnan(lut['CamArmRot'])
+      lutCamArmRot=lut['CamArmRot'][idx]
+      energy      =np.interp(camArmRot,lutCamArmRot[::-1],lut['Energy'][idx][::-1])
+      evPerPix    =np.interp(camArmRot,lutCamArmRot[::-1],lut['EvPerPix'][idx][::-1])
+
+    #camera: 2560 x 2160
+    n=2560
+    i=np.arange(n)-n/2
+    spctr_x=energy+i*evPerPix
+    pv=self.getPv('PSSS059:SPECTRUM_X')
+    pv.putw(spctr_x)
+
+    pv=self.getPv('PSSS059:SPECTRUM_Y')
+    mu=2560./2
+    sigma=100.
+    x=np.arange(2560.)
+    spctr_y= 1000.*np.exp(-( (x-mu)**2 / ( 2.0 * sigma**2 ) ) )
+    pv.putw(spctr_y)
+
+    if energy2motor:
+      print('energy2motor: camArmRot: %g cristBendRot: %g camPosX:%g evPerPix:%g'%(camArmRot,cristBendRot,camPosX,evPerPix))
+      pv=self.getPv('PSSS059:MOTOR_ROT_X4')
+      pv.putw(camArmRot)
+      pv=self.getPv('PSSS059:MOTOR_ROT_X3')
+      pv.putw(cristBendRot)
+      if rotWait == True:
+        self.waitMotionDone('PSSS059:MOTOR_ROT_X3')
+      if scan == False: # if True the camera X position will not be changed
+        pv=self.getPv('PSSS059:MOTOR_X5')
+        pv.putw(camPosX)
+    else:
+      print('motor2energy: energy: %g evPerPix:%g'%(energy,evPerPix))
+      pv=self.getPv('PSSS059:ENERGY')
+      pv.putw(energy)
+
+  def grating2motor(self):
+    energy     =self.getPv('PSSS059:ENERGY').getw()
+    gratingType=self.getPv('PSSS055:GRATING_SP').getw()
+    if gratingType==0: 
+      print('no grating')
+      girderX=0.
+    else:
+      base=os.path.dirname(__file__)
+      fn=fn=os.path.join(base,'lutGirderXTrans.txt')
+      lut= np.genfromtxt(fn, delimiter='\t',names=True)
+
+      d={1:'100nm',2:'100nm',3:'150nm',4:'200nm'}
+      print(gratingType)
+      grtStr=d[gratingType]
+
+      girderX =np.interp(energy,lut['Energy'],lut[grtStr])
+
+    print("girderX:%g"%(girderX))
+    pv=self.getPv('PSSS059:MOTOR_X2')
+    pv.putw(girderX)
+
+
+if __name__=='__main__':
+  from optparse import OptionParser, IndentedHelpFormatter
+  class MyFormatter(IndentedHelpFormatter):
+    'helper class for formating the OptionParser'
+
+    def __init__(self):
+      IndentedHelpFormatter.__init__(self)
+
+    def format_epilog(self, epilog):
+      if epilog:
+        return epilog
+      else:
+        return ""
+
+  def parse_args():
+    'main command line interpreter function'
+    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>3 else sys.argv[0])+' '
+    exampleCmd=('MYPREFIX',
+               )
+    epilog=__doc__+'''
+Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
+
+    fmt=MyFormatter()
+    parser=OptionParser(epilog=epilog, formatter=fmt)
+    parser.add_option('-m', '--mode', type="int", help='move instead of homing', default=0)
+    parser.add_option('-s', '--stdout', action="store_true", help='log to stdout instead of file')
+
+    (args, other)=parser.parse_args()
+    #print(args,other)
+    args.var=other
+    #args.var=('SARFE10-',)
+
+    fn='/afs/psi.ch/intranet/Controls/scratch/'+os.path.basename(__file__)+'_'+os.environ.get('USER')+'.log'
+    if not args.stdout:
+      print('output redirected to file:\n'+fn)
+      stdoutBak=sys.stdout
+      sys.stdout = open(fn, 'a+')
+    print('*'*30+'\n'+time.ctime()+': run on host:'+os.environ.get('HOSTNAME'))
+    print('Args:'+str(args)+' '+str(args.var))
+    sys.stdout.flush()
+
+    psss=PSSS(args)
+    if args.mode==0:
+      psss.homing()
+    elif args.mode==1:
+      psss.set_energy_motor(energy2motor=True)
+    elif args.mode==2:
+      psss.set_energy_motor(energy2motor=False)
+    elif args.mode==3:
+      psss.grating2motor()
+    elif args.mode==4:
+      psss.set_energy_motor(energy2motor=True, scan=True)
+    elif args.mode==5:
+      psss.set_energy_motor(energy2motor=True, scan=True,rotWait=True)
+    print('PSSS_motion done.')
+      
+    return
+
+
+  #os.environ['EPICS_CA_ADDR_LIST']='localhost'
+  #os.environ['EPICS_CA_ADDR_LIST']='172.26.0.255 172.26.2.255 172.26.8.255 172.26.16.255 172.26.24.255 172.26.32.255 172.26.40.255 172.26.110.255 172.26.111.255 172.26.120.255 129.129.242.255 129.129.243.255'
+
+  parse_args()
+