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Get CS info from motor link field. Only works for compound motors
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@tomtrafford
tomtrafford committed Jul 12, 2024
1 parent e4aa5f0 commit 7c4b49d
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Showing 3 changed files with 91 additions and 21 deletions.
19 changes: 16 additions & 3 deletions src/ophyd_async/epics/pmac/_pmacMotor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,22 @@

from ophyd_async.epics.motion import Motor

from ..signal.signal import epics_signal_r


class PmacCSMotor(Motor, Movable, Stoppable):
def __init__(self, prefix: str, csNum: int, csAxis: str, name="") -> None:
self.csNum = csNum
self.csAxis = csAxis
def __init__(self, prefix: str, name="") -> None:
self.output_link = epics_signal_r(str, prefix + ".OUT")
self.cs_axis = ""
self.cs_port = ""
super().__init__(prefix=prefix, name=name)

async def get_cs_info(self):
output_link = await self.output_link.get_value()
# Split "@asyn(PORT,num)" into ["PORT", "num"]
split = output_link.split("(")[1].rstrip(")").split(",")
self.cs_port = split[0].strip()
assert (
"CS" in self.cs_port
), f"{self.name} not in a CS. It is not a compound motor."
self.cs_axis = "abcuvwxyz"[int(split[1].strip()) - 1]
36 changes: 21 additions & 15 deletions src/ophyd_async/epics/pmac/_pmacTrajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,31 +37,37 @@ async def prepare(self, stack: list[Frames[PmacCSMotor]]):
scanSize = len(stack[0])
scanAxes = stack[0].axes()

cs_ports = set()
self.profile = {}
for axis in scanAxes:
if axis != "DURATION":
self.profile[axis.csAxis] = []
self.profile[axis.csAxis + "_velocity"] = []
await axis.get_cs_info()
self.profile[axis.cs_axis] = []
self.profile[axis.cs_axis + "_velocity"] = []
cs_ports.add(axis.cs_port)
else:
self.profile[axis.lower()] = []
cs_port = cs_ports.pop()

# Calc Velocity

for axis in scanAxes:
for i in range(scanSize - 1):
if axis != "DURATION":
self.profile[axis.csAxis + "_velocity"].append(
self.profile[axis.cs_axis + "_velocity"].append(
(stack[0].midpoints[axis][i + 1] - stack[0].midpoints[axis][i])
/ (stack[0].midpoints["DURATION"][i])
)
self.profile[axis.csAxis].append(stack[0].midpoints[axis][i])
self.profile[axis.cs_axis].append(stack[0].midpoints[axis][i])
else:
self.profile[axis.lower()].append(
int(stack[0].midpoints[axis][i] / TICK_S)
)
if axis != "DURATION":
self.profile[axis.csAxis].append(stack[0].midpoints[axis][scanSize - 1])
self.profile[axis.csAxis + "_velocity"].append(0)
self.profile[axis.cs_axis].append(
stack[0].midpoints[axis][scanSize - 1]
)
self.profile[axis.cs_axis + "_velocity"].append(0)
else:
self.profile[axis.lower()].append(
int(stack[0].midpoints[axis][scanSize - 1] / TICK_S)
Expand All @@ -75,30 +81,30 @@ async def prepare(self, stack: list[Frames[PmacCSMotor]]):
run_up_disp, run_up_time = await self._ramp_up_velocity_pos(
0,
axis,
self.profile[axis.csAxis + "_velocity"][0],
self.profile[axis.cs_axis + "_velocity"][0],
)
self.initial_pos[axis.csAxis] = (
self.profile[axis.csAxis][0] - run_up_disp
self.initial_pos[axis.cs_axis] = (
self.profile[axis.cs_axis][0] - run_up_disp
)
self.profile["duration"][0] += run_up_time / TICK_S

# Send trajectory to brick
for axis in scanAxes:
if axis != "DURATION":
self.profile_cs_name.set(self.cs)
self.profile_cs_name.set(cs_port)
self.points_to_build.set(scanSize)
getattr(self, "use_" + axis.csAxis).set(True)
getattr(self, axis.csAxis).set(self.profile[axis.csAxis])
getattr(self, axis.csAxis + "_vel").set(
self.profile[axis.csAxis + "_velocity"]
getattr(self, "use_" + axis.cs_axis).set(True)
getattr(self, axis.cs_axis).set(self.profile[axis.cs_axis])
getattr(self, axis.cs_axis + "_vel").set(
self.profile[axis.cs_axis + "_velocity"]
)
else:
self.timeArray.set(self.profile["duration"])

# MOVE TO START
for axis in scanAxes:
if axis != "DURATION":
await axis.set(self.initial_pos[axis.csAxis])
await axis.set(self.initial_pos[axis.cs_axis])

# Set No Of Points

Expand Down
57 changes: 54 additions & 3 deletions tests/epics/pmac/test_pmac.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,15 +8,14 @@
@pytest.fixture
async def sim_x_motor():
async with DeviceCollector(mock=True):
sim_motor = PmacCSMotor(
"BLxxI-MO-STAGE-01:X", "BRICK1.CS3", "z", name="sim_x_motor"
)
sim_motor = PmacCSMotor("BLxxI-MO-STAGE-01:X", name="sim_x_motor")

set_mock_value(sim_motor.motor_egu, "mm")
set_mock_value(sim_motor.precision, 3)
set_mock_value(sim_motor.acceleration_time, 0.5)
set_mock_value(sim_motor.max_velocity, 5)
set_mock_value(sim_motor.velocity, 0.5)
set_mock_value(sim_motor.output_link, "@asyn(BRICK1.CS3,9)")

yield sim_motor

Expand Down Expand Up @@ -68,3 +67,55 @@ async def test_sim_pmac_simple_trajectory(sim_x_motor) -> None:
assert traj.initial_pos["z"] == 0.9875

await traj.kickoff()


async def test_p45_pmac_simple_trajectory() -> None:
# Test the generated Trajectory profile from a scanspec
prefix = "BL45P-MO-STEP-01"
async with DeviceCollector():
motor = PmacCSMotor("BL45P-MO-STAGE-01:CS:Y", "CS Y")
await motor.connect()
traj = PmacTrajectory(prefix, "BRICK1.CS3", name="sim_pmac")
await traj.connect()
spec = fly(Line(motor, 0, 1, 9), 1)
stack = spec.calculate()
await traj.prepare(stack)
assert traj.profile == {
"duration": [
1012500,
1000000,
1000000,
1000000,
1000000,
1000000,
1000000,
1000000,
1000000,
],
"x": [
0,
0.125,
0.25,
0.375,
0.5,
0.625,
0.75,
0.875,
1,
],
"x_velocity": [
0.125,
0.125,
0.125,
0.125,
0.125,
0.125,
0.125,
0.125,
0,
],
}

assert traj.initial_pos["x"] == -0.00078125

await traj.kickoff()

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