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Merge pull request #1116 from patoppermann/enh_new_device_template
add smarpod as a device
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| 1116 smarpod | ||
| ############ | ||
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| API Breaks | ||
| ---------- | ||
| - N/A | ||
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| Features | ||
| -------- | ||
| - N/A | ||
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| Device Updates | ||
| -------------- | ||
| - N/A | ||
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| New Devices | ||
| ----------- | ||
| - Add `SmarPod` and related devices in new `pcdsdevices.smarpod` module. | ||
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| Bugfixes | ||
| -------- | ||
| - N/A | ||
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| Maintenance | ||
| ----------- | ||
| - N/A | ||
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| Contributors | ||
| ------------ | ||
| - patoppermann |
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| """ | ||
| Module for the SmarPod and related devices. | ||
| SmarPod is a hexapod-like positioning system from SmarAct | ||
| > SMARPOD motion systems offer six degrees of freedom similar to classical hexapod | ||
| > systems while guaranteeing highest resolution and repeatability. Compared to | ||
| > serial kinematic systems, parallel kinematic SMARPODs exhibit a higher stiffness. | ||
| > A user-friendly software package allows easy integration into your own control environment assuring a very short setup time. | ||
| see https://www.smaract.com/en/smarpod | ||
| """ | ||
| from ophyd.device import Component as Cpt | ||
| from ophyd.device import Device | ||
| from ophyd.signal import EpicsSignal, EpicsSignalRO | ||
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| class SmarPodPose(Device): | ||
| """ | ||
| The translation and orientation of the SmarPod stage is called the pose. The translation part of a pose is | ||
| the offset of the stage in X, Y and Z direction relative to the zero position. The angles Θx, Θy and Θz | ||
| define the rotation around the respective axis. | ||
| """ | ||
| pose_name = Cpt(EpicsSignal, ':NAME_RBV', write_pv=':NAME', kind='normal', doc='Pose name input') | ||
| x = Cpt(EpicsSignal, ':X', kind='normal', doc='Pose X Position Data') | ||
| y = Cpt(EpicsSignal, ':Y', kind='normal', doc='Pose Y Position Data') | ||
| z = Cpt(EpicsSignal, ':Z', kind='normal', doc='Pose Z Position Data') | ||
| rx = Cpt(EpicsSignal, ':RX', kind='normal', doc='Pose RX Position Data') | ||
| ry = Cpt(EpicsSignal, ':RY', kind='normal', doc='Pose RY Position Data') | ||
| rz = Cpt(EpicsSignal, ':RZ', kind='normal', doc='Pose RZ Position Data') | ||
| record = Cpt(EpicsSignal, ':RECORD', kind='normal', doc='Fanout for pose') | ||
| execute = Cpt(EpicsSignal, ':EXECUTE', kind='normal', doc='Enacts Pose Positions') | ||
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| class SmarPodStatus(Device): | ||
| """ | ||
| This class holds basic status information about the SmarPod. | ||
| """ | ||
| temp = Cpt(EpicsSignalRO, ':TEMP', kind='omitted') | ||
| load = Cpt(EpicsSignalRO, ':LOAD', kind='omitted') | ||
| memory = Cpt(EpicsSignalRO, ':MEMORY', kind='omitted') | ||
| net_bytes_in = Cpt(EpicsSignalRO, ':NET_BYTES_IN', kind='omitted') | ||
| net_bytes_out = Cpt(EpicsSignalRO, ':NET_BYTES_OUT', kind='omitted') | ||
| net = Cpt(EpicsSignalRO, ':NET', kind='omitted') | ||
| status = Cpt(EpicsSignalRO, ':STATUS', kind='omitted') | ||
| bootcnt = Cpt(EpicsSignalRO, ':BOOTCNT', kind='omitted') | ||
| uptime = Cpt(EpicsSignalRO, ':UPTIME', kind='omitted') | ||
| ip = Cpt(EpicsSignalRO, ':IP', kind='omitted') | ||
| client_ip = Cpt(EpicsSignalRO, ':CLIENT_IP', kind='omitted') | ||
| ser_status = Cpt(EpicsSignalRO, ':SER_STATUS', kind='omitted') | ||
| ser_bytes_in = Cpt(EpicsSignalRO, ':SER_BYTES_IN', kind='omitted') | ||
| ser_bytes_out = Cpt(EpicsSignalRO, ':SER_BYTES_OUT', kind='omitted') | ||
| display = Cpt(EpicsSignalRO, ':DISPLAY', kind='omitted') | ||
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| class SmarPod(Device): | ||
| """ | ||
| SmarPod is a hexapod-like positioning system from SmarAct | ||
| """ | ||
| # A base class for a SmarPod controller. | ||
| init = Cpt(EpicsSignal, ':CMD:INIT', kind='normal') | ||
| status = Cpt(EpicsSignal, ':CMD:ALL_STATUS', kind='normal', doc='SmarPod status code') | ||
| # Controlling unit number | ||
| cmd_unit = Cpt(EpicsSignal, ':CMD:UNIT', kind='normal') | ||
| unit = Cpt(EpicsSignal, ':UNIT', kind='normal', doc='Selected SmarPod unit') | ||
| # Device Info | ||
| ver_sn = Cpt(EpicsSignalRO, ':VER:SN', kind='omitted') | ||
| ver_product = Cpt(EpicsSignalRO, ':VER:PRODUCT', kind='omitted') | ||
| ver_firmware = Cpt(EpicsSignalRO, ':VER:FIRMWARE', kind='omitted') | ||
| # Reference | ||
| cmd_ref = Cpt(EpicsSignal, ':CMD:REF', kind='normal') | ||
| ref = Cpt(EpicsSignalRO, ':REF', kind='normal', doc='Readback referenced state') | ||
| _ref = Cpt(EpicsSignal, ':_REF', kind='normal', doc='Async reference response') | ||
| cmd_ref_method = Cpt(EpicsSignal, ':CMD:REF_METHOD', kind='normal', doc='Set reference method') | ||
| ref_method = Cpt(EpicsSignalRO, ':REF_METHOD', kind='normal', doc='Readback reference method') | ||
| cmd_ref_x_direct = Cpt(EpicsSignal, ':CMD:REF_X_DIRECT', kind='normal', doc='Set reference x-direction') | ||
| ref_x_direct = Cpt(EpicsSignalRO, ':REF_X_DIRECT', kind='normal', doc='Readback reference x-direction') | ||
| cmd_ref_y_direct = Cpt(EpicsSignal, ':CMD:REF_Y_DIRECT', kind='normal', doc='Set reference y-direction') | ||
| ref_y_direct = Cpt(EpicsSignalRO, ':REF_Y_DIRECT', kind='normal', doc='Readback reference y-direction') | ||
| cmd_ref_z_direct = Cpt(EpicsSignal, ':CMD:REF_Z_DIRECT', kind='normal', doc='Set reference z-direction') | ||
| ref_z_direct = Cpt(EpicsSignalRO, ':REF_Z_DIRECT', kind='normal', doc='Readback reference z-direction') | ||
| # Positions - Move | ||
| cmd_move = Cpt(EpicsSignal, ':CMD:MOVE', kind='normal') | ||
| cmd_x = Cpt(EpicsSignal, ':CMD:X', kind='normal') | ||
| cmd_y = Cpt(EpicsSignal, ':CMD:Y', kind='normal') | ||
| cmd_z = Cpt(EpicsSignal, ':CMD:Z', kind='normal') | ||
| cmd_rx = Cpt(EpicsSignal, ':CMD:RX', kind='normal') | ||
| cmd_ry = Cpt(EpicsSignal, ':CMD:RY', kind='normal') | ||
| cmd_rz = Cpt(EpicsSignal, ':CMD:RZ', kind='normal') | ||
| # Stop | ||
| cmd_stop = Cpt(EpicsSignal, ':CMD:STOP', kind='normal', doc='Stops SmarPod Movements') | ||
| # Pose reachable? | ||
| cmd_reachable = Cpt(EpicsSignal, ':CMD:REACHABLE', kind='normal') | ||
| reachable = Cpt(EpicsSignalRO, ':REACHABLE', kind='normal', doc='Test if the SP can reach a pose. Does not move the SP') | ||
| # Positions - Readback | ||
| cmd_pos_rbv = Cpt(EpicsSignal, ':CMD:POS_RBV', kind='normal', doc='Readback current pose position') | ||
| x_m = Cpt(EpicsSignalRO, ':X_M', kind='normal') | ||
| y_m = Cpt(EpicsSignalRO, ':Y_M', kind='normal') | ||
| z_m = Cpt(EpicsSignalRO, ':Z_M', kind='normal') | ||
| x = Cpt(EpicsSignalRO, ':X', kind='normal') | ||
| y = Cpt(EpicsSignalRO, ':Y', kind='normal') | ||
| z = Cpt(EpicsSignalRO, ':Z', kind='normal') | ||
| rx = Cpt(EpicsSignalRO, ':RX', kind='normal') | ||
| ry = Cpt(EpicsSignalRO, ':RY', kind='normal') | ||
| rz = Cpt(EpicsSignalRO, ':RZ', kind='normal') | ||
| # Movement - Readback | ||
| moving = Cpt(EpicsSignal, ':MOVING', kind='normal', doc='Movement status') | ||
| # Movement - Sync | ||
| cmd_sync = Cpt(EpicsSignal, ':CMD:SYNC', kind='normal') | ||
| error_code = Cpt(EpicsSignalRO, ':ERROR_CODE', kind='normal') | ||
| error_desc = Cpt(EpicsSignalRO, ':ERROR_DESC', kind='normal') | ||
| # Pivot-point | ||
| cmd_pivot_rbv = Cpt(EpicsSignal, ':CMD:PIVOT_RBV', kind='normal', doc='Readback pivot point') | ||
| cmd_set_pivot = Cpt(EpicsSignal, ':CMD:SET_PIVOT', kind='normal') | ||
| cmd_sync_pivot = Cpt(EpicsSignal, ':CMD:SYNC_PIVOT', kind='normal') | ||
| cmd_pivot_mode = Cpt(EpicsSignal, ':CMD:PIVOT_MODE', kind='normal') | ||
| pivot_mode = Cpt(EpicsSignal, ':PIVOT_MODE', kind='normal', doc='Pivot mode') | ||
| # Pivot positions | ||
| px_m = Cpt(EpicsSignal, ':PX_M', kind='normal') | ||
| py_m = Cpt(EpicsSignal, ':PY_M', kind='normal') | ||
| pz_m = Cpt(EpicsSignal, ':PZ_M', kind='normal') | ||
| px = Cpt(EpicsSignal, ':PX', kind='normal') | ||
| py = Cpt(EpicsSignal, ':PY', kind='normal') | ||
| pz = Cpt(EpicsSignal, ':PZ', kind='normal') | ||
| # Pivot request positions | ||
| cmd_px = Cpt(EpicsSignal, ':CMD:PX', kind='normal') | ||
| cmd_py = Cpt(EpicsSignal, ':CMD:PY', kind='normal') | ||
| cmd_pz = Cpt(EpicsSignal, ':CMD:PZ', kind='normal') | ||
| # Sensor mode | ||
| cmd_sensor_mode = Cpt(EpicsSignal, ':CMD:SENSOR_MODE', kind='normal') | ||
| sensor_mode = Cpt(EpicsSignal, ':SENSOR_MODE', kind='normal', doc='Sensor mode') | ||
| # Maximum frequency | ||
| cmd_freq = Cpt(EpicsSignal, ':CMD:FREQ', kind='normal') | ||
| freq = Cpt(EpicsSignal, ':FREQ', kind='normal') | ||
| # Maximum velocity | ||
| cmd_vel = Cpt(EpicsSignal, ':CMD:VEL', kind='normal', doc='sets movement velocity') | ||
| vel = Cpt(EpicsSignal, ':VEL', kind='normal', doc='current speed-control and speed settings') | ||
| # Maximum acceleration | ||
| cmd_accel = Cpt(EpicsSignal, ':CMD:ACCEL', kind='normal', doc='sets movement acceleration') | ||
| accel = Cpt(EpicsSignal, ':ACCEL', kind='normal', doc='current acceleration-control and acceleration settings') | ||
| # Read and Set Poses, Pose 1-5: | ||
| pose_1 = Cpt(SmarPodPose, ':POSE_1') | ||
| pose_2 = Cpt(SmarPodPose, ':POSE_2') | ||
| pose_3 = Cpt(SmarPodPose, ':POSE_3') | ||
| pose_4 = Cpt(SmarPodPose, ':POSE_4') | ||
| pose_5 = Cpt(SmarPodPose, ':POSE_5') | ||
| # Status | ||
| cmd_read_status = Cpt(EpicsSignal, ':CMD:READ_STATUS', kind='normal') | ||
| status = Cpt(SmarPodStatus, ":STATUS") | ||
| # Miscellaneous | ||
| cmd_calibrate = Cpt(EpicsSignal, ':CMD:CALIBRATE', kind='normal') | ||
| cmd_read_ver = Cpt(EpicsSignal, ':CMD:READ_VER', kind='normal') | ||
| ver_sys = Cpt(EpicsSignalRO, ':VER:SYS', kind='omitted') |
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