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add smarpod as a device #1116

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merged 7 commits into from
Feb 28, 2024
Merged

add smarpod as a device #1116

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b9ef4ec
add smarpod as a device
Feb 13, 2023
bd8ef10
minor fix
Mar 7, 2023
4be4cae
add Status class, change from Positioner to device
Mar 14, 2023
07f823a
add Doc for poses, add GUI
Mar 15, 2023
4d7aa7c
Merge branch 'master' into enh_new_device_template
ZLLentz Feb 28, 2024
bcd3bca
DOC: with patrick, add basic docs
ZLLentz Feb 28, 2024
f17a516
DOC: with patrick add pre-release docs
ZLLentz Feb 28, 2024
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266 changes: 266 additions & 0 deletions pcdsdevices/smarpod.py
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"""
Module for the SmarPod and related devices.
"""
from ophyd.device import Component as Cpt
from ophyd.device import Device
from ophyd.signal import EpicsSignal
from .interface import BaseInterface



class SmarPod(BaseInterface, Device):
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This class will not play nicely with bluesky for the purposes of scanning as you've implemented it as a generic ophyd.Device.

There needs to be a Positioner somewhere for the smarpod.

More details here: https://confluence.slac.stanford.edu/display/PCDS/How+to+Create+an+Ophyd+Device#HowtoCreateanOphydDevice-PVPositioner

Consider the upstream source of this SmarPod IOC implementation and its corresponding ophyd device: https://github.com/NSLS-II-HXN/profile_collection/blob/d724c469b8c4ac1784ca755b40b1992b3e5d0640/startup/15-zp.py#L15-L38 (and further down where it's being used as a sub-device)

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Interesting, it looks like NSLS-II splits this kind of device into many different 1D positioners

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PVPositioner was chosen as the class.
from ophyd import PVPositioner

"""
A base class for a SmarPod controller.
"""
init = Cpt(EpicsSignal, ':CMD:INIT', kind='normal')
status = Cpt(EpicsSignal, ':CMD:ALL_STATUS', kind='normal')



"""
Controlling unit number
"""
cmd_unit = Cpt(EpicsSignal, ':CMD:UNIT', kind='normal')
unit = Cpt(EpicsSignal, ':UNIT', kind='normal', doc='Selected SmarPod unit')



"""
Reference
"""
cmd_ref = Cpt(EpicsSignal, ':CMD:REF', kind='normal')
ref = Cpt(EpicsSignal, ':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(EpicsSignal, ':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(EpicsSignal, ':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(EpicsSignal, ':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(EpicsSignal, ':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')



"""
Pose reachable?
"""
cmd_reachable = Cpt(EpicsSignal, ':CMD:REACHABLE', kind='normal')
reachable = Cpt(EpicsSignal, ':REACHABLE', kind='normal')



"""
Positions - Readback
"""
cmd_pos_rbv = Cpt(EpicsSignal, ':CMD:POS_RBV', kind='normal', doc='Readback current pose position')
x_m = Cpt(EpicsSignal, ':X_M', kind='normal')
y_m = Cpt(EpicsSignal, ':Y_M', kind='normal')
z_m = Cpt(EpicsSignal, ':Z_M', kind='normal')
x = Cpt(EpicsSignal, ':X', kind='normal')
y = Cpt(EpicsSignal, ':Y', kind='normal')
z = Cpt(EpicsSignal, ':Z', kind='normal')
rx = Cpt(EpicsSignal, ':RX', kind='normal')
ry = Cpt(EpicsSignal, ':RY', kind='normal')
rz = Cpt(EpicsSignal, ':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(EpicsSignal, ':ERROR_CODE', kind='normal')
error_desc = Cpt(EpicsSignal, ':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')



"""
Miscellaneous
"""
cmd_calibrate = Cpt(EpicsSignal, ':CMD:CALIBRATE', kind='normal')
cmd_read_ver = Cpt(EpicsSignal, ':CMD:READ_VER', kind='normal')
ver_sys = Cpt(EpicsSignal, ':VER:SYS', kind='normal')



"""
Device Info
"""
ver_sn = Cpt(EpicsSignal, ':VER:SN', kind='normal')
ver_product = Cpt(EpicsSignal, ':VER:PRODUCT', kind='normal')
ver_firmware = Cpt(EpicsSignal, ':VER:FIRMWARE', kind='normal')



"""
Status
"""
cmd_read_status = Cpt(EpicsSignal, ':CMD:READ_STATUS', kind='normal')
status_temp = Cpt(EpicsSignal, ':STATUS:TEMP', kind='normal')
status_load = Cpt(EpicsSignal, ':STATUS:LOAD', kind='normal')
status_memory = Cpt(EpicsSignal, ':STATUS:MEMORY', kind='normal')
status_net_bytes_in = Cpt(EpicsSignal, ':STATUS:NET_BYTES_IN', kind='normal')
status_net_bytes_out = Cpt(EpicsSignal, ':STATUS:NET_BYTES_OUT', kind='normal')
status_net = Cpt(EpicsSignal, ':STATUS:NET', kind='normal')
status_status = Cpt(EpicsSignal, ':STATUS:STATUS', kind='normal')
status_bootcnt = Cpt(EpicsSignal, ':STATUS:BOOTCNT', kind='normal')
status_uptime = Cpt(EpicsSignal, ':STATUS:UPTIME', kind='normal')
status_ip = Cpt(EpicsSignal, ':STATUS:IP', kind='normal')
status_client_ip = Cpt(EpicsSignal, ':STATUS:CLIENT_IP', kind='normal')
status_ser_status = Cpt(EpicsSignal, ':STATUS:SER_STATUS', kind='normal')
status_ser_bytes_in = Cpt(EpicsSignal, ':STATUS:SER_BYTES_IN', kind='normal')
status_ser_bytes_out = Cpt(EpicsSignal, ':STATUS:SER_BYTES_OUT', kind='normal')
status_display = Cpt(EpicsSignal, ':STATUS:DISPLAY', 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')
vel = Cpt(EpicsSignal, ':VEL', kind='normal')



"""
Maximum acceleration
"""
cmd_accel = Cpt(EpicsSignal, ':CMD:ACCEL', kind='normal')
accel = Cpt(EpicsSignal, ':ACCEL', kind='normal')



"""
Read and Set Poses, Pose 1-5:
"""
pose_1_name = Cpt(EpicsSignal, ':POSE_1:NAME', kind='normal', doc='Pose 1 name input')
pose_1_name_rbv = Cpt(EpicsSignal, ':POSE_1:NAME_RBV', kind='normal', doc='Pose 1 name readback')
pose_1_x = Cpt(EpicsSignal, ':POSE_1:X', kind='normal', doc='Pose 1 X Position Data')
pose_1_y = Cpt(EpicsSignal, ':POSE_1:Y', kind='normal', doc='Pose 1 Y Position Data')
pose_1_z = Cpt(EpicsSignal, ':POSE_1:Z', kind='normal', doc='Pose 1 Z Position Data')
pose_1_rx = Cpt(EpicsSignal, ':POSE_1:RX', kind='normal', doc='Pose 1 RX Position Data')
pose_1_ry = Cpt(EpicsSignal, ':POSE_1:RY', kind='normal', doc='Pose 1 RY Position Data')
pose_1_rz = Cpt(EpicsSignal, ':POSE_1:RZ', kind='normal', doc='Pose 1 RZ Position Data')
pose_1_record = Cpt(EpicsSignal, ':POSE_1:RECORD', kind='normal', doc='Fanout for pose')
pose_1_execute = Cpt(EpicsSignal, ':POSE_1:EXECUTE', kind='normal', doc='Enacts Pose 1 Positions')

pose_2_name = Cpt(EpicsSignal, ':POSE_2:NAME', kind='normal', doc='Pose 2 name input')
pose_2_name_rbv = Cpt(EpicsSignal, ':POSE_2:NAME_RBV', kind='normal', doc='Pose 2 name readback')
pose_2_x = Cpt(EpicsSignal, ':POSE_2:X', kind='normal', doc='Pose 2 X Position Data')
pose_2_y = Cpt(EpicsSignal, ':POSE_2:Y', kind='normal', doc='Pose 2 Y Position Data')
pose_2_z = Cpt(EpicsSignal, ':POSE_2:Z', kind='normal', doc='Pose 2 Z Position Data')
pose_2_rx = Cpt(EpicsSignal, ':POSE_2:RX', kind='normal', doc='Pose 2 RX Position Data')
pose_2_ry = Cpt(EpicsSignal, ':POSE_2:RY', kind='normal', doc='Pose 2 RY Position Data')
pose_2_rz = Cpt(EpicsSignal, ':POSE_2:RZ', kind='normal', doc='Pose 2 RZ Position Data')
pose_2_record = Cpt(EpicsSignal, ':POSE_2:RECORD', kind='normal', doc='Fanout for pose')
pose_2_execute = Cpt(EpicsSignal, ':POSE_2:EXECUTE', kind='normal', doc='Enacts Pose 2 Positions')

pose_3_name = Cpt(EpicsSignal, ':POSE_3:NAME', kind='normal', doc='Pose 3 name input')
pose_3_name_rbv = Cpt(EpicsSignal, ':POSE_3:NAME_RBV', kind='normal', doc='Pose 3 name readback')
pose_3_x = Cpt(EpicsSignal, ':POSE_3:X', kind='normal', doc='Pose 3 X Position Data')
pose_3_y = Cpt(EpicsSignal, ':POSE_3:Y', kind='normal', doc='Pose 3 Y Position Data')
pose_3_z = Cpt(EpicsSignal, ':POSE_3:Z', kind='normal', doc='Pose 3 Z Position Data')
pose_3_rx = Cpt(EpicsSignal, ':POSE_3:RX', kind='normal', doc='Pose 3 RX Position Data')
pose_3_ry = Cpt(EpicsSignal, ':POSE_3:RY', kind='normal', doc='Pose 3 RY Position Data')
pose_3_rz = Cpt(EpicsSignal, ':POSE_3:RZ', kind='normal', doc='Pose 3 RZ Position Data')
pose_3_record = Cpt(EpicsSignal, ':POSE_3:RECORD', kind='normal', doc='Fanout for pose')
pose_3_execute = Cpt(EpicsSignal, ':POSE_3:EXECUTE', kind='normal', doc='Enacts Pose 3 Positions')

pose_4_name = Cpt(EpicsSignal, ':POSE_4:NAME', kind='normal', doc='Pose 4 name input')
pose_4_name_rbv = Cpt(EpicsSignal, ':POSE_4:NAME_RBV', kind='normal', doc='Pose 4 name readback')
pose_4_x = Cpt(EpicsSignal, ':POSE_4:X', kind='normal', doc='Pose 4 X Position Data')
pose_4_y = Cpt(EpicsSignal, ':POSE_4:Y', kind='normal', doc='Pose 4 Y Position Data')
pose_4_z = Cpt(EpicsSignal, ':POSE_4:Z', kind='normal', doc='Pose 4 Z Position Data')
pose_4_rx = Cpt(EpicsSignal, ':POSE_4:RX', kind='normal', doc='Pose 4 RX Position Data')
pose_4_ry = Cpt(EpicsSignal, ':POSE_4:RY', kind='normal', doc='Pose 4 RY Position Data')
pose_4_rz = Cpt(EpicsSignal, ':POSE_4:RZ', kind='normal', doc='Pose 4 RZ Position Data')
pose_4_record = Cpt(EpicsSignal, ':POSE_4:RECORD', kind='normal', doc='Fanout for pose')
pose_4_execute = Cpt(EpicsSignal, ':POSE_4:EXECUTE', kind='normal', doc='Enacts Pose 4 Positions')

pose_5_name = Cpt(EpicsSignal, ':POSE_5:NAME', kind='normal', doc='Pose 5 name input')
pose_5_name_rbv = Cpt(EpicsSignal, ':POSE_5:NAME_RBV', kind='normal', doc='Pose 5 name readback')
pose_5_x = Cpt(EpicsSignal, ':POSE_5:X', kind='normal', doc='Pose 5 X Position Data')
pose_5_y = Cpt(EpicsSignal, ':POSE_5:Y', kind='normal', doc='Pose 5 Y Position Data')
pose_5_z = Cpt(EpicsSignal, ':POSE_5:Z', kind='normal', doc='Pose 5 Z Position Data')
pose_5_rx = Cpt(EpicsSignal, ':POSE_5:RX', kind='normal', doc='Pose 5 RX Position Data')
pose_5_ry = Cpt(EpicsSignal, ':POSE_5:RY', kind='normal', doc='Pose 5 RY Position Data')
pose_5_rz = Cpt(EpicsSignal, ':POSE_5:RZ', kind='normal', doc='Pose 5 RZ Position Data')
pose_5_record = Cpt(EpicsSignal, ':POSE_5:RECORD', kind='normal', doc='Fanout for pose')
pose_5_execute = Cpt(EpicsSignal, ':POSE_5:EXECUTE', kind='normal', doc='Enacts Pose 5 Positions')

57 changes: 57 additions & 0 deletions pcdsdevices/ui/smarpod.detailed.ui
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I think you should remove this file unless you're planning to make a screen

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>316</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="TyphosDisplayTitle" name="TyphosDisplayTitle">
<property name="geometry">
<rect>
<x>100</x>
<y>0</y>
<width>201</width>
<height>75</height>
</rect>
</property>
<property name="toolTip">
<string/>
</property>
</widget>
<widget class="TyphosSignalPanel" name="TyphosSignalPanel">
<property name="geometry">
<rect>
<x>190</x>
<y>50</y>
<width>18</width>
<height>18</height>
</rect>
</property>
<property name="toolTip">
<string/>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>TyphosDisplayTitle</class>
<extends>QFrame</extends>
<header>typhos.display</header>
</customwidget>
<customwidget>
<class>TyphosSignalPanel</class>
<extends>QWidget</extends>
<header>typhos.panel</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>