add smarpod as a device

docs/source/upcoming_release_notes/1116-smarpod.rst

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+1116 smarpod
+############
+
+API Breaks
+----------
+- N/A
+
+Features
+--------
+- N/A
+
+Device Updates
+--------------
+- N/A
+
+New Devices
+-----------
+- Add `SmarPod` and related devices in new `pcdsdevices.smarpod` module.
+
+Bugfixes
+--------
+- N/A
+
+Maintenance
+-----------
+- N/A
+
+Contributors
+------------
+- patoppermann

pcdsdevices/smarpod.py

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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
+
+
+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')
+
+
+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')
+
+
+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')