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NewportXPSMotorController.py
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NewportXPSMotorController.py
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from newportXPS import XPS
import time
from sardana import State
from sardana.pool.controller import MotorController
from sardana.pool.controller import Type, Description, DefaultValue, Access, DataAccess, Memorize, Memorized
class NewportXPSMotorController(MotorController):
ctrl_properties = {'IP': {Type: str, Description: 'The IP of the XPS controller', DefaultValue: 'xps-controller.hhg.lab'},
'port': {Type: int, Description: 'The port of the XPS controller', DefaultValue: 5001},
}
axis_attributes = {'group': {Type: str, Description: 'Group name of the axis', DefaultValue: 'Single1', Access: DataAccess.ReadWrite, Memorized: Memorize},
'positioner': {Type: str, Description: 'Positioner name of the axis', DefaultValue: 'pos', Access: DataAccess.ReadWrite, Memorized: Memorize}
}
MaxDevice = 2
timeOut = 5000
def __init__(self, inst, props, *args, **kwargs):
super(NewportXPSMotorController, self).__init__(
inst, props, *args, **kwargs)
# initialize hardware communication
self.XPS = XPS()
self.socketIDmove = self.XPS.TCP_ConnectToServer(self.IP, self.port, self.timeOut, 0)
self.socketIDstate = self.XPS.TCP_ConnectToServer(self.IP, self.port, self.timeOut, 1)
self.socketIDread = self.XPS.TCP_ConnectToServer(self.IP, self.port, self.timeOut, 1)
self.socketIDabort = self.XPS.TCP_ConnectToServer(self.IP, self.port, self.timeOut, 1)
self.socketSGamma = self.XPS.TCP_ConnectToServer(self.IP, self.port, self.timeOut, 1)
# do some initialization
self._motors = {}
#self._target = {}
self._threshold = 0.01
def AddDevice(self, axis):
self._motors[axis] = {}
self._motors[axis]['target'] = None
[_, resp] = self.XPS.ObjectsListGet(self.socketIDabort)
[self._motors[axis]['group'], self._motors[axis]['positioner'], _] = resp.split(';', 2 )
def DeleteDevice(self, axis):
del self._motors[axis]
#del self._target[axis]
StateMap = {
1: State.On,
2: State.Moving,
3: State.Fault,
}
def StateOne(self, axis):
group = self._motors[axis]['group']
positioner = self._motors[axis]['positioner']
if group is None or positioner is None:
raise ValueError('Group or positioner not set for this axis')
limit_switches = MotorController.NoLimitSwitch
target = self._motors[axis]['target']
pos = self.ReadOne(axis)
if (target is not None) and (abs(pos - target) > self._threshold):
MOVING = True
else:
MOVING = False
[_, state] = self.XPS.GroupStatusGet(self.socketIDstate, group)
time.sleep(0.05)
if ((state >= 43) & (state <= 44)) or MOVING:
return self.StateMap[2], 'stage is moving', limit_switches
elif (state >= 0) & (state <= 9):
return self.StateMap[3], 'stage not initialized', limit_switches
elif (state >= 21) & (state <= 39):
return self.StateMap[3], 'stage disabled', limit_switches
elif (state >= 10) & (state <= 19):
return self.StateMap[1], 'ready state', limit_switches
else:
return self.StateMap[3], 'state unknown', limit_switches
def ReadOne(self, axis):
group = self._motors[axis]['group']
positioner = self._motors[axis]['positioner']
if group is None or positioner is None:
raise ValueError('Group or positioner not set for this axis')
[_, pos] = self.XPS.GroupPositionCurrentGet(self.socketIDread, group, 1)
#print('XPS Pos: {:}'.format(pos))
time.sleep(0.05)
return pos
def StartOne(self, axis, position):
group = self._motors[axis]['group']
positioner = self._motors[axis]['positioner']
if group is None or positioner is None:
raise ValueError('Group or positioner not set for this axis')
self.XPS.GroupMoveAbsolute(self.socketIDmove, group, [position])
self._motors[axis]['target'] = position
time.sleep(0.05)
def StopOne(self, axis):
group = self._motors[axis]['group']
positioner = self._motors[axis]['positioner']
if group is None or positioner is None:
raise ValueError('Group or positioner not set for this axis')
self.XPS.GroupMoveAbort(self.socketIDabort, group)
time.sleep(0.05)
def AbortOne(self, axis):
group = self._motors[axis]['group']
positioner = self._motors[axis]['positioner']
if group is None or positioner is None:
raise ValueError('Group or positioner not set for this axis')
self.XPS.GroupMoveAbort(self.socketIDabort, group)
time.sleep(0.05)
def GetAxisPar(self, axis, name):
name = name.lower()
positioner = self._motors[axis]['positioner']
if positioner is None:
raise ValueError('positioner not set for this axis')
if name == "acceleration" or name == "deceleration":
[_, vel, acc, _, _] = self.XPS.PositionerSGammaParametersGet(self.socketSGamma, positioner)
v = vel/acc
elif name == "velocity":
[_, v, _, _, _] = self.XPS.PositionerSGammaParametersGet(self.socketSGamma, positioner)
elif name == "base_rate":
v = .001
return v
def SetAxisPar(self, axis, name, value):
name = name.lower()
positioner = self._motors[axis]['positioner']
if positioner is None:
raise ValueError('positioner not set for this axis')
if name == "acceleration" or name == "deceleration":
[_, vel, acc, minJerk, maxJerk] = self.XPS.PositionerSGammaParametersGet(self.socketSGamma, positioner)
self.XPS.PositionerSGammaParametersSet(self.socketSGamma, positioner, vel, value, minJerk, maxJerk)
elif name == "velocity":
[_, vel, acc, minJerk, maxJerk] = self.XPS.PositionerSGammaParametersGet(self.socketSGamma, positioner)
self.XPS.PositionerSGammaParametersSet(self.socketSGamma, positioner, value, acc, minJerk, maxJerk)
def GetAxisExtraPar(self, axis, name):
""" Get Smaract axis particular parameters.
@param axis to get the parameter
@param name of the parameter to retrive
@return the value of the parameter
"""
name = name.lower()
if name == 'group':
result = self._motors[axis]['group']
elif name == 'positioner':
result = self._motors[axis]['positioner']
else:
raise ValueError('There is not %s attribute' % name)
return result
def SetAxisExtraPar(self, axis, name, value):
""" Set Smaract axis particular parameters.
@param axis to set the parameter
@param name of the parameter
@param value to be set
"""
name = name.lower()
if name == 'group':
self._motors[axis]['group'] = value
elif name == 'positioner':
self._motors[axis]['positioner'] = value
else:
raise ValueError('There is not %s attribute' % name)