dls-dodal 1.32.0__py3-none-any.whl → 1.34.1__py3-none-any.whl

dodal/devices/apple2_undulator.py

@@ -0,0 +1,602 @@
+import abc
+import asyncio
+from dataclasses import dataclass
+from enum import Enum
+from typing import Any
+
+import numpy as np
+from bluesky.protocols import Movable
+from ophyd_async.core import (
+    AsyncStatus,
+    ConfigSignal,
+    HintedSignal,
+    StandardReadable,
+    soft_signal_r_and_setter,
+    wait_for_value,
+)
+from ophyd_async.epics.signal import epics_signal_r, epics_signal_rw, epics_signal_w
+from pydantic import BaseModel, ConfigDict, RootModel
+
+from dodal.log import LOGGER
+
+
+class UndulatorGateStatus(str, Enum):
+    open = "Open"
+    close = "Closed"
+
+
+@dataclass
+class Apple2PhasesVal:
+    top_outer: str
+    top_inner: str
+    btm_inner: str
+    btm_outer: str
+
+
+@dataclass
+class Apple2Val:
+    gap: str
+    top_outer: str
+    top_inner: str
+    btm_inner: str
+    btm_outer: str
+
+
+class EnergyMinMax(BaseModel):
+    Minimum: float
+    Maximum: float
+
+
+class EnergyCoverageEntry(BaseModel):
+    model_config = ConfigDict(arbitrary_types_allowed=True)
+    Low: float
+    High: float
+    Poly: np.poly1d
+
+
+class EnergyCoverage(RootModel):
+    root: dict[str, EnergyCoverageEntry]
+
+
+class LookupTableEntries(BaseModel):
+    Energies: EnergyCoverage
+    Limit: EnergyMinMax
+
+
+class Lookuptable(RootModel):
+    """
+    BaseModel class for the lookup table.
+    Apple2 lookup table should be in this format.
+
+    {mode: {'Energies': {Any: {'Low': float,
+                            'High': float,
+                            'Poly':np.poly1d
+                            }
+                        }
+            'Limit': {'Minimum': float,
+                    'Maximum': float
+                    }
+        }
+    }
+    """
+
+    root: dict[str, LookupTableEntries]
+
+
+ROW_PHASE_MOTOR_TOLERANCE = 0.004
+MAXIMUM_ROW_PHASE_MOTOR_POSITION = 24.0
+MAXIMUM_GAP_MOTOR_POSITION = 100
+
+
+class UndulatorGap(StandardReadable, Movable):
+    """A device with a collection of epics signals to set Apple 2 undulator gap motion.
+    Only PV used by beamline are added the full list is here:
+    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDGapVelocityControl.template
+    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDPhaseSoftMotor.template
+    """
+
+    def __init__(self, prefix: str, name: str = ""):
+        """
+
+        Parameters
+        ----------
+            prefix : str
+                Beamline specific part of the PV
+            name : str
+                Name of the Id device
+
+        """
+
+        # Gap demand set point and readback
+        self.user_setpoint = epics_signal_rw(
+            str, prefix + "GAPSET.B", prefix + "BLGSET"
+        )
+        # Nothing move until this is set to 1 and it will return to 0 when done
+        self.set_move = epics_signal_rw(int, prefix + "BLGSETP")
+        # Gate keeper open when move is requested, closed when move is completed
+        self.gate = epics_signal_r(UndulatorGateStatus, prefix + "BLGATE")
+        # These are gap velocity limit.
+        self.max_velocity = epics_signal_r(float, prefix + "BLGSETVEL.HOPR")
+        self.min_velocity = epics_signal_r(float, prefix + "BLGSETVEL.LOPR")
+        # These are gap limit.
+        self.high_limit_travel = epics_signal_r(float, prefix + "BLGAPMTR.HLM")
+        self.low_limit_travel = epics_signal_r(float, prefix + "BLGAPMTR.LLM")
+        split_pv = prefix.split("-")
+        self.fault = epics_signal_r(
+            float,
+            f"{split_pv[0]}-{split_pv[1]}-STAT-{split_pv[3]}ANYFAULT",
+        )
+        # This is calculated acceleration from speed
+        self.acceleration_time = epics_signal_r(float, prefix + "IDGSETACC")
+        with self.add_children_as_readables(ConfigSignal):
+            # Unit
+            self.motor_egu = epics_signal_r(str, prefix + "BLGAPMTR.EGU")
+            # Gap velocity
+            self.velocity = epics_signal_rw(float, prefix + "BLGSETVEL")
+        with self.add_children_as_readables(HintedSignal):
+            # Gap readback value
+            self.user_readback = epics_signal_r(float, prefix + "CURRGAPD")
+        super().__init__(name)
+
+    @AsyncStatus.wrap
+    async def set(self, value) -> None:
+        LOGGER.info(f"Setting {self.name} to {value}")
+        await self.check_id_status()
+        await self.user_setpoint.set(value=str(value))
+        timeout = await self._cal_timeout()
+        LOGGER.info(f"Moving {self.name} to {value} with timeout = {timeout}")
+        await self.set_move.set(value=1, timeout=timeout)
+        await wait_for_value(self.gate, UndulatorGateStatus.close, timeout=timeout)
+
+    async def _cal_timeout(self) -> float:
+        vel = await self.velocity.get_value()
+        cur_pos = await self.user_readback.get_value()
+        target_pos = float(await self.user_setpoint.get_value())
+        return abs((target_pos - cur_pos) * 2.0 / vel) + 1
+
+    async def check_id_status(self) -> None:
+        if await self.fault.get_value() != 0:
+            raise RuntimeError(f"{self.name} is in fault state")
+        if await self.gate.get_value() == UndulatorGateStatus.open:
+            raise RuntimeError(f"{self.name} is already in motion.")
+
+    async def get_timeout(self) -> float:
+        return await self._cal_timeout()
+
+
+class UndulatorPhaseMotor(StandardReadable):
+    """A collection of epics signals for ID phase motion.
+    Only PV used by beamline are added the full list is here:
+    /dls_sw/work/R3.14.12.7/support/insertionDevice/db/IDPhaseSoftMotor.template
+    """
+
+    def __init__(self, prefix: str, infix: str, name: str = ""):
+        """
+        Parameters
+        ----------
+
+        prefix : str
+            The setting prefix PV.
+        infix: str
+            Collection of pv that are different between beamlines
+        name : str
+            Name of the Id phase device
+        """
+        fullPV = f"{prefix}BL{infix}"
+        self.user_setpoint = epics_signal_w(str, fullPV + "SET")
+        self.user_setpoint_demand_readback = epics_signal_r(float, fullPV + "DMD")
+
+        fullPV = fullPV + "MTR"
+        with self.add_children_as_readables(HintedSignal):
+            self.user_setpoint_readback = epics_signal_r(float, fullPV + ".RBV")
+
+        with self.add_children_as_readables(ConfigSignal):
+            self.motor_egu = epics_signal_r(str, fullPV + ".EGU")
+            self.velocity = epics_signal_rw(float, fullPV + ".VELO")
+
+        self.max_velocity = epics_signal_r(float, fullPV + ".VMAX")
+        self.acceleration_time = epics_signal_rw(float, fullPV + ".ACCL")
+        self.precision = epics_signal_r(int, fullPV + ".PREC")
+        self.deadband = epics_signal_r(float, fullPV + ".RDBD")
+        self.motor_done_move = epics_signal_r(int, fullPV + ".DMOV")
+        self.low_limit_travel = epics_signal_rw(float, fullPV + ".LLM")
+        self.high_limit_travel = epics_signal_rw(float, fullPV + ".HLM")
+        super().__init__(name=name)
+
+
+class UndulatorPhaseAxes(StandardReadable, Movable):
+    """
+    A collection of 4 phase Motor to make up the full id phase motion. We are using the diamond pv convention.
+    e.g. top_outer == Q1
+         top_inner == Q2
+         btm_inner == q3
+         btm_outer == q4
+
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        top_outer: str,
+        top_inner: str,
+        btm_inner: str,
+        btm_outer: str,
+        name: str = "",
+    ):
+        # Gap demand set point and readback
+        with self.add_children_as_readables():
+            self.top_outer = UndulatorPhaseMotor(prefix=prefix, infix=top_outer)
+            self.top_inner = UndulatorPhaseMotor(prefix=prefix, infix=top_inner)
+            self.btm_inner = UndulatorPhaseMotor(prefix=prefix, infix=btm_inner)
+            self.btm_outer = UndulatorPhaseMotor(prefix=prefix, infix=btm_outer)
+        # Nothing move until this is set to 1 and it will return to 0 when done.
+        self.set_move = epics_signal_rw(int, f"{prefix}BL{top_outer}" + "MOVE")
+        self.gate = epics_signal_r(UndulatorGateStatus, prefix + "BLGATE")
+        split_pv = prefix.split("-")
+        temp_pv = f"{split_pv[0]}-{split_pv[1]}-STAT-{split_pv[3]}ANYFAULT"
+        self.fault = epics_signal_r(float, temp_pv)
+        super().__init__(name=name)
+
+    @AsyncStatus.wrap
+    async def set(self, value: Apple2PhasesVal) -> None:
+        LOGGER.info(f"Setting {self.name} to {value}")
+
+        await self.check_id_status()
+
+        await asyncio.gather(
+            self.top_outer.user_setpoint.set(value=value.top_outer),
+            self.top_inner.user_setpoint.set(value=value.top_inner),
+            self.btm_inner.user_setpoint.set(value=value.btm_inner),
+            self.btm_outer.user_setpoint.set(value=value.btm_outer),
+        )
+        timeout = await self._cal_timeout()
+        await self.set_move.set(value=1, timeout=timeout)
+        await wait_for_value(self.gate, UndulatorGateStatus.close, timeout=timeout)
+
+    async def _cal_timeout(self) -> float:
+        """
+        Get all four motor speed, current positions and target positions to calculate required timeout.
+        """
+        velos = await asyncio.gather(
+            self.top_outer.velocity.get_value(),
+            self.top_inner.velocity.get_value(),
+            self.btm_inner.velocity.get_value(),
+            self.btm_outer.velocity.get_value(),
+        )
+        target_pos = await asyncio.gather(
+            self.top_outer.user_setpoint_demand_readback.get_value(),
+            self.top_inner.user_setpoint_demand_readback.get_value(),
+            self.btm_inner.user_setpoint_demand_readback.get_value(),
+            self.btm_outer.user_setpoint_demand_readback.get_value(),
+        )
+        cur_pos = await asyncio.gather(
+            self.top_outer.user_setpoint_readback.get_value(),
+            self.top_inner.user_setpoint_readback.get_value(),
+            self.btm_inner.user_setpoint_readback.get_value(),
+            self.btm_outer.user_setpoint_readback.get_value(),
+        )
+        move_distances = tuple(np.subtract(target_pos, cur_pos))
+        move_times = np.abs(np.divide(move_distances, velos))
+        longest_move_time = np.max(move_times)
+        return longest_move_time * 2 + 1
+
+    async def check_id_status(self) -> None:
+        if await self.fault.get_value() != 0:
+            raise RuntimeError(f"{self.name} is in fault state")
+        if await self.gate.get_value() == UndulatorGateStatus.open:
+            raise RuntimeError(f"{self.name} is already in motion.")
+
+    async def get_timeout(self) -> float:
+        return await self._cal_timeout()
+
+
+class UndulatorJawPhase(StandardReadable, Movable):
+    """
+    A JawPhase movable, this is use for moving the jaw phase which is use to control the
+    linear arbitrary polarisation but only one some of the beamline.
+    """
+
+    def __init__(
+        self,
+        prefix: str,
+        move_pv: str,
+        jaw_phase: str = "JAW",
+        name: str = "",
+    ):
+        # Gap demand set point and readback
+        with self.add_children_as_readables():
+            self.jaw_phase = UndulatorPhaseMotor(prefix=prefix, infix=jaw_phase)
+        # Nothing move until this is set to 1 and it will return to 0 when done
+        self.set_move = epics_signal_rw(int, f"{prefix}BL{move_pv}" + "MOVE")
+        self.gate = epics_signal_r(UndulatorGateStatus, prefix + "BLGATE")
+        split_pv = prefix.split("-")
+        temp_pv = f"{split_pv[0]}-{split_pv[1]}-STAT-{split_pv[3]}ANYFAULT"
+        self.fault = epics_signal_r(float, temp_pv)
+        super().__init__(name=name)
+
+    @AsyncStatus.wrap
+    async def set(self, value: float) -> None:
+        LOGGER.info(f"Setting {self.name} to {value}")
+
+        await self.check_id_status()
+
+        await asyncio.gather(
+            self.jaw_phase.user_setpoint.set(value=str(value)),
+        )
+        timeout = await self._cal_timeout()
+        await self.set_move.set(value=1, timeout=timeout)
+        await wait_for_value(self.gate, UndulatorGateStatus.close, timeout=timeout)
+
+    async def _cal_timeout(self) -> float:
+        """
+        Get motor speed, current position and target position to calculate required timeout.
+        """
+        velo, target_pos, cur_pos = await asyncio.gather(
+            self.jaw_phase.velocity.get_value(),
+            self.jaw_phase.user_setpoint_demand_readback.get_value(),
+            self.jaw_phase.user_setpoint_readback.get_value(),
+        )
+
+        move_distances = target_pos - cur_pos
+        move_times = np.abs(move_distances / velo)
+
+        return move_times * 2 + 1
+
+    async def check_id_status(self) -> None:
+        if await self.fault.get_value() != 0:
+            raise RuntimeError(f"{self.name} is in fault state")
+        if await self.gate.get_value() == UndulatorGateStatus.open:
+            raise RuntimeError(f"{self.name} is already in motion.")
+
+    async def get_timeout(self) -> float:
+        return await self._cal_timeout()
+
+
+class Apple2(StandardReadable, Movable):
+    """
+    Apple 2 ID/undulator has 4 extra degrees of freedom compare to the standard Undulator,
+     each bank of magnet can move independently to each other,
+     which allow the production of different x-ray polarisation as well as energy.
+     This type of ID is use on I10, I21, I09, I17 and I06 for soft x-ray.
+
+    A pair of look up tables are needed to provide the conversion between motor position
+     and energy.
+    This conversion (update_lookuptable) and the way the id move (set) are two abstract
+     methods that are beamline specific and need to be implemented.
+    """
+
+    def __init__(
+        self,
+        id_gap: UndulatorGap,
+        id_phase: UndulatorPhaseAxes,
+        prefix: str = "",
+        name: str = "",
+    ) -> None:
+        """
+        Parameters
+        ----------
+        id_gap:
+            An UndulatorGap device.
+        id_phase:
+            An UndulatorPhaseAxes device.
+        prefix:
+            Not in use but needed for device_instantiation.
+        name:
+            Name of the device.
+        """
+        super().__init__(name)
+
+        # Attributes are set after super call so they are not renamed to
+        # <name>-undulator, etc.
+        with self.add_children_as_readables():
+            self.gap = id_gap
+            self.phase = id_phase
+        with self.add_children_as_readables(HintedSignal):
+            # Store the polarisation for readback.
+            self.polarisation, self._polarisation_set = soft_signal_r_and_setter(
+                str, initial_value=None
+            )
+            # Store the set energy for readback.
+            self.energy, self._energy_set = soft_signal_r_and_setter(
+                float, initial_value=None
+            )
+        # This store two lookup tables, Gap and Phase in the Lookuptable format
+        self.lookup_tables: dict[str, dict[str | None, dict[str, dict[str, Any]]]] = {
+            "Gap": {},
+            "Phase": {},
+        }
+        # List of available polarisation according to the lookup table.
+        self._available_pol = []
+        # The polarisation state of the id that are use for internal checking before setting.
+        self._pol = None
+        """
+        Abstract method that run at start up to load lookup tables into  self.lookup_tables
+         and set available_pol.
+        """
+        self.update_lookuptable()
+
+    @property
+    def pol(self):
+        return self._pol
+
+    @pol.setter
+    def pol(self, pol: str):
+        # This set the polarisation but does not actually move hardware.
+        if pol in self._available_pol:
+            self._pol = pol
+        else:
+            raise ValueError(
+                f"Polarisation {pol} is not available:"
+                + f"/n Polarisations available:  {self._available_pol}"
+            )
+
+    async def _set(self, value: Apple2Val, energy: float) -> None:
+        """
+        Check ID is in a movable state and set all the demand value before moving.
+
+        """
+
+        # Only need to check gap as the phase motors share both fault and gate with gap.
+        await self.gap.check_id_status()
+        await asyncio.gather(
+            self.phase.top_outer.user_setpoint.set(value=value.top_outer),
+            self.phase.top_inner.user_setpoint.set(value=value.top_inner),
+            self.phase.btm_inner.user_setpoint.set(value=value.btm_inner),
+            self.phase.btm_outer.user_setpoint.set(value=value.btm_outer),
+            self.gap.user_setpoint.set(value=value.gap),
+        )
+        timeout = np.max(
+            await asyncio.gather(self.gap.get_timeout(), self.phase.get_timeout())
+        )
+        LOGGER.info(
+            f"Moving f{self.name} energy and polorisation to {energy}, {self.pol}"
+            + f"with motor position {value}, timeout = {timeout}"
+        )
+
+        await asyncio.gather(
+            self.gap.set_move.set(value=1, timeout=timeout),
+            self.phase.set_move.set(value=1, timeout=timeout),
+        )
+        await wait_for_value(self.gap.gate, UndulatorGateStatus.close, timeout=timeout)
+        self._energy_set(energy)  # Update energy for after move for readback.
+
+    def _get_id_gap_phase(self, energy: float) -> tuple[float, float]:
+        """
+        Converts energy and polarisation to gap and phase.
+        """
+        gap_poly = self._get_poly(
+            lookup_table=self.lookup_tables["Gap"], new_energy=energy
+        )
+        phase_poly = self._get_poly(
+            lookup_table=self.lookup_tables["Phase"], new_energy=energy
+        )
+        return gap_poly(energy), phase_poly(energy)
+
+    def _get_poly(
+        self,
+        new_energy: float,
+        lookup_table: dict[str | None, dict[str, dict[str, Any]]],
+    ) -> np.poly1d:
+        """
+        Get the correct polynomial for a given energy form lookuptable
+         for any given polarisation.
+        """
+
+        if (
+            new_energy < lookup_table[self.pol]["Limit"]["Minimum"]
+            or new_energy > lookup_table[self.pol]["Limit"]["Maximum"]
+        ):
+            raise ValueError(
+                "Demanding energy must lie between {} and {} eV!".format(
+                    lookup_table[self.pol]["Limit"]["Minimum"],
+                    lookup_table[self.pol]["Limit"]["Maximum"],
+                )
+            )
+        else:
+            for energy_range in lookup_table[self.pol]["Energies"].values():
+                if (
+                    new_energy >= energy_range["Low"]
+                    and new_energy < energy_range["High"]
+                ):
+                    return energy_range["Poly"]
+
+        raise ValueError(
+            """Cannot find polynomial coefficients for your requested energy.
+        There might be gap in the calibration lookup table."""
+        )
+
+    @abc.abstractmethod
+    def update_lookuptable(self) -> None:
+        """
+        Abstract method to update the stored lookup tabled from file.
+        This function should include check to ensure the lookuptable is in the correct format:
+            # ensure the importing lookup table is the correct format
+            Lookuptable.model_validate(<loockuptable>)
+
+        """
+
+    async def determinePhaseFromHardware(self) -> tuple[str | None, float]:
+        """
+        Try to determine polarisation and phase value using row phase motor position pattern.
+        However there is no way to return lh3 polarisation or higher harmonic setting.
+        (May be for future one can use the inverse poly to work out the energy and try to match it with the current energy
+        to workout the polarisation but during my test the inverse poly is too unstable for general use.)
+        """
+        cur_loc = await self.read()
+        top_outer = cur_loc[self.phase.top_outer.user_setpoint_readback.name]["value"]
+        top_inner = cur_loc[self.phase.top_inner.user_setpoint_readback.name]["value"]
+        btm_inner = cur_loc[self.phase.btm_inner.user_setpoint_readback.name]["value"]
+        btm_outer = cur_loc[self.phase.btm_outer.user_setpoint_readback.name]["value"]
+        gap = cur_loc[self.gap.user_readback.name]["value"]
+        if gap > MAXIMUM_GAP_MOTOR_POSITION:
+            raise RuntimeError(
+                f"{self.name} is not in use, close gap or set polarisation to use this ID"
+            )
+
+        if all(
+            motor_position_equal(x, 0.0)
+            for x in [top_outer, top_inner, btm_inner, btm_outer]
+        ):
+            # Linear Horizontal
+            polarisation = "lh"
+            phase = 0.0
+            return polarisation, phase
+        if (
+            motor_position_equal(top_outer, MAXIMUM_ROW_PHASE_MOTOR_POSITION)
+            and motor_position_equal(top_inner, 0.0)
+            and motor_position_equal(btm_inner, MAXIMUM_ROW_PHASE_MOTOR_POSITION)
+            and motor_position_equal(btm_outer, 0.0)
+        ):
+            # Linear Vertical
+            polarisation = "lv"
+            phase = MAXIMUM_ROW_PHASE_MOTOR_POSITION
+            return polarisation, phase
+        if (
+            motor_position_equal(top_outer, btm_inner)
+            and top_outer > 0.0
+            and motor_position_equal(top_inner, 0.0)
+            and motor_position_equal(btm_outer, 0.0)
+        ):
+            # Positive Circular
+            polarisation = "pc"
+            phase = top_outer
+            return polarisation, phase
+        if (
+            motor_position_equal(top_outer, btm_inner)
+            and top_outer < 0.0
+            and motor_position_equal(top_inner, 0.0)
+            and motor_position_equal(btm_outer, 0.0)
+        ):
+            # Negative Circular
+            polarisation = "nc"
+            phase = top_outer
+            return polarisation, phase
+        if (
+            motor_position_equal(top_outer, -btm_inner)
+            and motor_position_equal(top_inner, 0.0)
+            and motor_position_equal(btm_outer, 0.0)
+        ):
+            # Positive Linear Arbitrary
+            polarisation = "la"
+            phase = top_outer
+            return polarisation, phase
+        if (
+            motor_position_equal(top_inner, -btm_outer)
+            and motor_position_equal(top_outer, 0.0)
+            and motor_position_equal(btm_inner, 0.0)
+        ):
+            # Negative Linear Arbitrary
+            polarisation = "la"
+            phase = top_inner
+            return polarisation, phase
+        # UNKNOWN default
+        polarisation = None
+        phase = 0.0
+        return (polarisation, phase)
+
+
+def motor_position_equal(a, b) -> bool:
+    """
+    Check motor is within tolerance.
+    """
+    return abs(a - b) < ROW_PHASE_MOTOR_TOLERANCE

dodal/devices/areadetector/plugins/CAM.py

@@ -0,0 +1,31 @@
+from enum import Enum
+
+from ophyd_async.core import StandardReadable
+from ophyd_async.epics.signal import epics_signal_r, epics_signal_rw
+
+
+class ColorMode(str, Enum):
+    """
+    Enum to store the various color modes of the camera. We use RGB1.
+    """
+
+    MONO = "Mono"
+    BAYER = "Bayer"
+    RGB1 = "RGB1"
+    RGB2 = "RGB2"
+    RGB3 = "RGB3"
+    YUV444 = "YUV444"
+    YUV422 = "YUV422"
+    YUV421 = "YUV421"
+
+
+class Cam(StandardReadable):
+    def __init__(self, prefix: str, name: str = "") -> None:
+        self.color_mode = epics_signal_rw(ColorMode, prefix + "ColorMode")
+        self.acquire_period = epics_signal_rw(float, prefix + "AcquirePeriod")
+        self.acquire_time = epics_signal_rw(float, prefix + "AcquireTime")
+        self.gain = epics_signal_rw(float, prefix + "Gain")
+
+        self.array_size_x = epics_signal_r(int, prefix + "ArraySizeX_RBV")
+        self.array_size_y = epics_signal_r(int, prefix + "ArraySizeY_RBV")
+        super().__init__(name)