bla

bm07/geofip.py

@@ -163,8 +163,8 @@ tab_nrj=[
 
 nrj = type('', (), {})()
 for valuelist in tab_nrj:
-    setattr(nrj,"_"+str(valuelist[3]).replace(".","_")+"_"+valuelist[0]+"-"+valuelist[1],valuelist[3])
-    setattr(nrj,valuelist[0]+"-"+valuelist[1]+"_"+str(valuelist[3]).replace(".","_"),valuelist[3])
+    setattr(nrj,"_"+str(valuelist[3]).replace(".","_")+"_"+valuelist[0]+"_"+valuelist[1],valuelist[3])
+    setattr(nrj,valuelist[0]+"_"+valuelist[1]+"_"+str(valuelist[3]).replace(".","_"),valuelist[3])
 
 
 ##########################################################################

bm07/grob_FIP.py

@@ -87,6 +87,7 @@ class SampleChangerState:
     Fault = 14
     Initializing = 15
     Closing = 16
+    Versapin_mounted = 17
 
     STATE_DESC = {
         Ready: "Ready",
@@ -105,6 +106,7 @@ class SampleChangerState:
         StandBy: "StandBy",
         Initializing: "Initializing",
         Closing: "Closing",
+        Versapin_mounted: "Versapin mounted"
     }
 
     @staticmethod
@@ -249,6 +251,12 @@ class grob_FIP(object):
         return txt
 
     def send_command(self, cmd, arg=[]):
+
+        #si le tool actuel est indefini il va avoir besoin de la camera : a terme le control de la lumiere sera faite par le robot
+        self.init_real_device()
+        self.read_all_memory()
+        if self.CurrentMode==0:
+            self.keyence.on()
         param=arg.copy()
         print(param)
         cominfo = self.addr.get("Command")
@@ -300,7 +308,8 @@ class grob_FIP(object):
                     if mot.name=="kappa" and target==0:
                         mot.reset_pos()
                     else:
-                        mot.move(target,wait=False)
+                        if abs(mot.position-target)>0.01:
+                            mot.move(target,wait=False)
             
             notok=True
             with gevent.Timeout(60,False):
@@ -660,15 +669,32 @@ class grob_FIP(object):
         self.send_command("anneal", [nb_move,int(nb_sec_in*100+32767),int(nb_sec_out*100+32767)])
         
     def mount_dismount_versa_pin(self):
-        #self.bstop1.down()
-        #self.dstop.down()
-        #if self.bstop1.is_up() or self.dstop.is_up():
-        #    print("Beam stop or Dstop is up -> Aborting")
-        #    return
-            
-        self.force_gripper(3)
-        time.sleep(1)
-        if self.get_state() in [SampleChangerState.Ready, SampleChangerState.Loaded]:
+        self.init_real_device()
+        self.bstop1.down()
+        self.detcover.force_close()
+
+
+        for retry in range(0,60):
+            ok=True
+            txt=""
+            if self.bstop1.is_down():
+                txt+="BStop1 down\t\t"+CGRE+"[OK]\n"+CEND
+            else:
+                txt+="BStop1 down\t\t"+CRED+"[NOK]\n"+CEND
+                ok=False
+            if self.detcover.is_close():
+                txt+="Detector Cover closed\t"+CGRE+"[OK]\n"+CEND
+            else:
+                txt+="Detector Cover closed\t"+CRED+"[NOK]\n"+CEND
+                ok=False
+            if ok:
+                print(txt)
+                break
+            else:
+                time.sleep(1)
+        print(txt)
+        
+        if ok:
             self.send_command("mount_versa_pin")
 
 

bm07/optical_setup.py

@@ -23,6 +23,11 @@ from scipy import ndimage
 from scipy.interpolate import interp1d
 import enlighten
 
+setattr(energy,'move_to',type('', (), {})())
+for valuelist in tab_nrj:
+    setattr(energy.move_to,"_"+str(valuelist[3]).replace(".","_")+"_"+valuelist[0]+"_"+valuelist[1],valuelist[3])
+    #setattr(nrj,valuelist[0]+"_"+valuelist[1]+"_"+str(valuelist[3]).replace(".","_"),valuelist[3])
+
 def gauss(x, p): # p[0]==mean, p[1]==stdev
     return 1.0/(p[1]*np.sqrt(2*np.pi))*np.exp(-(x-p[0])**2/(2*p[1]**2))
 
@@ -38,8 +43,6 @@ def analyseImg():
     projection = np.true_divide(projection, np.sum(projection))
     return ndimage.center_of_mass(projection)[0]
 
-
-
 def change_energy(value):
     mv(energy,value)
 
@@ -261,12 +264,8 @@ def geofip_fill_beam_save():
     optical_conf.save()
 
 
-def beam_save():                                                                                                                                                                
-    motenergy = None                                                                                                                                                            
-    for mot in global_map.get_axes_iter():                                                                                                                                      
-        if mot.name=="energy":                                                                                                                                                  
-            motenergy=mot                                                                                                                                                       
-            break                                                                                                                                                               
+def beam_save():                                                                                                                                                                    
+    current_nrj = energy.position                                                                                                                                                                                                                                                                                                                 
     cc = get_config()                                                                                                                                                           
     cc.reload()                                                                                                                                                                 
     optical_conf = cc.get("optical_setup")                                                                                                                                      
@@ -282,11 +281,16 @@ def beam_save():
      
     #Search for the closest idx
     tab_nrj_kev = np.array([i[3] for i in tab_nrj])
-    idx = (np.abs(tab_nrj_kev-(motenergy.position/1000.))).argmin()
-     
-    #tab_nrj_choice = [(str(i[3]), "%s(%s) %.2fkeV"%(i[0],i[1],i[2])) for i in tab_nrj]
+    idx = (np.abs(tab_nrj_kev-(energy.position/1000.))).argmin()
+
+
     tab_nrj_choice = [(str(i), "%6s %6s"%(str(i),"-".join(tab_nrj[np.argwhere(tab_nrj_kev==i)[0][0]][0:2]))) for i in list_nrj_setup]
-    dlg3 = UserChoice(label="Your are currently at %.2fkeV - Choose the energy for saving the current motors positions"%(motenergy.position), values=tab_nrj_choice, defval=idx)
+    defval=0
+    for idx in range(len(tab_nrj_choice)):
+        if abs(float(tab_nrj_choice[idx][0])-current_nrj)<0.005:
+            defval=idx
+
+    dlg3 = UserChoice(label="Your are currently at %.4fkeV - Choose the energy for saving the current motors positions"%(energy.position), values=tab_nrj_choice, defval=defval)
     new_nrg_to_save = BlissDialog( [ [ dlg3 ] ], title='Beam save').show()
     if new_nrg_to_save is not False:
         new_nrg_to_save = list(new_nrg_to_save.values())[0]

bm07/safety.py

 from bliss.common.hook import MotionHook
 from bliss import global_map
 from bliss.setup_globals import *
+from bm07.optical_setup import *
+
 
 class GonioSafety(MotionHook):
     class SafetyError(Exception):
@@ -29,6 +31,35 @@ class GonioSafety(MotionHook):
                     f'Cannot move : possible collision due to omega')
 
 
+class EnergieSafety(MotionHook):
+    class SafetyError(Exception):
+        pass
+
+    def __init__(self):
+        super(EnergieSafety, self).__init__()
+
+    def init(self):
+        pass
+
+    def pre_move(self, motion_list):
+        for motion in motion_list:
+            if motion.axis.disabled:
+                raise self.SafetyError(
+                    f'Cannot move : {motion.axis.name} is disabled')
+            if motion.axis.name == "energy":
+                curpos = motion.axis.position
+                targetpos = motion.user_target_pos
+                print("Energy : current %.4f, wanted %.4f"%(curpos,targetpos))
+                if abs(targetpos-curpos)>=0.2:
+                    print('Cannot only beta : full energy set launched')
+                    beam_set(targetpos)
+                    return
+
+           
+
 GonioSafetyHook = GonioSafety()
 omega.motion_hooks.append(GonioSafetyHook)
-kappa.motion_hooks.append(GonioSafetyHook)
\ No newline at end of file
+kappa.motion_hooks.append(GonioSafetyHook)
+
+EnergieSafetyHook = EnergieSafety()
+energy.motion_hooks.append(EnergieSafetyHook)
\ No newline at end of file