.gitignore

+*.pyc
+
+/dist
+/build
+
+/src/*.egg-info
+
+/.*

.gitlab-ci.yml

+
+stages:
+  - test
+
+test:
+  stage: test
+  image: condaforge/mambaforge:latest
+  before_script:
+    - eval "$(/opt/conda/bin/conda shell.posix hook)"  # Enable activate/deactivate
+    - mamba create --name=test python=3.10 pytango
+    - conda activate test
+    - pip install .[test]
+  script:
+    - pytest tests -s
+variables:
+    PIP_CACHE_DIR: /opt/cache/pip

README.md

+# SampleChanger
+
+Handles the sample changer robot for micro tomography.
+
+The robot can be installed on different tomgraphy end stations and aligns
+itself with the set-up used.
+
+## Robot controller
+
+The class can use few controllers from the [StaubLink project](https://gitlab.esrf.fr/watier/StaubLink).
+to handle all functionality of the robot.
+
+- `id19Controller.py`
+- `bm05Controller2.py`
+
+## TomoSampleChanger
+
+The TomoSampleChanger have to be defined with the following properties.
+
+- `robot_controller`: One of `bm05` or `id19`
+- `robot_host`: The host name or IP of the robot

pyproject.toml

+[build-system]
+# Minimum requirements for the build system to execute.
+requires = ["setuptools>=61.0", "wheel"]  # PEP 508 syntax
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "samplechanger"
+version = "0.2.0"
+authors = [
+  { name="Clemence Muzelle", email="clemence.muzelle@esrf.fr" },
+]
+description = "Sample changer software"
+requires-python = ">=3.8"
+classifiers = [
+    "Development Status :: 2 - Pre-Alpha",
+    "Intended Audience :: Developers",
+    "Natural Language :: English",
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)",
+]
+license = {text = "GNU Lesser General Public License v3"}
+readme = "README.md"
+
+dependencies = []
+
+[project.optional-dependencies]
+dev = ["black"]
+test = ["pytest", "mock", "pytest-mock", "nosqltangodb"]
+
+[project.scripts]
+TomoSampleChanger = "samplechanger.sample_changer_ds.TomoSampleChanger:main"
+TomoSamples = "samplechanger.samples_ds.TomoSamples:main"
+
+[project.urls]
+"Homepage" = "https://gitlab.esrf.fr/bliss/sample_changer"
+"Bug Tracker" = "https://gitlab.esrf.fr/bliss/sample_changer/issues"
+
+[tool.flake8]
+# Check that this is aligned with your other tools like Black
+max-line-length = 120
+exclude = [
+    # No need to traverse our git directory
+    ".git",
+    # There's no value in checking cache directories
+    "__pycache__"
+]
+# Use extend-ignore to add to already ignored checks which are anti-patterns like W503.
+extend-ignore = [
+    # PEP 8 recommends to treat : in slices as a binary operator with the lowest priority, and to leave an equal
+    # amount of space on either side, except if a parameter is omitted (e.g. ham[1 + 1 :]).
+    # This behaviour may raise E203 whitespace before ':' warnings in style guide enforcement tools like Flake8.
+    # Since E203 is not PEP 8 compliant, we tell Flake8 to ignore this warning.
+    # https://black.readthedocs.io/en/stable/the_black_code_style/current_style.html#slices
+    "E203"
+]
\ No newline at end of file

setup.cfg

@@ -5,5 +5,5 @@ exclude = docs
 # Define setup.py command aliases here
 test = pytest
 
-[tool:pytest]
-addopts = --cov SampleChanger --cov-report html:tests/htmlcov --cov-report term -v tests/
+#[tool:pytest]
+#addopts = --cov SampleChanger --cov-report html:tests/htmlcov --cov-report term -v tests/

setup.py

-# -*- coding: utf-8 -*-
+import setuptools
 
-"""The setup script."""
-
-import sys
-from setuptools import setup, find_packages
-
-TESTING = any(x in sys.argv for x in ['test', 'pytest'])
-
-with open('README.rst') as readme_file:
-    readme = readme_file.read()
-
-requirements=[]
-
-setup_requirements = ['pytest-runner', 'pytest'] if TESTING else []
-
-test_requirements = ['pytest-cov', 'mock']
-
-setup(
-    author="Clemence Muzelle",
-    author_email='clemence.muzelle@esrf.fr',
-    classifiers=[
-        'Development Status :: 2 - Pre-Alpha',
-        'Intended Audience :: Developers',
-        'License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)',
-        'Natural Language :: English',
-        "Programming Language :: Python :: 2",
-        'Programming Language :: Python :: 2.7',
-        'Programming Language :: Python :: 3',
-        'Programming Language :: Python :: 3.6',
-    ],
-    description="ID19 sample changer software",
-    install_requires=requirements,
-    license="GNU Lesser General Public License v3",
-    long_description=readme,
-    include_package_data=True,
-    keywords='samplechanger',
-    name='samplechanger',
-    packages=find_packages(include=['samplechanger']),
-    setup_requires=setup_requirements,
-    test_suite='tests',
-    tests_require=test_requirements,
-    url='https://gitlab.esrf.fr/id19/SampleChanger',
-    version='0.1.0',
-    zip_safe=False,
-)
+setuptools.setup()

SampleAlignment/SampleAlignment.py → src/samplechanger/sample_alignment/SampleAlignment.py

@@ -19,13 +19,13 @@ import math
 
 
 class OffsetsCalculation:
-	
+
 	def __init__(self,resolution,imageDir,stand,borderType):
-		
+
 		#monkey.patch_all(thread=False)
 
 		self.totalProcessingTime = 0
-		
+
 		#self.sampleSizeX = sampleSize[0]
 		#self.sampleSizeY = sampleSize[1]
 		#self.sampleSizeZ = sampleSize[2]
@@ -36,79 +36,79 @@ class OffsetsCalculation:
 		self.pathImg = '/users/muzelle/Desktop/success2/007_HA-300_6.5_NUS2__004_/007_HA-300_6.5_NUS2__004_0000.edf'
 		self.pathFlat = '/users/muzelle/Desktop/success2/007_HA-300_6.5_NUS2__004_/refHST0000.edf'
 		self.pathDark = '/users/muzelle/Desktop/success2/007_HA-300_6.5_NUS2__004_/dark.edf'
-		
+
 		self.resolution = resolution
-		
+
 		self.stand = stand
-		
+
 		self.borderType = borderType
-		
+
 		self.img = None
 		self.flat = None
 		self.dark = None
-		
+
 		self.dispImg = None
 		self.intImg = None
-		
+
 		self.centImgY = None
 		self.centImgX = None
-		
+
 		self.centerY = None
 		self.centerX = None
-		
+
 		self.leftBorder = None
 		self.rightBorder = None
-		
+
 		self.borderDetected = "false"
-		
+
 
 	def imagesOpening(self):
-		
+
 		start = time.time()
 
-		self.img = fabio.open(self.pathImg) 
+		self.img = fabio.open(self.pathImg)
 		self.flat = fabio.open(self.pathFlat)
 		self.dark = fabio.open(self.pathDark)
 
 		self.centImgY = int(self.img.data.shape[0]/2)
 		self.centImgX = int(self.img.data.shape[1]/2)
-		
+
 		imagesOpeningTime = time.time()-start
 		self.totalProcessingTime += imagesOpeningTime
 		print("Time to open images: "+str(imagesOpeningTime))
-		
-		
+
+
 	def imageContrastEnhancement(self):
-		
+
 		start = time.time()
-		
+
 		filtImg = np.subtract(self.img.data,self.dark.data).astype(np.float32)
 		filtImgFlat = np.subtract(self.flat.data,self.dark.data).astype(np.float32)
 		corrImg = np.divide(filtImg,filtImgFlat).astype(np.float32)
 		corrImg[corrImg < 0] = 0
-		
+
 		enhImg = cv2.normalize(corrImg, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8)
-		
+
 		self.img = corrImg
-		
+
 		imageContrastEnhancementTime = time.time()-start
 		self.totalProcessingTime += imageContrastEnhancementTime
 		print("Time to enhance image contrast: "+str(imageContrastEnhancementTime))
-		
+
 	def imageFiltering(self):
-			
+
 		start = time.time()
 
 		blurImg = cv2.bilateralFilter(self.img,9,75,75)
 		blurImg = cv2.normalize(blurImg, None, 0, 255, cv2.NORM_MINMAX).astype(np.uint8)
-		
+
 		self.img = blurImg
 		self.dispImg = blurImg
-		
+
 		imageFilteringTime = time.time()-start
 		self.totalProcessingTime += imageFilteringTime
 		print("Time to filter image: "+str(imageFilteringTime))
-		
+
 	def edgesDetection(self):
 
 		start = time.time()
@@ -122,16 +122,16 @@ class OffsetsCalculation:
 		thr = np.median(edges)*1.33
 
 		edges = np.uint8(edges < -thr)
-		
+
 		#measures = cv2.connectedComponentsWithStats(edges, 8, cv2.CV_32S)
-		
+
 		#labImg = measures[1]
-		
+
 		#areas = measures[2][:,cv2.CC_STAT_AREA]
-		
+
 		labImg = measure.label(edges, neighbors=8, background=0)
 
-		labImg += 1 
+		labImg += 1
 
 		props = measure.regionprops(labImg)
 
@@ -142,149 +142,149 @@ class OffsetsCalculation:
 		labImg = morphology.remove_small_objects(labImg,noise,in_place=True)
 
 		edges = np.uint8(labImg > 0)
-		
+
 		#self.dispImg[edges > 0] = 0
-		
+
 		#savedImg = fabio.edfimage.EdfImage()
 		#savedImg.data = self.dispImg
 		#savedImg.write('/segfs/tango/tmp/clemence/SampleAlignment/edgesDetected.edf')
-		
+
 		self.img = labImg
-		
+
 		edgesDetectionTime = time.time()-start
 		self.totalProcessingTime += edgesDetectionTime
 		print("Time to find edges: "+str(edgesDetectionTime))
-		
-		
+
+
 	def sampleCenterXCalculation(self):
-		
+
 		start = time.time()
-		
+
 		props = measure.regionprops(self.img,self.dispImg)
-		
+
 		centroids = [(p.centroid[0],p.centroid[1]) for p in props if p.max_intensity > 200]
-		
+
 		if len(centroids) != 0:
 			self.borderDetected = "true"
-				
+
 			if self.stand == 'absent':
-				
-						
+
+
 				if self.borderType == 'straight':
-							
+
 					self.leftBorder = np.min(centroids,axis=0)[1]
 
 					self.rightBorder = np.max(centroids,axis=0)[1]
-							
-					self.centerX = int((self.rightBorder - self.leftBorder)/2+self.leftBorder)			
-				
+
+					self.centerX = int((self.rightBorder - self.leftBorder)/2+self.leftBorder)
+
 				if self.borderType == 'irregular':
-					
+
 					edges = self.img > 0
-					
+
 					self.leftBorder = np.min(centroids,axis=0)[1]
-					
+
 					print('left border: '+str(self.leftBorder))
-					
+
 					self.rightBorder = np.max(centroids,axis=0)[1]
-					
+
 					print('right border: '+str(self.rightBorder))
-					
+
 					self.centerX = int(np.mean([(np.min(np.where(edges[raw,:])[0])+np.max(np.where(edges[raw,:])[0]))/2
-														for raw in range(edges.shape[0]) 
-														if len(np.where(edges[raw,:])[0]) != 0 
+														for raw in range(edges.shape[0])
+														if len(np.where(edges[raw,:])[0]) != 0
 														and (np.max(np.where(edges[raw,:])[0])-np.min(np.where(edges[raw,:])[0])) > 200]
 														))
-														
+
 				if self.borderType == 'oblique':
-					
+
 					edges = self.img > 0
-						
+
 					areas = [p.area for p in props]
-						
+
 					fullBorder = [p.label for p in props if p.area == np.max(areas)][0]
-							
+
 					centerRawByRaw = np.array([((np.min(np.where(edges[raw,:])[0])+np.max(np.where(edges[raw,:])[0]))/2,raw)
-									for raw in range(edges.shape[0]) 
-									if len(np.where(edges[raw,:])[0]) != 0 and 
+									for raw in range(edges.shape[0])
+									if len(np.where(edges[raw,:])[0]) != 0 and
 									(np.max(np.where(edges[raw,:])[0])-np.min(np.where(edges[raw,:])[0])) > 100])
-							
+
 					meanCenter = np.median(centerRawByRaw,axis=0)
-					
+
 					rows = np.where(self.img == fullBorder)[0]
 					cols = np.where(self.img == fullBorder)[1]
-					
+
 					ya = np.mean(rows[np.where(cols == np.min(cols))])
 					yb = np.mean(rows[np.where(cols == np.max(cols))])
 					xb = np.max(cols)
 					xa = np.min(cols)
-					
+
 					slope = (yb-ya)/(xb-xa)
-					
+
 					self.centerX = (self.centImgY-meanCenter[1])/slope + meanCenter[0]
-			 
+
 			offsetSX = (self.centImgX-self.centerX)*self.resolution*10**-3
-				
-		
+
+
 		centerXCalculationTime = time.time()-start
 		self.totalProcessingTime += centerXCalculationTime
-		
+
 		print("Time to calculate sample center X: "+str(centerXCalculationTime))
-		
+
 		return offsetSX
-		
-		
+
+
 	def sampleCenterYCalculation(self):
 		pass
-		
+
 	def localTomoCenterXCalculation(self):
-		
+
 		start = time.time()
-		
+
 		props = measure.regionprops(self.img,self.intImg)
-		
+
 		areas = [p.area for p in props]
-					
+
 		border = [p.centroid for p in props if p.area == np.max(areas) and p.max_intensity > 200]
-				
+
 		if len(border) == 0:
-					
+
 			offsetSX = self.img.shape[1]
-				
+
 		else:
-					
+
 			ret,binImg = cv2.threshold(self.dispImg,0,1,cv2.THRESH_BINARY_INV+cv2.THRESH_OTSU)
-					
+
 			labImg = measure.label(binImg, neighbors=8, background=0)
 
-			labImg += 1 
+			labImg += 1
 
 			props = measure.regionprops(labImg)
-					
+
 			areas = [p.area for p in props]
-					
+
 			sample = [p.centroid for p in props if p.area == np.max(areas)][0]
-					
+
 			if sample[1] > border[0][1]:
-						
+
 				self.borderDetected = "right"
-						
-			else:	
+
+			else:
 				self.borderDetected = "left"
-			
+
 			self.centerX = border[0][1]
-			
+
 			offsetSX = (self.centImgX-self.centerX)*self.resolution*10**-3
-		
+
 		centerXCalculationTime = time.time()-start
 		self.totalProcessingTime += centerXCalculationTime
-		
+
 		print("Time to calculate sample center X: "+str(centerXCalculationTime))
-			
+
 		return offsetSX
 
 	def displayResults(self):
-		
+
 		try:
 			self.centerX
 		except NameError:
@@ -293,26 +293,26 @@ class OffsetsCalculation:
 			self.centerY
 		except NameError:
 			self.centerY = 0
-			
+
 		print('\n')
 		print('total processing time: '+str(self.totalProcessingTime))
-		print('\n')		
+		print('\n')
 
 		print('Sample center detected: '+str(self.centerX)+' in X and: '+str(self.centerY)+' in Y')
 		print('Image center: '+str(self.centImgX)+' in X and: '+str(self.centImgY)+' in Y')
-		
+
 	def displayImage(self):
-		
+
 		edgesDetection = fabio.open('/segfs/tango/tmp/clemence/SampleAlignment/edgesDetected.edf')
-		
+
 		qapp = qt.QApplication([])
 		plot = Plot2D()
 		plot.addImage(edgesDetection.data, legend='image')
 		plot.show()
 		qapp.exec_()
-		
+
 if __name__ == '__main__':
-	
+
 	test = OffsetsCalculation(12.57,"/segfs/tango/tmp/clemence/SampleAlignment/","absent","straight")
 	test.imagesOpening()
 	test.imageContrastEnhancement()
@@ -322,6 +322,4 @@ if __name__ == '__main__':
 	#test.sampleCenterXCalculation()
 	#test.displayResults()
 	#inst = OffsetsCalculation(0,"","","")
-	#inst.displayImage()	
-		
-		
+	#inst.displayImage()

SampleAlignment/TomoSampleAlign.py → src/samplechanger/sample_alignment/TomoSampleAlign.py

@@ -43,35 +43,35 @@ class TomoSampleAlign(Device):
     """
     __metaclass__ = DeviceMeta
     # PROTECTED REGION ID(TomoSampleAlign.class_variable) ENABLED START #
-    
+
     green_mode = PyTango.GreenMode.Gevent
-    
+
     #
     # Blocking operation to find sample center
     #
     def alignment_task(self):
         try:
             self.info_stream("started alignment")
-        
+
             self.is_error  = False
             self.is_moving = True
-        
+
 			# alignment code
             print ("Alignment start\n")
-            
+
             #gevent.sleep(3)
-            
+
             align = OffsetsCalculation(self.attr_Resolution_read,self.attr_ImageDirectory_read,self.attr_StandDetection_read,self.attr_BorderType_read)
             align.imagesOpening()
             align.imageContrastEnhancement()
             align.imageFiltering()
             align.edgesDetection()
-            
+
             if self.attr_AlignX_read:
 				if self.attr_LocalTomo_read == True:
 					offsetSX = align.localTomoCenterXCalculation()
 					self.attr_BorderDetected_read = align.borderDetected
-					
+
 					print(self.attr_BorderDetected_read)
 				else:
 					offsetSX = align.sampleCenterXCalculation()
@@ -81,22 +81,22 @@ class TomoSampleAlign(Device):
 				offsetSY = align.sampleCenterYCalculation()
             else:
 				offsetSY = 0
-            
+
             align.displayResults()
- 
-            
+
+
             print('Offset detected: '+str(int(offsetSX/(self.attr_Resolution_read*10**-3)))+' in X and: '+str(int(offsetSY/(self.attr_Resolution_read*10**-3)))+' in Y')
             print('Relative SY moving of '+str(offsetSX))
             print('Relative SZ moving of '+str(offsetSY))
-            
+
             self.attr_AlignmentOffsets_read = [offsetSX,offsetSY]
-            
+
             self.is_moving = False
-            
+
             self.info_stream("\nfinished alignment")
-            
-            
-        
+
+
+
         # catch all exceptions, print the traceback to the console and
         # add the information to the device status until acknowledgement
         except:
@@ -106,10 +106,10 @@ class TomoSampleAlign(Device):
             except PyTango.DevFailed as ex:
                 self.task_error = ex
                 PyTango.Except.print_exception(ex)
-                    
+
                 self.is_error  = True
                 self.is_moving = False
-    
+
     # PROTECTED REGION END #    //  TomoSampleAlign.class_variable
 
     # ----------
@@ -183,13 +183,13 @@ class TomoSampleAlign(Device):
         Device.init_device(self)
         # PROTECTED REGION ID(TomoSampleAlign.init_device) ENABLED START #
         # init flags for state and status
-        
+
         self.is_moving = False
         self.is_error = False
-        
+
         self.running_task = None
         self.task_error = None
-        
+
         self.attr_SampleSizeZ_read = 0.0
         self.attr_SampleSizeY_read = 0.0
         self.attr_SampleSizeX_read = 0.0
@@ -201,7 +201,7 @@ class TomoSampleAlign(Device):
         self.attr_AlignY_read = False
         self.attr_AlignmentOffsets_read = [0.0,0.0]
         print("done!")
-        
+
         # PROTECTED REGION END #    //  TomoSampleAlign.init_device
 
     def always_executed_hook(self):
@@ -416,8 +416,8 @@ class TomoSampleAlign(Device):
 			_state = PyTango.DevState.MOVING
         else:
             _state = PyTango.DevState.ON
-        
-        self.set_state(_state)  
+
+        self.set_state(_state)
         return _state
         # PROTECTED REGION END #    //  TomoSampleAlign.State
 
@@ -425,7 +425,7 @@ class TomoSampleAlign(Device):
     def dev_status(self):
         # PROTECTED REGION ID(TomoSampleAlign.Status) ENABLED START #
         state = self.dev_state()
-        
+
         self._status = "The device state is "
         if state == PyTango.DevState.FAULT:
             self._status += "FAULT"
@@ -435,7 +435,7 @@ class TomoSampleAlign(Device):
             if self.attr_ImageDirectory_read == "None":
 				self._status += "\nAccess path to images to process is not specified. Please enter it"
             if self.attr_StandDetection_read == "None":
-				self._status += "\nPresence or absence of stand in the field of view is not specified. Please enter it"            
+				self._status += "\nPresence or absence of stand in the field of view is not specified. Please enter it"
             if self.attr_BorderType_read == "None":
 				self._status += "\nNo borders type specified. Please enter the type of borders to be detected"
             if self.attr_Resolution_read == None:
@@ -444,7 +444,7 @@ class TomoSampleAlign(Device):
 			self._status += "MOVING"
         else:
             self._status += "ON"
-        
+
         self.set_status(self._status)
         return self._status
         # PROTECTED REGION END #    //  TomoSampleAlign.Status
@@ -454,12 +454,12 @@ class TomoSampleAlign(Device):
     @DebugIt()
     def AlignSample(self):
         # PROTECTED REGION ID(TomoSampleAlign.AlignSample) ENABLED START #
-        
+
         self.running_task = gevent.spawn(self.alignment_task)
         print("Running started")
         self.is_moving = True
-		
-        
+
+
         # PROTECTED REGION END #    //  TomoSampleAlign.AlignSample
 
     def is_AlignSample_allowed(self):
@@ -474,10 +474,10 @@ class TomoSampleAlign(Device):
 
 def main(args=None, **kwargs):
     # PROTECTED REGION ID(TomoSampleAlign.main) ENABLED START #
-    
+
     # Enable gevents for the server
     kwargs.setdefault("green_mode", PyTango.GreenMode.Gevent)
-    
+
     return run((TomoSampleAlign,), args=args, **kwargs)
     # PROTECTED REGION END #    //  TomoSampleAlign.main
 

SamplesDS/TomoSample.py → src/samplechanger/samples_ds/TomoSample.py

@@ -110,7 +110,7 @@ class TomoSample(Device):
     def init_device(self):
         Device.init_device(self)
         # PROTECTED REGION ID(TomoSample.init_device) ENABLED START #
-        
+
         self.attr_Name_read     = "None"
         self.attr_Position_read = "None"
         self.attr_SizeX_read    = 0.0
@@ -120,13 +120,13 @@ class TomoSample(Device):
         self.attr_AlignSY_read  = 0.0
         self.attr_AlignSZ_read  = 0.0
         self.attr_Aligned_read  = False
-        
+
         #
         # Get sample changer position from the device name
         dev_name = self.get_name()
         dom, fam, member = dev_name.split("/")
         self.attr_Position_read = member
-        
+
         # PROTECTED REGION END #    //  TomoSample.init_device
 
     def always_executed_hook(self):
@@ -236,13 +236,13 @@ class TomoSample(Device):
     @DebugIt()
     def dev_state(self):
         # PROTECTED REGION ID(TomoSample.State) ENABLED START #
-        
+
         if self.attr_Name_read == "None":
             _state = PyTango.DevState.DISABLE
         else:
             _state = PyTango.DevState.ON
-        
-        self.set_state(_state)  
+
+        self.set_state(_state)
         return _state
         # PROTECTED REGION END #    //  TomoSample.State
 
@@ -251,7 +251,7 @@ class TomoSample(Device):
     @DebugIt()
     def Reset(self):
         # PROTECTED REGION ID(TomoSample.Reset) ENABLED START #
-        
+
         myself = PyTango.DeviceProxy (self.get_name())
         myself.write_attribute_asynch("Name" , "None")
         myself.write_attribute_asynch("SizeX" , 0)
@@ -261,7 +261,7 @@ class TomoSample(Device):
         myself.write_attribute_asynch("AlignSY" , 0)
         myself.write_attribute_asynch("AlignSZ" , 0)
         myself.write_attribute_asynch("Aligned" , False)
-        
+
         # PROTECTED REGION END #    //  TomoSample.Reset
 
 # ----------

SamplesDS/TomoSamples.py → src/samplechanger/samples_ds/TomoSamples.py

@@ -27,7 +27,7 @@ from PyTango import AttrWriteType, PipeWriteType
 # PROTECTED REGION ID(TomoSamples.additionnal_import) ENABLED START #
 
 import sys
-import TomoSample
+from . import TomoSample
 
 # PROTECTED REGION END #    //  TomoSamples.additionnal_import
 
@@ -39,7 +39,7 @@ class TomoSamples(Device):
     """
     __metaclass__ = DeviceMeta
     # PROTECTED REGION ID(TomoSamples.class_variable) ENABLED START #
-            
+
     # PROTECTED REGION END #    //  TomoSamples.class_variable
 
     # -----------------
@@ -47,7 +47,7 @@ class TomoSamples(Device):
     # -----------------
 
     SamplePath = device_property(
-        dtype='str', default_value="id19/tomo-sample/"
+        dtype='str', default_value="{{prefix}}/tomo-sample/"
     )
 
     ProtectedSampleNames = device_property(
@@ -95,33 +95,37 @@ class TomoSamples(Device):
     def init_device(self):
         Device.init_device(self)
         # PROTECTED REGION ID(TomoSamples.init_device) ENABLED START #
-        
+
         self.sample_devices = {}
         self.tomo_samples   = {}
-        
+
         self.active_sample_name     = "None"
         self.active_sample_position = "None"
-        
+
+        SamplePath = self.SamplePath
+        prefix = self.get_name().split("/")[0]
+        SamplePath = SamplePath.replace("{{prefix}}", prefix)
+
         for col in ["A", "B", "C"]:
             for n in range(1,19):
                 pos = "%s%d" % (col, n)
                 # The samples A7 and A8 do not exist on the sample changer shelf
                 if pos == "A7" or pos == "A8" or pos == "B7" or pos == "B8" or pos == "C7" or pos == "C8":
                     continue
-                
-                dev_name = self.SamplePath + pos
+
+                dev_name = SamplePath + pos
                 dev_proxy = PyTango.DeviceProxy (dev_name)
                 self.sample_devices[pos] = dev_proxy
-                
+
                 sample_name = dev_proxy.read_attribute("Name").value
                 if sample_name != "None":
                     self.tomo_samples[pos] = sample_name
-            
+
         print(self.tomo_samples)
-            
-        
-        
-        
+
+
+
+
         # PROTECTED REGION END #    //  TomoSamples.init_device
 
     def always_executed_hook(self):
@@ -160,26 +164,26 @@ class TomoSamples(Device):
 
     def read_ActiveAligned(self):
         # PROTECTED REGION ID(TomoSamples.ActiveAligned_read) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("ReadError", err_msg, "read_ActiveAligned")
-            
+
         aligned = False
         aligned = self.sample_devices[self.active_sample_position].read_attribute("Aligned").value
         return aligned
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveAligned_read
 
     def write_ActiveAligned(self, value):
         # PROTECTED REGION ID(TomoSamples.ActiveAligned_write) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("WriteError", err_msg, "write_ActiveAligned")
-        
+
         self.sample_devices[self.active_sample_position].write_attribute("Aligned", value)
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveAligned_write
 
     def is_ActiveAligned_allowed(self, attr):
@@ -192,18 +196,18 @@ class TomoSamples(Device):
 
     def read_Samples(self):
         # PROTECTED REGION ID(TomoSamples.Samples_read) ENABLED START #
-        
+
         numbermap = {'A1': 1, 'A2': 2, 'A3': 3, 'A4': 4, 'A5': 5, 'A6': 6, 'A9': 7, 'A10': 8, 'A11': 9, 'A12': 10, 'A13': 11, 'A14': 12, 'A15': 13, 'A16': 14, 'A17': 15, 'A18': 16, \
                      'B1': 17, 'B2': 18, 'B3': 19, 'B4': 20, 'B5': 21, 'B6': 22, 'B9': 23, 'B10': 24, 'B11': 25, 'B12': 26, 'B13': 27, 'B14': 28, 'B15': 29, 'B16': 30, 'B17': 31, 'B18': 32, \
                      'C1': 33, 'C2': 34, 'C3': 35, 'C4': 36, 'C5': 37, 'C6': 38, 'C9': 39, 'C10': 40, 'C11': 41, 'C12': 42, 'C13': 43, 'C14': 44, 'C15': 45, 'C16': 46, 'C17': 47, 'C18': 48}
-        
+
         samplelist = []
         #for pos in sorted(self.tomo_samples.keys()):
         for pos in sorted(self.tomo_samples, key=numbermap.__getitem__):
             samplelist.append(pos)
             samplelist.append(self.tomo_samples[pos])
         return samplelist
-        
+
         # PROTECTED REGION END #    //  TomoSamples.Samples_read
 
     def is_Samples_allowed(self, attr):
@@ -213,30 +217,30 @@ class TomoSamples(Device):
 
     def read_ActiveSampleSize(self):
         # PROTECTED REGION ID(TomoSamples.ActiveSampleSize_read) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("ReadError", err_msg, "read_ActiveSampleSize")
-            
+
         sample_size = [0.0, 0.0, 0.0]
         sample_size[0] = self.sample_devices[self.active_sample_position].read_attribute("SizeX").value
         sample_size[1] = self.sample_devices[self.active_sample_position].read_attribute("SizeY").value
         sample_size[2] = self.sample_devices[self.active_sample_position].read_attribute("SizeZ").value
         return sample_size
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveSampleSize_read
 
     def write_ActiveSampleSize(self, value):
         # PROTECTED REGION ID(TomoSamples.ActiveSampleSize_write) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("WriteError", err_msg, "write_ActiveSampleSize")
-            
+
         self.sample_devices[self.active_sample_position].write_attribute("SizeX", value[0])
         self.sample_devices[self.active_sample_position].write_attribute("SizeY", value[1])
         self.sample_devices[self.active_sample_position].write_attribute("SizeZ", value[2])
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveSampleSize_write
 
     def is_ActiveSampleSize_allowed(self, attr):
@@ -249,30 +253,30 @@ class TomoSamples(Device):
 
     def read_ActiveSampleAlignPos(self):
         # PROTECTED REGION ID(TomoSamples.ActiveSampleAlignPos_read) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("ReadError", err_msg, "read_ActiveSampleAlignPos")
-        
+
         align_pos = [0.0, 0.0, 0.0]
         align_pos[0] = self.sample_devices[self.active_sample_position].read_attribute("AlignSX").value
         align_pos[1] = self.sample_devices[self.active_sample_position].read_attribute("AlignSY").value
         align_pos[2] = self.sample_devices[self.active_sample_position].read_attribute("AlignSZ").value
         return align_pos
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveSampleAlignPos_read
 
     def write_ActiveSampleAlignPos(self, value):
         # PROTECTED REGION ID(TomoSamples.ActiveSampleAlignPos_write) ENABLED START #
-        
+
         if self.active_sample_position == "None":
             err_msg = "No active sample defined!"
             PyTango.Except.throw_exception("WriteError", err_msg, "write_ActiveSampleAlignPos")
-            
+
         self.sample_devices[self.active_sample_position].write_attribute("AlignSX", value[0])
         self.sample_devices[self.active_sample_position].write_attribute("AlignSY", value[1])
         self.sample_devices[self.active_sample_position].write_attribute("AlignSZ", value[2])
-        
+
         # PROTECTED REGION END #    //  TomoSamples.ActiveSampleAlignPos_write
 
     def is_ActiveSampleAlignPos_allowed(self, attr):
@@ -291,45 +295,45 @@ class TomoSamples(Device):
     @DebugIt()
     def dev_state(self):
         # PROTECTED REGION ID(TomoSamples.State) ENABLED START #
-        
+
         if len(self.tomo_samples) == 0:
             _state = PyTango.DevState.DISABLE
         else:
             _state = PyTango.DevState.ON
-            
-        self.set_state(_state)    
+
+        self.set_state(_state)
         return _state
-        
+
         # PROTECTED REGION END #    //  TomoSamples.State
 
     @DebugIt()
     def dev_status(self):
         # PROTECTED REGION ID(TomoSamples.Status) ENABLED START #
-        
+
         state = self.dev_state()
-        
+
         self._status = "The device state is "
         if state == PyTango.DevState.DISABLE:
             self._status += "DISABLED"
             self._status += "\nNo samples defined! Add samples first."
         else:
             self._status += "ON"
-        
+
         self.set_status(self._status)
         return self._status
-        
+
         # PROTECTED REGION END #    //  TomoSamples.Status
 
     @command(
-    dtype_in=('str',), 
-    doc_in="Sampe position and sample name", 
+    dtype_in=('str',),
+    doc_in="Sampe position and sample name",
     )
     @DebugIt()
     def AddSample(self, argin):
         # PROTECTED REGION ID(TomoSamples.AddSample) ENABLED START #
-        
+
         position = argin[0].upper()
-        
+
         # check for valid sample name
         # Column must be A, B or C
         column =  position[0]
@@ -337,35 +341,35 @@ class TomoSamples(Device):
            (column != "A" and column != "B" and column != "C"):
             err_msg = "Wrong sample name. The sample column in the shelf must be A, B or C"
             PyTango.Except.throw_exception("WriteError", err_msg, "AddSample")
-        
+
         #row number must be between 1 and 18
         row = int(position[1:3])
         if row < 1 or row > 18:
             err_msg = "Wrong sample name. The sample row in the shelf must be between 1 and 18"
             PyTango.Except.throw_exception("WriteError", err_msg, "AddSample")
-            
+
         # the samples A7 and A8 don't exist!!!
         if row == 7 or row == 8:
             err_msg = "The samples A,B,C 7 and 8 do not exist on the sample changer shelf!"
             PyTango.Except.throw_exception("WriteError", err_msg, "Addample")
-        
+
         if position in self.tomo_samples.keys():
             err_msg = "A sample is already defined at position %s" % position
             PyTango.Except.throw_exception("WriteError", err_msg, "AddSample")
-        
+
         self.sample_devices[position].write_attribute("Name", argin[1])
         self.tomo_samples[position] = argin[1]
-        
+
         # PROTECTED REGION END #    //  TomoSamples.AddSample
 
     @command(
-    dtype_in='str', 
-    doc_in="Sample position or sample name", 
+    dtype_in='str',
+    doc_in="Sample position or sample name",
     )
     @DebugIt()
     def DeleteSample(self, argin):
         # PROTECTED REGION ID(TomoSamples.DeleteSample) ENABLED START #
-        
+
         position = "None"
         if argin.upper() in self.tomo_samples.keys():
             position = argin.upper()
@@ -374,7 +378,7 @@ class TomoSamples(Device):
                 if self.tomo_samples[i].lower() == argin.lower():
                     position = i
                     break
-        
+
         if position != "None":
             self.sample_devices[position].Reset()
             del self.tomo_samples[position]
@@ -384,7 +388,7 @@ class TomoSamples(Device):
         else:
             err_msg = "Sample %s not found" % argin
             PyTango.Except.throw_exception("WriteError", err_msg, "DeleteSample")
-        
+
         # PROTECTED REGION END #    //  TomoSamples.DeleteSample
 
     def is_DeleteSample_allowed(self):
@@ -397,22 +401,22 @@ class TomoSamples(Device):
     @DebugIt()
     def Reset(self):
         # PROTECTED REGION ID(TomoSamples.Reset) ENABLED START #
-        
-        for i in list(self.tomo_samples.keys()):
+
+        for i,_ in list(self.tomo_samples.items()):
             # do not reset samples with protected names
             found = False
             for psn in self.ProtectedSampleNames:
                 if psn.lower() == self.tomo_samples[i].lower():
                     found = True;
                     break;
-                    
+
             if found == False:
                 self.sample_devices[i].Reset()
                 del self.tomo_samples[i]
-            
+
         self.active_sample_position = "None"
         self.active_sample_name     = "None"
-        
+
         # PROTECTED REGION END #    //  TomoSamples.Reset
 
     def is_Reset_allowed(self):
@@ -421,13 +425,13 @@ class TomoSamples(Device):
         # PROTECTED REGION END #    //  TomoSamples.is_Reset_allowed
 
     @command(
-    dtype_in='str', 
-    doc_in="Sample position or sample name", 
+    dtype_in='str',
+    doc_in="Sample position or sample name",
     )
     @DebugIt()
     def ActivateSample(self, argin):
         # PROTECTED REGION ID(TomoSamples.ActivateSample) ENABLED START #
-        
+
         position = "None"
         if argin.upper() in self.tomo_samples.keys():
             position = argin.upper()
@@ -436,7 +440,7 @@ class TomoSamples(Device):
                 if self.tomo_samples[i].lower() == argin.lower():
                     position = i
                     break
-        
+
         if position != "None":
             self.active_sample_position = position
             self.active_sample_name     = self.tomo_samples[position]
@@ -451,8 +455,8 @@ class TomoSamples(Device):
         # PROTECTED REGION END #    //  TomoSamples.is_ActivateSample_allowed
 
     @command(
-    dtype_in=('str',), 
-    doc_in="Attribute name and its new value", 
+    dtype_in=('str',),
+    doc_in="Attribute name and its new value",
     )
     @DebugIt()
     def EditSample(self, argin):
@@ -460,14 +464,18 @@ class TomoSamples(Device):
 
         name = argin[0]
         value = argin[1]
-        
+
+        SamplePath = self.SamplePath
+        prefix = self.get_name().split("/")[0]
+        SamplePath = SamplePath.replace("{{prefix}}", prefix)
+
         if name == "Position":
             sample = []
             sample.append(value)
             sample.append(self.active_sample_name)
             self.AddSample(sample)
-            prevSample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
-            newSample = PyTango.DeviceProxy (self.SamplePath + value)
+            prevSample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
+            newSample = PyTango.DeviceProxy (SamplePath + value)
             newSample.write_attribute_asynch("SizeX" , prevSample.SizeX)
             newSample.write_attribute_asynch("SizeY" , prevSample.SizeY)
             newSample.write_attribute_asynch("SizeZ" , prevSample.SizeZ)
@@ -478,28 +486,28 @@ class TomoSamples(Device):
             self.init_device()
             self.ActivateSample(newSample.Position)
         elif name == "Name":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("Name" , value)
             self.init_device()
         elif name == "SizeX":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("SizeX" , float(value))
         elif name == "SizeY":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("SizeY" , float(value))
         elif name == "SizeZ":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("SizeZ" , float(value))
         elif name == "AlignSX":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("AlignSX" , float(value))
         elif name == "AlignSY":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("AlignSY" , float(value))
         elif name == "AlignSZ":
-            sample = PyTango.DeviceProxy (self.SamplePath + self.active_sample_position)
+            sample = PyTango.DeviceProxy (SamplePath + self.active_sample_position)
             sample.write_attribute_asynch("AlignSZ" , float(value))
-            
+
         # PROTECTED REGION END #    //  TomoSamples.EditSample
 
 # ----------
@@ -509,9 +517,9 @@ class TomoSamples(Device):
 
 def main(args=None, **kwargs):
     # PROTECTED REGION ID(TomoSamples.main) ENABLED START #
-    
+
     return run((TomoSample.TomoSample, TomoSamples,), args=args, **kwargs)
-    
+
     # PROTECTED REGION END #    //  TomoSamples.main
 
 if __name__ == '__main__':