Merge branch 'master' into enh-rfdevice

siriuspy/siriuspy/devices/__init__.py

@@ -20,7 +20,7 @@
     FOFBPSLamp, FOFBPSSysId
 from .ict import ICT, TranspEff
 from .idff import IDFF
-from .ids import APU, DELTA, EPU, ID, IDBase, PAPU, WIG
+from .ids import APU, DELTA, EPU, ID, IDBase, PAPU, WIG, IVU
 from .injctrl import InjCtrl
 from .injsys import BOPSRampStandbyHandler, BORFRampStandbyHandler, \
     InjSysPUModeHandler, InjSysStandbyHandler, LinacStandbyHandler, \

siriuspy/siriuspy/devices/ids.py

@@ -19,6 +19,7 @@ class _ParamPVs:
     BLCTRL_ENBL_SEL = 'BeamLineCtrlEnbl-Sel'
     BLCTRL_ENBL_STS = 'BeamLineCtrlEnbl-Sts'
     MOVE_ABORT = None
+    RESET = None
 
     # --- PPARAM ---
     PPARAM_SP = None
@@ -62,6 +63,21 @@ class _ParamPVs:
     POL_MON = None
     POL_CHANGE_CMD = None
 
+    # --- POSITION ADJUSTS ---
+    CENTER_MODE_SEL = None
+    CENTER_MODE_STS = None
+    CENTER_OFFSET_SP = None
+    CENTER_OFFSET_RB = None
+    CENTER_OFFSET_MON = None
+    PITCH_MODE_SEL = None
+    PITCH_MODE_STS = None
+    PITCH_OFFSET_SP = None
+    PITCH_OFFSET_RB = None
+    PITCH_OFFSET_MON = None
+    KPARAM_TAPER_SP = None
+    KPARAM_TAPER_RB = None
+    KPARAM_TAPER_MON = None
+
     def __str__(self):
         """Print parameters."""
         str_ = ''
@@ -340,7 +356,7 @@ def kparameter_speed_max_lims(self):
     @property
     def kparameter_speed(self):
         """Return kparameter speed readback [mm/s]."""
-        return self[self.PARAM_PVS.KPARAM_VELO_SP]
+        return self[self.PARAM_PVS.KPARAM_VELO_RB]
 
     @property
     def kparameter_speed_mon(self):
@@ -900,11 +916,11 @@ class DEVICES:
         'EnblAndReleasePhase-Sel', 'EnblAndReleasePhase-Sts',
         'AllowedToChangePhase-Mon',
         'StopPhase-Cmd', 'Log-Mon',
-        )
+    )
     _properties_papu = (
         'Home-Cmd', 'EnblPwrPhase-Cmd', 'ClearErr-Cmd',
         'BeamLineCtrl-Mon',
-        )
+    )
 
     PROPERTIES_DEFAULT = \
         tuple(set(
@@ -1051,9 +1067,9 @@ def cmd_move_phase_start(self, timeout=None):
         """Command to start phase movement."""
         return self.cmd_move_kparameter_start(timeout=timeout)
 
-    # --- cmd_reset
+    # --- cmd_enable
 
-    def cmd_device_reset(self, timeout=None):
+    def cmd_enable_movement(self, timeout=None):
         """Command to reset ID to a standard movement state."""
         success = True
         success &= self.cmd_beamline_ctrl_disable(timeout=timeout)
@@ -1358,7 +1374,7 @@ class DEVICES:
         'ConsistentSetPoints-Mon', 'PLCState-Mon',
         'Energy-SP', 'Energy-RB', 'Energy-Mon',
         'KValue-SP', 'KValue-RB', 'KValue-Mon',
-        )
+    )
 
     def __init__(self, devname=None, props2init='all', auto_monitor_mon=True):
         """."""
@@ -1473,24 +1489,10 @@ class DEVICES:
     # --- PARAM_PVS ---
     PARAM_PVS = _ParamPVs()
     # PARAM_PVS.PERIOD_LEN_CTE = 'PeriodLength-Cte'
-    # PARAM_PVS.IS_MOVING = 'Moving-Mon'
+    PARAM_PVS.IS_MOVING = 'Moving-Mon'
     # PARAM_PVS.START_PARKING_CMD = 'StartParking-Cmd'
-    # PARAM_PVS.MOVE_ABORT = 'Abort-Cmd'
-    # PARAM_PVS.PPARAM_SP = 'PParam-SP'
-    # PARAM_PVS.PPARAM_RB = 'PParam-RB'
-    # PARAM_PVS.PPARAM_MON = 'PParam-Mon'
-    # PARAM_PVS.PPARAM_PARKED_CTE = 'PParamParked-Cte'
-    # PARAM_PVS.PPARAM_MAXACC_SP = 'MaxAcc-SP'
-    # PARAM_PVS.PPARAM_MAXACC_RB = 'MaxAcc-RB'
-    # PARAM_PVS.PPARAM_MAXVELO_SP = 'MaxVelo-SP'
-    # PARAM_PVS.PPARAM_MAXVELO_RB = 'MaxVelo-RB'
-    # PARAM_PVS.PPARAM_VELO_SP = 'PParamVelo-SP'
-    # PARAM_PVS.PPARAM_VELO_RB = 'PParamVelo-RB'
-    # PARAM_PVS.PPARAM_ACC_SP = 'PParamAcc-SP'
-    # PARAM_PVS.PPARAM_ACC_RB = 'PParamAcc-RB'
-    # PARAM_PVS.PPARAM_TOL_SP = 'PolTol-SP'
-    # PARAM_PVS.PPARAM_TOL_RB = 'PolTol-RB'
-    # PARAM_PVS.PPARAM_CHANGE_CMD = 'PParamChange-Cmd'
+    PARAM_PVS.MOVE_ABORT = 'Abort-Cmd'
+    PARAM_PVS.RESET = 'Reset-Cmd'
     PARAM_PVS.KPARAM_SP = 'KParam-SP'
     PARAM_PVS.KPARAM_RB = 'KParam-RB'
     PARAM_PVS.KPARAM_MON = 'KParam-Mon'
@@ -1503,13 +1505,25 @@ class DEVICES:
     PARAM_PVS.KPARAM_VELO_RB = 'KParamVelo-RB'
     PARAM_PVS.KPARAM_ACC_SP = 'KParamAcc-SP'
     PARAM_PVS.KPARAM_ACC_RB = 'KParamAcc-RB'
+
+    PARAM_PVS.CENTER_MODE_STS = 'CenterMode-Sts'
+    PARAM_PVS.CENTER_MODE_SEL = 'CenterMode-Sel'
+    PARAM_PVS.PITCH_MODE_STS = 'PitchMode-Sts'
+    PARAM_PVS.PITCH_MODE_SEL = 'PitchMode-Sel'
+
+    PARAM_PVS.CENTER_OFFSET_SP = 'CenterOffset-SP'
+    PARAM_PVS.CENTER_OFFSET_RB = 'CenterOffset-RB'
+    PARAM_PVS.CENTER_OFFSET_MON = 'CenterOffset-Mon'
+    PARAM_PVS.PITCH_OFFSET_SP = 'PitchOffset-SP'
+    PARAM_PVS.PITCH_OFFSET_RB = 'PitchOffset-RB'
+    PARAM_PVS.PITCH_OFFSET_MON = 'PitchOffset-Mon'
+    PARAM_PVS.KPARAM_TAPER_SP = 'KParamTaper-SP'
+    PARAM_PVS.KPARAM_TAPER_RB = 'KParamTaper-RB'
+    PARAM_PVS.KPARAM_TAPER_MON = 'KParamTaper-Mon'
+
     # PARAM_PVS.KPARAM_TOL_SP = 'PosTol-SP'
     # PARAM_PVS.KPARAM_TOL_RB = 'PosTol-RB'
-    # PARAM_PVS.KPARAM_CHANGE_CMD = 'KParamChange-Cmd'
-    # PARAM_PVS.POL_SEL = 'Pol-Sel'
-    # PARAM_PVS.POL_STS = 'Pol-Sts'
-    # PARAM_PVS.POL_MON = 'Pol-Mon'
-    # PARAM_PVS.POL_CHANGE_CMD = 'PolChange-Cmd'
+    PARAM_PVS.KPARAM_CHANGE_CMD = 'KParamChange-Cmd'
 
     PROPERTIES_DEFAULT = tuple(set(
         value for key, value in _inspect.getmembers(PARAM_PVS)
@@ -1525,6 +1539,182 @@ def __init__(self, devname, props2init='all', auto_monitor_mon=True):
         super().__init__(
             devname, props2init=props2init, auto_monitor_mon=auto_monitor_mon)
 
+     # --- gap speeds ----
+
+    @property
+    def gap_speed(self):
+        """Return gap speed readback [mm/s]."""
+        return self.kparameter_speed
+
+    @property
+    def gap_speed_mon(self):
+        """Return gap speed monitor [mm/s]."""
+        return self.kparameter_speed_mon
+
+    @property
+    def gap_speed_max(self):
+        """Return max gap speed readback [mm/s]."""
+        return self.kparameter_speed_max
+
+    @property
+    def gap_speed_max_lims(self):
+        """Return max gap speed limits."""
+        return self.kparameter_speed_max_lims
+
+    # --- gap ---
+
+    @property
+    def gap_parked(self):
+        """Return ID parked gap value [mm]."""
+        return self.kparameter_parked
+
+    @property
+    def gap(self):
+        """Return ID gap readback [mm]."""
+        return self.kparameter
+
+    @property
+    def gap_lims(self):
+        """Return ID gap control limits [mm]."""
+        return self.kparameter_lims
+
+    @property
+    def gap_mon(self):
+        """Return ID gap monitor [mm]."""
+        return self.kparameter_mon
+
+    # --- taper ---
+
+    @property
+    def taper(self):
+        """Return ID taper readback [mm]."""
+        return self[self.PARAM_PVS.KPARAM_TAPER_RB]
+
+    @property
+    def taper_mon(self):
+        """Return ID taper monitor [mm]."""
+        return self[self.PARAM_PVS.KPARAM_TAPER_MON]
+
+    # --- pitch ---
+
+    @property
+    def pitch_mode_status(self):
+        """Return ID pitch mode status."""
+        return self[self.PARAM_PVS.PITCH_MODE_STS]
+
+    @property
+    def pitch(self):
+        """Return ID pitch readback [mm]."""
+        return self[self.PARAM_PVS.PITCH_OFFSET_RB]
+
+    @property
+    def pitch_mon(self):
+        """Return ID pitch monitor [mm]."""
+        return self[self.PARAM_PVS.PITCH_OFFSET_MON]
+
+    # --- center ---
+
+    @property
+    def center_mode_status(self):
+        """Return ID center mode status."""
+        return self[self.PARAM_PVS.CENTER_MODE_STS]
+
+    @property
+    def center_offset(self):
+        """Return ID center offset readback [mm]."""
+        return self[self.PARAM_PVS.CENTER_OFFSET_RB]
+
+    @property
+    def center_offset_mon(self):
+        """Return ID center offset monitor [mm]."""
+        return self[self.PARAM_PVS.CENTER_OFFSET_MON]
+
+    # --- set methods ---
+
+    def set_gap(self, gap, timeout=None):
+        """Set ID target gap for movement [mm]."""
+        return self.set_kparameter(gap, timeout)
+
+    def set_gap_speed(self, gap_speed, timeout=None):
+        """Set ID cruise gap speed for movement [mm/s]."""
+        return self.set_kparameter_speed(gap_speed, timeout)
+
+    def set_gap_speed_max(self, gap_speed_max, timeout=None):
+        """Set ID max cruise gap speed for movement [mm/s]."""
+        return self.set_kparameter_speed_max(gap_speed_max, timeout)
+
+    def set_taper(self, taper, timeout=None):
+        """Set ID target taper for movement [mm]."""
+        return self._write_sp(self.PARAM_PVS.KPARAM_TAPER_SP, taper, timeout)
+
+    def set_pitch(self, pitch, timeout=None):
+        """Set ID pitch for movement [mm]."""
+        return self._write_sp(self.PARAM_PVS.PITCH_OFFSET_SP, pitch, timeout)
+
+    def set_center_offset(self, center_offset, timeout=None):
+        """Set ID center offset for movement [mm]."""
+        return self._write_sp(self.PARAM_PVS.CENTER_OFFSET_SP, center_offset, timeout)
+
+    def set_center_mode(self, mode, timeout=None):
+        """Set ID center mode True or False."""
+        if type(mode) != bool:
+            raise ValueError('Center mode must be boolean.')
+        if not mode:
+            self.set_taper(0, timeout)
+        return self._write_sp(self.PARAM_PVS.CENTER_MODE_SEL, mode, timeout)
+
+    def set_pitch_mode(self, mode, timeout=None):
+        """Set ID pitch mode True or False."""
+        if type(mode) != bool:
+            raise ValueError('Pitch mode must be boolean.')
+        if not mode:
+            self.set_center_offset(0, timeout)
+        return self._write_sp(self.PARAM_PVS.PITCH_MODE_SEL, mode, timeout)
+
+    # --- cmd_move
+
+    def cmd_move_gap_start(self, timeout=None):
+        """Command to start gap movement."""
+        if self.center_mode_status:
+            raise ValueError('Center offset mode must be disabled.')
+        if self.pitch_mode_status:
+            raise ValueError('Pitch mode must be disabled.')
+        if not _np.isclose(self.taper_mon, 0, atol=1e-4):
+            raise ValueError('Taper must be zero.')
+        return self.cmd_move_kparameter_start(timeout)
+
+    def cmd_move_taper_start(self, timeout=None):
+        """Command to start taper movement."""  # Need to change PV for taper mov in IOC
+        if self.center_mode_status:
+            raise ValueError('Center offset mode must be disabled.')
+        if self.pitch_mode_status:
+            raise ValueError('Pitch mode must be disabled.')
+        return self._move_start(
+            self.PARAM_PVS.KPARAM_CHANGE_CMD, timeout=timeout)
+
+    def cmd_move_pitch_start(self, timeout=None):
+        """Command to start pitch movement."""  # Need to change PV for pitch mov in IOC
+        if self.center_mode_status:
+            raise ValueError('Center offset mode must be disabled.')
+        if not _np.isclose(self.taper_mon, 0, atol=1e-4):
+            raise ValueError('Taper must be zero.')
+        return self._move_start(
+            self.PARAM_PVS.KPARAM_CHANGE_CMD, timeout=timeout)
+
+    def cmd_move_center_start(self, timeout=None):
+        """Command to start center movement."""  # Need to change PV for center mov in IOC
+        if self.pitch_mode_status:
+            raise ValueError('Pitch mode must be disabled.')
+        if not _np.isclose(self.taper_mon, 0, atol=1e-4):
+            raise ValueError('Taper must be zero.')
+        return self._move_start(
+            self.PARAM_PVS.KPARAM_CHANGE_CMD, timeout=timeout)
+
+    # --- cmd_reset
+    def cmd_reset(self, timeout=None):
+        """Command to reset undulator."""
+        return self._write_sp(
+            self.PARAM_PVS.RESET, timeout=timeout)
 
 class ID(IDBase):
     """Insertion Device."""