srx-coord-energy-fsi0.py

#! /usr/bin/env /usr/bin/python2.7 
#backwards compatible (i.e., reverts to X raster move Y, hfm, vhm scan if no Z 
#values given) three dimensional fast mirror scan.  Scan is likely to be very 
#fast with respect to motor heating issues.  use --wait command line option
#if two transverse stages are scanned with sub-millimeter steps
#add file logging

import signal
import sys
import os
import time
from epics import PV
import math
from optparse import OptionParser
import string
import decimal
import matplotlib.pyplot as plt
import numpy as np

#replace range()
#floating point and inclusive
def frange(start,end=None,inc=None,p=None):
	if end == None:
		end = start + 0.
		start = 0.
	if inc == None:
		inc = 1.
	if p == None:
		p = 3
	if inc == 0:
		count = 1
	else:
		count = int(math.ceil( (end-start)/inc ))+1	
	L = [None,] * count 
	p = pow(10,p) 

	start = start*p
	end = end*p
	inc = inc*p

	L[0] = float(start)/p
	for i in xrange(1,count):
		L[i] = L[i-1] + float(inc)/p
	
	return L
#can we signal handle in python??
def sigint_handler(signal,frame):
	global simulate
	global fp
	if simulate != True:
		fp.close()
		print "!!!!!!!!!    stopped"
	else:
		print "Ctrl-C detected...exiting"
	sys.exit()
signal.signal(signal.SIGINT,sigint_handler)

#target array:  (xpos, at_position)(ypos, at_position)
tar = []
tar.append([])
tar[0].append(0.)
tar[0].append(1)
tar.append([])
tar[1].append(0.)
tar[1].append(1)
tar.append([])
tar[2].append(0.)
tar[2].append(1)
#deadband in motor units 
dbd = .001
#simulate motor moves
simulate=False

global shut_open
shut_open = False
global current
current = False

def cbf_shut(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	global shut_open
	if value==1:
		shut_open=True
	else:
		shut_open=False	
def cbf_curr(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	global current 
	if value<1.:
		current=False
	else:
		current=True	
#callback to check on motor position
def cbfx(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	if indeadband(float(tar[0][0]),float(value),dbd)==1:
		tar[0][1] = 0
	else:
		tar[0][1] = 1
def cbfy(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	if indeadband(float(tar[1][0]),float(value),dbd)==1:
		tar[1][1] = 0
	else:
		tar[1][1] = 1
def cbfz(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	if indeadband(float(tar[2][0]),float(value),dbd)==1:
		tar[2][1] = 0
	else:
		tar[2][1] = 1
def cbf_temp(pvname=None,value=None,char_value=None,type=None,enum_strs=None,**kw):
	thresh_temp=80.
	while(value > thresh_temp):
		print "Temperature is too high.  Pausing scan."
		time.sleep(60.)

#manual deadband
def indeadband(com,act,dbd):
	if math.fabs(math.fabs(com)-math.fabs(act))<float(dbd):
		return 1 
	else:
		return 0
def main(argv=None):
	global dbd
	global simulate
	global fp
	global shut_open
	global current

	#parse command line options
	usage = "usage: %prog [options]\nData files are written to /data/<year>/<month>/<day>/"
	parser = OptionParser(usage)
	parser.add_option("--detname", action="store", type="string", dest="detname", help="detector to trigger")
	parser.add_option("--wait", action="store", type="float", dest="stall", help="wait at each step [seconds]")
	parser.add_option("--config",action="store", type="string", dest="fname", help="name of config file")
	parser.add_option("--simulate", action="store_true", dest="sim", default=False, help="simulate motor moves and bursting")
	parser.add_option("--checkbeam", action="store_true", dest="checkbeam", default=False, help="only acquire when beam is on")

	(options,args) = parser.parse_args()

	#open log file
	D0=time.localtime()[0]
	D1=time.localtime()[1]
	D2=time.localtime()[2]
	D3=time.localtime()[3]
	D4=time.localtime()[4]
	cd=os.getcwd()
	fstr='/nfs/xf05id1/data/'
	if sys.argv[0][0]=='.':
		out_filename=fstr+repr(D0)+'/'+repr(D1)+'/'+repr(D2)+'/'+'log_'+repr(D3)+'_'+repr(D4)+'_'+\
		 string.split(string.strip(sys.argv[0],'./'),'/')[0]+'.txt'
	else:
		out_filename=fstr+repr(D0)+'/'+repr(D1)+'/'+repr(D2)+'/'+'log_'+repr(D3)+'_'+repr(D4)+'_'+\
		 string.split(string.strip(sys.argv[0],'./'),'/')[5]+'.txt'
	try:
		os.chdir(fstr+repr(D0))
	except OSError:
		try:	
			os.mkdir(fstr+repr(D0))
		except Exception:
			print 'cannot create directory: '+fstr+repr(D0)
			sys.exit()

	try:
		os.chdir(fstr+repr(D0)+'/'+repr(D1))
	except OSError:
		try:
			os.mkdir(fstr+repr(D0)+'/'+repr(D1))
		except Exception:
			print 'cannot create directory: '+fstr+repr(D0)+'/'+repr(D1)
			sys.exit()
	try:
		os.chdir(fstr+repr(D0)+'/'+repr(D1)+'/'+repr(D2))
	except OSError:
		try:
			os.mkdir(fstr+repr(D0)+'/'+repr(D1)+'/'+repr(D2))
		except Exception:
			print 'cannot create directory: '+fstr+repr(D0)+'/'+repr(D1)+'/'+repr(D2)
			sys.exit()
	try:
		fp=open(out_filename,'a')
	except Exception:
		print 'cannot open file: '+out_filename
		sys.exit()
	os.chdir(cd)
	fp.write(', '.join(sys.argv))
	fp.write('\n')
	#open list of scan points
	try:
		fconfig=open(options.fname)
	except Exception:
		print "cannot open file containing scan points.  Error opening: "+options.fname
		sys.exit()

	fstr='#a default string'
	pN=0
	angle=list()
	ivu=list()
	t2gap=list()
	while fstr.rsplit().__len__() > 0:
		if (fstr[0] is not '#'):
			pN=pN+1
			angle.append(fstr.rsplit()[0])
			ivu.append(fstr.rsplit()[1])
			t2gap.append(fstr.rsplit()[2])
		fstr=fconfig.readline()
	fconfig.close()

	#initialize PVs and callbacks
	if options.detname == None:
#		detstr='XF:03IDA-BI{FS:1-CAM:1}'
		detstr=''
		print "must provide detector pv base, e.g., 'XF:28IDA-BI{URL:01}'"
		sys.exit()
	else:
		detstr=options.detname
	bmot = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:P}Mtr.VAL')
	bmot_cur = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:P}Mtr.RBV')
	bmot_stop = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:P}Mtr.STOP')
	umot = PV('SR:C5-ID:G1{IVU21:1-Mtr:2}Inp:Pos')
	umot_cur = PV('SR:C5-ID:G1{IVU21:1-LEnc}Gap')
	umot_go = PV('SR:C5-ID:G1{IVU21:1-Mtr:2}Sw:Go')
	gmot = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:X2}Mtr.VAL')
	gmot_cur = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:X2}Mtr.RBV')
	gmot_stop = PV('XF:05IDA-OP:1{Mono:HDCM-Ax:X2}Mtr.STOP')
	traj_o_x=PV('SR:C31-{AI}Aie5-2:Offset-x-Cal')
	traj_o_y=PV('SR:C31-{AI}Aie5-2:Offset-y-Cal')
	traj_a_x=PV('SR:C31-{AI}Aie5-2:Angle-x-Cal')
	traj_a_y=PV('SR:C31-{AI}Aie5-2:Angle-y-Cal')
	shut_status=PV('SR:C05-EPS{PLC:1}Shutter:Sum-Sts')
	beam_current=PV('SR:C03-BI{DCCT:1}I:Total-I')
	bragg_temp=PV('XF:05IDA-OP:1{Mono:HDCM-Ax:P}T-I')
	
	if detstr=='xf05bpm03':
		det0 = PV(detstr+':DataRead_Ch1')
		det1 = PV(detstr+':DataRead_Ch2')
		det2 = PV(detstr+':DataRead_Ch3')
		det3 = PV(detstr+':DataRead_Ch4')
	else:
		det0 = PV(detstr+'Cur:I0-I')
		det1 = PV(detstr+'Cur:I1-I')
		det2 = PV(detstr+'Cur:I2-I')
		det3 = PV(detstr+'Cur:I3-I')
	detstr='XF:05IDA-BI:1{FS:1-Cam:1}'
	i0_acq = PV(detstr+'Acquire')
	i0_exp = PV(detstr+'AcquireTime')
	i0_ROI_int = PV(detstr+'Stats1:Total_RBV')
	i0_imode = PV(detstr+'ImageMode')


	bmot.info
	bmot_cur.info
	bmot_stop.info
	umot.info
	umot_cur.info
	umot_go.info
	gmot.info
	gmot_cur.info
	gmot_stop.info
	det0.info
	det1.info
	det2.info
	det3.info
	i0_acq.info
	i0_exp.info
	i0_ROI_int.info
	bragg_temp.info


	bmot_cur.add_callback(cbfx)
	bmot_cur.run_callbacks()
	umot_cur.add_callback(cbfy)
	umot_cur.run_callbacks()
	gmot_cur.add_callback(cbfz)
	gmot_cur.run_callbacks()
	shut_status.add_callback(cbf_shut)
	beam_current.add_callback(cbf_curr)
	shut_status.run_callbacks()
	beam_current.run_callbacks()
	bragg_temp.add_callback(cbf_temp)
	bragg_temp.run_callbacks()
	#check command line options
	if options.stall == None:
		twait = 0.
	else:
		twait = options.stall
	if i0_acq.get() is not 0:
		i0_acq.put(1)
	i0_imode.put(0)

#	display_list = np.zeros((pN+1,2))
	count=0

	str='Start time is '+time.asctime()
	print str
	fp.write(str)
	fp.write('\n')
	if options.sim is True:
		str="      -----simulating motor moves and bursts-----"
		print str
		fp.write(str)
		fp.write('\n')
	str="Current position [mm]: %(XC)7.3f, %(YC)7.3f, %(ZC)7.3f" %\
	 {"XC":bmot_cur.get(),"YC":umot_cur.get(),"ZC":gmot_cur.get()}
	print str
	fp.write(str)
	fp.write('\n')
	time.sleep(2)
	LN=0
	IOint=0
	for x in range(0,pN):
		tar[0][1] = 1
		tar[0][0] = float(angle[x])
		tar[1][1] = 1
		tar[1][0] = float(ivu[x])
		tar[2][1] = 1
		tar[2][0] = float(t2gap[x])
		#if tar[0][0] is the original position, raise "in position" flag
		if indeadband(float(tar[0][0]),float(bmot_cur.get()),dbd)==1:
			tar[0][1] = 0
		if indeadband(float(tar[1][0]),float(umot_cur.get()),dbd)==1:
			tar[1][1] = 0
		if indeadband(float(tar[2][0]),float(gmot_cur.get()),dbd)==1:
			tar[2][1] = 0
		if options.sim is False:
			bmot.put(tar[0][0])
			umot.put(tar[1][0])
			gmot.put(tar[2][0])
			time.sleep(1)
			umot_go.put(0)
		else:
			tar[0][1]=0
			tar[1][1]=0
			tar[2][1]=0
		try:
			ox=traj_o_x.get()
		except CA.Client.Exception:
			ox=12398
			continue
		try:
			oy=traj_o_y.get()
		except CA.Client.Exception:
			oy=12398
			continue
		try:
			ax=traj_a_x.get()
		except CA.Client.Exception:
			ax=12398
			continue
		try:
			ay=traj_a_y.get()
		except CA.Client.Exception:
			ay=12398
			continue
		while (tar[0][1] == 1) or (tar[1][1] == 1) or(tar[2][1] == 1):
			time.sleep(0.05)
			if LN > 400:
				umot_go.put(0)
				LN=0
			else:
				LN=LN+1
		if options.sim is False:
			while ( options.checkbeam and (shut_open == False or beam_current == False)):
				print "Stopped.  Waiting for beam to return."
				time.sleep(60.)
			signal0=float(det0.get())
			signal1=float(det1.get())
			signal2=float(det2.get())
			signal3=float(det3.get())
			i0_acq.put(1)
			if signal0<1e-10:
				time.sleep(0.01)
				signal0=float(det0.get())
				signal1=float(det1.get())
				signal2=float(det2.get())
				signal3=float(det3.get())
			time.sleep(twait)
			while (i0_acq.get()==1):
				time.sleep(io_exp.get())
			I0int=float(i0_ROI_int.get())
		else:
			while ( options.checkbeam and (shut_open == False or beam_current == False)):
				print "Stopped.  Waiting for beam to return."
				time.sleep(60.)
			signal0=0.
			signal1=0.
			signal2=0.
			signal3=0.
		if options.sim is False:	
			str=' B= %(B)8.3f U= %(U)8.3f G= %(G)8.3f : %(C0)10.7e %(C1)10.7e %(C2)10.7e %(C3)10.7e TRAJ %(OX)6.3f %(OY)6.3f %(AX)6.3f %(AY)6.3f %(T)d %(IO)10.7e'%{"B":float(bmot_cur.get()), "U":float(umot_cur.get()), "G":float(gmot_cur.get()), "C0":signal0, "C1":signal1, "C2":signal2, "C3":signal3, "OX":ox,"AX":ax,"OY":oy,"AY":ay, 'T':time.time(), 'IO':I0int}
			print str
			fp.write(str)
			fp.write('\n')
		else:
			str=' B= %(B)8.3f U= %(U)8.3f G= %(G)8.3f : %(C0)10.7e %(C1)10.7e %(C2)10.7e %(C3)10.7e TRAJ %(OX)6.3f %(OY)6.3f %(AX)6.3f %(AY)6.3f'%{"B":tar[0][0], "U":tar[1][0], "G":tar[2][0], "C0":signal0, "C1":signal1, "C2":signal2, "C3":signal3, "OX":ox,"AX":ax,"OY":oy,"AY":ay} 
			print str
			fp.write(str)
			fp.write('\n')

#			display_list[count,0] = x
#			display_list[count,1] = signal0
			count = count+1


	#return to starting positions
#	if options.sim is False:
#		bmot.put(float(angle[0]))
#		gmot.put(float(ivu[0]))
#		umot.put(float(t2gap[0]))
#		time.sleep(2)
#		xmot_stop.put(0)

	str='End time is '+time.asctime()
	print str
	fp.write(str)
	fp.write('\n')
	fp.close()

#	plt.figure()
#	plt.plot(display_list[:,0],display_list[:,1])
#	plt.plot(display_list[:,0],display_list[:,1],'go')
#	plt.show()
	return 0

if __name__ == "__main__":
	sys.exit(main())