pcdsdevices.smarpod.SmarPod

class pcdsdevices.smarpod.SmarPod(prefix='', *, name, kind=None, read_attrs=None, configuration_attrs=None, parent=None, child_name_separator='_', connection_timeout=<object object>, **kwargs)

SmarPod is a hexapod-like positioning system from SmarAct

Ophyd Device Components

Attribute	Class	Suffix	Docs	Kind	Notes
init	EpicsSignal	:CMD:INIT		normal
status	SmarPodStatus	:STATUS		normal
cmd_unit	EpicsSignal	:CMD:UNIT		normal
unit	EpicsSignal	:UNIT	Selected SmarPod unit	normal
ver_sn	EpicsSignalRO	:VER:SN		omitted
ver_product	EpicsSignalRO	:VER:PRODUCT		omitted
ver_firmware	EpicsSignalRO	:VER:FIRMWARE		omitted
cmd_ref	EpicsSignal	:CMD:REF		normal
ref	EpicsSignalRO	:REF	Readback referenced state	normal
_ref	EpicsSignal	:_REF	Async reference response	normal
cmd_ref_method	EpicsSignal	:CMD:REF_METHOD	Set reference method	normal
ref_method	EpicsSignalRO	:REF_METHOD	Readback reference method	normal
cmd_ref_x_direct	EpicsSignal	:CMD:REF_X_DIRECT	Set reference x-direction	normal
ref_x_direct	EpicsSignalRO	:REF_X_DIRECT	Readback reference x-direction	normal
cmd_ref_y_direct	EpicsSignal	:CMD:REF_Y_DIRECT	Set reference y-direction	normal
ref_y_direct	EpicsSignalRO	:REF_Y_DIRECT	Readback reference y-direction	normal
cmd_ref_z_direct	EpicsSignal	:CMD:REF_Z_DIRECT	Set reference z-direction	normal
ref_z_direct	EpicsSignalRO	:REF_Z_DIRECT	Readback reference z-direction	normal
cmd_stop	EpicsSignal	:CMD:STOP	Stops SmarPod Movements	normal
cmd_reachable	EpicsSignal	:CMD:REACHABLE		normal
reachable	EpicsSignalRO	:REACHABLE	Test if the SP can reach a pose. Does not move the SP	normal
cmd_pos_rbv	EpicsSignal	:CMD:POS_RBV	Readback current pose position	normal
x_m	EpicsSignalRO	:X_M		normal
y_m	EpicsSignalRO	:Y_M		normal
z_m	EpicsSignalRO	:Z_M		normal
cmd_move	EpicsSignal	:CMD:MOVE		normal
moving	EpicsSignal	:MOVING	Movement status	normal
cmd_sync	EpicsSignal	:CMD:SYNC		normal
error_code	EpicsSignalRO	:ERROR_CODE		normal
error_desc	EpicsSignalRO	:ERROR_DESC		normal
cmd_pivot_rbv	EpicsSignal	:CMD:PIVOT_RBV	Readback pivot point	normal
cmd_set_pivot	EpicsSignal	:CMD:SET_PIVOT		normal
cmd_sync_pivot	EpicsSignal	:CMD:SYNC_PIVOT		normal
cmd_pivot_mode	EpicsSignal	:CMD:PIVOT_MODE		normal
pivot_mode	EpicsSignal	:PIVOT_MODE	Pivot mode	normal
px_m	EpicsSignal	:PX_M		normal
py_m	EpicsSignal	:PY_M		normal
pz_m	EpicsSignal	:PZ_M		normal
px	EpicsSignal	:PX		normal
py	EpicsSignal	:PY		normal
pz	EpicsSignal	:PZ		normal
cmd_px	EpicsSignal	:CMD:PX		normal
cmd_py	EpicsSignal	:CMD:PY		normal
cmd_pz	EpicsSignal	:CMD:PZ		normal
x	SmarPodAxis			normal
y	SmarPodAxis			normal
z	SmarPodAxis			normal
rx	SmarPodAxis			normal
ry	SmarPodAxis			normal
rz	SmarPodAxis			normal
cmd_sensor_mode	EpicsSignal	:CMD:SENSOR_MODE		normal
sensor_mode	EpicsSignal	:SENSOR_MODE	Sensor mode	normal
cmd_freq	EpicsSignal	:CMD:FREQ		normal
freq	EpicsSignal	:FREQ		normal
cmd_vel	EpicsSignal	:CMD:VEL	sets movement velocity	normal
vel	EpicsSignal	:VEL	current speed-control and speed settings	normal
cmd_accel	EpicsSignal	:CMD:ACCEL	sets movement acceleration	normal
accel	EpicsSignal	:ACCEL	current acceleration-control and acceleration settings	normal
pose_1	SmarPodPose	:POSE_1		normal
pose_2	SmarPodPose	:POSE_2		normal
pose_3	SmarPodPose	:POSE_3		normal
pose_4	SmarPodPose	:POSE_4		normal
pose_5	SmarPodPose	:POSE_5		normal
cmd_read_status	EpicsSignal	:CMD:READ_STATUS		normal
cmd_calibrate	EpicsSignal	:CMD:CALIBRATE		normal
cmd_read_ver	EpicsSignal	:CMD:READ_VER		normal
ver_sys	EpicsSignalRO	:VER:SYS		omitted
csy_set	EpicsSignal	:CSY:SET	set csy offset	normal
csy_zero	EpicsSignal	:CMD:SPZ	set csy to zero	normal

Methods

configure(d: Dict[str, Any]) → Tuple[Dict[str, Any], Dict[str, Any]]

Configure the device for something during a run

This default implementation allows the user to change any of the configuration_attrs. Subclasses might override this to perform additional input validation, cleanup, etc.

Parameters:

d (dict) – The configuration dictionary. To specify the order that the changes should be made, use an OrderedDict.

Returns:

• (old, new) tuple of dictionaries

• Where old and new are pre- and post-configure configuration states.

describe() → OrderedDictType[str, Dict[str, Any]]

Provide schema and meta-data for read().

This keys in the OrderedDict this method returns must match the keys in the OrderedDict return by read().

This provides schema related information, (ex shape, dtype), the source (ex PV name), and if available, units, limits, precision etc.

Returns:

data_keys (OrderedDict) – The keys must be strings and the values must be dict-like with the event_model.event_descriptor.data_key schema.

get(**kwargs)

Get the value of all components in the device

Keyword arguments are passed onto each signal.get(). Components beginning with an underscore will not be included.

multi_axis_move(x_sp: float | None = None, y_sp: float | None = None, z_sp: float | None = None, rx_sp: float | None = None, ry_sp: float | None = None, rz_sp: float | None = None, wait: bool = True, timeout: float = 30.0)

read() → OrderedDictType[str, Dict[str, Any]]

Read data from the device.

This method is expected to be as instantaneous as possible, with any substantial acquisition time taken care of in trigger().

The OrderedDict returned by this method must have identical keys (in the same order) as the OrderedDict returned by describe().

By convention, the first key in the return is the ‘primary’ key and maybe used by heuristics in bluesky.

The values in the ordered dictionary must be dict (-likes) with the keys {'value', 'timestamp'}. The 'value' may have any type, the timestamp must be a float UNIX epoch timestamp in UTC.

Returns:

data (OrderedDict) – The keys must be strings and the values must be dict-like with the keys {'value', 'timestamp'}

read_configuration() → OrderedDictType[str, Dict[str, Any]]

Dictionary mapping names to value dicts with keys: value, timestamp

To control which fields are included, change the Component kinds on the device, or modify the configuration_attrs list.

classmethod set_defaults(*, connection_timeout=10.0)

Set class-wide defaults for device communications

This may be called only before any instances of Device are made.

This setting applies to the class it is called on and all its subclasses. For example,

>>> Device.set_defaults(...)

will apply to any Device subclass.

Parameters:

connection_timeout (float, optional) – Time (seconds) allocated for establishing a connection with the IOC.

Raises:

RuntimeError – If called after EpicsSignalBase has been instantiated for the first time.

stop(*, success=False)

Stop the Device and all (instantiated) subdevices

summary()

trigger() → StatusBase

Trigger the device and return status object.

This method is responsible for implementing ‘trigger’ or ‘acquire’ functionality of this device.

If there is an appreciable time between triggering the device and it being able to be read (via the read() method) then this method is also responsible for arranging that the StatusBase object returned by this method is notified when the device is ready to be read.

If there is no delay between triggering and being readable, then this method must return a StatusBase object which is already completed.

Returns:

status (StatusBase) – StatusBase object which will be marked as complete when the device is ready to be read.

Attributes

configuration_attrs

connected

connection_timeout

hints

kind

subscriptions: ClassVar[FrozenSet[str]] = frozenset({'acq_done'})