pcdsdevices.pmps.TwinCATStatePMPS

class pcdsdevices.pmps.TwinCATStatePMPS(prefix, *, name, **kwargs)

TwinCAT In/Out State Positioner with PMPS Protections

This class adds utility PVs for managing the PMPS state.

Ophyd Device Components

Attribute	Class	Suffix	Docs	Kind	Notes
state	EpicsSignalEditMD	:GET_RBV	Setpoint and readback for TwinCAT state position.	hinted	Inherited from TwinCATInOutPositioner
error	PytmcSignal	:ERR	True if we have an error.	normal	Inherited from TwinCATInOutPositioner
error_id	PytmcSignal	:ERRID	Error code.	normal	Inherited from TwinCATInOutPositioner
error_message	PytmcSignal	:ERRMSG	Error message	normal	Inherited from TwinCATInOutPositioner
busy	PytmcSignal	:BUSY	True if we have an ongoing move.	normal	Inherited from TwinCATInOutPositioner
done	PytmcSignal	:DONE	True if we completed the last move.	normal	Inherited from TwinCATInOutPositioner
reset_cmd	EpicsSignal	:RESET	Command to reset an error.	normal	Inherited from TwinCATInOutPositioner
config (UpdateComponent)	TwinCATStateConfigDynamic		Configuration of state positions, deltas, etc.	omitted	Inherited from TwinCATInOutPositioner
state_velo	MultiDerivedSignal		State mover velocity. Displays the highest velocity of all the state move destinations and allows bulk writes to all of these velocity settings. Note that this velocity only applies to moves done using the state selector box.	config	Inherited from TwinCATInOutPositioner
arb_enable	PytmcSignal	:PMPS:ARB:ENABLE	Enables PMPS pre-emptive protections. This can be disabled to fall back on fast-fault-only protections. Disabling this will also clear arbiter requests.	config
maint_mode	PytmcSignal	:PMPS:MAINT	If this is on, we trip a fast fault and then can move the motor freely. Useful for debugging motion issues.	config

Methods

camonitor()

Shows a live-updating motor position in the terminal.

This will be the value that is returned by the position attribute.

This method ends cleanly at a ctrl+c or after a call to end_monitor_thread(), which may be useful when this is called in a background thread.

check_inserted(state=None)

Query if a particular state counts as inserted.

check_removed(state=None)

Query if a particular state counts as removed.

check_transmission(state=None)

Query the transition at a particular state.

clear_error()

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.

end_monitor_thread()

Stop a camonitor() or wm_update() that is running in another thread.

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.

get_state(value)

Given an integer or string value, return the proper state entry.

Returns:

state (~enum.Enum) – The corresponding Enum entry for this value. It has two meaningful fields, name and value.

insert(moved_cb=None, timeout=None, wait=False)

Moves this device to the first state on the in_states list. If we’re already at some other in state, do nothing instead.

Parameters:

• moved_cb (callable, optional) – Call this callback when movement is finished. This callback must accept one keyword argument, obj, which will be set to this instance.

• timeout (float, optional) – Maximum time to wait for the motion.

• wait (bool, optional) – If True, do not continue until the move is complete.

Returns:

moved_status (Status) – Status that will be marked as done when the motion is complete.

move(position, moved_cb=None, timeout=None, wait=False)

Move to the desired state and return completion information.

Parameters:

• position (int or str) – The enumerate state or the corresponding integer.

• moved_cb (callable, optional) – Function to call at the end of motion. i.e. moved_cb(obj=self) will be called when move is complete.

• timeout (int or float, optional) – Move timeout in seconds.

• wait (bool, optional) – If True, do not return until the motion has completed.

Returns:

status (StateStatus) – Status object that represents the move’s progress.

mv(position, timeout=None, wait=False, log=True)

Absolute move to a position.

Parameters:

• position – Desired end position.

• timeout (float, optional) – If provided, the mover will throw an error if motion takes longer than timeout to complete. If omitted, the mover’s default timeout will be use.

• wait (bool, optional) – If True, wait for motion completion before returning. Defaults to False.

• log (bool, optional) – If True, logs the move at INFO level.

post_elog_status()

Post device status to the primary elog, if possible.

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.

remove(moved_cb=None, timeout=None, wait=False)

Macro to move this device to the first state on the out_states list. If we’re already at some other out state, do nothing instead.

Parameters:

• moved_cb (callable, optional) – Call this callback when movement is finished. This callback must accept one keyword argument, obj, which will be set to this instance.

• timeout (float, optional) – Maximum time to wait for the motion.

• wait (bool, optional) – If True, do not continue until the move is complete.

Returns:

moved_status (Status) – Status that will be marked as done when the motion is complete.

screen()

Open a screen for controlling the device.

Default behavior is the typhos screen, but this method can be overridden for more specialized screens.

set(position, moved_cb=None, timeout=None)

Move to the desired state and return completion information.

This is the bare-bones implementation of the move with only motion, callbacks, and timeouts defined. Additional functional options are relegated to the move command and bells and whistles are relegated to a different interface.

Parameters:

• position (int or str) – The enumerate state or the corresponding integer.

• moved_cb (callable, optional) – Function to call at the end of motion. i.e. moved_cb(obj=self) will be called when move is complete.

• timeout (int or float, optional) – Move timeout in seconds.

Returns:

status (StateStatus) – Status object that represents the move’s progress.

status() → str

Returns a str with the current pv values for the device.

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.

wait(timeout=None)

wm()

Get the mover’s current positon (where motor).

wm_update()

Shows a live-updating motor position in the terminal.

This will be the value that is returned by the position attribute.

This method ends cleanly at a ctrl+c or after a call to end_monitor_thread(), which may be useful when this is called in a background thread.

Attributes

configuration_attrs

connected

egu = 'state'

high_limit

hints

in_states = ['IN']

kind

limits

low_limit

moving

Whether or not the motor is moving

Returns:

moving (bool)

out_states = ['OUT']

position

Name of the positioner’s current state. If aliases were provided, the first alias will be used instead of the base name.

settle_time

Amount of time to wait after moves to report status completion

states_list = []

stop

Hide the stop method behind an AttributeError.

This makes it so that other interfaces know that the stop method can’t be run without needing to run it to find out.

subscriptions: ClassVar[FrozenSet[str]] = frozenset({'_req_done', 'acq_done', 'done_moving', 'readback', 'start_moving', 'state'})

timeout

Amount of time to wait before to considering a motion as failed

transmission

The proportion of incoming beam that makes it through the device.

This will be a float between 0 and 1, where 0 is no beam and 1 is full transmission.