Source code for ophyd_async.epics.pmac._pmac_io

from collections.abc import Sequence

import numpy as np

from ophyd_async.core import Array1D, Device, DeviceVector, StandardReadable
from ophyd_async.epics.core import epics_signal_r, epics_signal_rw

CS_LETTERS = "ABCUVWXYZ"




class PmacTrajectoryIO(StandardReadable):
    """Device that moves a PMAC Motor record."""

    def __init__(self, prefix: str, name: str = "") -> None:
        self.time_array = epics_signal_rw(
            Array1D[np.float64], prefix + ":ProfileTimeArray"
        )
        self.user_array = epics_signal_rw(Array1D[np.int32], prefix + ":UserArray")
        # 1 indexed CS axes so we can index into them from the compound motor input link
        self.positions = DeviceVector(
            {
                i + 1: epics_signal_rw(
                    Array1D[np.float64], f"{prefix}:{letter}:Positions"
                )
                for i, letter in enumerate(CS_LETTERS)
            }
        )
        self.use_axis = DeviceVector(
            {
                i + 1: epics_signal_rw(bool, f"{prefix}:{letter}:UseAxis")
                for i, letter in enumerate(CS_LETTERS)
            }
        )
        self.velocities = DeviceVector(
            {
                i + 1: epics_signal_rw(
                    Array1D[np.float64], f"{prefix}:{letter}:Velocities"
                )
                for i, letter in enumerate(CS_LETTERS)
            }
        )
        self.points_to_build = epics_signal_rw(int, prefix + ":ProfilePointsToBuild")
        self.build_profile = epics_signal_rw(bool, prefix + ":ProfileBuild")
        self.execute_profile = epics_signal_rw(bool, prefix + ":ProfileExecute")
        self.scan_percent = epics_signal_r(float, prefix + ":TscanPercent_RBV")
        self.abort_profile = epics_signal_rw(bool, prefix + ":ProfileAbort")
        self.profile_cs_name = epics_signal_rw(str, prefix + ":ProfileCsName")
        self.calculate_velocities = epics_signal_rw(bool, prefix + ":ProfileCalcVel")

        super().__init__(name=name)





class PmacAxisIO(Device):
    """A Device that (direct) moves a PMAC Coordinate System Motor.

    Note that this does not go through a motor record.
    """

    def __init__(self, prefix: str, name: str = "") -> None:
        self.cs_axis_letter = epics_signal_r(str, f"{prefix}:CsAxis_RBV")
        self.cs_port = epics_signal_r(str, f"{prefix}:CsPort_RBV")
        super().__init__(name=name)





class PmacCoordIO(Device):
    """A Device that represents a Pmac Coordinate System."""

    def __init__(self, prefix: str, name: str = "") -> None:
        self.defer_moves = epics_signal_r(bool, f"{prefix}:DeferMoves")
        self.cs_axis_setpoint = DeviceVector(
            {
                i + 1: epics_signal_rw(
                    Array1D[np.float64], f"{prefix}:M{i + 1}:DirectDemand"
                )
                for i in range(len(CS_LETTERS))
            }
        )
        super().__init__(name=name)





class PmacIO(Device):
    """Device that represents a pmac controller."""

    def __init__(
        self,
        prefix: str,
        axis_nums: Sequence[int],
        coord_nums: Sequence[int],
        name: str = "",
    ) -> None:
        self.axis = DeviceVector(
            {axis: PmacAxisIO(f"{prefix}:M{axis}") for axis in axis_nums}
        )
        self.coord = DeviceVector(
            {coord: PmacCoordIO(f"{prefix}:CS{coord}") for coord in coord_nums}
        )
        # Trajectory PVs have the same prefix as the pmac device
        self.trajectory = PmacTrajectoryIO(prefix)

        super().__init__(name=name)