README.md

Motor Control Software

Motor control software to control various motors for xray box, laser box and vacuum box

Compilation

Compile Server, Client or Gui

# b=build, c=clean, j=number of cores (compile speed), 
s=server, g=gui, x=xray box, l=laser box, v=vacuum box

xray box server: ./cmk.sh -bcxsj9
laser box server: ./cmk.sh -bclsj9
vacuum box server: ./cmk.sh -bcvsj9
xray box client and gui: ./cmk.sh -bcxgj9
laser box client and gui: ./cmk.sh -bclgj9
vacuum box client and gui: ./cmk.sh -bcvgj9 

Binaries in build/bin

xrayServer
laserServer
vacuumServer
xrayClient_sl7
laserClient_sl7
vacuumClient_sl7
XRayBoxGui_sl7
LaserBoxGui_sl7
VacuumBoxGui_sl7 

How to Start the Server (if not already up):

ssh l_msdetect@mpc2128
    [xraybox: mpc2128, laserbox: mpc2085,vacuumbox: mpc2069] 
su (become root)
killall xrayServer # kill server if it is up.
    [xrayServer, laserServer, vacuumServer] 
cd /opt/xrayServer & # go to the folder with server installation
    [/opt/xrayServer, /opt/laserServer, /opt/vacuumServer] 
#Check the config.txt for the right motors/ fluorescence samples
./xrayServer &# start server
    [xrayServer, laserServer, vacuumServer] 

How to Start the Client:

Go to folder /afs/psi.ch/project/sls_det_software/bin
Run ./XRayBoxGui_sl7 or ./xrayClient_sl7 
  [LaserBoxGui_sl7, VacuumBoxGui_sl7, laserClient_sl7, vacuumClient_sl7] 

Note:

The command line arguments are all case-insensitive. Error messages exist.
The square brackets are for variables.. eg [motor name] could be 'detector_x'. 

List of command line arguments

Tube Basic	Comments
getHV	returns "on/off" for high voltage
hv [on/off]	switches on/off high voltage
getv	returns "[voltage] kV" (not actual if hv off)
setv [voltage value in kV]	sets voltage
getc	returns "[current] mA" (not actual if hv off)
setc [current value in mA]	sets current
getvc	returns "[voltage] kV, [current] mA" (not actual if hv off)
setvc [voltage value in kV] [current value in mA]	sets voltage and current
getactualv	returns "[actual voltage] kV"
getactualc	returns "[actual current] mA"
getactualvc	returns "[actual voltage] kV, [actual current] mA"
getshutter [1/2/3/4]	returns "on/off"
getshutters	returns "[on/off] [on/off] [on/off] [on/off]"
shutter [1/2/3/4]	switches "on/off" shutter [1/2/3/4]
warmup [warm-up voltage in kV]	starts the warm-up to the the voltage
getwtime	"[warm up time remaining] s"
getemess	returns error message from tube
geterr	returns error code from tube
clear	clears error code in tube

Tube Advanced	Comments
gettubeinterface	returns the usb port
sendtube [Commands..]	sends tube commands
readtube [Commands..]	sends tube command and reads result from tube (beware that it should have a result)
getpower	returns "[power] W"
istube	returns "[on/off/standby]"
connectedshutters	"[c/nc] [c/nc] [c/nc] [c/nc]" nc=not connected, c=connected
issafe	returns "[yes/no]" to open door

Motor Basic	Comments
pos [motor]	returns position
cal [motor]	calibrates motor to starting hard switch and sets position to 0
moverel [motor] [relative position]	moves motor to relative position, returns current position
moveabs [motor] [absolute position]	moves motor to absolute position, returns current position

Motor Advanced	Comments
motorlist	list of motors
getcontroller [motor]	controller of that motor
getaxis [motor]	axis of that motor
depos [motor]	debug position
getupper [motor]	get soft upper limit
setupper [motor] [position]	set soft upper limit
getlower [motor]	get soft lower limit
setlower [motor] [position]	set soft lower limit
rangemeasure [motor]	moves motor to end hard switch to measure complete range of motor, returns final position
setpos [motor] [position]	set position of motor to that position (recommended to stick to position 0)

Controller Advanced	Comments
sendcontroller [controller] [Commands..]	send controller commands
readcontroller [controller] [Commands..]	send controller commands and read back result (beware it should have result)
controllerlist	list of controllers
getcontserialnumber [controller]	returns controller serial number
getcontinterface [controller]	returns controller serial interface
getcontmotorlist [controller]	returns list of Motors connected to its axes (- if nothing connected)

Fluorescence Basic	Comments
getholder [fluorscence motor]	get holder index
setholder [fluorscence motor] [holder index]	set holder to index
fllist [fluorscence motor] [holder index]	list of targets of holder (index) separated by space
getfl [fluorscence motor]	returns current target name
setfl [fluorscence motor] [target name]	moves motor to target name

Fluorescence Advanced	Comments
numflist [fluorscence motor]	number of holders
dellastholder [fluorscence motor]	delete last holder and its targets
addholder [fluorscence motor] [Target1] [Energy 1] ..[Target8] [Energy 8]	add new holder with 8 target names and corresponding energies

Pressure Gauges Basic	Comments
pressure	"1:[[status of gauge1], [pressure of gauge 1]]\n2: [[status of gauge2], [pressure of gauge 2]]"

Pressure Gauges Advanced	Comments
getpressureinterface	get pressure serial port
ispressure	returns "[on/off]"

Reference Points Basic	Comments
reflist	lists reference points
refvals [name]	x, y and z motor positions
getref	get reference point name if x, y and z at that position, else "None"
setref [name]	move x, y and z to that position (if -1, do not move)

Reference Points Advanced	Comments
nref	number of reference points

Filter Wheels Basic	Comments
fwvals [name]	absoption values of that filter wheel
getfw [name]	current value of that wheel
setfw [name] [value]	move/set to that value

Filter Wheels Advanced	Comments
nfw	number of filter wheels
fwlist	list of filter wheel names
getfwserialnumber [name]	serial number of that wheel
getfwinterface [name]	serial interface of that wheel

Slits Basic	Comments
getslitwidth	get slit width
setslitwidth [value]	moves both slits to match slit width
getcenter	get center of both slits
setcenter [value]	moves both slits such that center of both slits at value (based on x1)

Points to remember while using X-Ray Box Software:

Client: executables can be copied and executed from anywhere. 2 types of executables:
    Command Line Arguments: ./xrayClient_sl7 followed by appropriate command line arguments.
        Your first command locks you to the server and noone else can control the server.
            If the server is locked by someone else, it will provide you with username,pcname,pid and 
            timestamp of last command sent by this user. Please check with the concerned person if 
            they are still using the xray box or decide based on timestamp. Then, you can use the 
            "unlock" command yourself to get server control.
        Use the "unlock" command when you're done using the xray box. Makes it convenient for others 
            to use it, without having to contact you. 
    GUI: ./XRayBoxGui_sl7 starts the GUI.
        Just like in xrayClient_sl7, if someone else was using the server, it provides you details and 
            gives you an option to unlock that user from server. If you choose not to unlock, it exits 
            your gui for you. If you choose to unlock, it updates you gui and gives you server control. 
            When you exit the GUI, it automatically unlocks you from the server.
        Once started, the gui will check if the X-Ray Tube is switched off/stand-by.
            If switched off, the GUI will start with the X Ray Group box disabled. This can be enabled 
                at any time by checking the X Ray group box again.
            If it was switched on, the GUI will start with the X Ray group box displaying all the 
                valid parameters.
            NOTE: Only when the high voltage is switched on, will it check if a warm-up is required 
                and asks the user permission to initiate the warm-up. 
While changing PCs (even with same username), the current PC will ask you to unlock yourself from the 
    previous PC. This is not a problem. Do that each time you change PCs while using the server. Your 
    GUI will also get updated in the process. Remember to close all your guis when you're done, 
    so that you're unlocked from server.
Gui - X-Ray Tube Group Box:
    Checking the group box, it will check if the X-Ray Tube is on stand-by or switched off. If either 
        of these, it will display the error message and uncheck the group box and waits for the next 
        time you check it. If it was switched on, the X-Ray group box is enabled and displays all 
        the valid parameters.
    When high voltage is switched on (by clicking on the HV button):
        It evaluates if a warm-up is necessary and then asks permission from the user before initiating 
            warm-up. Warm-up can happen only when high voltage is switched on and when a new voltage is 
            set higher than the tube is warmed up to.
        Once warm-up up starts, it will display the warm-up time remaining. When warm-up is over, it 
            displays the message. However, high Voltage remains switched on after warm-up.
        The HV button turns yellow (on) or gray (off). When it ramps up to the set voltage,the actual 
            values will be displayed in red and after ramp up, it returns to a blue color.
        After ramp up (no warm up in progress), the shutter group box is enabled. Clicking any of the 
            shutters will open them and a warning icon is displayed to remind you not to open the door. 
            Opening the door when this icon is displayed will show an error message and the high voltage 
            is switched off. 
    Get error code from Tube will return error code at any point.
    To change voltage, enter a value in the appropriate field and click on "Set Voltage" button. 
        If HV is off, it changes the voltage, but checks for warm-up only when HV is switched on next. 
        If HV was already on and if warm-up is necessary, it switches off HV and back on to warm up. 
        If the warm-up wasn't necessary, it will just ramp up to the new voltage. The same goes for 
            current.
        The gui does not let you enter values greater than 60kV for voltage and greater than 
        (2400/current voltage)mA for current. If you decide to not initiate the warm-up, it will return 
        to previous operating voltage and current, even if the HV was switched on.