Merge pull request #273 from spc-group/async-energy

- Improved reliability of the energy positioner
- Error handling when loading devices in Firefly

src/firefly/controller.py

@@ -7,12 +7,13 @@
 import pydm
 import pyqtgraph as pg
 import qtawesome as qta
+from ophyd_async.core import NotConnected
 from ophydregistry import Registry
 from qasync import asyncSlot
 from qtpy import QtCore, QtWidgets
 from qtpy.QtCore import Signal
 from qtpy.QtGui import QIcon, QKeySequence
-from qtpy.QtWidgets import QAction
+from qtpy.QtWidgets import QAction, QErrorMessage
 
 from haven import beamline, load_config
 from haven.device import titelize
@@ -71,6 +72,8 @@ def __init__(self, parent=None, display="status", use_main_window=False):
         self.windows = OrderedDict()
         self.queue_re_state_changed.connect(self.enable_queue_controls)
         self.registry = beamline.registry
+        # An error message dialog for later use
+        self.error_message = QErrorMessage()
 
     def _setup_window_action(
         self, action_name: str, text: str, slot: QtCore.Slot, shortcut=None, icon=None
@@ -103,7 +106,14 @@ async def setup_instrument(self, load_instrument=True):
 
         """
         if load_instrument:
-            await beamline.load()
+            try:
+                await beamline.load()
+            except NotConnected as exc:
+                log.exception(exc)
+                msg = (
+                    "One or more devices failed to load. See console logs for details."
+                )
+                self.error_message.showMessage(msg)
             self.registry_changed.emit(beamline.registry)
         # Make actions for launching other windows
         self.setup_window_actions()

src/haven/devices/energy_positioner.py

@@ -89,7 +89,7 @@ def __init__(
             float, derived_from={"velocity": self.monochromator.energy.velocity}
         )
 
-        super().__init__(name=name)
+        super().__init__(name=name, put_complete=True)
 
     async def set_energy(self, value, mono: Signal, undulator: Signal):
         ev_per_kev = 1000

src/haven/devices/xray_source.py

@@ -32,7 +32,7 @@ class MotorDriveStatus(IntEnum):
 
 
 class UndulatorPositioner(Positioner):
-    done_value: int = DoneStatus.DONE
+    done_value: int = BusyStatus.DONE
 
     def __init__(
         self,
@@ -106,7 +106,7 @@ def __init__(self, prefix: str, name: str = ""):
                 f"{prefix}Energy",
                 actuate_signal=self.start_button,
                 stop_signal=self.stop_button,
-                done_signal=self.done,
+                done_signal=self.busy,
             )
             self.energy_taper = UndulatorPositioner(
                 f"{prefix}TaperEnergy",

src/haven/ipython_startup.ipy

@@ -62,6 +62,7 @@ print(f"Connected to {num_devices} devices in {time.monotonic() - t0:.2f} second
 # Save references to some commonly used things in the global namespace
 registry = haven.beamline.registry
 ion_chambers = registry.findall("ion_chambers", allow_none=True)
+energy = registry['energy']
 
 # Print helpful information to the console
 custom_theme = Theme(

src/haven/positioner.py

@@ -49,10 +49,19 @@ def set_name(self, name: str):
         # Readback should be named the same as its parent in read()
         self.readback.set_name(name)
 
-    def watch_done(self, value, event):
+    def watch_done(
+        self, value, done_event: asyncio.Event, started_event: asyncio.Event
+    ):
         """Update the event when the done value is actually done."""
-        if value == self.done_value:
-            event.set()
+        print(f"Received new done value: {value}.")
+        if value != self.done_value:
+            # The movement has started
+            print("Setting started_event")
+            started_event.set()
+        elif started_event.is_set():
+            # Move has finished
+            print("Setting done_event")
+            done_event.set()
 
     @WatchableAsyncStatus.wrap
     async def set(self, value: float, timeout: CalculatableTimeout = CALCULATE_TIMEOUT):
@@ -71,6 +80,7 @@ async def set(self, value: float, timeout: CalculatableTimeout = CALCULATE_TIMEO
         # error if not done in time
         reached_setpoint = asyncio.Event()
         done_event = asyncio.Event()
+        started_event = asyncio.Event()
         # Start the move
         if hasattr(self, "actuate"):
             # Set the setpoint, then click "go"
@@ -87,7 +97,12 @@ async def set(self, value: float, timeout: CalculatableTimeout = CALCULATE_TIMEO
             done_status = set_status
         elif hasattr(self, "done"):
             # Monitor the `done` signal
-            self.done.subscribe_value(partial(self.watch_done, event=done_event))
+            print(f"Monitoring progress via ``done`` signal: {self.done.name}.")
+            self.done.subscribe_value(
+                partial(
+                    self.watch_done, done_event=done_event, started_event=started_event
+                )
+            )
             done_status = AsyncStatus(asyncio.wait_for(done_event.wait(), timeout))
         else:
             # Monitor based on readback position

src/haven/tests/test_energy_positioner.py

@@ -1,7 +1,10 @@
+import asyncio
+
 import pytest
 from ophyd_async.core import set_mock_value
 
 from haven.devices.energy_positioner import EnergyPositioner
+from haven.devices.xray_source import BusyStatus
 
 
 @pytest.fixture()
@@ -17,15 +20,17 @@ async def positioner():
 
 async def test_set_energy(positioner):
     # Set up dependent values
-    await positioner.monochromator.id_offset.set(150)
+    set_mock_value(positioner.monochromator.id_offset, 150)
     # Change the energy
     status = positioner.set(10000, timeout=3)
-    # Trick the positioner into being done
-    set_mock_value(positioner.undulator.energy.done, 1)
+    # Trick the Undulator into being done
+    set_mock_value(positioner.undulator.energy.done, BusyStatus.BUSY)
+    await asyncio.sleep(0.01)  # Let the event loop run
+    set_mock_value(positioner.undulator.energy.done, BusyStatus.DONE)
     await status
     # Check that all the sub-components were set properly
     assert await positioner.monochromator.energy.user_setpoint.get_value() == 10000
-    assert positioner.undulator.energy.get().setpoint == 10.150
+    assert await positioner.undulator.energy.setpoint.get_value() == 10.150
 
 
 async def test_real_to_pseudo_positioner(positioner):

src/haven/tests/test_positioner.py

@@ -1,3 +1,5 @@
+import asyncio
+
 import pytest
 from ophyd_async.core import set_mock_value
 from ophyd_async.epics.signal import epics_signal_r, epics_signal_rw, epics_signal_x
@@ -35,6 +37,8 @@ def test_has_signals(positioner):
 
 async def test_set_with_done_actuate(positioner):
     status = positioner.set(5.3)
+    set_mock_value(positioner.done, 0)
+    await asyncio.sleep(0.01)  # Let event loop run
     set_mock_value(positioner.done, 1)
     await status
 

src/haven/tests/test_preprocessors.py

@@ -169,7 +169,7 @@ def test_metadata(sim_registry, aps, monkeypatch):
         "EPICS_HOST_ARCH": "PDP11",
         "beamline_id": "SPC Beamline (sector unknown)",
         "facility_id": "advanced_photon_source",
-        "xray_source": "undulator: ID255ds:",
+        "xray_source": "undulator",
         "epics_libca": "/dev/null",
         "EPICS_CA_MAX_ARRAY_BYTES": "16",
         "scan_id": 1,

src/haven/tests/test_xray_source.py

@@ -1,7 +1,9 @@
+import asyncio
+
 import pytest
 from ophyd_async.core import get_mock_put, set_mock_value
 
-from haven.devices.xray_source import PlanarUndulator
+from haven.devices.xray_source import BusyStatus, PlanarUndulator
 
 
 @pytest.fixture()
@@ -15,7 +17,9 @@ async def test_set_energy(undulator):
     # Set the energy
     status = undulator.energy.set(5)
     # Fake the done PV getting updated
-    set_mock_value(undulator.energy.done, 1)
+    set_mock_value(undulator.energy.done, BusyStatus.BUSY)
+    await asyncio.sleep(0.01)  # Let the event loop run
+    set_mock_value(undulator.energy.done, BusyStatus.DONE)
     # Check that the signals got set properly
     await status
     assert await undulator.energy.setpoint.get_value() == 5

src/queueserver/systemd_units/mongo_consumer.service

@@ -1,12 +1,11 @@
 [Unit]
 Description=consumer for saving bluesky documents to database via kafka
 After=syslog.target network.target
-Wants=queueserver.service
-After=queueserver.service
+Wants=kafka.service
+After=kafka.service
 
 [Service]
-Environment="BLUESKY_DIR=%h/bluesky"
-ExecStart=/bin/bash -l -c 'micromamba activate haven && env python %h/src/queueserver/mongo_consumer.py'
+ExecStart=/bin/bash -l -c 'mamba activate haven && env python %h/src/queueserver/mongo_consumer.py'
 # ExecStopPost=/APSshare/epics/base-7.0.7/bin/rhel8-x86_64/caput 100id:bluesky:mongo_consumer_state 1
 # ExecStartPost=/APSshare/epics/base-7.0.7/bin/rhel8-x86_64/caput 100id:bluesky:mongo_consumer_state 2
 

src/queueserver/systemd_units/queueserver.service

@@ -1,12 +1,9 @@
 [Unit]
 Description=Bluesky Queue Server (25-ID-C)
-Wants=kafka.service
-After=kafka.service
 Requires=redis.service
 After=redis.service
 
 [Service]
-Environment="BLUESKY_DIR=%h/bluesky"
 ExecStart=/bin/bash -l -c 'micromamba activate haven && %h/src/queueserver/queueserver.sh'
 # ExecStopPost=/APSshare/epics/base-7.0.7/bin/rhel8-x86_64/caput 100id:bluesky:queueserver_state 1
 # ExecStartPost=/APSshare/epics/base-7.0.7/bin/rhel8-x86_64/caput 100id:bluesky:queueserver_state 2

src/queueserver/systemd_units/redis.service

@@ -13,4 +13,3 @@ RuntimeDirectoryMode=0755
 
 [Install]
 WantedBy=multi-user.target
-