Adding real elements

For the sake of demonstration, let’s suppose you want to integrate a slit with IcePAP-based motors into Sardana.

Before doing anything else you should check the controller plugin register. There’s a high chance that somebody already wrote the plugin for your hardware. If not, you can write the plugin yourself.

Controllers

The controller is a Sardana object that handles the communication with the hardware. To create the controller you can use defctrl macro:

defctrl <class> <name> <roles/properties>

The <class> parameter is a class name for your controller to use and <name> is the name of the new controller instance. Roles and properties are used to configure the controller.

For our IcePAP controller we will use two properties: Host and Port of our IcePAP system:

defctrl IcepapController ipap01 Host 10.0.0.30 Port 5000

Hint

You can use the sar_info macro to see the roles and properties available for a controller class.

Note

To learn more about controllers see Controller overview.

Controller axes

Since single motor controller can have multiple axes corresponding to multiple motors, we will need to create the elements for these axes. This way the controller will know which motor to move.

With the defelem macro you can create any type of controller axis, not only motors:

defelem <name> <controller> <axis>

<name> is the element name, <controller> is the controller instance on which the element should be created and <axis> is the controller axis number.

Let’s add an axis to our IcePAP controller:

defelem mot01 ipap01 1

Motors

For creating motors you can also use defm macro instead of defelem. Its invocation is the same, it’s just a shortcut:

defm mot02 ipap01 2

Pseudomotors

To use our slit with more abstract interface we can use the Slit pseudomotor controller. To use it, just add the Slit controller with the defctrl macro:

defctrl Slit s0ctrl sl2t=mot01 sl2b=mot02 Gap=s0gap Offset=s0off

For the Slit controller we use roles. There are two types of roles:

  • physical roles - real motors, elements that already exist in Sardana
  • pseudo roles - abstract motors that will be created by pseudo controller

The Slit controller defines two physical roles: sl2t and sl2b, and two pseudo roles: Gap and Offset. Note the difference in syntax for passing roles and properties to the defctrl macro.

By this point your slit should be accesible from Sardana using real motors as well as abstract pseudomotor interface.

Note

To learn more about pseudo elements see Pseudo motor overview and Pseudo counter overview.

Measurement groups

To create a measurement group use defmeas macro:

defmeas <name> <channel_list>

This macro takes the name for the new meaasurement group and the list of experimetal channels as its arguments. The first channel must be a Sardana internal channel and at least one of the channels must be a Counter/Timer.

Example:

defmeas mntgrp01 ct01 ct02 ct03 ct04

Note

To learn more about measurement groups see Measurement group overview.

Removing elements

Each element can be removed using macro corresponding to the element type. For controllers use udefctrl. For controller axes use udefelem. For measurement groups use udefmeas.

Each of these macros takes the list of element names as the argument.

Remember that you cannot remove controllers with elements, so you must remove the elements prior to removing the controller.

Useful lists

To create a controller it’s useful to know which controller classes are available. To do this use lsctrllib macro. To see the created controllers use lsctrl. For lists of motors and experimental channels use lsm and lsexp respectively. You can display all measurement groups with lsmeas macro.

Each of these macros accepts regexp filter as the optional argument.

See also

The path Sardana uses for loading controller classes can be configured. See the Configuration section for details.