Spock is the prefered CLI for sardana. It is based on IPython. Spock automatically loads other IPython extensions like the ones for PyTango and pylab. It as been extended in sardana to provide a customized interface for executing macros and automatic access to sardana elements.
Starting spock from the command line¶
To start spock just type in the command line:
This will start spock with a “default profile” for the user your are logged with. There may be many sardana servers running on your system so the first time you start spock, it will ask you to which sardana system you want to connect to by asking to which of the existing doors you want to use:
marge@machine02:~$ spock Profile 'spockdoor' does not exist. Do you want to create one now ([y]/n)? Available Door devices from homer:10000 : On Sardana LAB-01: LAB-01-D01 (running) LAB-01-D02 (running) On Sardana LAB-02: LAB-02-D01 Please select a Door from the list? LAB-01-D01 Storing ipy_profile_spockdoor.py in /home/marge/.ipython... [DONE]
If only one Door exists in the entire system, spock will automatically connect to that door thus avoiding the previous questions.
Afterward, spock CLI will start normally:
Spock 7.2.1 -- An interactive sardana client. help -> Spock's help system. object? -> Details about 'object'. ?object also works, ?? prints more. Spock's sardana extension 1.0 loaded with profile: spockdoor (linked to door 'LAB-01-D01') LAB-01-D01 :
If you want to connect to another gate you need to create a new spock profile.
Starting spock with a custom profile¶
spock allows each user to start a spock session with different configurations (known in spock as profiles). All you have to do is start spock with the profile name as an option.
If you use ipython version > 0.10 you can do it using –profile option:
spock --profile=<profile name>
marge@machine02:~$ spock --profile=D1
Otherwise (ipython version 0.10) you can do it using -p option:
spock -p <profile name>
marge@machine02:~$ spock -p D1
The first time a certain profile is used you will be asked to which door you want to connect to (see previous chapter).
Spock profiles are stored by default in
directory. For more information please refer to the
As mentioned before, spock console is based on IPython. Everything you can do in IPython is available in spock. The IPython documentation provides excelent tutorials, tips & tricks, cookbooks, videos, presentations and reference guide. For comodity we summarize some of the most interesting IPython chapters here:
Executing sardana macros in spock is the most useful feature of spock. It is
very simple to execute a macro: just type the macro name followed by a space
separated list of parameters (if the macro has any parameters). For example,
one of the most used macros is the
wa (stands for “where all”) that
shows all current motor positions. To execute it just type:
LAB-01-D01 : wa Current Positions (user, dial) Energy Gap Offset 100.0000 43.0000 100.0000 100.0000 43.0000 100.0000
A similar macro exists that only shows the desired motor positions
LAB-01-D01 : wm gap offset Gap Offset User High 500.0 100.0 Current 100.0 43.0 Low 5.0 -100.0 Dial High 500.0 100.0 Current 100.0 43.0 Low 5.0 -100.0
To get the list of all existing macros use
LAB-01-D01 : lsdef Name Module Brief Description ------------------- ------------- ------------------------------------------------------------ a2scan scans two-motor scan. a2scan scans two motors, as specifi[...] a2scan scans three-motor scan . a3scan scans three motors, as sp[...] ascan scans Do an absolute scan of the specified motor. ascan s[...] defmeas expert Create a new measurement group fscan scans N-dimensional scan along user defined paths. The mo[...] lsa lists Lists all existing objects lsm lists Lists all motors lsmac expert Lists all macros. mv standard Move motor(s) to the specified position(s) mvr standard Move motor(s) relative to the current position(s) wa standard Show all motor position. wm standard Show the position of the specified motors. <...>
Some macros may take a long time to execute. To stop a macro in the middle of its execution type Control+c. If the stopping process last too long, you may trigger the aborting process with a second Control+c. Here be patient, further issuing of Control+c may leave your macro in an uncontrolled way. Use them only if you are sure that the aborting process will not bring your system to a safe state.
Macros that move motors or acquire data from sensors will automatically stop all motion and/or all acquisition.
While stopping and aborting macros Spock reports you what happens behind the scene with informative messages:
LAB-01-D01 : ascan mot01 0 10 100 0.1 Operation will be saved in /tmp/test.h5 (HDF5::NXscan from NXscanH5_FileRecorder) Scan #342 started at Wed Sep 9 23:01:14 2020. It will take at least 0:00:10.174246 tg_test #Pt No mot01 ct01 gct01 double_scalar dt 0 0 0.1 2.98023e-08 243.47 0.0967791 1 0.1 0.1 5.91929e-08 243.47 0.239136 2 0.2 0.1 1.1595e-07 243.47 0.384191 ^C Ctrl-C received: Stopping... Stopping Motion(['mot01']) reserved by ascan Motion(['mot01']) stopped Stopping mntgrp_expconf reserved by ascan mntgrp_expconf stopped Operation saved in /tmp/test.h5 (HDF5::NXscan) Scan #342 ended at Wed Sep 9 23:01:15 2020, taking 0:00:01.055814. Dead time 33.7% (motion dead time 12.8%) Executing ascan.on_stop method... Stopping done!
To exit spock type Control+d or
exit() inside a spock console.
spock not only knows all the macros the sardana server can run but it also information about each macro parameters, result and documentation. Therefore it can give you precise help on each macro. To get help about a certain macro just type the macro name directly followed by a question mark(‘?’):
LAB-01-D01 : ascan? Syntax: ascan <motor> <start_pos> <final_pos> <nr_interv> <integ_time> Do an absolute scan of the specified motor. ascan scans one motor, as specified by motor. The motor starts at the position given by start_pos and ends at the position given by final_pos. The step size is (start_pos-final_pos)/nr_interv. The number of data points collected will be nr_interv+1. Count time is given by time which if positive, specifies seconds and if negative, specifies monitor counts. Parameters: motor : (Motor) Motor to move start_pos : (Float) Scan start position final_pos : (Float) Scan final position nr_interv : (Integer) Number of scan intervals integ_time : (Float) Integration time
A single motor may be moved using the
mv motor position macro.
LAB-01-D01 : mv gap 50
will move the gap motor to 50. The prompt only comes back after the motion as finished.
Alternatively, you can have the motor position displayed on the screen as it is
moving by using the
instead. To stop the motor(s) before they have finished moving, type
You can use the
relative_position macro to move a motor relative to its current position:
LAB-01-D01 : mvr gap 2
will move gap by two user units.
You can count using the
macro. Without arguments, this macro counts for one second using the active
measurement group set by the environment variable ActiveMntGrp.
Door_lab-01_1 : ct 1.6 Wed Jul 11 11:47:55 2012 ct01 = 1.6 ct02 = 3.2 ct03 = 4.8 ct04 = 6.4
To see the list of available measurement groups type
lsmeas. The active measuremnt group
is marked with an asterisk (*):
Door_lab-01_1 : lsmeas Active Name Timer Experim. channels -------- ---------- ------- ----------------------------------------------------------- * mntgrp01 ct01 ct01, ct02, ct03, ct04 mntgrp21 ct04 ct04, pcII0, pcII02 mntgrp24 ct04 ct04, pcII0
to switch active measurement groups type
senv ActiveMntGrp mg_name.
You can also create, modify and select measurement groups using the expconf command
Sardana provides a catalog of different standard scan macros. Absolute-position
motor scans such as
a3scan move one, two or three motors
at a time. Relative-position motor scans are
d3scan. The relative-position scans
all return the motors to their starting positions after the last point. Two
motors can be scanned over a grid of points using the
Continuous versions exist of many of the standard scan macros (e.g.
meshc,…). The continuous scans
differ from their standard counterparts (also known as step scans) in that
the data acquisition is done without stopping the motors. Continuous scans are
generally faster but less precise than step scans, and some details must be
considered (see Scans).
As it happens with
ct, the scan
macros will also use the active measurement group to decide which experiment
channels will be involved in the operation.
Here is the output of performing an
ascan of the gap in a slit:
LAB-01-D01 : ascan gap 0.9 1.1 20 1 ScanDir is not defined. This operation will not be stored persistently. Use "senv ScanDir <abs directory>" to enable it Scan #4 started at Wed Jul 11 12:56:47 2012. It will take at least 0:00:21 #Pt No gap ct01 ct02 ct03 0 0.9 1 4604 8939 1 0.91 1 5822 8820 2 0.92 1 7254 9544 3 0.93 1 9254 8789 4 0.94 1 11265 8804 5 0.95 1 13583 8909 6 0.96 1 15938 8821 7 0.97 1 18076 9110 8 0.98 1 19638 8839 9 0.99 1 20825 8950 10 1 1 21135 8917 11 1.01 1 20765 9013 12 1.02 1 19687 9135 13 1.03 1 18034 8836 14 1.04 1 15876 8901 15 1.05 1 13576 8933 16 1.06 1 11328 9022 17 1.07 1 9244 9205 18 1.08 1 7348 8957 19 1.09 1 5738 8801 20 1.1 1 4575 8975 Scan #4 ended at Wed Jul 11 12:57:18 2012, taking 0:00:31.656980 (dead time was 33.7%)
As you can see, by default, the scan is not recorded into any file. To store your scans in a file, you must set the environment variables ScanDir and ScanFile:
LAB-01-D01 : senv ScanDir /tmp ScanDir = /tmp LAB-01-D01 : senv ScanFile scans.h5 ScanFile = scans.h5
You can also store in multiples files by assigning the ScanFile with a list of files:
LAB-01-D01 : senv ScanFile "['scans.h5', 'scans.dat']" ScanFile = ['scans.h5', 'scans.dat']
Viewing scan data¶
You can show plots for the current scan (i.e. plotting the scan online) by
showscan online command.
Sardana provides also a scan data viewer for scans which were stored in a NeXus
file: Showscan. It can be launched using
spock command. It accepts scan number as an argument, and will show the last scan
when invoked without arguments.
The history of scans is available through the
LAB-01-D01 : scanhist # Title Start time End time Stored --- ------------------------------- --------------------- --------------------- ------------- 1 dscan mot01 20.0 30.0 10 0.1 2012-07-03 10:35:30 2012-07-03 10:35:30 Not stored! 3 dscan mot01 20.0 30.0 10 0.1 2012-07-03 10:36:38 2012-07-03 10:36:43 Not stored! 4 ascan gap01 10.0 100.0 20 1.0 12:56:47 12:57:18 Not stored! 5 ascan gap01 1.0 10.0 20 0.1 13:19:05 13:19:13 scans.h5
Accessing macro data¶
macrodata allows to retrieve the data of the last macro run in spock.
If this macro does not provide any data an error message is thrown.
Example accesing scan data:
Door_1 : ascan mot17 1 10 2 1 ScanDir is not defined. This operation will not be stored persistently. Use "expconf" (or "senv ScanDir <abs directory>") to enable it Scan #2 started at Tue Feb 13 11:16:18 2018. It will take at least 0:00:05.048528 0 1 1 3 4 0.865325 1 5.5 1 3 4 2.51148 2 10 1 3 4 4.16662 Scan #2 ended at Tue Feb 13 11:16:24 2018, taking 0:00:05.201949. Dead time 42.3% (motion dead time 40.5%) #Pt No mot17 ct17 ct19 ct20 dt Door_1 : r = %macrodata Door_1 : r.data.keys() Result : ['point_nb', 'timestamp', 'mot17', 'haso111n:10000/expchan/ctctrl05/4', 'haso111n:10000/expchan/ctctrl05/1', 'haso111n:10000/expchan/ctctrl05/3'] Door_1 : r.data['point_nb'] Result : 0 Door_1 : r.data['mot17'] Result : 1.0 Door_1 : r.data['haso111n:10000/expchan/ctctrl05/1'] Result : 1.0
Changing appearance with View Options¶
The View Options allow the users to customize the output displayed by certain
macros. They are set by the macro
usetvo returns the
View Options to the default value. And the macro
lsvo lists the current values.
Available View Options:
ShowCtrlAxis: Select if the name of the controller the motor belongs to should be displayed. Default value
False(no controller name).
PosFormat: Set the number of decimal digits displayed in the motor position/limits.
OutputBlock: Set if the line information during scans is appended to the output or updated.
False(lines are appended to the displayed output during the scan).
DescriptionLength: Length (number of characters) of the macro description printed by
Spock provides some commands that help to debug or recognize the errors in case a macro fails when being executed.
wwwprints the error message from the last macro execution
onas parameter activates the print out of the debug messages during macro execution. Set it to
offto deactivate it.
post_mortemprints the current logger messages. If no argument is specified it reads the
debugstream. Valid values are
Spock syntax is used to execute macros. It is based on space
separated list of parameter values. If the string parameter values contain
spaces itself these must be enclosed in quotes, either single quotes
'' or double quotes
The spock syntax was extended with the use of square brackets
macros which define
repeat parameters as arguments.
Repeat parameter values must be enclosed in square brackets. If the repeat
parameter is composed from more than one internal parameter its every
repetition must be enclosed in another square brackets as well.
For example, the
class move_with_timeout(Macro): """Execute move with a timeout""" param_def = [ ['m_p_pair', [['motor', Type.Motor, None, 'Motor to move'], ['pos', Type.Float, None, 'Position to move to']], None, 'List of motor/position pairs'], ['timeout', Type.Float, None, 'Timeout value'] ] def run(self, *args, **kwargs): pass
Must use the square brackets for the
m_p_pair parameter and its
Door_1 : move_with_timeout [[th 8.4] [tth 16.8]] 50
However for the commodity reasons the square brackets may be skipped. The following examples explain in which cases.
Repeat parameter is the last one¶
When the repeat parameter is the last one in the parameters definition both square brackets (for the repeat parameter and for the repetition) may be skipped.
For example, the
class move(Macro): """Execute move""" param_def = [ ['m_p_pair', [['motor', Type.Motor, None, 'Motor to move'], ['pos', Type.Float, None, 'Position to move to']], None, 'List of motor/position pairs'] ] def run(self, *args, **kwargs): pass
May skip the square brackets for the
m_p_pair parameter and its
Door_1 : move th 8.4 tth 16.8
This is equivalent to:
Door_1 : move [[th 8.4] [tth 16.8]]
Repeat parameter has only one internal parameter¶
When the repeat parameter contains only one internal parameter the square brackets for the repetition must be skipped.
For example, the
class power_motor(Macro): """Power on/off motor(s)""" param_def = [ ['motor_list', [['motor', Type.Motor, None, 'motor name']], None, 'List of motors'], ['power_on', Type.Boolean, None, 'motor power state'] ] def run(self, *args, **kwargs): pass
Must use the square brackets for the
motor_list parameter but not for
Door_1 : power_motor [th tth] True
Repeat parameter has only one internal parameter and only one repetition value¶
When the repeat parameter contains only one internal parameter and you would like to pass only one repetition value then the square brackets for the repeat parameter may be skipped as well resulting in no square brackets being used.
This assumes the
power_motor macro from the previous example.
The following two macro executions are equivalent:
Door_1 : power_motor th True Door_1 : power_motor [th] True
A set of macro examples defining complex repeat parameters can be found in Macro parameter examples. You can see the invocation example for each of these macros in its docstring.
LAB-01-D01 : def f(): ...: print("Hello, World!") ...: ...: LAB-01-D01 : f() Hello, World!
As mentioned in the beginning of this chapter, the sardana spock automatically
activates the PyTango ‘s ipython console extension 1. Therefore all Tango
features are automatically available on the sardana spock console. For example,
tango.DeviceProxy will work inside the sardana spock
LAB-01-D01 : tgtest = Device("sys/tg_test/1") LAB-01-D01 : print(tgtest.state()) RUNNING