Implement trajectory scanning on raw Motors

src/ophyd_async/epics/pmac/_pmacIO.py

@@ -9,7 +9,8 @@
 class Pmac(StandardReadable):
  """Device that moves a PMAC Motor record"""
 
- def __init__(self, prefix: str, name="") -> None:
+ def __init__(self, prefix: str, axes_on_brick: list[int], name: str = "") -> None:
+ self.prefix = prefix
  self.time_array = epics_signal_rw(
  npt.NDArray[np.float64], prefix + ":ProfileTimeArray"
  )
@@ -37,6 +38,12 @@ def __init__(self, prefix: str, name="") -> None:
  for i, letter in enumerate(cs_letters)
  }
  )
+ self.CsAxisAssignment = DeviceVector(
+ {i: epics_signal_r(str, f"{prefix}:M{i}:CsAxis_RBV") for i in axes_on_brick}
+ )
+ self.CsPortAssignment = DeviceVector(
+ {i: epics_signal_r(str, f"{prefix}:M{i}:CsPort_RBV") for i in axes_on_brick}
+ )
  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")

src/ophyd_async/epics/pmac/_pmacTrajectory.py

@@ -197,8 +197,16 @@ async def get_cs_info(self, motor: motor.Motor) -> tuple[str, int]:
  # Split "@asyn(PORT,num)" into ["PORT", "num"]
  split = output_link.split("(")[1].rstrip(")").split(",")
  cs_port = split[0].strip()
- assert "CS" in cs_port, f"{motor.name} not in a CS. It is not a compound motor."
- cs_index = int(split[1].strip()) - 1
+ if "CS" in cs_port:
+ # Motor is compound
+ cs_index = int(split[1].strip()) - 1
+ else:
+ # Raw Motor, CS 1 to be used - Straight through mapping
+ axis = int(split[1].strip())
+ cs_port = await self.pmac.CsPortAssignment[axis].get_value()
+ cs_axis = await self.pmac.CsAxisAssignment[axis].get_value()
+ cs_index = "ABCUVWXYZ".index(cs_axis)
+
  return cs_port, cs_index
 
  def _calculate_gaps(self, chunk: Frames[motor.Motor]):

tests/epics/pmac/test_pmac.py

@@ -31,16 +31,25 @@ async def sim_y_motor():
  set_mock_value(sim_motor.acceleration_time, 0.5)
  set_mock_value(sim_motor.max_velocity, 5)
  set_mock_value(sim_motor.velocity, 0.5)
- set_mock_value(sim_motor.output_link, "@asyn(BRICK1.CS3,8)")
+ set_mock_value(sim_motor.output_link, "@asyn(BRICK1,8)")
 
  yield sim_motor
 
 
+@pytest.fixture
+async def sim_pmac():
+ async with DeviceCollector(mock=True):
+ sim_pmac = Pmac("BLxxI-MO-STEP-01", axes_on_brick=[7, 8], name="sim_pmac")
+ set_mock_value(sim_pmac.CsAxisAssignment[8], "Y")
+ set_mock_value(sim_pmac.CsPortAssignment[8], "BRICK1.CS3")
+ yield sim_pmac
+
+
 async def test_sim_pmac_simple_trajectory(sim_x_motor) -> None:
  # Test the generated Trajectory profile from a scanspec
  prefix = "BLxxI-MO-STEP-01"
  async with DeviceCollector(mock=True):
- pmac = Pmac(prefix, name="sim_pmac")
+ pmac = Pmac(prefix, axes_on_brick=[7, 8], name="sim_pmac")
  spec = fly(Line(sim_x_motor, 1, 5, 9), 1)
  info = PmacTrajInfo(spec=spec)
  trigger_logic = PmacTrajectoryTriggerLogic(pmac)
@@ -122,14 +131,11 @@ async def test_sim_pmac_simple_trajectory(sim_x_motor) -> None:
  await trigger_logic.kickoff()
 
 
-async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor) -> None:
+async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
  # Test the generated Trajectory profile from a scanspec
- prefix = "BLxxI-MO-STEP-01"
- async with DeviceCollector(mock=True):
- pmac = Pmac(prefix, name="sim_pmac")
  spec = fly(Line(sim_y_motor, 10, 12, 3) * ~Line(sim_x_motor, 1, 5, 5), 1)
  info = PmacTrajInfo(spec=spec)
- trigger_logic = PmacTrajectoryTriggerLogic(pmac)
+ trigger_logic = PmacTrajectoryTriggerLogic(sim_pmac)
  await trigger_logic.prepare(info)
  assert await trigger_logic.pmac.positions[9].get_value() == pytest.approx(
  [