SXD: Solution for AttoCube

[kjwoodsISIS]

As a scientist I want to be able to control the AttoCube, so that I can control the orientation of the sample in my experiments.

Acceptance Criteria

• A stream device IOC exists for the AttoCube.
• An emulator and tests exist.
• An OPI exists.

Notes

1. The OPI must offer functionality equivalent to the existing SXD AttoCube positioner VI (located here: C:\LabVIEW Modules\Instruments\SXD\AttoCube).
   1. The AttoCube is driven by a Galil.
   2. Controlled via a Galil using direct commands, so not via standard motor record

Time in Planning

00:15:15 02/05/24

[KathrynBaker]

The front panel of the existing VI is:

[KathrynBaker]

The Galil code for this is proving hard to track down at present, but it is important to note that is not run as a motor by LabVIEW, and as such, it may be best to treat this as a specific piece of equipment using the data set below.

On initialisation the following commands should be sent (in this order):

VERBOSE=0
AB0
MO
XQ #SXD
MG "stop 1" {P2}

BUSY is determined by comparing the response to BUSY= with \s0.0000\r\n:, if they match the system is not busy.
ATANGLE= returns the Angle Postion
Y= returns the Arc Position
If setting the angle send ATTO= with a double between +170 and -170, followed by ATGO=1
If setting the arc send ARK= with a double between -19 and +19, followed by ARGO=1
If stop has been requested send the same set of commands as on initialisation, AB0, MO, XQ #SXD, MG "stop 1" {P2}

In summary there are three values to send, and three values to read.

[GRyall]

The development work to complete this ticket can be found in the following PRs:
ISISComputingGroup/EPICS-AttoCube#1
#8541
https://github.com/ISISComputingGroup/EPICS/pull/370
ISISComputingGroup/EPICS-ioc#885
ISISComputingGroup/ibex_gui#1744

[GRyall]

I am moving this to impeded until we have chance to test with the hardware (request in progress via @LowriJenkins)