Implementation of pmac trajectory

pyproject.toml

@@ -23,6 +23,8 @@ dependencies = [
     "colorlog",
     "pydantic>=2.0",
     "pydantic-numpy",
+    "scanspec>=0.7.2",
+    "velocity-profile",
 ]
 dynamic = ["version"]
 license.file = "LICENSE"

src/ophyd_async/epics/motor.py

@@ -75,7 +75,7 @@ def __init__(self, prefix: str, name="") -> None:
         self.motor_done_move = epics_signal_r(int, prefix + ".DMOV")
         self.low_limit_travel = epics_signal_rw(float, prefix + ".LLM")
         self.high_limit_travel = epics_signal_rw(float, prefix + ".HLM")
-
+        self.output_link = epics_signal_r(str, prefix + ".OUT")
         self.motor_stop = epics_signal_x(prefix + ".STOP")
         # Whether set() should complete successfully or not
         self._set_success = True

src/ophyd_async/epics/pmac/__init__.py

@@ -0,0 +1,4 @@
+from ._pmac_io import Pmac, PmacMotor
+from ._pmac_trajectory import PmacTrajectoryTriggerLogic, PmacTrajInfo
+
+__all__ = ["Pmac", "PmacMotor", "PmacTrajectoryTriggerLogic", "PmacTrajInfo"]

src/ophyd_async/epics/pmac/_pmac_io.py

@@ -0,0 +1,57 @@
+import numpy as np
+
+from ophyd_async.core import Array1D, DeviceVector, StandardReadable
+from ophyd_async.epics import motor
+from ophyd_async.epics.core import epics_signal_r, epics_signal_rw
+
+
+class Pmac(StandardReadable):
+    """Device that moves a PMAC Motor record"""
+
+    def __init__(self, prefix: str, name: str = "") -> None:
+        self.time_array = epics_signal_rw(
+            Array1D[np.float64], prefix + ":ProfileTimeArray"
+        )
+        self.user_array = epics_signal_rw(Array1D[np.int32], prefix + ":UserArray")
+        cs_letters = "ABCUVWXYZ"
+        # 1 indexed CS axes so we can index into them from the compound motor input link
+        self.positions = DeviceVector(
+            {
+                i + 1: epics_signal_rw(
+                    Array1D[np.float64], f"{prefix}:{letter}:Positions"
+                )
+                for i, letter in enumerate(cs_letters)
+            }
+        )
+        self.use_axis = DeviceVector(
+            {
+                i + 1: epics_signal_rw(bool, f"{prefix}:{letter}:UseAxis")
+                for i, letter in enumerate(cs_letters)
+            }
+        )
+        self.velocities = DeviceVector(
+            {
+                i + 1: epics_signal_rw(
+                    Array1D[np.float64], f"{prefix}:{letter}:Velocities"
+                )
+                for i, letter in enumerate(cs_letters)
+            }
+        )
+        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")
+        self.scan_percent = epics_signal_r(float, prefix + ":TscanPercent_RBV")
+        self.profile_abort = epics_signal_rw(bool, prefix + ":ProfileAbort")
+        self.profile_cs_name = epics_signal_rw(str, prefix + ":ProfileCsName")
+        self.profile_calc_vel = epics_signal_rw(bool, prefix + ":ProfileCalcVel")
+
+        super().__init__(name=name)
+
+
+class PmacMotor(motor.Motor):
+    """Device that moves a PMAC Motor record"""
+
+    def __init__(self, prefix: str, name: str = "") -> None:
+        self.cs_axis = epics_signal_r(str, f"{prefix}:CsAxis_RBV")
+        self.cs_port = epics_signal_r(str, f"{prefix}:CsPort_RBV")
+        super().__init__(prefix=prefix, name=name)