example_config.yaml

name: Human

devices:
  bsy:
    type: Motor
    name: Beam Stop Y
    pv: XF:17IDC-ES:FMX{BS:1-Ax:Y}Mtr
    tolerance: 5
    timeout: 5
    positions:
      Up: 1000
      Down: 100.0
  bsz:
    type: Motor
    name: Beam Stop Z
    pv: XF:17IDC-ES:FMX{BS:1-Ax:Z}Mtr
    tolerance: 5
    timeout: 5
    positions:
      Park: 500.0
      DAQ: -500
  li:
    type: Motor
    name: Light Y
    pv: XF:17IDC-ES:FMX{Light:1-Ax:Y}Mtr
    tolerance: 5
    timeout: 5
    positions:
      In: 1100
      Out: 100
  cx:
    type: Motor
    name: Cryostream X
    pv: XF:17IDC-ES:FMX{CS:1-Ax:X}Mtr
    tolerance: 5
    timeout: 5
    positions:
      In: 455
      Out: 255
  cxy:
    type: Motor
    name: Cryostream XY
    pv: XF:17IDC-ES:FMX{CS:1-Ax:XY}Mtr
    tolerance: 5
    timeout: 5
    positions:
      Near: 676
      Far: -200
  dz:
    type: Motor
    name: Detector Z
    pv: XF:17IDC-ES:FMX{Det-Ax:Z}Mtr
    tolerance: 5
    timeout: 5
    positions:
      In: 100
      Out: -800
  collixy:
    type: Device
    name: Collimator XY
    pv: XF:17IDC-ES:FMX{Colli:1-Ax:XY}Mtr
    tolerance: 5
    timeout: 5
    positions:
      In: 999
      Out: 666
  dc:
     type: Valve
     name: Detector Cover
     pv: XF:17IDC-ES:FMX{Det:FMX-Cover}
     timeout: 5


states:
  M:
    name: Maintenance

  SE:
    name: Sample Exchange
    targets:
      bsy: {target: Down, limits: [-100.0, 100.0], updateAfter: true}
      bsz: {target: Park, limits: [0, 600.0]}
      li: {target: Out, limits: [0, 0]}
      cxy: {target: Far, limits: [0, 0]}
      cx: {target: In, limits: [0, 0]}
      dz: {target: Out, limits: [0, 0]}
      collixy: {target: Out, limits: [0, 0]}
  SA:
    name: Sample Alignment
    targets:
      bsy: {target: Up, limits: [0, 0]}
      bsz: {target: Park, limits: [0, 0]}
      li: {target: In, limits: [0, 0]}
      cxy: {target: Near, limits: [0, 0]}
      cx: {target: In, limits: [0, 0]}
      dz: {target: In, limits: [0, 0]}
      collixy: {target: In, limits: [0, 0]}
  DA:
    name: Data Acquisition
    targets:
      bsy: {target: Up, limits: [0, 0]}
      bsz: {target: DAQ, limits: [0, 0]}
      li: {target: Out, limits: [0, 0]}
      cxy: {target: Near, limits: [0, 0]}
      cx: {target: In, limits: [0, 0]}
      dz: {target: In, limits: [0, 0]}
      collixy: {target: In, limits: [0, 0]}
  BL:
    name: Beam Location
    targets:
      bsy: {target: Up, limits: [0, 0]}
      bsz: {target: DAQ, limits: [0, 0]}
      li: {target: In, limits: [0, 0]}
      cxy: {target: Far, limits: [0, 0]}
      cx: {target: Out, limits: [0, 0]}
      dz: {target: Out, limits: [0, 0]}
      collixy: {target: In, limits: [0, 0]}

init_state: M

transitions:
  M:
    SE: [[dz, li, cxy, cx], bsz, bsy, collixy]
  SE:
    SA: [cxy, li, bsy, dz, collixy, cx, bsz]
    BL: [bsy, li, cx, dz, bsz, cxy, collixy]
  SA:
    SE: [collixy, dz, bsy, li, cxy, cx, bsz]
    DA: [li, bsz, bsy, cxy, cx, dz, collixy]
    BL: [cxy, cx, dz, li, collixy, bsz, bsy]
  DA:
    SA: [bsz, li, bsy, cxy, cx, dz, collixy]
    SE: [dz, collixy, bsz, bsy, cxy, cx, li]
  BL:
    SE: [cx, li, bsy, dz, bsz, cxy, collixy]
    SA: [dz, cx, cxy, li, collixy, bsz, bsy]