ZOOM: Employ the collision detection system to the baffle and detector trolley axes

[KathrynBaker]

As someone concerned with the motion on ZOOM I want to be able to automate the soft limits on the detector and baffle axes to avoid triggering the bump strips in standard operation of the system.

Acceptance Criteria

1. The soft limits on the two axes are updated as appropriate when each changes.

[kjwoodsISIS]

Contact @jonelmer if we need specific details.

[DominicOram]

From a code chat the following needs to be done as part of this ticket to make the collision detection software into a MVP, in order of priority:

• Improve the test coverage of the code, particularly around the collision mathematics
• Improve the general documentation, add docstrings where appropriate
• Move the configuration files into the configuration area, rather than the same location as the code
• Look at whether MOVN should be changed to DMOV and DRBV to RBV

The following would be nice to do as part of the MVP:

• Refactor out the binary values used in OperatingMode
• Use argparse for argument parsing
• Look at different options for the config file format (more class based structure)
• Look at using an external library for transform matricies
• Modify the startup to not require a MYDIRCD environment variable

The following are features that would be useful for further development:

• Create an OPI for control
• Allow the user to input the sample size
• Add support for cylinders
• Split out renderer into separate program (maybe add into the GUI?). Look at good intermediate formats for the rendered image.

This ticket will be timeboxed to 3 days, create new ticket(s) for any of the above that does not get completed.