def connect(self, address=None):
if self.contype == "simulator":
self.hc = acsc.openCommDirect()
elif self.contype == "ethernet":
self.hc = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
MC.SetParamStr(channel, 'ChannelState', 'READY')
data = np.fromstring(imageBuffer, np.uint16)
image_npy = np.reshape(data, (height, width))
else:
mmc.snapImage()
image_npy = mmc.getImage()
proj_32bit_filler = proj_32bit_filler + image_npy
return proj_32bit_filler
##################
####stage calls###
##################
if load_stages:
#initiate connection
hcomm = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
if scan_gain:
acsc.enable(hcomm, 0) #z
# acsc.toPoint(hcomm, None,0,110) #YIFU CHECK THIS
acsc.setVelocity(hcomm, 0, 5) #velocity in mm/sec
r_pos_0 = acsc.getRPosition(hcomm, 0)
f_pos_0 = acsc.getFPosition(hcomm, 0)
acsc.enable(hcomm, 1) #theta
acsc.setVelocity(hcomm, 1, 5) #velocity in degrees/sec
r_pos_1 = acsc.getRPosition(hcomm, 1)
f_pos_1 = acsc.getFPosition(hcomm, 1)
# acsc.toPoint(hcomm, None,1,0)
print("z-stage F pos: %f \n z-stage R pos: %f" % (f_pos_0, r_pos_0))
print("theta-stage F pos: %f \n theta-stage R pos: %f" %
(f_pos_1, r_pos_1))
def __init__(self, parent=None):
QtGui.QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# Set up some parameters
self.axis = 5
self.homecounter = 0
self.jogmode = False
self.leftlimit = 24.9
self.platform = 9.0
self.override = False
self.axis_enabled = False
# Set maximum velocities to 2 m/s
self.ui.velSpinBox.setMaximum(2.0)
self.ui.velSpinBox_baf1.setMaximum(2.0)
self.ui.velSpinBox_baf2.setMaximum(2.0)
# Set initial states of all buttons
self.ui.rbAbsolute.setEnabled(False)
self.ui.rbAbsolute_baf.setEnabled(False)
self.ui.enableAxis.setEnabled(False)
self.ui.actionRunHoming.setEnabled(False)
self.ui.dock_jog.setEnabled(False)
self.ui.groupBox_shortcuts.setEnabled(False)
self.ui.tabWidgetMode.setEnabled(False)
self.ui.toolBar_Jog.setEnabled(False)
self.ui.enableAxis.setIcon(QIcon())
self.ui.posSpinBox.setMinimum(-self.leftlimit)
self.ui.posSpinBox.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf1.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf1.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf2.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setDisabled(True)
# Add some labels to the status bar
self.hlabel = QLabel()
self.hlabel.setText("Not homed ")
self.ui.statusBar.addWidget(self.hlabel)
self.poslabel = QLabel()
self.poslabel.setText("Pos. (m): ")
self.ui.statusBar.addWidget(self.poslabel)
self.vellabel = QLabel()
self.vellabel.setText("Vel. (m/s): ")
self.ui.statusBar.addWidget(self.vellabel)
# Add a button to the toolbar
self.ui.toolBar_Jog.addWidget(self.ui.pbJogPlus)
self.ui.toolBar_Jog.addWidget(self.ui.pbJogMinus)
self.ui.pbJogMinus.setFixedHeight(27)
self.ui.pbJogPlus.setFixedHeight(27)
self.ui.pbJogMinus.setFixedWidth(32)
self.ui.pbJogPlus.setFixedWidth(32)
self.ui.dock_jog.close()
# Set up timers
self.timer_slow = QTimer()
self.timer_slow.timeout.connect(self.on_timer_slow)
self.timer_fast = QTimer()
self.timer_fast.timeout.connect(self.on_timer_fast)
# Connect to the controller
self.simulator = False
self.retry = True
if self.simulator:
self.hcomm = acsc.openCommDirect()
else:
self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
# If connection fails, bring up error message box
while self.hcomm == acsc.INVALID and self.retry:
msgtxt = "Unable to connect to controller.\n\n"
msgtxt += "Check that controller is powered-on and "
msgtxt += "SPiiPlus User Mode Driver is running."
c_err_box = QMessageBox()
c_err_box.setIcon(QMessageBox.Critical)
c_err_box.setWindowIcon(QIcon(':/icons/tow_icon.svg'))
c_err_box.setWindowTitle("Connection Error")
c_err_box.setText(msgtxt)
c_err_box.setStandardButtons(QMessageBox.Retry | QMessageBox.Abort)
c_err_box.setDefaultButton(QMessageBox.Retry)
c_err_box.addButton("Use &Simulator",
QMessageBox.AcceptRole)
ret = c_err_box.exec_()
if ret == QMessageBox.Retry:
if self.simulator: self.hcomm = acsc.openCommDirect()
else: self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
elif ret == QMessageBox.Abort:
self.connectfail = True
self.retry = False
self.timer_fast.start(10)
elif ret == QMessageBox.AcceptRole:
self.simulator = True
self.hcomm = acsc.openCommDirect()
if self.hcomm != acsc.INVALID:
self.timer_slow.start(150)
self.timer_fast.start(50)
self.ui.enableAxis.setEnabled(True)
self.ui.actionRunHoming.setEnabled(True)
# Register the emergency stop button
acsc.registerEmergencyStop()
# Make sure jog program is not running
acsc.stopBuffer(self.hcomm, 5)
# Create the jog group action group
self.offset_group = QActionGroup(self)
self.ui.traverseOff.setActionGroup(self.offset_group)
self.ui.traverse1m.setActionGroup(self.offset_group)
self.ui.traverse2m.setActionGroup(self.offset_group)
self.ui.traverse3m.setActionGroup(self.offset_group)
self.ui.traverse4m.setActionGroup(self.offset_group)
self.traverse_offset_actions = {"off": self.ui.traverseOff,
"1m": self.ui.traverse1m,
"2m": self.ui.traverse2m,
"3m": self.ui.traverse3m,
"4m": self.ui.traverse4m}
# Create TCP server for remote control
remoteserver = QtNetwork.QTcpServer()
print(str(remoteserver.serverAddress().toString()))
# Connect signals and slots
self.connectslots()
# Load settings
self.load_settings()
def connect(self, address="10.0.0.100", port=701):
if self.contype == "simulator":
self.hc = acsc.openCommDirect()
elif self.contype == "ethernet":
self.hc = acsc.openCommEthernetTCP(address=address, port=port)
def initialization(self):
print "Waiting for Motorized Stage (ACS) Initialization"
self.hc = acsc.openCommEthernetTCP(address="10.0.0.100",
port=701) ## craete comminucation
acsc.runBuffer(self.hc, 0)
acsc.runBuffer(self.hc, 1)
acsc.runBuffer(self.hc, 2)
acsc.runBuffer(self.hc, 4)
acsc.runBuffer(self.hc, 5)
acsc.runBuffer(self.hc, 6)
time.sleep(30)
## Homing process
## Axis 6
acsc.waitMotionEnd(self.hc, axis=6) ## stop at left limit
if acsc.setFPosition(self.hc, axis=6, fposition=0) != 0:
print 'Axis 6 (Receiver Z): Homing completed'
else:
print 'Axis 6 (Receiver Z): Homing failed'
## Axis 0
acsc.waitMotionEnd(self.hc, axis=0)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=0, target=47.5)
acsc.waitMotionEnd(self.hc, axis=0)
if acsc.setFPosition(self.hc, axis=0, fposition=0) == 1:
print 'Axis 0 (Sample X): Homing completed'
else:
print 'Axis 0 (Sample X): Homing failed'
## Axis 1
acsc.waitMotionEnd(self.hc, axis=1)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=1, target=19.51)
acsc.waitMotionEnd(self.hc, axis=1)
if acsc.setFPosition(self.hc, axis=1, fposition=0) == 1:
print 'Axis 1 (Sample Y): Homing completed'
else:
print 'Axis 1 (Sample Y): Homing failed'
## Axis 2
acsc.waitMotionEnd(self.hc, axis=2) ## stop at left limit
acsc.toPoint(self.hc, flags=0, axis=2, target=2.8915)
print 'Axis 2 (Lens array): Homing completed'
## Axis 4
acsc.waitMotionEnd(self.hc, axis=4) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=4, target=4.42)
acsc.waitMotionEnd(self.hc, axis=4)
if acsc.setFPosition(self.hc, axis=4, fposition=0) == 1:
print 'Axis 4 (Receiver X): Homing completed'
else:
print 'Axis 4 (Receiver X): Homing failed'
## Axis5
acsc.waitMotionEnd(self.hc, axis=5) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=5, target=23.8)
acsc.waitMotionEnd(self.hc, axis=5)
if acsc.setFPosition(self.hc, axis=5, fposition=0) == 1:
print 'Axis 5 (Receiver Y): Homing completed'
else:
print 'Axis 5 (Receiver Y): Homing failed'
## parameter setting
acsc.setVelocity(self.hc, 0, 30) ## axis 0 (linear X)
acsc.setAcceleration(self.hc, 0, 100)
acsc.setDeceleration(self.hc, 0, 100)
acsc.setJerk(self.hc, 0, 1000)
acsc.setVelocity(self.hc, 1, 30) ## axis1 (linear Y)
acsc.setAcceleration(self.hc, 1, 100)
acsc.setDeceleration(self.hc, 1, 100)
acsc.setJerk(self.hc, 1, 1000)
acsc.setVelocity(self.hc, 2, 30) ## axis 2 (revolver)
acsc.setAcceleration(self.hc, 2, 100)
acsc.setDeceleration(self.hc, 2, 100)
acsc.setJerk(self.hc, 2, 1000)
acsc.setVelocity(self.hc, 4, 30) ## axis4 (step X)
acsc.setAcceleration(self.hc, 4, 100)
acsc.setDeceleration(self.hc, 4, 100)
acsc.setJerk(self.hc, 4, 1000)
acsc.setVelocity(self.hc, 5, 30) ## axis 5 (step Y)
acsc.setAcceleration(self.hc, 5, 100)
acsc.setDeceleration(self.hc, 5, 100)
acsc.setJerk(self.hc, 5, 1000)
acsc.setVelocity(self.hc, 6, 5) ## axis 6 (step Z)
acsc.setAcceleration(self.hc, 6, 50)
acsc.setDeceleration(self.hc, 6, 50)
acsc.setJerk(self.hc, 1, 100)
