def initialize_axis(self, axis):
def set_pos(move_done, axis=axis):
if move_done:
self.set_position(axis, axis.dial()*axis.steps_per_unit)
self._axis_moves[axis] = {
"measured_simul": False,
"measured_noise": 0.0,
"end_t": 0,
"end_pos": 0,
"move_done_cb": set_pos }
event.connect(axis, "move_done", set_pos)
# this is to test axis are initialized only once
axis.settings.set('init_count', axis.settings.get('init_count') + 1)
# Add new axis oject methods as tango commands.
add_axis_method(axis, self.custom_park, types_info=("None", "None"))
add_axis_method(axis, self.custom_get_forty_two, types_info=("None", "int"))
add_axis_method(axis, self.custom_get_twice, types_info=("int", "int"))
add_axis_method(axis, self.custom_get_chapi, types_info=("str", "str"))
add_axis_method(axis, self.custom_send_command, types_info=("str", "None"))
add_axis_method(axis, self.custom_command_no_types, types_info=("None", "None"))
add_axis_method(axis, self.custom_set_measured_noise, types_info=("float", "None"))
add_axis_method(axis, self.put_discrepancy, types_info=("int", "None"))
if axis.encoder:
self.__encoders.setdefault(axis.encoder, {})["axis"] = axis
def initialize_axis(self, axis):
axis.driver = axis.config.get("driver", str)
axis.channel = axis.config.get("channel", int)
axis.accumulator = None
event.connect(axis, "move_done", self._axis_move_done)
# self._write_no_reply(axis, "JOF") #, raw=True)
self._write_no_reply(axis, "MON %s" % axis.driver)
def initialize_axis(self, axis):
"""
- Reads specific config
- Adds specific methods
- Switches piezo to ONLINE mode so that axis motion can be caused
by move commands.
Args:
- <axis>
Returns:
- None
"""
axis.channel = axis.config.get("channel", int)
axis.chan_letter = axis.config.get("chan_letter")
add_axis_method(axis, self.get_id, types_info=(None, str))
'''Closed loop'''
add_axis_method(axis, self.open_loop, types_info=(None, None))
add_axis_method(axis, self.close_loop, types_info=(None, None))
'''DCO'''
add_axis_method(axis, self.activate_dco, types_info=(None, None))
add_axis_method(axis, self.desactivate_dco, types_info=(None, None))
'''GATE'''
# to enable automatic gating (ex: zap)
add_axis_method(axis, self.enable_auto_gate, types_info=(bool, None))
# to trig gate from external device (ex: HPZ with setpoint controller)
add_axis_method(axis, self.set_gate, types_info=(bool, None))
if axis.channel == 1:
self.ctrl_axis = axis
# NO automatic gating by default.
self.auto_gate_enabled = False
'''end of move event'''
event.connect(axis, "move_done", self.move_done_event_received)
# Enables the closed-loop.
# self.sock.write("SVO 1 1\n")
self.send_no_ans(axis, "ONL %d 1" % axis.channel)
# VCO for velocity control mode ?
# self.send_no_ans(axis, "VCO %d 1" % axis.channel)
# Updates cached value of closed loop status.
self.closed_loop = self._get_closed_loop_status(axis)
# Reads high/low limits of the piezo to use in set_gate
self.low_limit = self._get_low_limit(axis)
self.high_limit = self._get_high_limit(axis)
def test_move_done_event(self):
res = {"ok": False}
def callback(move_done, res=res):
if move_done:
res["ok"] = True
roby = emotion.get_axis("roby")
roby_pos = roby.position()
robz = emotion.get_axis("robz")
robz_pos = robz.position()
event.connect(self.grp, "move_done", callback)
self.grp.rmove({robz: 2, roby: 3})
self.assertEquals(res["ok"], True)
self.assertEquals(robz.position(), robz_pos+2)
self.assertEquals(roby.position(), roby_pos+3)
def initialize_axis(self, axis):
CalcController.initialize_axis(self, axis)
event.connect(axis, "s_param", self._calc_from_real)