class ClaussAxis(AbstractHardwarePlugin, AbstractAxisPlugin):
def _init(self):
Logger().trace("ClaussAxis._init()")
AbstractHardwarePlugin._init(self)
AbstractAxisPlugin._init(self)
self._hardware = ClaussHardware()
def _defineConfig(self):
AbstractAxisPlugin._defineConfig(self)
AbstractHardwarePlugin._defineConfig(self)
self._addConfigKey("_speedSlow", "SPEED_SLOW", default=DEFAULT_SPEED_SLOW)
self._addConfigKey("_speedNormal", "SPEED_NORMAL", default=DEFAULT_SPEED_NORMAL)
self._addConfigKey("_speedFast", "SPEED_FAST", default=DEFAULT_SPEED_FAST)
self._addConfigKey("_parkPosition", "PARK_POSITION", default=DEFAULT_PARK_POSITION)
if self.capacity == "yawAxis":
self._addConfigKey("_parkEnable", "PARK_ENABLE", default=False)
else:
self._addConfigKey("_parkEnable", "PARK_ENABLE", default=True)
def __getSpeed(self):
""" Return the speed value according to manual speed setting.
@return: speed
@rtype float
"""
if self._manualSpeed == "slow":
speed = self._config["SPEED_SLOW"]
elif self._manualSpeed == "normal":
speed = self._config["SPEED_NORMAL"]
elif self._manualSpeed == "fast":
speed = self._config["SPEED_FAST"]
return speed
def init(self):
Logger().trace("ClaussAxis.init()")
self._hardware.setAxis(AXIS_TABLE[self.capacity]),
AbstractHardwarePlugin.init(self)
def shutdown(self):
Logger().trace("ClaussAxis.shutdown()")
self.stop()
if self._config["PARK_ENABLE"]:
self._hardware.drive(float(self._config["PARK_POSITION"]), self.__getSpeed())
AbstractHardwarePlugin.shutdown(self)
AbstractAxisPlugin.shutdown(self)
def read(self):
pos = self._hardware.read() - self._offset
return pos
def drive(self, pos, useOffset=True, wait=True):
Logger().debug("ClaussAxis.drive(): '%s' drive to %.1f" % (self.capacity, pos))
currentPos = self.read()
# Logger().debug("ClaussAxis.drive(): currentPos=%.1f" % currentPos)
# checkLimits defined in Papywizard user conf (usually +360 - 360°)
self._checkLimits(pos)
if useOffset:
pos += self._offset
# Logger().debug("ClaussAxis.drive(): useOffset=True, pos=%.1f, offset=%.1f" % (pos, self._offset))
# Only move if needed
if abs(pos - currentPos) > 0.0 or not useOffset:
# Logger().debug("ClaussAxis.drive(): Do move, pos=%.1f, currentPos=%.1f, useOffset=%s" % (pos, currentPos, useOffset))
self._hardware.drive(pos, self.__getSpeed())
# Wait end of movement
if wait:
self.waitEndOfDrive()
def waitEndOfDrive(self):
while self.isMoving():
time.sleep(config.SPY_REFRESH_DELAY / 1000.0)
# self.waitStop()
def startJog(self, dir_):
# Restrict manual moving to high or low limit (user defined)
if dir_ == "+":
maxPos = -float(self._config["HIGH_LIMIT"])
elif dir_ == "-":
maxPos = float(self._config["LOW_LIMIT"])
# Logger().debug("ClaussAxis.startJog(): maxPos=%s" % maxPos)
self._hardware.startJog(dir_, self.__getSpeed(), maxPos)
def stop(self):
self.__driveFlag = False
self._hardware.stop()
self.waitStop()
def waitStop(self):
pass
def isMoving(self):
return self._hardware.isMoving()
class ClaussAxis(AbstractHardwarePlugin, AbstractAxisPlugin):
def _init(self):
Logger().trace("ClaussAxis._init()")
AbstractHardwarePlugin._init(self)
AbstractAxisPlugin._init(self)
self._hardware = ClaussHardware()
def _defineConfig(self):
AbstractAxisPlugin._defineConfig(self)
AbstractHardwarePlugin._defineConfig(self)
self._addConfigKey('_speedSlow',
'SPEED_SLOW',
default=DEFAULT_SPEED_SLOW)
self._addConfigKey('_speedNormal',
'SPEED_NORMAL',
default=DEFAULT_SPEED_NORMAL)
self._addConfigKey('_speedFast',
'SPEED_FAST',
default=DEFAULT_SPEED_FAST)
self._addConfigKey('_parkPosition',
'PARK_POSITION',
default=DEFAULT_PARK_POSITION)
if self.capacity == 'yawAxis':
self._addConfigKey('_parkEnable', 'PARK_ENABLE', default=False)
else:
self._addConfigKey('_parkEnable', 'PARK_ENABLE', default=True)
def __getSpeed(self):
""" Return the speed value according to manual speed setting.
@return: speed
@rtype float
"""
if self._manualSpeed == 'slow':
speed = self._config['SPEED_SLOW']
elif self._manualSpeed == 'normal':
speed = self._config['SPEED_NORMAL']
elif self._manualSpeed == 'fast':
speed = self._config['SPEED_FAST']
return speed
def init(self):
Logger().trace("ClaussAxis.init()")
self._hardware.setAxis(AXIS_TABLE[self.capacity]),
AbstractHardwarePlugin.init(self)
def shutdown(self):
Logger().trace("ClaussAxis.shutdown()")
self.stop()
if self._config['PARK_ENABLE']:
self._hardware.drive(float(self._config['PARK_POSITION']),
self.__getSpeed())
AbstractHardwarePlugin.shutdown(self)
AbstractAxisPlugin.shutdown(self)
def read(self):
pos = self._hardware.read() - self._offset
return pos
def drive(self, pos, useOffset=True, wait=True):
Logger().debug("ClaussAxis.drive(): '%s' drive to %.1f" %
(self.capacity, pos))
currentPos = self.read()
#Logger().debug("ClaussAxis.drive(): currentPos=%.1f" % currentPos)
# checkLimits defined in Papywizard user conf (usually +360 - 360°)
self._checkLimits(pos)
if useOffset:
pos += self._offset
#Logger().debug("ClaussAxis.drive(): useOffset=True, pos=%.1f, offset=%.1f" % (pos, self._offset))
# Only move if needed
if abs(pos - currentPos) > 0. or not useOffset:
#Logger().debug("ClaussAxis.drive(): Do move, pos=%.1f, currentPos=%.1f, useOffset=%s" % (pos, currentPos, useOffset))
self._hardware.drive(pos, self.__getSpeed())
# Wait end of movement
if wait:
self.waitEndOfDrive()
def waitEndOfDrive(self):
while self.isMoving():
time.sleep(config.SPY_REFRESH_DELAY / 1000.)
#self.waitStop()
def startJog(self, dir_):
# Restrict manual moving to high or low limit (user defined)
if dir_ == '+':
maxPos = -float(self._config['HIGH_LIMIT'])
elif dir_ == '-':
maxPos = float(self._config['LOW_LIMIT'])
#Logger().debug("ClaussAxis.startJog(): maxPos=%s" % maxPos)
self._hardware.startJog(dir_, self.__getSpeed(), maxPos)
def stop(self):
self.__driveFlag = False
self._hardware.stop()
self.waitStop()
def waitStop(self):
pass
def isMoving(self):
return self._hardware.isMoving()
