def test_apt_mc_go_home(init_kdc101):
"""Homing routine."""
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # read position
message_id=ThorLabsCommands.MOT_MOVE_HOME,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_kdc101[1],
ThorLabsPacket( # homing complete package
message_id=ThorLabsCommands.MOT_MOVE_HOMED,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
sep="") as apt:
apt.channel[0].go_home()
def test_apt_pia_channel_position_count(init_kim101):
"""Get / Set position count for APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # receive a package
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x05,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # send a packet
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HHll', 0x05, 0x03, 100, 0x00)).pack()
],
[
init_kim101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
dest=0x01,
source=0x50,
data=struct.pack('<HHll', 0x05, 0x01, 0, 0)).pack()
],
sep="") as apt:
assert apt.channel[0].position_count == 0
apt.channel[2].position_count = 100
def test_apt_sgr_max_travel(init_ksg101):
value = 10000
with expected_protocol(
ik.thorlabs.APTPiezoStage,
[
init_ksg101[0],
ThorLabsPacket( # read state
message_id=ThorLabsCommands.PZ_REQ_MAXTRAVEL,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_ksg101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_GET_MAXTRAVEL,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x01, value)).pack()
],
sep="") as apt:
assert apt.channel[0].max_travel == value * u.Quantity(100, 'nm')
def test_apt_ps_output_position(init_kpz001, position):
"""Get / set output position for piezo channel."""
with expected_protocol(ik.thorlabs.APTPiezoStage, [
init_kpz001[0],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_SET_OUTPUTPOS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x01, position)).pack(),
ThorLabsPacket(message_id=ThorLabsCommands.PZ_REQ_OUTPUTPOS,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
], [
init_kpz001[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_GET_OUTPUTPOS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x01, position)).pack()
],
sep="") as apt:
apt.channel[0].output_position = position
assert apt.channel[0].output_position == position
def init_kpz001():
"""Return the send, receive value to initialize a KPZ001 unit."""
stdin = ThorLabsPacket(message_id=ThorLabsCommands.HW_REQ_INFO,
param1=0x00,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
stdout = ThorLabsPacket(
message_id=ThorLabsCommands.HW_GET_INFO,
dest=0x01,
source=0x50,
data=hw_info_data.pack(
# Serial number
b'\x01\x02\x03\x04',
# Model number
"KPZ101".encode('ascii'),
# HW type
3,
# FW version,
0xa1,
0xa2,
0xa3,
# Notes
"abcdefg".encode('ascii'),
# HW version
42,
# Mod state
43,
# Number of channels
1)).pack()
return stdin, stdout
def test_apt_mc_enabled(init_kdc101):
"""Enable the channel and read status back."""
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # read state
message_id=ThorLabsCommands.MOD_REQ_CHANENABLESTATE,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # write state
message_id=ThorLabsCommands.MOD_SET_CHANENABLESTATE,
param1=0x01,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_kdc101[1],
ThorLabsPacket( # return False
message_id=ThorLabsCommands.MOD_GET_CHANENABLESTATE,
param1=0x01,
param2=0x02,
dest=0x50,
source=0x01,
data=None).pack()
],
sep="") as apt:
assert not apt.channel[0].enabled
apt.channel[0].enabled = True
def test_apt_mc_status_bits(init_kdc101, status_bits):
"""Get status bits."""
status_dict_expected = dict(
(key, (status_bits & bit_mask > 0))
for key, bit_mask in apt_mc_channel_status_bit_mask.items())
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # read position
message_id=ThorLabsCommands.MOT_REQ_STATUSUPDATE,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_kdc101[1],
ThorLabsPacket(message_id=ThorLabsCommands.MOT_GET_POSCOUNTER,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HLLL', 0x01, 0x01, 0x01,
status_bits)).pack()
],
sep="") as apt:
assert apt.channel[0].status_bits == status_dict_expected
def test_apt_pia_channel_move_jog(init_kim101):
"""Jog forward and reverse with APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # forward
message_id=ThorLabsCommands.PZMOT_MOVE_JOG,
param1=0x01,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # reverse
message_id=ThorLabsCommands.PZMOT_MOVE_JOG,
param1=0x01,
param2=0x02,
dest=0x50,
source=0x01,
data=None).pack()
],
[init_kim101[1]],
sep="") as apt:
apt.channel[0].move_jog()
apt.channel[0].move_jog('rev')
def test_apt_mc_position_encoder(init_kdc101):
"""Get unitful position of encoder, in counts."""
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # read position
message_id=ThorLabsCommands.MOT_REQ_ENCCOUNTER,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_kdc101[1],
ThorLabsPacket(message_id=ThorLabsCommands.MOT_GET_ENCCOUNTER,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<Hl', 0x01, -20000)).pack()
],
sep="") as apt:
assert apt.channel[0].position_encoder == u.Quantity(-20000, 'counts')
def test_apt_hw_info():
with expected_protocol(
ik.thorlabs.ThorLabsAPT,
[
ThorLabsPacket(message_id=ThorLabsCommands.HW_REQ_INFO,
param1=0x00,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
ThorLabsPacket(
message_id=ThorLabsCommands.HW_GET_INFO,
dest=0x01,
source=0x50,
data=hw_info_data.pack(
# Serial number
b'\x01\x02\x03\x04',
# Model number
"ABC-123".encode('ascii'),
# HW type
3,
# FW version,
0xa1,
0xa2,
0xa3,
# Notes
"abcdefg".encode('ascii'),
# HW version
42,
# Mod state
43,
# Number of channels
2)).pack()
],
sep="") as apt:
# Check internal representations.
# NB: we shouldn't do this in some sense, but these fields
# act as an API to the APT subclasses.
assert apt._hw_type == "Unknown type: 3"
assert apt._fw_version == "a1.a2.a3"
assert apt._notes == "abcdefg"
assert apt._hw_version == 42
assert apt._mod_state == 43
# Check external API.
assert apt.serial_number == '01020304'
assert apt.model_number == 'ABC-123'
assert apt.name == (
"ThorLabs APT Instrument model ABC-123, "
"serial 01020304 (HW version 42, FW version a1.a2.a3)")
def test_apt_pia_channel_drive_op_parameters(init_kim101):
"""Test the drive op parameters for the APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # receive a package
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x07,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # send a packet
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HHHll', 0x07, 0x01, 100, 1000,
10000)).pack()
],
[
init_kim101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
dest=0x01,
source=0x50,
data=struct.pack('<HHHll', 0x07, 0x01, 90, 500,
5000)).pack()
],
sep="") as apt:
assert apt.channel[0].drive_op_parameters == [
u.Quantity(90, u.V),
u.Quantity(500, 1 / u.s),
u.Quantity(5000, 1 / u.s**2)
]
apt.channel[0].drive_op_parameters = [
u.Quantity(100, u.V),
u.Quantity(1000, 1 / u.s),
u.Quantity(10000, 1 / u.s**2)
]
def test_apt_ps_position_control_closed(init_kpz001, value):
"""Get the status if the position control is closed or not."""
with expected_protocol(ik.thorlabs.APTPiezoStage, [
init_kpz001[0],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_REQ_POSCONTROLMODE,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
], [
init_kpz001[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_GET_POSCONTROLMODE,
param1=0x01,
param2=value,
dest=0x50,
source=0x01,
data=None).pack()
],
sep="") as apt:
assert apt.channel[0].position_control_closed == bool(value - 1 & 1)
def test_apt_ps_change_position_control_mode(init_kpz001, closed, smooth):
"""Set the position control mode."""
mode = 1 + (int(closed) | int(smooth) << 1)
with expected_protocol(ik.thorlabs.APTPiezoStage, [
init_kpz001[0],
ThorLabsPacket(message_id=ThorLabsCommands.PZ_SET_POSCONTROLMODE,
param1=0x01,
param2=mode,
dest=0x50,
source=0x01,
data=None).pack()
], [init_kpz001[1]],
sep="") as apt:
apt.channel[0].change_position_control_mode(closed, smooth=smooth)
def test_apt_ps_led_intensity(init_kpz001):
"""Get / set LED intensity between zero and 1."""
led_intensity = 0.73
with expected_protocol(
ik.thorlabs.APTPiezoStage,
[
init_kpz001[0],
ThorLabsPacket( # set state
message_id=ThorLabsCommands.PZ_SET_TPZ_DISPSETTINGS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<H', int(round(
255 * led_intensity)))).pack(),
ThorLabsPacket( # read state
message_id=ThorLabsCommands.PZ_REQ_TPZ_DISPSETTINGS,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[
init_kpz001[1],
ThorLabsPacket( # get state
message_id=ThorLabsCommands.PZ_GET_TPZ_DISPSETTINGS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<H', int(round(
255 * led_intensity)))).pack()
],
sep="") as apt:
apt.led_intensity = led_intensity
assert apt.led_intensity == pytest.approx(led_intensity, 1.0 / 255)
def test_apt_pia_channel_enabled_single(init_kim101):
"""Enable a single channel for the APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # read state
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x2B,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # disable all channels
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x00)).pack()
],
[
init_kim101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
param1=None,
param2=None,
dest=0x01,
source=0x50,
data=struct.pack('<HH', 0x2B, 0x01)).pack()
],
sep="") as apt:
assert apt.channel[0].enabled_single
apt.channel[0].enabled_single = False
def test_apt_ps_max_travel_no_response(init_kpz001):
with expected_protocol(
ik.thorlabs.APTPiezoStage,
[
init_kpz001[0],
ThorLabsPacket( # read state
message_id=ThorLabsCommands.PZ_REQ_MAXTRAVEL,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[init_kpz001[1]],
sep="") as apt:
assert apt.channel[0].max_travel == NotImplemented
def test_apt_pia_channel_move_abs(init_kim101):
"""Absolute movement of APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(ik.thorlabs.APTPiezoInertiaActuator, [
init_kim101[0],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_MOVE_ABSOLUTE,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<Hl', 0x01, 100)).pack()
], [init_kim101[1]],
sep="") as apt:
apt.channel[0].move_abs(100)
def test_apt_mc_identify(init_kdc101):
"""Identify the controller by blinking its LEDs."""
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # write state
message_id=ThorLabsCommands.MOD_IDENTIFY,
param1=0x00,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[init_kdc101[1]],
sep="") as apt:
apt.identify()
def test_apt_ps_led_intensity_no_response(init_kpz001):
"""No response when setting the display."""
with expected_protocol(
ik.thorlabs.APTPiezoStage,
[
init_kpz001[0],
ThorLabsPacket( # read state
message_id=ThorLabsCommands.PZ_REQ_TPZ_DISPSETTINGS,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
[init_kpz001[1]],
sep="") as apt:
assert apt.led_intensity == NotImplemented
def test_apt_pia_enabled_multi(init_kim101):
"""Multi-channel enabling APT Piezo Inertia Actuator KIM101.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # all off
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x2B,
param2=0x00,
dest=0x50,
source=0x01,
data=None,
).pack(),
ThorLabsPacket( # read channel 0 & 1
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x2B,
param2=0x00,
dest=0x50,
source=0x01,
data=None,
).pack(),
ThorLabsPacket( # read channel 2 & 3
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x2B,
param2=0x00,
dest=0x50,
source=0x01,
data=None,
).pack(),
ThorLabsPacket( # send off
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x00)).pack(),
ThorLabsPacket( # send ch 0 & 1
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x05)).pack(),
ThorLabsPacket( # send ch 2 & 3
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x06)).pack()
],
[
init_kim101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x00)).pack(),
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x05)).pack(),
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HH', 0x2B, 0x06)).pack()
],
sep="") as apt:
assert apt.enabled_multi == 0
assert apt.enabled_multi == 1
assert apt.enabled_multi == 2
apt.enabled_multi = 0
apt.enabled_multi = 1
apt.enabled_multi = 2
# Invalid controller chosen
with pytest.raises(ValueError):
apt.enabled_multi = 42
def test_apt_mc_move(init_kdc101):
"""Move the stage."""
with expected_protocol(
ik.thorlabs.APTMotorController,
[
init_kdc101[0],
ThorLabsPacket( # encoder count, absolute move
message_id=ThorLabsCommands.MOT_MOVE_ABSOLUTE,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<Hl', 0x01, 1000)).pack(),
ThorLabsPacket( # encoder count, relative move
message_id=ThorLabsCommands.MOT_MOVE_RELATIVE,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<Hl', 0x01, -1000)).pack(),
ThorLabsPacket( # encoder count, absolute move
message_id=ThorLabsCommands.MOT_MOVE_ABSOLUTE,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<Hl', 0x01, 1919)).pack()
],
[
init_kdc101[1],
ThorLabsPacket( # move complete message
message_id=ThorLabsCommands.MOT_MOVE_COMPLETED,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # move complete message
message_id=ThorLabsCommands.MOT_MOVE_COMPLETED,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # move complete message
message_id=ThorLabsCommands.MOT_MOVE_COMPLETED,
param1=0x01,
param2=0x00,
dest=0x50,
source=0x01,
data=None).pack()
],
sep="") as apt:
apt.channel[0].move(1000)
apt.channel[0].move(u.Quantity(-1000, 'counts'), absolute=False)
# unitful motion: requires motor to be initialized
apt.channel[0].motor_model = 'PRM1-Z8'
apt.channel[0].move(u.Quantity(1, u.deg))
# raise error if units are wrong
with pytest.raises(ValueError):
apt.channel[0].move(u.Quantity(5, u.mm))
def test_apt_pia_channel_jog_parameters(init_kim101):
"""Test the jog parameters for the APT Piezo Inertia Actuator.
Tested with KIM101 driver connected to PIM1 mirror mount.
"""
with expected_protocol(
ik.thorlabs.APTPiezoInertiaActuator,
[
init_kim101[0],
ThorLabsPacket( # receive a package
message_id=ThorLabsCommands.PZMOT_REQ_PARAMS,
param1=0x2D,
param2=0x01,
dest=0x50,
source=0x01,
data=None).pack(),
ThorLabsPacket( # send a packet
message_id=ThorLabsCommands.PZMOT_SET_PARAMS,
param1=None,
param2=None,
dest=0x50,
source=0x01,
data=struct.pack('<HHHllll', 0x2D, 0x01, 2, 100, 100, 1000,
10000)).pack()
],
[
init_kim101[1],
ThorLabsPacket(message_id=ThorLabsCommands.PZMOT_GET_PARAMS,
dest=0x01,
source=0x50,
data=struct.pack('<HHHllll', 0x2D, 0x01, 1, 500,
1000, 400, 5000)).pack()
],
sep="") as apt:
assert apt.channel[0].jog_parameters == [
1, 500, 1000,
u.Quantity(400, 1 / u.s),
u.Quantity(5000, 1 / u.s**2)
]
apt.channel[0].jog_parameters = [
2, 100, 100,
u.Quantity(1000, 1 / u.s),
u.Quantity(10000, 1 / u.s**2)
]
# invalid setter
with pytest.raises(TypeError):
apt.channel[0].jog_parameters = 3.14
# list out of range
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [42, 42]
# invalid parameters
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [0, 100, 100, 1000, 10000]
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [2, 0, 100, 1000, 10000]
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [2, 100, 2500, 1000, 10000]
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [2, 100, 100, 2500, 10000]
with pytest.raises(ValueError):
apt.channel[0].jog_parameters = [2, 100, 100, 1000, 100001]
