def abort(self):
""" Stop movement of the stage
@return int: error code (0:OK, -1:error)
"""
# Not pidevice.SystemAbort(): will cause halt or reboot.
if self._has_abort:
if self._has_is_moving:
if pidevice.IsMoving:
try:
pidevice.StopAll()
# pidevice.errcheck = True
self.log.debug("PI Device has aborted and stoped all move! ")
return 0
except GCSError as exc:
self.log.error("PI GCSError(StopAll): " + str(GCSError(exc)))
return -1
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
pidevice.StopAll()
except Exception:
self.log.error("Hardware PI cannot abort move !")
return -1
else:
# if not moving, PI stage is stoped already.
self.log.warning("PI Device has aborted and stoped all move! ")
return 0
else:
try:
pidevice.StopAll()
# pidevice.errcheck = True
self.log.debug("PI Device has aborted and stoped all move! ")
return 0
except GCSError as exc:
self.log.error("PI GCSError: " + str(GCSError(exc)))
# raise GCSError(exc)
# FIXME
return -1
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
pidevice.StopAll()
except Exception:
self.log.error("Hardware PI cannot abort move !")
return -1
else:
self.log.warning('PI System Abort/StopAll Function not yet implemented')
return 0
def OpenTCPIPDaisyChain(self, ipaddress, ipport=50000):
"""Open a TCPIP daisy chain connection.
To get access to a daisy chain device you have to call ConnectDaisyChainDevice().
@param ipaddress: IP address to connect to as string.
@param ipport: Port to use as integer, defaults to 50000.
@return: Found devices as list of strings.
"""
debug('GCSDll.OpenTCPIPDaisyChain(ipaddress=%r, ipport=%s)', ipaddress,
ipport)
cipaddress = ctypes.c_char_p(str(ipaddress).encode())
cipport = ctypes.c_int(int(ipport))
numdev = ctypes.byref(ctypes.c_int())
bufsize = 10000
bufstr = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
self._dcid = getattr(self._handle,
self._prefix + 'OpenTCPIPDaisyChain')(cipaddress,
cipport,
numdev,
bufstr,
bufsize)
if self._dcid < 0:
raise GCSError(self._error)
devlist = bufstr.value.decode().split('\n')[:-1]
devlist = [item.strip() for item in devlist]
debug('GCSDll.OpenTCPIPDaisyChain: %r', devlist)
self._ifdescription = 'TCPIP daisy chain at %s:%s' % (ipaddress,
ipport)
return devlist
def OpenRS232DaisyChain(self, comport, baudrate):
"""Open an RS-232 daisy chain connection.
To get access to a daisy chain device you have to call ConnectDaisyChainDevice().
@param comport: Port to use as integer (1 means "COM1").
@param baudrate: Baudrate to use as integer.
@return: Found devices as list of strings.
"""
debug('GCSDll.OpenRS232DaisyChain(comport=%s, baudrate=%s)', comport,
baudrate)
ccomport = ctypes.c_int(int(comport))
cbaudrate = ctypes.c_int(int(baudrate))
numdev = ctypes.byref(ctypes.c_int())
bufsize = 10000
bufstr = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
self._dcid = getattr(self._handle,
self._prefix + 'OpenRS232DaisyChain')(ccomport,
cbaudrate,
numdev,
bufstr,
bufsize)
if self._dcid < 0:
raise GCSError(self._error)
devlist = bufstr.value.decode().split('\n')[:-1]
devlist = [item.strip() for item in devlist]
debug('GCSDll.OpenRS232DaisyChain: %r', devlist)
self._ifdescription = 'RS-232 daisy chain at COM%s, %s Baud' % (
comport, baudrate)
return devlist
def ConnectRS232(self, comport, baudrate):
"""Open an RS-232 connection to the device.
@param comport: Port to use as integer (1 means "COM1") or name ("dev/ttys0") as string.
@param baudrate: Baudrate to use as integer.
"""
cbaudrate = ctypes.c_int(int(baudrate))
try:
comport = int(comport)
except ValueError:
debug('GCSDll.ConnectRS232ByDevName(devname=%r, baudrate=%s)',
comport, baudrate)
cdevname = ctypes.c_char_p(str(comport).encode())
self._id = getattr(self._handle, self._prefix +
'ConnectRS232ByDevName')(cdevname, cbaudrate)
else:
debug('GCSDll.ConnectRS232(comport=%s, baudrate=%s)', comport,
baudrate)
ccomport = ctypes.c_int(int(comport))
self._id = getattr(self._handle,
self._prefix + 'ConnectRS232')(ccomport,
cbaudrate)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'RS-232 port %s, %s Baud' % (comport, baudrate)
self.flush()
def _answersize(self):
"""Get the size of an answer in the com buffer as integer."""
size = ctypes.c_int()
if not getattr(self._handle, self._prefix + 'GcsGetAnswerSize')(
self._id, ctypes.byref(size)):
raise GCSError(self._error)
return size.value
def send(self, msg):
"""Send 'msg' to the socket.
@param msg : String to send.
"""
debug('PISocket.send: %r', msg)
if self._socket.send(msg.encode('cp1252')) != len(msg):
raise GCSError(gcserror.E_2_SEND_ERROR)
def GetAsyncBuffer(self, firstline=1, lastline=0, numtables=1):
"""Query all available data points, return list with 'numtables' columns.
DEPRECATED: Use GCSMessages.bufdata instead.
Buffer is used by qDRR(), qDDL(), qGWD(), qTWS(), qJLT() and qHIT().
@param firstline : Optional, but must be >= 1 and smaller than 'lastline'.
@param lastline : Optional, defaults to query all available data points.
@param numtables : Arrange data into 'numtables' columns, defaults to "1".
@return: List of data points as float with 'numtables' columns.
"""
debug('DEPRECATED -- GcsDll.GetAsyncBuffer(id%d, firstline=%r, lastline=%r, numtables=%r)', self._id,
firstline, lastline, numtables)
maxindex = lastline * numtables or self._asyncbufferindex
if firstline < 1:
raise SystemError('firstline must be 1 or larger')
minindex = (firstline - 1) * numtables
if minindex > maxindex:
raise SystemError('firstline must not be larger than lastline')
cvalues = ctypes.byref(ctypes.c_float)
if not getattr(self._handle, self._prefix + 'GetAsyncBuffer')(self._id, cvalues):
raise GCSError(self._error)
data = [[] for _ in range(numtables)]
for i in range(minindex, maxindex):
data[i % numtables].append(float(cvalues[i]))
debug('DEPRECATED -- GCSDll.GetAsyncBuffer(id%d): %r', self._id, data)
return data
def _find_device(serialnumber, pid, vid):
"""Find USB device according to serialnumber, PID and VID or raise GCS Error.
@param serialnumber : Serial number of the device as string.
@param pid : Device product ID as integer.
@param vid : Device vendor ID as integer.
@return : USB device instance.
"""
debug('PIUSB._find_device(serialnumber=%s, pid=%#x, vid=%#x)', serialnumber, pid, vid)
devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid)
if not devices:
raise GCSError(gcserror.E_6_CONNECTION_FAILED)
for dev in devices:
debug('PIUSB._find_device:\n%s', dev)
if getdevinfo(dev, dev.iSerialNumber) == serialnumber:
return dev
usb.util.dispose_resources(dev)
raise GCSError(gcserror.E_6_CONNECTION_FAILED)
def RemoveStage(self, axis):
"""Remove a dataset of a user defined stage from the PI stages database.
@param axis: Name of axis whose stage parameters should be removed as string.
"""
debug('GCSDll.RemoveStage(axis=%r)', axis)
axis = ctypes.c_char_p(str(axis).encode())
if not getattr(self._handle, self._prefix + 'RemoveStage')(self._id, axis):
raise GCSError(self._error)
def send(self, msg):
"""Send a GCS command to the device, do not query error from device.
@param msg : GCS command as string, with or without trailing line feed character.
"""
debug('GCSDll.send(id%d): %r', self._id, msg)
msg = ctypes.c_char_p(str(msg).encode('cp1252'))
if not getattr(self._handle, self._prefix + 'GcsCommandset')(self._id, msg):
raise GCSError(self._error)
def send(self, msg):
"""Send a GCS command to the device, do not query error from device.
@param msg : GCS command as string with trailing line feed character.
"""
if len(msg) % 2: # some controllers need a string of size of modulus 2
msg += '\0'
debug('PIUSB.send: %r', msg)
if self._ep_out.write(msg) != len(msg):
raise GCSError(gcserror.E_2_SEND_ERROR)
def _getanswer(self, bufsize):
"""Return the answer from the com buffer.
@param bufsize : Size in characters of string buffer to store the answer as integer.
@return : Answer as string.
"""
bufstr = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
if not getattr(self._handle, self._prefix + 'GcsGetAnswer')(self._id, bufstr, bufsize + 1):
raise GCSError(self._error)
return bufstr.value
def InterfaceSetupDlg(self, key=''):
"""Open dialog to select the interface.
@param key: Optional key name as string to store the settings in the Windows registry.
"""
debug('GCSDll.InterfaceSetupDlg(key=%r)', key)
key = ctypes.c_char_p(str(key).encode())
self._id = getattr(self._handle, self._prefix + 'InterfaceSetupDlg')(key)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'Interface Setup Dialog'
self.flush()
def ConnectTCPIPByDescription(self, description):
"""Open a TCP/IP connection to the device using the device 'description'.
@param description: One of the identification strings listed by EnumerateTCPIPDevices().
"""
debug('GCSDll.ConnectTCPIPByDescription(description=%r)', description)
cdescription = ctypes.c_char_p(str(description).encode())
self._id = getattr(self._handle, self._prefix + 'ConnectTCPIPByDescription')(cdescription)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'TCPIP %r' % description
self.flush()
def ConnectUSB(self, serialnum):
"""Open an USB connection to a device.
@param serialnum: Serial number of device or one of the
identification strings listed by EnumerateUSB().
"""
debug('GCSDll.ConnectUSB(serialnum=%r)', serialnum)
cserialnum = ctypes.c_char_p(str(serialnum).encode())
self._id = getattr(self._handle, self._prefix + 'ConnectUSB')(cserialnum)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'USB %r' % serialnum
self.flush()
def getconfigs(self):
"""Get available configurations in PIStages database for the connected controller.
@return : Answer as string.
"""
debug('GCSDll.getconfigs()')
bufsize = 20000
configs = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
funcname = self._prefix + 'GetAvailableControllerConfigurationsFromDatabase'
if not getattr(self._handle, funcname)(self._id, configs, bufsize + 1):
raise GCSError(self._error)
configs = configs.value.decode(encoding='cp1252', errors='ignore')
debug('GCSDll.getconfigs(id%d): %r', self._id, configs)
return configs
def ConnectTCPIP(self, ipaddress, ipport=50000):
"""Open a TCP/IP connection to the device.
@param ipaddress: IP address to connect to as string.
@param ipport: Port to use as integer, defaults to 50000.
"""
debug('GCSDll.ConnectTCPIP(ipaddress=%s, ipport=%s)', ipaddress, ipport)
cipaddress = ctypes.c_char_p(str(ipaddress).encode())
cipport = ctypes.c_int(int(ipport))
self._id = getattr(self._handle, self._prefix + 'ConnectTCPIP')(cipaddress, cipport)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'TCPIP %s:%s' % (ipaddress, ipport)
self.flush()
def ConnectNIgpib(self, board, device):
"""Open a connection from a NI IEEE 488 board to the device.
@param board: GPIB board ID as integer.
@param device: The GPIB device ID of the device as integer.
"""
debug('GCSDll.ConnectNIgpib(board=%s, device=%s)', board, device)
cboard = ctypes.c_int(int(board))
cdevice = ctypes.c_int(int(device))
self._id = getattr(self._handle, self._prefix + 'ConnectNIgpib')(cboard, cdevice)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'GPIB board %s, device %s' % (board, device)
self.flush()
def ConnectPciBoard(self, board):
"""Open a PCI board connection.
@param board : PCI board number as integer.
"""
debug('GCSDll.ConnectPciBoard(board=%s)', board)
cboard = ctypes.c_int(int(board))
if self._prefix == 'C843_':
self._id = getattr(self._handle, self._prefix + 'Connect')(cboard)
else:
self._id = getattr(self._handle, self._prefix + 'ConnectPciBoard')(cboard)
if self._id < 0:
raise GCSError(self._error)
self._ifdescription = 'PCI board %s' % board
self.flush()
def saveconfig(self, items, config):
"""Read parameters according to 'config' from controller and write them to the PIStages database.
@param items : Items of the controller the configuration is assigned to as string.
Consists of the key word (e.g. "axis") and ID (e.g. "4"), examples: "axis 1", "axis 4".
@param config: Name of a configuration not yet existing in PIStages database as string.
"""
debug('GCSDll.saveconfig(items=%r, config=%r)', items, config)
items = ctypes.c_char_p(str(items).encode())
config = ctypes.c_char_p(str(config).encode())
bufsize = 20000
warnings = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
funcname = self._prefix + 'ReadConfigurationFromControllerToDatabase'
if not getattr(self._handle, funcname)(self._id, items, config, warnings, bufsize + 1):
self.warning = warnings.value.decode(encoding='cp1252', errors='ignore')
raise GCSError(self._error)
def EnumerateTCPIPDevices(self, mask=''):
"""Get identification strings of all TCP connected devices.
@param mask: String to filter the results for certain text.
@return: Found devices as list of strings.
"""
debug('GCSDll.EnumerateTCPIPDevices(mask=%r)', mask)
mask = ctypes.c_char_p(str(mask).encode())
bufsize = 100000
bufstr = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
if getattr(self._handle, self._prefix + 'EnumerateTCPIPDevices')(bufstr, bufsize, mask) < 0:
raise GCSError(self._error)
devlist = bufstr.value.decode(encoding='cp1252', errors='ignore').split('\n')[:-1]
devlist = [item.strip() for item in devlist]
debug('GCSDll.EnumerateTCPIPDevices: %r', devlist)
return devlist
def on_deactivate(self):
""" Deinitialise and deactivate the hardware module.
@return: error code (0:OK, -1:error)
"""
# TODO add def shutdown(self) to set Votage=0 V for safety.
# self._set_servo_state(False)
# If not shutdown, keep servo on to stay on target.
try:
pidevice.errcheck = True
pidevice.CloseConnection()
self.log.warning("PI Device has been closed connection !")
return 0
except GCSError as exc:
self.log.error("PI GCSError: " + str(GCSError(exc)))
return -1
def calibrate(self, param_list=None):
""" Calibrate the stage. PI GCS ATZ() will move axes to their whole range, careful !
NOT recommend to do ATZ by this function, use PI Software instead.
@param dict param_list : param_list: optional, if a specific calibration
of an axis is desired, then the labels of the
needed axis should be passed in the param_list.
If nothing is passed, then all connected axis
will be calibrated.
After calibration the stage moves to home position which will be the
zero point for the passed axis.
@return dict pos : dictionary with the current position of the axis
"""
param_dict = {}
if self._has_calibrate:
try:
self.abort()
pidevice.errcheck = True
pidevice.ATZ(axes=[1, 2])
# PI Piezo Auto To Zero Calibration, just do it after power shutdown.
# PI GCS ATZ() will move axes to their whole range, Careful !
# TODO: NOT recommend to do ATZ by this function, use PI Software instead.
time.sleep(10.0)
# has ATZ(), also should has qATZ()
if pidevice.qATZ(axes=[1]) and pidevice.qATZ(axes=[2]):
param_dict = self.get_pos([param_dict.keys()])
return param_dict
else:
raise ValueError("PI Auto To Zero Function not succeed !")
except GCSError as exc:
self.log.error("PI GCSError(ATZ or qATZ): " + str(GCSError(exc)))
# raise GCSError(exc)
raise
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
raise
except Exception:
raise
else:
self.log.warning('PI Auto To Zero Function not yet implemented')
return param_dict
def get_pos(self, param_list=None):
""" Get the current position of the stage axis
@param list param_list : optional, if a specific position of an axis
is desired, then the labels of the needed
axis should be passed in the param_list.
If nothing is passed, then the positions of
all axes are returned.
@return dict param_dict : with keys being the axis labels and item the current
position.
"""
param_dict = {}
if self._has_get_pos:
new_param_list = self._axis_label_conver2pipy(param_list)
try:
param_dict_get = pidevice.qPOS(new_param_list)
# self.log.debug("Hardware get before conver :" + str(param_dict))
# axis dict get conversion
param_dict = self._axis_dict_get(param_dict_get)
# self.log.debug("Hardware get :" + str(param_dict))
return param_dict
except GCSError as exc:
self.log.debug("PI GCSError(qPOS): " + str(GCSError(exc)))
try:
self.on_target()
# try wait for on target, then get positions.
param_dict_get = pidevice.qPOS(new_param_list)
param_dict = self._axis_dict_get(param_dict_get)
return param_dict
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
return param_dict
except Exception:
raise
except:
self.log.error("Hardware get_pos failed !")
raise
else:
self.log.warning('PI qPOS() Function not yet implemented')
return param_dict
def ConnectDaisyChainDevice(self, deviceid, daisychainid=None):
"""Connect device with 'deviceid' on the daisy chain 'daisychainid'.
Daisy chain has to be connected before, see Open<interface>DaisyChain() functions.
@param daisychainid : Daisy chain ID as int from the daisy chain master instance or None.
@param deviceid : Device ID on the daisy chain as integer.
"""
debug('GCSDll.ConnectDaisyChainDevice(deviceid=%s, daisychainid=%s)', deviceid,
daisychainid)
if daisychainid is None:
daisychainid = self._dcid
cdeviceid = ctypes.c_int(int(deviceid))
cdaisychainid = ctypes.c_int(int(daisychainid))
self._id = getattr(self._handle, self._prefix + 'ConnectDaisyChainDevice')(cdaisychainid, cdeviceid)
if self._id < 0:
raise GCSError(self._error)
if self._ifdescription:
self._ifdescription += '; '
self._ifdescription += 'daisy chain %d, device %s' % (daisychainid, deviceid)
self.flush()
def OpenUSBDaisyChain(self, description):
"""Open a USB daisy chain connection.
To get access to a daisy chain device you have to call ConnectDaisyChainDevice().
@param description: Description of the device returned by EnumerateUSB().
@return: Found devices as list of strings.
"""
debug('GCSDll.OpenUSBDaisyChain(description=%r)', description)
cdescription = ctypes.c_char_p(str(description).encode())
numdev = ctypes.byref(ctypes.c_int())
bufsize = 10000
bufstr = ctypes.create_string_buffer('\000'.encode(), bufsize + 2)
self._dcid = getattr(self._handle, self._prefix + 'OpenUSBDaisyChain')(cdescription, numdev, bufstr, bufsize)
if self._dcid < 0:
raise GCSError(self._error)
devlist = bufstr.value.decode(encoding='cp1252', errors='ignore').split('\n')[:-1]
devlist = [item.strip() for item in devlist]
debug('GCSDll.OpenUSBDaisyChain: %r', devlist)
self._ifdescription = 'USB daisy chain at SN %r' % description
return devlist
def waitonmacro(pidevice, timeout=300, predelay=0, polldelay=0.1):
"""Wait until all macros are finished, then query and raise macro error.
@type pidevice : pipython.gcscommands.GCSCommands
@param timeout : Timeout in seconds as float, defaults to 300 seconds.
@param predelay : Time in seconds as float until querying any state from controller.
@param polldelay : Delay time between polls in seconds as float.
"""
maxtime = time() + timeout
waitonready(pidevice, timeout=timeout, predelay=predelay)
assert pidevice.HasqRMC() or pidevice.HasIsRunningMacro(), 'device does not support wait on macro'
while True:
if pidevice.HasqRMC() and not pidevice.qRMC().strip():
break
if pidevice.HasIsRunningMacro() and not pidevice.IsRunningMacro():
break
if time() > maxtime:
stopall(pidevice)
raise SystemError('waitonmacro() timed out after %.1f seconds' % timeout)
sleep(polldelay)
if pidevice.HasMAC_qERR():
errmsg = pidevice.MAC_qERR().strip()
if errmsg and int(errmsg.split('=')[1].split()[0]) != 0:
raise GCSError(gcserror.E1012_PI_CNTR_ERROR_IN_MACRO, message=errmsg)
def move_rel(self, param_dict):
""" Move stage relatively, positive or negative value.And if step is
too small, PI GCS will ignore.#TODO:check this in PI GCS.
@param dict param_dict : dictionary, which passes all the relevant
parameters, which should be changed. Usage:
{'axis_label': <the-abs-pos-value>}.
'axis_label' must correspond to a label given
to one of the axis.
The values for the axes are in meter,
the value for the rotation is in degrees.
@return dict param_dict : dictionary with the current magnet position
"""
pos = {}
# get origin pos()
try:
self.on_target()
pos = self.get_pos([param_dict.keys()])
except GCSError as exc:
self.log.warning("PI GCSError: " + str(GCSError(exc)))
raise
if self._has_move_rel:
# if config range is smaller than PI GCS range
if self._has_diff_constrains:
# if target is not in the config range
if self._move_rel_range_check(pos, param_dict) is False:
self.log.warning('''Cannot make the movement of the axis,
out config range! Command ignore.''')
try:
# self.abort()
self.on_target()
pos = self.get_pos([param_dict.keys()])
except GCSError as exc:
self.log.debug("PI GCSError: " + str(GCSError(exc)))
pass
except:
self.log.warning("PI GCS move_rel / MVR failed !")
pass
finally:
return pos
# move rel
try:
# self.log.debug("Send MVR to hardware PI before conver: " + str(param_dict))
new_param_dict = self._axis_dict_send(param_dict)
# self.log.debug("Send MVR to hardware PI actually: :" + str(new_param_dict))
pidevice.MVR(new_param_dict)
# Send str upper + um: 1 2 3
try:
self.on_target()
pos = self.get_pos([param_dict.keys()])
except:
pass
except GCSError as exc:
self.log.error("PI GCSError(MVR): " + str(GCSError(exc)))
except:
self.log.error("PI GCS move_rel / MVR failed !")
finally:
return pos
else:
self.log.warning('PI GCS MVR Function not yet implemented')
return pos
def move_abs(self, param_dict):
""" Move the stage to an absolute position
@param dict param_dict : dictionary, which passes all the absolute
parameters, which should be changed. Usage:
{'axis_label': <the-abs-pos-value>}.
'axis_label' must correspond to a label given
to one of the axis.
The values for the axes are in meter,
the value for the rotation is in degrees.
@return dict param_dict : dictionary with the current axis position
"""
# pidevice.MOV or pidevice.MVT is better ?
if self._has_move_abs:
# if config range is smaller than PI GCS range
if self._has_diff_constrains:
# if target is not in the config range
if self._move_abs_range_check(param_dict) is False:
self.log.warning('''Cannot make the movement of the axis,
out config range! Command ignore.''')
try:
# self.abort()
self.on_target()
pos = self.get_pos([param_dict.keys()])
return pos
except GCSError as exc:
self.log.debug("PI GCSError: " + str(GCSError(exc)))
raise
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
pass
except Exception:
self.log.error("PI move_abs / MOV failed !")
# FIXME:
raise
# move abs: most used in scan, must be very fast to run python.
try:
# self.log.debug("Send MOV to hardware PI before conver: " + str(param_dict))
new_param_dict = self._axis_dict_send(param_dict)
# self.log.debug("Send MOV to hardware PI actually: " + str(new_param_dict))
pidevice.MOV(new_param_dict)
# Send str upper + um: 1 2 3
return param_dict
except GCSError as exc:
self.log.debug("PI GCSError(MOV): " + str(GCSError(exc)))
pass
# FIXME: if move abs failed, return get position ?
# but when xy is ok and z is error, still goto xy ?
return param_dict
except (KeyboardInterrupt, SystemExit):
# user wants to quit
self.log.warning("User wants to quit: keyboard interrupt or system exit!")
# pass
self.abort()
pos = self.get_pos([param_dict.keys()])
return pos
except Exception:
self.log.error("PI move_abs / MOV failed !")
raise
else:
self.log.warning('PI GCS MOV Function not yet implemented')
return param_dict
def on_activate(self):
""" Initialise and activate the hardware module.
@return: error code (0:OK, -1:error)
"""
try:
self._configured_constraints = self.get_constraints()
# FIXME: use this logic instead of PI GCS error to threshold commond move_abs()
pidevice.errcheck = True
# FIXME This will trigger a GUI, shoud be taken by Qudi GUI.
# pidevice.InterfaceSetupDlg('pidevice_token')
# pidevice = GCSDevice('E-727')
# pidevice.ConnectTCPIP('192.168.178.42')
try:
devices = pidevice.EnumerateUSB(mask=self._pi_controller_mask)
self.log.warning("PI ConnectUSB Devices found:" + str(devices))
if len(devices) is not 0:
pidevice.ConnectUSB(devices[0])
self._has_connect_piezo_controller = True
else:
try:
devices = pidevice.EnumerateTCPIPDevices(mask=self._pi_controller_mask)
self.log.warning("PI ConnectTCPIP Devices found:" + str(devices))
if len(devices) is not 0:
pidevice.ConnectTCPIPByDescription(devices[0])
self._has_connect_piezo_controller = True
else:
self.log.error("NOT Found the PI Devices: {} by either USB or TCPIP: ".format(
self._pi_controller_mask))
raise ValueError("NOT Found the PI Devices.")
except:
pass
except:
pass
if self._has_connect_piezo_controller:
device_name = pidevice.qIDN()
self._set_servo_state(True)
self.log.warning('Activate Motor and Set servo on for PI Controller = {}'.format(device_name.strip()))
else:
raise ("Not Connect PI Controller = {} !".format(self._pi_controller_mask))
except GCSError as exc:
self.log.error("PI GCSError: " + str(GCSError(exc)))
return -1
# raise GCSError(exc)
except IndexError:
self.log.error("Not Found PI Controller = {} !".format(self._pi_controller_mask))
return -1
except Exception as e:
self.log.error("Hardware Not Activated: PI Devices!")
return -1
if self._has_connect_piezo_controller:
try:
self._has_move_abs = pidevice.HasMOV()
self._has_get_pos = pidevice.HasqPOS()
# above is important to logic interfuse motor scanner
# Hardware module xyz range self-auto-check.
self._has_diff_constrains = self._has_diff_constrains_check()
# Safe range init set by PI GCS for one axis with object lens.
self._set_safe_range4objectlens_axis()
if self._has_move_abs and self._has_get_pos:
try:
self._has_move_rel = pidevice.HasMVR()
self._has_abort = pidevice.HasStopAll()
self._has_is_moving = pidevice.HasIsMoving()
self._has_calibrate = pidevice.HasATZ()
self._has_get_velocity = pidevice.HasqVEL()
self._has_set_velocity = pidevice.HasVEL()
# above is not as important as MOV() and qPOS() in motor-scanner-interfuse
except GCSError as exc:
self.log.warning("PI GCSError: " + str(GCSError(exc)))
pass
finally:
pidevice.errcheck = False
# TODO: If communication speed like MOV() for motor scanner is an issue,
# can disable error checking.
self.log.debug("PI PZT is ready to go.")
return 0
else:
self.log.error("PI Device has no MOV() or qPOS() func !")
return -1
except:
self.log.error("PI GCSError: " + str(GCSError(exc)))
return -1