def __init__(self, serialno, polling=200, home=False):
self._serialno = c_char_p(bytes(str(serialno), "utf-8"))
# Get and store device info
self._device_info = kcdc.TLI_DeviceInfo()
kcdc.TLI_GetDeviceInfo(self._serialno, byref(self._device_info))
# Open communication with the device
kcdc.CC_Open(self._serialno)
kcdc.CC_StartPolling(self._serialno, c_int(polling))
# Sleep while device initialization occurs
time.sleep(3)
# Clear the message queue
kcdc.CC_ClearMessageQueue(self._serialno)
# Is this necessary?
self.wait_for_completion()
if home:
if not kcdc.CC_CanHome(self._serialno).value:
self.homed = False
raise RuntimeError("Device '{}' is not homeable.")
else:
status = kcdc.CC_Home(self._serialno)
check_error(status)
self.homed = True
else:
self.homed = False
# The following are in device units
self._max_pos = kcdc.CC_GetStageAxisMaxPosition(self._serialno)
self._min_pos = kcdc.CC_GetStageAxisMinPosition(self._serialno)
def go_home(self):
"""
Takes the device home and sets self.homed to true
go_home() will always ignore the software limits from soft_limits_mode
and min_pos and max_pos.
FIXME: This function shouldn't exist; it's provided by HomingMixin
"""
log.debug(f"Homing KDC101 device '{self.serialno}'")
status = kcdc.CC_Home(self._serialno)
check_error(status)
self.homed = True
self.wait_for_completion()
log.debug(f"Homed: KDC101 device '{self.serialno}'")
def home(self):
kcdc.CC_Home(self._serialno)
self.wait_for_completion()
def home(self, block=True):
log.debug(f"Homing KDC101 device '{self.serialno}'")
status = kcdc.CC_Home(self._serialno)
check_error(status)
if block:
self.wait_for_completion()