def on_enableAxis_click(self):
if not self.axis_enabled:
self.axis_enabled = True
acsc.enable(self.hcomm, self.axis, acsc.SYNCHRONOUS)
self.ui.enableAxis.setText("Disable")
else:
self.axis_enabled = False
acsc.disable(self.hcomm, self.axis, acsc.SYNCHRONOUS)
self.ui.enableAxis.setText("Enable")
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R * self.R)
acsc.toPoint(self.hc, None, 1, self.z_H * self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R*self.R)
acsc.toPoint(self.hc, None, 1, self.z_H*self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
self.daqthread.clear()
self.runfinished.emit()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
self.daqthread.clear()
self.runfinished.emit()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def enable_axis(self, axis, wait=acsc.SYNCHRONOUS):
if axis in self.axisdefs:
axis = self.axisdefs[axis]
acsc.enable(self.hc, axis, wait)
then uploading it to the controller and running it.
"""
from __future__ import division, print_function
from acspy import acsc
import time
#file = open("test/test.prg", "w+")
acs_prg = """
ENABLE 1""" + \
"""
VEL(1) = 1000
PTP/r 1, -900
STOP
"""
#file.write(acs_prg)
#file.close()
print(acs_prg)
hc = acsc.openCommDirect()
acsc.loadBuffer(hc, 0, acs_prg, 512)
acsc.enable(hc, 0)
#acsc.LoadBuffersFromFile(hc, "test/test.prg")
acsc.runBuffer(hc, 0)
time.sleep(1)
print(acsc.getRPosition(hc, 1))
print(acsc.getMotorState(hc, 1))
acsc.closeComm(hc)
image_npy = np.reshape(data, (height, width))
else:
mmc.snapImage()
image_npy = mmc.getImage()
proj_32bit_filler = proj_32bit_filler + image_npy
return proj_32bit_filler
##################
####stage calls###
##################
if load_stages:
#initiate connection
hcomm = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
if scan_gain:
acsc.enable(hcomm, 0) #z
# acsc.toPoint(hcomm, None,0,110) #YIFU CHECK THIS
acsc.setVelocity(hcomm, 0, 5) #velocity in mm/sec
r_pos_0 = acsc.getRPosition(hcomm, 0)
f_pos_0 = acsc.getFPosition(hcomm, 0)
acsc.enable(hcomm, 1) #theta
acsc.setVelocity(hcomm, 1, 5) #velocity in degrees/sec
r_pos_1 = acsc.getRPosition(hcomm, 1)
f_pos_1 = acsc.getFPosition(hcomm, 1)
# acsc.toPoint(hcomm, None,1,0)
print("z-stage F pos: %f \n z-stage R pos: %f" % (f_pos_0, r_pos_0))
print("theta-stage F pos: %f \n theta-stage R pos: %f" %
(f_pos_1, r_pos_1))
where_i_was = r_pos_0
def enable(self, wait=acsc.SYNCHRONOUS):
acsc.enable(self.controller.hc, self.axisno, wait)
def enable(self, wait=acsc.SYNCHRONOUS):
acsc.enable(self.controller.hc, self.axisno, wait)
#exposure=60
print(device_id)
mmc.setExposure(exposure_inpt)
mmc.setProperty(device_id, "Binning", binning_value)
print(mmc.getProperty(device_id, "Binning"))
os.chdir(prev_dir)
##################
####stage calls###
##################
if load_stages:
#initiate connection
hcomm = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
#z
if scan_gain:
acsc.enable(hcomm, 0)
acsc.toPoint(hcomm, None, 0, 110) #YIFU CHECK THIS
acsc.setVelocity(hcomm, 0, 5) #velocity in mm/sec
#theta
acsc.enable(hcomm, 1)
acsc.setVelocity(hcomm, 1, 10) #velocity in degrees/sec
acsc.setJerk(hcomm, 1, 500) #jerk, normal is 9000
acsc.setDeceleration(hcomm, 1, 450) #jerk, normal is 9000
acsc.setAcceleration(hcomm, 1, 450) #Acceleration, normal is 9000
acsc.toPoint(hcomm, None, 1, 0)
#Actually do the imaging
if do_scan:
for idx in range(degrees_array.shape[0]):
q = time.time()
set_degree = degrees_array[idx]
"""
This is a test for generating an ACSPL+ program
then uploading it to the controller and running it.
"""
from acspy import acsc
import time
#file = open("test/test.prg", "w+")
acs_prg = """
ENABLE 1""" + \
"""
VEL(1) = 1000
PTP/r 1, -900
STOP
"""
#file.write(acs_prg)
#file.close()
print acs_prg
hc = acsc.openCommDirect()
acsc.loadBuffer(hc, 0, acs_prg, 512)
acsc.enable(hc, 0)
#acsc.LoadBuffersFromFile(hc, "test/test.prg")
acsc.runBuffer(hc, 0)
time.sleep(1)
print acsc.getRPosition(hc, 1)
print acsc.getMotorState(hc, 1)
acsc.closeComm(hc)
