def __init__(self,
identifier=None,
maxtravel=12.00,
Osen=None,
hasTrigger=False):
self.max_travel = maxtravel
self.waveData = None
self.numWavePoints = 0
self.lock = threading.Lock()
if identifier is None:
devices = get_connected_devices()
identifier = devices[0]
self.id = gcs.ConnectUSB(identifier)
if not Osen is None:
#self.ser_port.write('SPA A8 %3.4f\n' % Osen)
self.osen = Osen
else:
self.osen = 0
self.MAXWAVEPOINTS = 64
if self.GetFirmwareVersion() > 3.2:
self.MAXWAVEPOINTS = 256
#self.ser_port.write('WTO A0\n')
#self.ser_port.write('SVO A1\n')
gcs.SVO(self.id, b'A', [1])
self.lastPos = self.GetPos()
self.driftCompensation = False
self.hasTrigger = hasTrigger
def ReInit(self):
"""
Reinitialize a closed connection to the pifoc. Note the pifoc
connection must have already been closed, whether by using `close`
or the polling loop failing.
"""
with self.lock:
logging.info('restarting e816')
self.loopActive = False
time.sleep(1.0)
self.id = gcs.ConnectUSB(self._identifier)
gcs.SVO(self.id, b'A', [1])
time.sleep(1.0)
self.lastPos = self.GetPos()
logging.info('reinitialized, starting loop')
self._start_loop()
def __init__(self,
identifier=None,
maxtravel=12.00,
Osen=None,
hasTrigger=False,
target_tol=.002,
update_rate=0.005):
"""
Parameters
----------
identifier
maxtravel
Osen
hasTrigger
target_tol: float
OnTarget tolerance, units of [um]. If position and target position are within target_tol, OnTarget() returns
True
update_rate: float
Seconds for the polling thread to pause between loops.
"""
self.max_travel = maxtravel
#self.waveData = None
#self.numWavePoints = 0
self.units = 'um'
self._target_tol = target_tol
self._update_rate = update_rate
self.lock = threading.Lock()
if identifier is None:
devices = get_connected_devices()
identifier = devices[0]
self.id = gcs.ConnectUSB(identifier)
if not Osen is None:
# self.ser_port.write('SPA A8 %3.4f\n' % Osen)
self.osen = Osen
else:
self.osen = 0
#self.MAXWAVEPOINTS = 64
#if self.GetFirmwareVersion() > 3.2:
# self.MAXWAVEPOINTS = 256
#self.ser_port.write('WTO A0\n')
#self.ser_port.write('SVO A1\n')
gcs.SVO(self.id, b'A', [1])
self.servo = True
self.errCode = 0
self.onTarget = False
#self.lastPos = self.GetPos()
self.driftCompensation = False
self.hasTrigger = hasTrigger
self.loopActive = True
self.stopMove = False
self.position = np.array([0.])
# self.velocity = np.array([self.maxvelocity, self.maxvelocity])
self.targetPosition = np.array([maxtravel / 2.0])
# self.targetVelocity = self.velocity.copy()
self.lastTargetPosition = self.position.copy()
self.tloop = threading.Thread(target=self._Loop)
self.tloop.daemon = True
self.tloop.start()
def _Loop(self):
while self.loopActive:
self.lock.acquire()
try:
# check position
time.sleep(self._update_rate)
self.position[0] = float(gcs.qPOS(self.id, b'A')[0])+ self.osen
self.errCode = int(gcs.qERR(self.id))
if not self.errCode == 0: # I have yet to see this work
logging.info(('Stage Error: %d' % self.errCode))
# print self.targetPosition, self.stopMove
if not np.all(self.targetPosition == self.lastTargetPosition):
# update our target position
pos = np.clip(self.targetPosition, 0, self.max_travel)
gcs.MOV(self.id, b'A', pos[:1])
self.lastTargetPosition = pos.copy()
# print('p')
# logging.debug('Moving piezo to target: %f' % (pos[0],))
if np.allclose(self.position, self.targetPosition, atol=self._target_tol):
if not self.onTarget:
logEvent('PiezoOnTarget', '%.3f' % self.position[0], time.time())
self.onTarget = True
# check to see if we're on target
#self.ser_port.write('ONT? A\n')
#self.ser_port.flushOutput()
#time.sleep(0.005)
#res1 = self.ser_port.readline()
#if res1 == '':
# time.sleep(.5)
# res1 = self.ser_port.readline()
#try:
# self.onTarget = int(res1) == 1
#except ValueError:
# self.onTarget = False
# logging.exception('Value error on response from ONT')
# time.sleep(.1)
except RuntimeError as e:
# gcs.fcnWrap.HandleError throws Runtimes for everything
logger.error(str(e))
try:
self.errCode = int(gcs.qERR(self.id))
logger.error('error code: %s' % str(self.errCode))
except:
logger.error('no error code retrieved')
if '-1' in str(e):
logger.debug('reinitializing GCS connection, 10 s pause')
gcs.CloseConnection(self.id)
time.sleep(10.0) # this takes at least more than 1 s
try:
self.id = gcs.ConnectUSB(self._identifier)
logger.debug('restablished connection to piezo')
except RuntimeError as e:
logger.error('trying to get new device ID')
devices = get_connected_devices()
self._identifier = devices[0]
logger.debug('new device ID acquired')
self.id = gcs.ConnectUSB(self._identifier)
time.sleep(1.0)
logger.debug('turning on servo')
gcs.SVO(self.id, b'A', [1])
time.sleep(1.0)
finally:
self.lock.release()
# close port on loop exit
gcs.CloseConnection(self.id)
logging.info("Piezo USB connection closed")