def setNumaxes_d(self):
with self._lock:
if not self.device:
return
for i in range(3): # AMC can only control axis [0..2]
if AMC.setOutput(self.device, i, True) != 0:
break
else:
AMC.setMove(self.device, i, False)
self._info['numaxes'] = i
def setRange_d(self):
with self._lock:
if not self.device:
return
t_range = []
# End of Travel detection
for i in range(self._info['numaxes']):
AMC.setEotOutputDeactive(self.device, i, True)
t_range.append((None, None))
# 总行程
self._info['range'] = tuple(t_range)
def connect(self, ip='192.168.1.1', *args, **kwargs):
with self._lock:
if self.device:
return
self._device_info.update(ip=ip)
self.device = AMC.connect(ip)
self._init_d()
def waitontarget(device, axis, timeout=60, eottimeout=1):
maxtime = time.time() + timeout
target_range = AMC.getTargetRange(device, axis)[1]
target_pos = AMC.getTargetPosition(device, axis)[1]
# eot detection
max_interval = int(eottimeout / 0.1) + 1
last_pos = AMC.getPosition(device, axis)[1]
i_interval = 0
while True:
errno, status = AMC.getStatusMoving(device, axis)
if errno:
raise SystemError(
'System error! Please reconnect the device.')
if status == 1: # status == 1 for moving status
pos = AMC.getPosition(device, axis)[1]
if abs(pos - target_pos) < target_range:
AMC.setMove(device, axis, False)
break
# no-blocking End of Travel detection
if i_interval != max_interval:
i_interval += 1
else:
i_interval = 0
pos = AMC.getPosition(device, axis)[1]
if abs(last_pos - pos) < target_range:
AMC.setMove(device, axis, False)
return False
last_pos = pos
if time.time() > maxtime:
raise SystemError(
'waitontarget() timed out after %.1f seconds' %
timeout)
time.sleep(0.1)
else:
break
return True
def getPosition(self):
with self._lock:
if not self.device:
return
pos = [
AMC.getPosition(self.device, i)[1]
for i in range(self._info['numaxes'])
]
self._info['position'] = pos
return tuple(pos)
def close(self):
with self._lock:
if not self.device:
return
try:
for i in range(self._info['numaxes']):
AMC.setMove(self.device, i, False)
AMC.setOutput(self.device, i, False)
AMC.close(self.device)
except Exception as e:
print(str(e))
finally:
self.device = None
self._device_info.clear()
def move(self, targets, timeout=60, eottimeout=1):
with self._lock:
if len(targets) != self._info['numaxes']:
raise TypeError(
'The number of axes set is not equal to the'
'number of axes of the device.')
try:
self._moveState = True
if not self.device:
raise SystemError('No available device.')
# out of range judgement
targets = [int(t) for t in targets]
for i in range(self._info['numaxes']):
_range = self._info['range'][i]
if (None not in _range):
if (targets[i] > _range[1]) or (targets[i] <
_range[0]):
raise OutOfRange(
'Sorry, out of range in axis {}'.format(
str(i)))
else:
continue
# move to targets
print('{} targets: {}'.format(str(self.name),
str(targets)))
for i, target in enumerate(targets):
AMC.setTargetPosition(self.device, i, target)
AMC.setMove(self.device, i, True)
# wait
states = [None] * self._info['numaxes']
for i in range(self._info['numaxes']):
states[i] = amctools.waitontarget(
self.device, i, timeout, eottimeout)
self._moveState = False
# update range!
if not all(states):
err_info = ""
for i, state in enumerate(states):
if not state:
pos = AMC.getPosition(self.device, i)[1]
_range = list(self._info['range'][i])
if pos < targets[i]:
_range[1] = pos
else:
_range[0] = pos
self._info['range'][i] = tuple(_range)
print('range for axis {} is: {}'.format(
str(i), str(_range)))
err_info += 'Sorry, out of range in axis {}. ' \
'Position {} Range {}\n'.format(str(i), str(pos), str(_range))
raise OutOfRange(err_info)
except SystemError:
self._moveState = None
self.close()
raise
except:
for i in range(self._info['numaxes']):
AMC.setMove(self.device, i, False)
self._moveState = False
raise