class Scientifica(Stage):
"""
A Scientifica motorized device.
This class supports PatchStar, MicroStar, SliceScope, objective changers, etc.
The device may be identified either by its serial port or by its description
string:
port: <serial port> # eg. 'COM1' or '/dev/ttyACM0'
name: <string> # eg. 'SliceScope' or 'MicroStar 2'
baudrate: <int> # may be 9600 or 38400
The optional 'baudrate' parameter is used to set the baudrate of the device.
Both valid rates will be attempted when initially connecting.
"""
def __init__(self, man, config, name):
# can specify
port = config.pop('port', None)
name = config.pop('name', None)
self.scale = config.pop('scale', (1e-6, 1e-6, 1e-6))
baudrate = config.pop('baudrate', None)
ctrl_version = config.pop('version', 2)
try:
self.dev = ScientificaDriver(port=port, name=name, baudrate=baudrate, ctrl_version=ctrl_version)
except RuntimeError as err:
if hasattr(err, 'dev_version'):
raise RuntimeError(err.message + " You must add `version=%d` to the configuration for this device and double-check any speed/acceleration parameters." % int(err.dev_version))
else:
raise
# Controllers reset their baud to 9600 after power cycle
if baudrate is not None and self.dev.getBaudrate() != baudrate:
self.dev.setBaudrate(baudrate)
self._lastMove = None
man.sigAbortAll.connect(self.abort)
Stage.__init__(self, man, config, name)
# clear cached position for this device and re-read to generate an initial position update
self._lastPos = None
self.getPosition(refresh=True)
# Set approach angle
# Disabled--this toggles the approach bit and we can't reconfigure it from here :(
# approach = self.dev.send('APPROACH')
# self.dev.send('ANGLE %f' % self.pitch)
# self.dev.send('APPROACH %s' % approach) # reset approach bit; setting angle enables it
# set any extra parameters specified in the config
params = config.get('params', {})
for param, val in params.items():
if param == 'currents':
assert len(val) == 2
self.dev.setCurrents(*val)
elif param == 'axisScale':
assert len(val) == 3
for i, x in enumerate(val):
self.dev.setAxisScale(i, x)
else:
self.dev.setParam(param, val)
self.setUserSpeed(config.get('userSpeed', self.dev.getSpeed() * abs(self.scale[0])))
# whether to monitor for changes to a MOC
self.monitorObj = config.get('monitorObjective', False)
if self.monitorObj is True:
if self.dev._version < 3:
raise TypeError("Scientifica motion card version %s does not support reading objective position." % self.dev._version)
self.objectiveState = None
self._checkObjective()
# thread for polling position changes
self.monitor = MonitorThread(self, self.monitorObj)
self.monitor.start()
def capabilities(self):
"""Return a structure describing the capabilities of this device"""
if 'capabilities' in self.config:
return self.config['capabilities']
else:
return {
'getPos': (True, True, True),
'setPos': (True, True, True),
'limits': (False, False, False),
}
def stop(self):
"""Stop the manipulator immediately.
"""
with self.lock:
self.dev.stop()
if self._lastMove is not None:
self._lastMove._stopped()
self._lastMove = None
def abort(self):
"""Stop the manipulator immediately.
"""
self.dev.stop()
if self._lastMove is not None:
self._lastMove._stopped()
self._lastMove = None
def setUserSpeed(self, v):
"""Set the maximum speed of the stage (m/sec) when under manual control.
The stage's maximum speed is reset to this value when it is not under
programmed control.
"""
self.userSpeed = v
self.dev.setSpeed(v / abs(self.scale[0]))
def _getPosition(self):
# Called by superclass when user requests position refresh
with self.lock:
pos = self.dev.getPos()
pos = [pos[i] * self.scale[i] for i in (0, 1, 2)]
if pos != self._lastPos:
self._lastPos = pos
emit = True
else:
emit = False
if emit:
# don't emit signal while locked
self.posChanged(pos)
return pos
def targetPosition(self):
with self.lock:
if self._lastMove is None or self._lastMove.isDone():
return self.getPosition()
else:
return self._lastMove.targetPos
def quit(self):
self.monitor.stop()
Stage.quit(self)
def _move(self, abs, rel, speed, linear):
with self.lock:
if self._lastMove is not None and not self._lastMove.isDone():
self.stop()
pos = self._toAbsolutePosition(abs, rel)
speed = self._interpretSpeed(speed)
self._lastMove = ScientificaMoveFuture(self, pos, speed, self.userSpeed)
return self._lastMove
def deviceInterface(self, win):
return ScientificaGUI(self, win)
def startMoving(self, vel):
"""Begin moving the stage at a continuous velocity.
"""
s = [int(-v * 1000. / 67. / self.scale[i]) for i,v in enumerate(vel)]
print(s)
self.dev.send('VJ %d %d %d C' % tuple(s))
def _checkObjective(self):
with self.lock:
obj = int(self.dev.send('obj'))
if obj != self.objectiveState:
self.objectiveState = obj
self.sigSwitchChanged.emit(self, {'objective': obj})
def getSwitch(self, name):
if name == 'objective' and self.monitorObj:
return self.objectiveState
else:
return Stage.getSwitch(self, name)
print(
"Usage: python -i test.py com4 [9600|38400]\n python -i test.py PatchStar1"
)
sys.exit(-1)
baudrate = int(sys.argv[2]) if len(sys.argv) > 2 else None
devname = sys.argv[1]
if devname.lower().startswith('com') or devname.startswith('/dev/'):
ps = Scientifica(port=devname, baudrate=baudrate, ctrl_version=None)
else:
ps = Scientifica(name=devname, baudrate=baudrate, ctrl_version=None)
print("Device type: %s Description: %s" %
(ps.getType(), ps.getDescription()))
print("Firmware version: %r" % ps.getFirmwareVersion())
print("Position: %r" % ps.getPos())
print("Max speed: %r um/sec" % ps.getSpeed())
if ps._version < 3:
print("Min speed: %r um/sec" % (ps.getParam('minSpeed') /
(2. * ps.getAxisScale(0))))
print("Acceleration: %r um^2/sec" %
(ps.getParam('accel') * 250. / ps.getAxisScale(0)))
else:
print("Min speed: %r um/sec" % ps.getParam('minSpeed'))
print("Acceleration: %r um^2/sec" % ps.getParam('accel'))
# pos1 = ps.getPos()
# pos2 = [None, None, pos1[2]]
# pos2[2] += 1000
# print("Move %s => %s" % (pos1, pos2))
# ps.moveTo(pos2, speed=300)