class PixOrbShutter(AbstractPixOrbHardware, ShutterPlugin):
def _init(self):
Logger().trace("PixOrbShutter._init()")
AbstractPixOrbHardware._init(self)
ShutterPlugin._init(self)
self._hardware = PixOrbHardware()
def _defineConfig(self):
AbstractPixOrbHardware._defineConfig(self)
ShutterPlugin._defineConfig(self)
def init(self):
Logger().trace("PixOrbAxis.init()")
self._hardware.setAxis(AXIS_TABLE[self.capacity])
#self._hardware.setBreakAxis(BREAK_TABLE[self.capacity])
AbstractHardwarePlugin.init(self)
self.configure()
def _triggerOnShutter(self):
""" Set the shutter on.
"""
self._hardware.setOutput(True)
def _triggerOffShutter(self):
""" Set the shutter off.
"""
self._hardware.setOutput(False)
def shutdown(self):
Logger().trace("PixOrbShutter.shutdown()")
self._triggerOffShutter()
ShutterPlugin.shutdown(self)
def _init(self):
Logger().trace("PixOrbShutter._init()")
AbstractPixOrbHardware._init(self)
ShutterPlugin._init(self)
self._hardware = PixOrbHardware()
def _init(self):
Logger().trace("PixOrbAxis._init()")
AbstractPixOrbHardware._init(self)
AbstractAxisPlugin._init(self)
self._hardware = PixOrbHardware()
class PixOrbAxis(AbstractPixOrbHardware, AbstractAxisPlugin):
def _init(self):
Logger().trace("PixOrbAxis._init()")
AbstractPixOrbHardware._init(self)
AbstractAxisPlugin._init(self)
self._hardware = PixOrbHardware()
def _defineConfig(self):
AbstractAxisPlugin._defineConfig(self)
AbstractHardwarePlugin._defineConfig(self)
self._addConfigKey('_speedIndex', 'SPEED_INDEX', default=DEFAULT_SPEED_INDEX)
self._addConfigKey('_axisWithBreak', 'AXIS_WITH_BREAK', default=DEFAULT_AXIS_WITH_BREAK)
self._addConfigKey('_axisAccuracy', 'AXIS_ACCURACY', default=DEFAULT_AXIS_ACCURACY)
def init(self):
Logger().trace("PixOrbAxis.init()")
self._hardware.setAxis(AXIS_TABLE[self.capacity])
self._hardware.setBreakAxis(BREAK_TABLE[self.capacity])
AbstractHardwarePlugin.init(self)
self.configure()
def shutdown(self):
Logger().trace("PixOrbAxis.shutdown()")
self.stop()
AbstractAxisPlugin.shutdown(self)
def configure(self):
Logger().trace("PixOrbAxis.configure()")
AbstractAxisPlugin.configure(self)
self._hardware.configure(self._config['SPEED_INDEX'])
def read(self):
position = self._hardware.read()
# Reverse direction on yaw axis
if self.capacity == 'yawAxis':
position *= -1
position -= self._offset
return position
def drive(self, position, useOffset=True, wait=True):
Logger().debug("PixOrbAxis.drive(): '%s' drive to %.1f" % (self.capacity, position))
currentPos = self.read()
if abs(position - currentPos) <= self._config['AXIS_ACCURACY'] or not useOffset:
return
self._checkLimits(position)
if useOffset:
position += self._offset
# Reverse direction on yaw axis
if self.capacity == 'yawAxis':
position *= -1
if self._config['AXIS_WITH_BREAK']:
self._hardware.releaseBreak()
self._hardware.configure(self._config['SPEED_INDEX'])
self._hardware.drive(position)
# Wait end of movement
if wait:
self.waitEndOfDrive()
def waitEndOfDrive(self):
#self._wait()
while self.isMoving():
time.sleep(config.SPY_REFRESH_DELAY / 1000.)
self.waitStop()
def startJog(self, dir_):
# Reverse direction on yaw axis
if self.capacity == 'yawAxis':
if dir_ == '+':
dir_ = '-'
else:
dir_ = '+'
if self._config['AXIS_WITH_BREAK']:
self._hardware.releaseBreak()
self._hardware.configure(MANUAL_SPEED_TABLE[self._manualSpeed])
self._hardware.startJog(dir_, MANUAL_SPEED_TABLE[self._manualSpeed])
def stop(self):
self._hardware.stop()
self.waitStop()
def waitStop(self):
if self._config['AXIS_WITH_BREAK']:
self._hardware.activateBreak()
def isMoving(self):
status = self._hardware.getStatus()
if status != '0':
return True
else:
return False