def __init__(self):
pos_calib = LinearCalibration(1 / q.deg, 0 * q.deg)
velo_calib = LinearCalibration(1 / (q.deg / q.sec), 0 * q.deg / q.sec)
super(Aerorot, self).__init__(pos_calib, velo_calib)
self["position"].unit = q.deg
self["velocity"].unit = q.deg / q.sec
self._connection = Aerotech(Aerorot.HOST, Aerorot.PORT)
self._connection.execute("ENABLE %s" % (Aerorot.AXIS))
def reset(self):
"""Reset the controller."""
# TODO: timeout here?
linked = False
self._connection.execute("RESET")
while not linked:
try:
self._connection = Aerotech(HLe.HOST, HLe.PORT)
except:
pass
else:
linked = True
def get_positions(self):
"""Get positions stored on the controller's file system."""
self.program_run(1, "position_readout.bcx")
positions = []
conn = Aerotech(HLe.HOST, 8000)
while True:
data = conn.execute("NEXT")
if data == "ERROR":
msg = "Error reading positions."
LOG.error(msg)
raise RuntimeError(msg)
elif data == "EOF":
break
positions.append(float(data))
return positions
def __init__(self):
pos_calib = LinearCalibration(1/q.deg, 0*q.deg)
velo_calib = LinearCalibration(1/(q.deg/q.sec), 0*q.deg/q.sec)
super(Aerorot, self).__init__(pos_calib, velo_calib)
self["position"].unit = q.deg
self["velocity"].unit = q.deg/q.sec
self._connection = Aerotech(Aerorot.HOST, Aerorot.PORT)
self._connection.execute("ENABLE %s" % (Aerorot.AXIS))
class Aerorot(ContinuousMotor):
HOST = "192.168.18.19"
PORT = 8001
AXIS = "X"
# status constants (bits of the AXISSTATUS output (see HLe docs))
AXISSTATUS_ENABLED = 0
AXISSTATUS_HOMED = 1
AXISSTATUS_IN_POSITION = 2
AXISSTATUS_MOVE_ACTIVE = 3
AXISSTATUS_ACCEL_PHASE = 4
AXISSTATUS_DECEL_PHASE = 5
AXISSTATUS_POSITION_CAPTURE = 6
AXISSTATUS_HOMING = 14
SLEEP_TIME = 0.01
def __init__(self):
pos_calib = LinearCalibration(1 / q.deg, 0 * q.deg)
velo_calib = LinearCalibration(1 / (q.deg / q.sec), 0 * q.deg / q.sec)
super(Aerorot, self).__init__(pos_calib, velo_calib)
self["position"].unit = q.deg
self["velocity"].unit = q.deg / q.sec
self._connection = Aerotech(Aerorot.HOST, Aerorot.PORT)
self._connection.execute("ENABLE %s" % (Aerorot.AXIS))
def __del__(self):
self._connection.execute("DISABLE %s" % (Aerorot.AXIS))
def _query_state(self):
return int(self._connection.execute("AXISSTATUS(%s)" % (Aerorot.AXIS)))
def _get_position(self):
return float(self._connection.execute("PFBK(%s)" % (Aerorot.AXIS)))
def _set_position(self, steps):
self._connection.execute("MOVEABS %s %f" % (Aerorot.AXIS, steps))
while not self._query_state() >> Aerorot.AXISSTATUS_IN_POSITION & 1:
time.sleep(Aerorot.SLEEP_TIME)
def _get_velocity(self):
return float(self._connection.execute("VFBK(%s)" % (Aerorot.AXIS)))
def _set_velocity(self, steps):
self._connection.execute("FREERUN %s %f" % (Aerorot.AXIS, steps))
while self._query_state() >> Aerorot.AXISSTATUS_ACCEL_PHASE & 1:
time.sleep(Aerorot.SLEEP_TIME)
def _get_state(self):
res = self._query_state()
if res >> Aerorot.AXISSTATUS_MOVE_ACTIVE & 1:
state = Motor.MOVING
elif res >> Aerorot.AXISSTATUS_IN_POSITION & 1:
state = Motor.STANDBY
else:
state = Motor.NA
return state
def _stop(self):
if self.state == Motor.MOVING:
self._connection.execute("ABORT %s" % (Aerorot.AXIS))
while self.state == Motor.MOVING:
time.sleep(Aerorot.SLEEP_TIME)
def _home(self):
self._connection.execute("HOME %s" % (Aerorot.AXIS))
while self.state == Motor.MOVING:
time.sleep(Aerorot.SLEEP_TIME)
def get_digital_in(self, port, bit):
"""Get TTL level on *port* and *bit*."""
res = self._connection.execute("DIN(%s,%d,%d)" %
(Aerorot.AXIS, port, bit))
return res == "1"
def set_digital_out(self, port, bit, value):
"""Set TTL level on *port* and *bit* to *value*"""
self._connection.execute("DOUT %s, %d, %d:%d" %
(Aerorot.AXIS, port, bit, value))
def __init__(self):
self._connection = Aerotech(HLe.HOST, HLe.PORT)
super(HLe, self).__init__()
self.ioo = IO(self._connection)
class HLe(Device):
"""Aerotech Ensemble HLe controller."""
HOST = "192.168.18.19"
PORT = 8001
def __init__(self):
self._connection = Aerotech(HLe.HOST, HLe.PORT)
super(HLe, self).__init__()
self.ioo = IO(self._connection)
def reset(self):
"""Reset the controller."""
# TODO: timeout here?
linked = False
self._connection.execute("RESET")
while not linked:
try:
self._connection = Aerotech(HLe.HOST, HLe.PORT)
except:
pass
else:
linked = True
@async
def get_positions(self):
"""Get positions stored on the controller's file system."""
self.program_run(1, "position_readout.bcx")
positions = []
conn = Aerotech(HLe.HOST, 8000)
while True:
data = conn.execute("NEXT")
if data == "ERROR":
msg = "Error reading positions."
LOG.error(msg)
raise RuntimeError(msg)
elif data == "EOF":
break
positions.append(float(data))
return positions
def program_run(self, task, program_name):
"""Execute *program_name* on task number *task*."""
self._connection.execute("TASKRUN %d, \"%s\"" %
(task, program_name))
def program_stop(self, task):
"""Stop program execution on task number *task*."""
self._connection.execute("PROGRAM STOP %d" % (task))
def get_integer_register(self, register):
"""Get value stored in integer *register* on the controller."""
self._connection.execute("IGLOBAL(%d)" % (register))
def set_integer_register(self, register, value):
"""Set *value* stored in integer *register* on the controller."""
self._connection.execute("IGLOBAL(%d)=%f" % (register, value))
def get_double_register(self, register):
"""Get value stored in double *register* on the controller."""
self._connection.execute("DGLOBAL(%d)" % (register))
def set_double_register(self, register, value):
"""Set *value* stored in double *register* on the controller."""
self._connection.execute("DGLOBAL(%d)=%f" % (register, value))
def __init__(self):
self._connection = Aerotech(HLe.HOST, HLe.PORT)
self.logger = logbook.Logger(self.__class__, __name__)
super(HLe, self).__init__()
self.io = IO(self._connection)
class Aerorot(ContinuousMotor):
HOST = "192.168.18.19"
PORT = 8001
AXIS = "X"
# status constants (bits of the AXISSTATUS output (see HLe docs))
AXISSTATUS_ENABLED = 0
AXISSTATUS_HOMED = 1
AXISSTATUS_IN_POSITION = 2
AXISSTATUS_MOVE_ACTIVE = 3
AXISSTATUS_ACCEL_PHASE = 4
AXISSTATUS_DECEL_PHASE = 5
AXISSTATUS_POSITION_CAPTURE = 6
AXISSTATUS_HOMING = 14
SLEEP_TIME = 0.01
def __init__(self):
pos_calib = LinearCalibration(1/q.deg, 0*q.deg)
velo_calib = LinearCalibration(1/(q.deg/q.sec), 0*q.deg/q.sec)
super(Aerorot, self).__init__(pos_calib, velo_calib)
self["position"].unit = q.deg
self["velocity"].unit = q.deg/q.sec
self._connection = Aerotech(Aerorot.HOST, Aerorot.PORT)
self._connection.execute("ENABLE %s" % (Aerorot.AXIS))
def __del__(self):
self._connection.execute("DISABLE %s" % (Aerorot.AXIS))
def _query_state(self):
return int(self._connection.execute("AXISSTATUS(%s)" % (Aerorot.AXIS)))
def _get_position(self):
return float(self._connection.execute("PFBK(%s)" % (Aerorot.AXIS)))
def _set_position(self, steps):
self._connection.execute("MOVEABS %s %f" % (Aerorot.AXIS, steps))
while not self._query_state() >> Aerorot.AXISSTATUS_IN_POSITION & 1:
time.sleep(Aerorot.SLEEP_TIME)
def _get_velocity(self):
return float(self._connection.execute("VFBK(%s)" % (Aerorot.AXIS)))
def _set_velocity(self, steps):
self._connection.execute("FREERUN %s %f" % (Aerorot.AXIS, steps))
while self._query_state() >> Aerorot.AXISSTATUS_ACCEL_PHASE & 1:
time.sleep(Aerorot.SLEEP_TIME)
def _get_state(self):
res = self._query_state()
if res >> Aerorot.AXISSTATUS_MOVE_ACTIVE & 1:
state = Motor.MOVING
elif res >> Aerorot.AXISSTATUS_IN_POSITION & 1:
state = Motor.STANDBY
else:
state = Motor.NA
return state
def _stop(self):
if self.state == Motor.MOVING:
self._connection.execute("ABORT %s" % (Aerorot.AXIS))
while self.state == Motor.MOVING:
time.sleep(Aerorot.SLEEP_TIME)
def _home(self):
self._connection.execute("HOME %s" % (Aerorot.AXIS))
while self.state == Motor.MOVING:
time.sleep(Aerorot.SLEEP_TIME)
def get_digital_in(self, port, bit):
"""Get TTL level on *port* and *bit*."""
res = self._connection.execute("DIN(%s,%d,%d)" %
(Aerorot.AXIS, port, bit))
return res == "1"
def set_digital_out(self, port, bit, value):
"""Set TTL level on *port* and *bit* to *value*"""
self._connection.execute("DOUT %s, %d, %d:%d" % (Aerorot.AXIS, port,
bit, value))
def __init__(self):
self._connection = Aerotech(HLe.HOST, HLe.PORT)
self.logger = logbook.Logger(self.__class__, __name__)
super(HLe, self).__init__()
self.io = IO(self._connection)