def decode(data):
"""Decodes message data into alpha and beta moves."""
alpha_steps = bytes_to_int(data[0:4], dtype="i4")
beta_steps = bytes_to_int(data[4:8], dtype="i4")
return motor_steps_to_angle(alpha_steps, beta_steps)
def gotoPosition(posID, alphaDeg, betaDeg):
alpha_steps, beta_steps = motor_steps_to_angle(alphaDeg, betaDeg, inverse=True)
data = int_to_bytes(alpha_steps) + int_to_bytes(beta_steps)
sendMsg(GO_TO_ABSOLUTE_POSITION, posID, data)
arb, data = getReply()
betaTime = bytes_to_int(data[4:])
alphaTime = bytes_to_int(data[0:4])
assert arb[0] == posID
print("times to move", betaTime * 0.0005, alphaTime * 0.0005)
def encode(alpha, beta):
"""Returns the position as a bytearray in positioner units."""
alpha_motor, beta_motor = motor_steps_to_angle(alpha,
beta,
inverse=True)
alpha_bytes = int_to_bytes(int(alpha_motor), "i4")
beta_bytes = int_to_bytes(int(beta_motor), "i4")
data = alpha_bytes + beta_bytes
return data
def __init__(
self,
positioner_ids: int | List[int],
alpha=None,
beta=None,
**kwargs,
):
if alpha is not None and beta is not None:
alpha_steps, beta_steps = motor_steps_to_angle(alpha, beta, inverse=True)
data = int_to_bytes(int(alpha_steps)) + int_to_bytes(int(beta_steps))
kwargs["data"] = data
super().__init__(positioner_ids, **kwargs)
def __init__(
self,
positioner_ids: int | List[int],
alpha: float | None = None,
beta: float | None = None,
**kwargs,
):
if alpha is not None and beta is not None:
alpha_steps, beta_steps = motor_steps_to_angle(alpha,
beta,
inverse=True)
alpha_bytes = int_to_bytes(alpha_steps, dtype="i4")
beta_bytes = int_to_bytes(beta_steps, dtype="i4")
data = alpha_bytes + beta_bytes
kwargs["data"] = data
super().__init__(positioner_ids, **kwargs)
def get_positions(self) -> Dict[int, Tuple[float, float]]:
"""Returns the positions of alpha and beta in degrees.
Raises
------
ValueError
If no reply has been received or the data cannot be parsed.
"""
positions = {}
for reply in self.replies:
pid = reply.positioner_id
data = reply.data
beta = bytes_to_int(data[4:], dtype="i4")
alpha = bytes_to_int(data[0:4], dtype="i4")
positions[pid] = motor_steps_to_angle(alpha, beta)
return positions
def get_offsets(self) -> Dict[int, numpy.ndarray]:
"""Returns the alpha and beta offsets, in degrees.
Raises
------
ValueError
If no reply has been received or the data cannot be parsed.
"""
offsets = {}
for reply in self.replies:
pid = reply.positioner_id
data = reply.data
alpha = bytes_to_int(data[0:4], dtype="i4")
beta = bytes_to_int(data[4:], dtype="i4")
offsets[pid] = numpy.array(motor_steps_to_angle(alpha, beta))
return offsets