def __init__(self,
name,
role,
sn=None,
port=None,
axis="rz",
inverted=None,
**kwargs):
"""
sn (str): serial number (recommended)
port (str): port name (only if sn is not specified)
axis (str): name of the axis
inverted (set of str): names of the axes which are inverted (IOW, either
empty or the name of the axis)
"""
if (sn is None and port is None) or (sn is not None
and port is not None):
raise ValueError(
"sn or port argument must be specified (but not both)")
if sn is not None:
if not sn.startswith(SN_PREFIX_MFF) or len(sn) != 8:
logging.warning(
"Serial number '%s' is unexpected for a MFF "
"device (should be 8 digits starting with %s).", sn,
SN_PREFIX_MFF)
self._port = self._getSerialPort(sn)
else:
self._port = port
self._serial = self._openSerialPort(self._port)
self._ser_access = threading.Lock()
# Ensure we don't receive anything
self.SendMessage(HW_STOP_UPDATEMSGS)
self._serial.flushInput()
# Documentation says it should be done first, though it doesn't seem
# required
self.SendMessage(HW_NO_FLASH_PROGRAMMING)
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
# TODO: have the standard inverted Actuator functions work on enumerated
# use a different format than the standard Actuator
if inverted and axis in inverted:
self._pos_to_jog = {POS_UP: 2, POS_DOWN: 1}
self._status_to_pos = {STA_RVS_HLS: POS_UP, STA_FWD_HLS: POS_DOWN}
else:
self._pos_to_jog = {POS_UP: 1, POS_DOWN: 2}
self._status_to_pos = {STA_FWD_HLS: POS_UP, STA_RVS_HLS: POS_DOWN}
# TODO: add support for speed
axes = {
axis: model.Axis(unit="rad", choices=set(self._pos_to_jog.keys()))
}
model.Actuator.__init__(self, name, role, axes=axes, **kwargs)
driver_name = driver.getSerialDriver(self._port)
self._swVersion = "%s (serial driver: %s)" % (odemis.__version__,
driver_name)
try:
snd, modl, typ, fmv, notes, hwv, state, nc = self.GetInfo()
except IOError:
# This is the first communication with the hardware, if it fails
# it can be a sign the device is in a bad state. (it is known to
# fail when turned on and plugged in before the host computer is
# turned on)
raise HwError("No USB device with S/N %s. "
"Check that the Thorlabs filter flipper was "
"turned on *after* the host computer." % sn)
self._hwVersion = "%s v%d (firmware %s)" % (modl, hwv, fmv)
self.position = model.VigilantAttribute({}, readonly=True)
self._updatePosition()
def __init__(self,
name,
role,
port,
axes,
inverted=None,
param_file=None,
**kwargs):
"""
:param axes (dict: str -> dict): axis name --> axis parameters
Each axis is specified by a set of parameters.
After successful configuration with the pmconfig.py script, the only required parameter for a default motor
is the address which was set during the configuration process.
The spc parameter (conversion between motor steps and encoder counts) is typically saved in the flash
memory of the controller during the configuration process. The flash value is overridden by the
value in the parameter dict.
Depending on the type of motor, the encoder_resolution and range might need to be adjusted.
Axis parameters:
axis_number (0 <= int <= 127): typically 1-3 for x-z, required
closed_loop (bool): True for closed loop (with encoder), default to False
encoder_resolution (float): number of encoder counts per meter, default to 1.22e-9
motorstep_resolution (float): number of motor steps per m, default to 5e-6
range (tuple of float): in m, default to STROKE_RANGE
speed (float): speed in m/s
unit (str), default to m
:param param_file (str or None): (absolute or relative) path to a tmcm.tsv file which will be used to initialise
the axis parameters.
"""
self._axis_map = {} # axis name -> axis number used by controller
self._closed_loop = {} # axis name (str) -> bool (True if closed loop)
self._speed = {} # axis name (str) -> speed in unit/s
self._speed_steps = {
} # axis name (str) -> int, speed in steps per meter
self._counts_per_meter = {} # axis name (str) -> float
self._steps_per_meter = {} # axis name (str) -> float
self._portpattern = port
# Parse axis parameters and create axis
axes_def = {} # axis name -> Axis object
for axis_name, axis_par in axes.items():
if 'axis_number' in axis_par:
axis_num = axis_par['axis_number']
if axis_num not in range(128):
raise ValueError(
"Invalid axis number %s, needs to be 0 <= int <= 127."
% axis_num)
elif axis_num in self._axis_map.values():
axname = self._axis_map[axis_num]
raise ValueError(
"Invalid axis number %s, already assigned to axis %s."
% (axis_num, axname))
else:
self._axis_map[axis_name] = axis_par['axis_number']
else:
raise ValueError("Axis %s has no axis number." % axis_name)
if 'closed_loop' in axis_par:
closed_loop = axis_par['closed_loop']
else:
closed_loop = False
logging.info(
"Axis parameter \"closed_loop\" not specified for axis %s. Assuming open-loop.",
axis_name)
self._closed_loop[axis_name] = closed_loop
if 'motorstep_resolution' in axis_par:
self._steps_per_meter[
axis_name] = 1 / axis_par['motorstep_resolution']
else:
self._steps_per_meter[
axis_name] = 1 / DEFAULT_MOTORSTEP_RESOLUTION
logging.info(
"Axis %s has no motorstep resolution, assuming %s.",
axis_name, DEFAULT_MOTORSTEP_RESOLUTION)
if 'encoder_resolution' in axis_par:
self._counts_per_meter[
axis_name] = 1 / axis_par['encoder_resolution']
else:
self._counts_per_meter[
axis_name] = 1 / DEFAULT_ENCODER_RESOLUTION
logging.info("Axis %s has no encoder resolution, assuming %s.",
axis_name, DEFAULT_ENCODER_RESOLUTION)
if 'range' in axis_par:
axis_range = [
float(axis_par['range'][0]),
float(axis_par['range'][1])
]
else:
axis_range = STROKE_RANGE
logging.info("Axis %s has no range. Assuming %s", axis_name,
axis_range)
if 'speed' in axis_par:
self._speed[axis_name] = axis_par['speed']
else:
self._speed[axis_name] = DEFAULT_AXIS_SPEED
logging.info(
"Axis %s was not given a speed value. Assuming %s",
axis_name, self._speed[axis_name])
self._speed_steps[axis_name] = int(
round(self._speed[axis_name] *
self._steps_per_meter[axis_name]))
if 'unit' in axis_par:
axis_unit = axis_par['unit']
else:
axis_unit = "m"
logging.info("Axis %s has no unit. Assuming %s", axis_name,
axis_unit)
ad = model.Axis(canAbs=closed_loop,
unit=axis_unit,
range=axis_range)
axes_def[axis_name] = ad
Actuator.__init__(self,
name,
role,
axes=axes_def,
inverted=inverted,
**kwargs)
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
self._ser_access = threading.RLock()
# Connect to hardware
self._port = None # port number
min_axis = min(self._axis_map.values())
self._serial = self._findDevice(port, min_axis)
self._recovering = False
# Get version
hwVersions = []
for ax_name, ax_num in self._axis_map.items():
ver = self.getVersion(ax_num)
sn = self.getSerialNumber(ax_num)
hwVersions.append("Axis %s ('%s') version: %s, " %
(ax_num, ax_name, ver) +
"serial number: %s" % sn)
self._hwVersion = ", ".join(hwVersions)
logging.debug("Hardware versions: %s", hwVersions)
# Configuration
for axis in self._axis_map.values():
self.setWaveform(axis, WAVEFORM_DELTA)
driver_name = getSerialDriver(self._port)
self._swVersion = "Serial driver: %s" % (driver_name, )
# Position and referenced VAs
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self.referenced = model.VigilantAttribute({}, readonly=True)
self._updatePosition()
for axname in self._axis_map.keys():
self.referenced.value[
axname] = False # just assume they haven't been referenced
self.speed = model.VigilantAttribute(self._speed,
unit="m/s",
readonly=True)
# Write parameters from parameter file
if param_file:
if not os.path.isabs(param_file):
param_file = os.path.join(os.path.dirname(__file__),
param_file)
try:
f = open(param_file)
except Exception as ex:
raise ValueError("Failed to open file %s: %s" %
(param_file, ex))
try:
axis_params = self.parse_tsv_config(f)
except Exception as ex:
raise ValueError("Failed to parse file %s: %s" %
(param_file, ex))
f.close()
logging.debug("Extracted param file config: %s", axis_params)
self.apply_params(axis_params)
def __init__(self, name, role, port, axes, inverted=None, **kwargs):
"""
:param axes (dict: {"x", "y", "z"} --> dict): axis name --> axis parameters
Each axis is specified by a set of parameters.
After successful configuration with the pmconfig.py script, the only required parameter for a default motor
is the address which was set during the configuration process.
The spc parameter (conversion between motor steps and encoder counts) is typically saved in the flash
memory of the controller during the configuration process. The flash value is overridden by the
value in the parameter dict.
Depending on the type of motor, the encoder_resolution and range might need to be adjusted.
Axis parameters:
axis_number (0 <= int <= 127): typically 1-3 for x-z, required
closed_loop (bool): True for closed loop (with encoder), default to True
encoder_resolution (float): encoder resolution in m/step
spc (float): motor steps per encoder count, default to value in non-volatile memory
limit_type (0 <= int <= 2): type of limit switch, 0: no limit, 1: active high, 2: active low, default 0
range (tuple of float): in m, default to (0, STROKE_RANGE)
speed (float): speed in m/s
unit (str), default to m
"""
self._axis_map = {} # axis name -> axis number used by controller
self._closed_loop = {} # axis name (str) -> bool (True if closed loop)
self._speed_steps = {
} # axis name (str) -> int, speed in steps per meter
self._portpattern = port
# Conversion factors
# Count refers to encoder counts, step refers to motor steps. The encoder counts are fixed and given
# as a parameter to the axis, the motor counts are determined during configuration and are usually
# stored in flash memory.
# ._steps_per_meter is redundant, but convenient
self._steps_per_count = {} # axis name (str) -> float
self._steps_per_meter = {} # axis name (str) -> float
self._counts_per_meter = {} # axis name (str) -> float
# Parse axis parameters and create axis
axes_def = {} # axis name -> Axis object
for axis_name, axis_par in axes.items():
if 'axis_number' in axis_par:
axis_num = axis_par['axis_number']
if axis_num not in range(128):
raise ValueError(
"Invalid axis number %s, needs to be 0 <= int <= 127."
% axis_num)
elif axis_num in self._axis_map.values():
axname = self._axis_map[axis_num]
raise ValueError(
"Invalid axis number %s, already assigned to axis %s."
% (axis_num, axname))
else:
self._axis_map[axis_name] = axis_par['axis_number']
else:
raise ValueError("Axis %s has no axis number." % axis_name)
if 'closed_loop' in axis_par:
closed_loop = axis_par['closed_loop']
else:
closed_loop = False
logging.info(
"Axis mode (closed/open loop) not specified for axis %s. Assuming closed loop.",
axis_name)
self._closed_loop[axis_name] = closed_loop
if 'encoder_resolution' in axis_par:
self._counts_per_meter[axis_name] = 1 / axis_par[
'encoder_resolution'] # approximately 5e-6 m / step
else:
self._counts_per_meter[axis_name] = DEFAULT_COUNTS_PER_METER
logging.info(
"Axis %s has no encoder resolution, assuming %s." %
(axis_name, 1 / DEFAULT_COUNTS_PER_METER))
if 'limit_type' in axis_par:
limit_type = axis_par['limit_type']
else:
logging.info("Axis %s has not limit switch." % axis_name)
limit_type = 0
if 'range' in axis_par:
axis_range = axis_par['range']
else:
axis_range = (0, STROKE_RANGE)
logging.info("Axis %s has no range. Assuming %s", axis_name,
axis_range)
if 'spc' in axis_par:
self._steps_per_count[axis_name] = axis_par[
'spc'] # approximately 5e-6 m / step
else:
logging.info(
"Axis %s has no spc parameter, will use value from flash."
% axis_name)
# None for now, will read value from flash later.
self._steps_per_count[axis_name] = None
if 'speed' in axis_par:
self._speed = axis_par['speed']
else:
self._speed = DEFAULT_AXIS_SPEED
logging.info(
"Axis %s was not given a speed value. Assuming %s",
axis_name, self._speed)
if 'unit' in axis_par:
axis_unit = axis_par['unit']
else:
axis_unit = "m"
logging.info("Axis %s has no unit. Assuming %s", axis_name,
axis_unit)
ad = model.Axis(canAbs=closed_loop,
unit=axis_unit,
range=axis_range)
axes_def[axis_name] = ad
Actuator.__init__(self,
name,
role,
axes=axes_def,
inverted=inverted,
**kwargs)
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
self._ser_access = threading.RLock()
# Connect to hardware
self._port = None # port number
min_axis = min(self._axis_map.values())
self._serial = self._findDevice(port, min_axis)
self._recovering = False
# Get version
hwVersions = []
for ax_name, ax_num in self._axis_map.items():
ver = self.getVersion(ax_num)
sn = self.getSerialNumber(ax_num)
hwVersions.append("Axis %s ('%s') version: %s, " %
(ax_num, ax_name, ver) +
"serial number: %s" % sn)
self._hwVersion = ", ".join(hwVersions)
# Configuration
for axis in self._axis_map.values():
self.setWaveform(axis, WAVEFORM_DELTA)
driver_name = getSerialDriver(self._port)
self._swVersion = "Serial driver: %s" % (driver_name, )
# Position and referenced VAs
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self.referenced = model.VigilantAttribute({}, unit="m", readonly=True)
self._updatePosition()
for axname in self._axis_map.keys():
self.referenced.value[
axname] = False # just assume they haven't been referenced
# Load values from flash, write spc if provided, otherwise read spc
for axname, axis in self._axis_map.items():
# Load values from flash (most importantly spc parameter)
self.initFromFlash(axis)
if self._steps_per_count[axname]:
# Write SPC if provided
# Value that's written to register needs to be multiplied by (65536 * 4) (see manual)
self.writeParam(axis, 11,
self._steps_per_count[axname] * (65536 * 4))
else:
# Read spc from flash. If value is not reasonable, use default
val = int(self.readParam(axis, 11))
if not 20000 <= val <= 150000:
# that's not a reasonable value, the flash was probably not configured
logging.warning(
"Axis %s spc value not configured properly, current value: %s"
% (axis, val))
logging.info("Axis %s using spc value %s" %
(axis, DEFAULT_SPC))
val = DEFAULT_SPC
else:
val = val / (65536 * 4)
logging.info("Axis %s is using spc value from flash: %s" %
(axis, val))
self._steps_per_count[axname] = val
self._steps_per_meter[axname] = self._steps_per_count[
axname] * self._counts_per_meter[axname]
self._speed_steps[axis_name] = round(
self._speed * self._steps_per_meter[axis_name])
# Limit switch
for axis in self._axis_map.values():
self.setLimitType(axis, limit_type)
def __init__(self,
name,
role,
port,
turret=None,
calib=None,
_noinit=False,
dependencies=None,
**kwargs):
"""
port (string): name of the serial port to connect to.
turret (None or 1<=int<=3): turret number set-up. If None, consider that
the current turret known by the device is correct.
calib (None or list of (int, int and 5 x (float or str))):
calibration data, as saved by Winspec. Data can be either in float
or as an hexadecimal value "hex:9a,99,99,99,99,79,40,40"
blaze in nm, groove gl/mm, center adjust, slope adjust,
focal length, inclusion angle, detector angle
inverted (None): it is not allowed to invert the axes
dependencies (dict str -> Component): "ccd" should be the CCD used to acquire
the spectrum.
_noinit (boolean): for internal use only, don't try to initialise the device
"""
if kwargs.get("inverted", None):
raise ValueError("Axis of spectrograph cannot be inverted")
# start with this opening the port: if it fails, we are done
try:
self._serial = self.openSerialPort(port)
except serial.SerialException:
raise HwError(
"Failed to find spectrograph %s (on port '%s'). "
"Check the device is turned on and connected to the "
"computer. You might need to turn it off and on again." %
(name, port))
self._port = port
# to acquire before sending anything on the serial port
self._ser_access = threading.Lock()
self._try_recover = False
if _noinit:
return
self._initDevice()
self._try_recover = True
try:
self._ccd = dependencies["ccd"]
except (TypeError, KeyError):
# TODO: only needed if there is calibration info (for the pixel size)
# otherwise it's fine without CCD.
raise ValueError("Spectrograph needs a dependency 'ccd'")
# according to the model determine how many gratings per turret
model_name = self.GetModel()
self.max_gratings = MAX_GRATINGS_NUM.get(model_name, 3)
if turret is not None:
if turret < 1 or turret > self.max_gratings:
raise ValueError(
"Turret number given is %s, while expected a value between 1 and %d"
% (turret, self.max_gratings))
self.SetTurret(turret)
self._turret = turret
else:
self._turret = self.GetTurret()
# for now, it's fixed (and it's unlikely to be useful to allow less than the max)
max_speed = 1000e-9 / 10 # about 1000 nm takes 10s => max speed in m/s
self.speed = model.MultiSpeedVA(max_speed,
range=[max_speed, max_speed],
unit="m/s",
readonly=True)
gchoices = self.GetGratingChoices()
# remove the choices which are not valid for the current turret
for c in gchoices:
t = 1 + (c - 1) // self.max_gratings
if t != self._turret:
del gchoices[c]
# TODO: report the grating with its wavelength range (possible to compute from groove density + blaze wl?)
# range also depends on the max grating angle (40°, CCD pixel size, CCD horizontal size, focal length,+ efficienty curve?)
# cf http://www.roperscientific.de/gratingcalcmaster.html
# TODO: a more precise way to find the maximum wavelength (looking at the available gratings?)
# TODO: what's the min? 200nm seems the actual min working, although wavelength is set to 0 by default !?
axes = {
"wavelength":
model.Axis(unit="m",
range=(0, 2400e-9),
speed=(max_speed, max_speed)),
"grating":
model.Axis(choices=gchoices)
}
# provides a ._axes
model.Actuator.__init__(self,
name,
role,
axes=axes,
dependencies=dependencies,
**kwargs)
# First step of parsing calib parmeter: convert to (int, int) -> ...
calib = calib or ()
if not isinstance(calib, collections.Iterable):
raise ValueError("calib parameter must be in the format "
"[blz, gl, ca, sa, fl, ia, da], "
"but got %s" % (calib, ))
dcalib = {}
for c in calib:
if not isinstance(c, collections.Iterable) or len(c) != 7:
raise ValueError("calib parameter must be in the format "
"[blz, gl, ca, sa, fl, ia, da], "
"but got %s" % (c, ))
gt = (c[0], c[1])
if gt in dcalib:
raise ValueError(
"calib parameter contains twice calibration for "
"grating (%d nm, %d gl/mm)" % gt)
dcalib[gt] = c[2:]
# store calibration for pixel -> wavelength conversion and wavelength offset
# int (grating number 1 -> 9) -> center adjust, slope adjust,
# focal length, inclusion angle/2, detector angle
self._calib = {}
# TODO: read the info from MONO-EESTATUS (but it's so
# huge that it's not fun to parse). There is also detector angle.
dfl = FOCAL_LENGTH_OFFICIAL[model_name] # m
dia = math.radians(INCLUSION_ANGLE_OFFICIAL[model_name]) # rad
for i in gchoices:
# put default values
self._calib[i] = (0, 0, dfl, dia, 0)
try:
blz = self._getBlaze(i) # m
gl = self._getGrooveDensity(i) # gl/m
except ValueError:
logging.warning("Failed to parse info of grating %d" % i,
exc_info=True)
continue
# parse calib info
gt = (int(blz * 1e9), int(gl * 1e-3))
if gt in dcalib:
calgt = dcalib[gt]
ca = self._readCalibVal(calgt[0]) # ratio
sa = self._readCalibVal(calgt[1]) # ratio
fl = self._readCalibVal(calgt[2]) * 1e-3 # mm -> m
ia = math.radians(self._readCalibVal(calgt[3])) # ° -> rad
da = math.radians(self._readCalibVal(calgt[4])) # ° -> rad
self._calib[i] = ca, sa, fl, ia, da
logging.info(
"Calibration data for grating %d (%d nm, %d gl/mm) "
"-> %s" % (i, gt[0], gt[1], self._calib[i]))
else:
logging.warning("No calibration data for grating %d "
"(%d nm, %d gl/mm)" % (i, gt[0], gt[1]))
# set HW and SW version
self._swVersion = "%s (serial driver: %s)" % (
odemis.__version__, driver.getSerialDriver(port))
self._hwVersion = "%s (s/n: %s)" % (model_name,
(self.GetSerialNumber()
or "Unknown"))
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
# for storing the latest calibrated wavelength value
self._wl = (None, None, None
) # grating id, raw center wl, calibrated center wl
# RO, as to modify it the client must use .moveRel() or .moveAbs()
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self._updatePosition()
def __init__(self, name, role, children, backlash, **kwargs):
"""
children (dict str -> Stage): dict containing one component, the stage
to wrap
backlash (dict str -> float): for each axis of the stage, the additional
distance to move (and the direction). If an axis of the stage is not
present, then it’s the same as having 0 as backlash (=> no antibacklash
motion is performed for this axis)
"""
if len(children) != 1:
raise ValueError("AntiBacklashActuator needs 1 child")
for a, v in backlash.items():
if not isinstance(a, basestring):
raise ValueError("Backlash key must be a string but got '%s'" % (a,))
if not isinstance(v, numbers.Real):
raise ValueError("Backlash value of %s must be a number but got '%s'" % (a, v))
self._child = children.values()[0]
self._backlash = backlash
axes_def = {}
for an, ax in self._child.axes.items():
axes_def[an] = copy.deepcopy(ax)
axes_def[an].canUpdate = True
if an in backlash and hasattr(ax, "range"):
# Restrict the range to have some margin for the anti-backlash move
rng = ax.range
if rng[1] - rng[0] < abs(backlash[an]):
raise ValueError("Backlash of %g m is bigger than range %s" %
(backlash[an], rng))
if backlash[an] > 0:
axes_def[an].range = (rng[0] + backlash[an], rng[1])
else:
axes_def[an].range = (rng[0], rng[1] + backlash[an])
# Whether currently a backlash shift is applied on an axis
# If True, moving the axis by the backlash value would restore its expected position
# _shifted_lock must be taken before modifying this attribute
self._shifted = {a: False for a in axes_def.keys()}
self._shifted_lock = threading.Lock()
# look for axes in backlash not existing in the child
missing = set(backlash.keys()) - set(axes_def.keys())
if missing:
raise ValueError("Child actuator doesn't have the axes %s" % (missing,))
model.Actuator.__init__(self, name, role, axes=axes_def,
children=children, **kwargs)
# will take care of executing axis moves asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
# Duplicate VAs which are just identical
# TODO: shall we "hide" the antibacklash move by not updating position
# while doing this move?
self.position = self._child.position
if model.hasVA(self._child, "referenced"):
self.referenced = self._child.referenced
if model.hasVA(self._child, "speed"):
self.speed = self._child.speed
def __init__(self, name, role, children, axis_name, positions, cycle=None, **kwargs):
"""
name (string)
role (string)
children (dict str -> actuator): axis name (in this actuator) -> actuator to be used for this axis
axis_name (str): axis name in the child actuator
positions (set or dict value -> str): positions where the actuator is allowed to move
cycle (float): if not None, it means the actuator does a cyclic move and this value represents a full cycle
"""
# TODO: forbid inverted
if len(children) != 1:
raise ValueError("FixedPositionsActuator needs precisely one child")
self._cycle = cycle
self._move_sum = 0
self._position = {}
self._referenced = {}
axis, child = children.items()[0]
self._axis = axis
self._child = child
self._caxis = axis_name
self._positions = positions
# Executor used to reference and move to nearest position
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
if not isinstance(child, model.ComponentBase):
raise ValueError("Child %s is not a component." % (child,))
if not hasattr(child, "axes") or not isinstance(child.axes, dict):
raise ValueError("Child %s is not an actuator." % child.name)
if cycle is not None:
# just an offset to reference switch position
self._offset = self._cycle / len(self._positions)
if not all(0 <= p < cycle for p in positions.keys()):
raise ValueError("Positions must be between 0 and %s (non inclusive)" % (cycle,))
ac = child.axes[axis_name]
axes = {axis: model.Axis(choices=positions, unit=ac.unit)} # TODO: allow the user to override the unit?
model.Actuator.__init__(self, name, role, axes=axes, children=children, **kwargs)
self._position = {}
self.position = model.VigilantAttribute({}, readonly=True)
logging.debug("Subscribing to position of child %s", child.name)
child.position.subscribe(self._update_child_position, init=True)
if model.hasVA(child, "referenced") and axis_name in child.referenced.value:
self._referenced[axis] = child.referenced.value[axis_name]
self.referenced = model.VigilantAttribute(self._referenced.copy(), readonly=True)
child.referenced.subscribe(self._update_child_ref)
# If the axis can be referenced => do it now (and move to a known position)
# In case of cyclic move always reference
if not self._referenced.get(axis, True) or (self._cycle and axis in self._referenced):
# The initialisation will not fail if the referencing fails
f = self.reference({axis})
f.add_done_callback(self._on_referenced)
else:
# If not at a known position => move to the closest known position
nearest = util.find_closest(self._child.position.value[self._caxis], self._positions.keys())
self.moveAbs({self._axis: nearest}).result()
def __init__(self, name, role, children, **kwargs):
"""
children (dict str -> actuator): names to ConvertStage and SEM sample stage
"""
# SEM stage
self._master = None
# Optical stage
self._slave = None
for crole, child in children.items():
# Check if children are actuators
if not isinstance(child, model.ComponentBase):
raise ValueError("Child %s is not a component." % child)
if not hasattr(child, "axes") or not isinstance(child.axes, dict):
raise ValueError("Child %s is not an actuator." % child.name)
if "x" not in child.axes or "y" not in child.axes:
raise ValueError("Child %s doesn't have both x and y axes" % child.name)
if crole == "slave":
self._slave = child
elif crole == "master":
self._master = child
else:
raise ValueError("Child given to CoupledStage must be either 'master' or 'slave', but got %s." % crole)
if self._master is None:
raise ValueError("CoupledStage needs a master child")
if self._slave is None:
raise ValueError("CoupledStage needs a slave child")
# TODO: limit the range to the minimum of master/slave?
axes_def = {}
for an in ("x", "y"):
axes_def[an] = copy.deepcopy(self._master.axes[an])
axes_def[an].canUpdate = False
model.Actuator.__init__(self, name, role, axes=axes_def, children=children,
**kwargs)
self._metadata[model.MD_HW_NAME] = "CoupledStage"
# will take care of executing axis moves asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
self._position = {}
# RO, as to modify it the client must use .moveRel() or .moveAbs()
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self._updatePosition()
# TODO: listen to master position to update the position? => but
# then it might get updated too early, before the slave has finished
# moving.
self.referenced = model.VigilantAttribute({}, readonly=True)
# listen to changes from children
for c in self.children.value:
if model.hasVA(c, "referenced"):
logging.debug("Subscribing to reference of child %s", c.name)
c.referenced.subscribe(self._onChildReferenced)
self._updateReferenced()
self._stage_conv = None
self._createConvertStage()
def __init__(self,
name,
role,
locator,
ref_on_init=False,
actuator_speed=0.1,
axes=None,
**kwargs):
"""
A driver for a SmarAct SmarPod Actuator.
This driver uses a DLL provided by SmarAct which connects via
USB or TCP/IP using a locator string.
name: (str)
role: (str)
locator: (str) Use "fake" for a simulator.
For a real device, MCS controllers with USB interface can be addressed with the
following locator syntax:
usb:id:<id>
where <id> is the first part of a USB devices serial number which
is printed on the MCS controller.
If the controller has a TCP/IP connection, use:
network:<ip>:<port>
ref_on_init: (bool) determines if the controller should automatically reference
on initialization
actuator_speed: (double) the default speed (in m/s) of the actuators
axes: dict str (axis name) -> dict (axis parameters)
axis parameters: {
range: [float, float], default is -1 -> 1
unit: (str) default will be set to 'm'
}
"""
if not axes:
raise ValueError("Needs at least 1 axis.")
if locator != "fake":
self.core = SmarPodDLL()
else:
self.core = FakeSmarPodDLL()
# Not to be mistaken with axes which is a simple public view
self._axis_map = {} # axis name -> axis number used by controller
axes_def = {} # axis name -> Axis object
self._locator = c_char_p(locator.encode("ascii"))
self._options = c_char_p("".encode(
"ascii")) # In the current version, this must be an empty string.
for axis_name, axis_par in axes.items():
try:
axis_range = axis_par['range']
except KeyError:
logging.info("Axis %s has no range. Assuming (-1, 1)",
axis_name)
axis_range = (-1, 1)
try:
axis_unit = axis_par['unit']
except KeyError:
logging.info("Axis %s has no unit. Assuming m", axis_name)
axis_unit = "m"
ad = model.Axis(canAbs=True, unit=axis_unit, range=axis_range)
axes_def[axis_name] = ad
# Connect to the device
self._id = c_uint()
self.core.Smarpod_Open(byref(self._id), SmarPodDLL.hwModel,
self._locator, self._options)
logging.debug("Successfully connected to SmarPod Controller ID %d",
self._id.value)
self.core.Smarpod_SetSensorMode(self._id,
SmarPodDLL.SMARPOD_SENSORS_ENABLED)
model.Actuator.__init__(self, name, role, axes=axes_def, **kwargs)
# Add metadata
self._swVersion = self.GetSwVersion()
self._metadata[model.MD_SW_VERSION] = self._swVersion
logging.debug("Using SmarPod library version %s", self._swVersion)
self.position = model.VigilantAttribute({}, readonly=True)
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(1) # one task at a time
referenced = c_int()
self.core.Smarpod_IsReferenced(self._id, byref(referenced))
# define the referenced VA from the query
axes_ref = {a: referenced.value for a, i in self.axes.items()}
# VA dict str(axis) -> bool
self.referenced = model.VigilantAttribute(axes_ref, readonly=True)
# If ref_on_init, referenced immediately.
if referenced.value:
logging.debug("SmarPod is referenced")
else:
logging.warning(
"SmarPod is not referenced. The device will not function until referencing occurs."
)
if ref_on_init:
self.reference().result()
# Use a default actuator speed
self.SetSpeed(actuator_speed)
self._speed = self.GetSpeed()
self._accel = self.GetAcceleration()
self._updatePosition()
def __init__(self,
name,
role,
port,
pin_map=None,
delay=None,
init=None,
ids=None,
termination=None,
**kwargs):
'''
port (str): port name
pin_map (dict of str -> int): names of the components
and the pin where the component is connected.
delay (dict str -> float): time to wait for each component after it is
turned on.
init (dict str -> boolean): turn on/off the corresponding component upon
initialization.
ids (list str): EEPROM ids expected to be detected during initialization.
termination (dict str -> bool/None): indicate for every component
if it should be turned off on termination (False), turned on (True)
or left as-is (None).
Raise an exception if the device cannot be opened
'''
if pin_map:
self.powered = list(pin_map.keys())
else:
self.powered = []
model.PowerSupplier.__init__(self, name, role, **kwargs)
# TODO: catch errors and convert to HwError
self._ser_access = threading.Lock()
self._file = None
self._port = self._findDevice(port) # sets ._serial and ._file
logging.info("Found Power Control device on port %s", self._port)
# Get identification of the Power control device
self._idn = self._getIdentification()
driver_name = driver.getSerialDriver(self._port)
self._swVersion = "serial driver: %s" % (driver_name, )
self._hwVersion = "%s" % (self._idn, )
pin_map = pin_map or {}
self._pin_map = pin_map
delay = delay or {}
# fill the missing pairs with 0 values
self._delay = dict.fromkeys(pin_map, 0)
self._delay.update(delay)
self._last_start = dict.fromkeys(self._delay, time.time())
# only keep components that should be changed on termination
termination = termination or {}
self._termination = {
k: v
for k, v in termination.items() if v is not None
}
for comp in self._termination:
if comp not in pin_map:
raise ValueError(
"Component %s in termination not found in pin_map." % comp)
# will take care of executing switch asynchronously
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
self._supplied = {}
self.supplied = model.VigilantAttribute(self._supplied, readonly=True)
self._updateSupplied()
init = init or {}
# Remove all None's from the dict, so it can be passed as-is to _doSupply()
init = {k: v for k, v in init.items() if v is not None}
for comp in init:
if comp not in pin_map:
raise ValueError("Component %s in init not found in pin_map." %
comp)
try:
self._doSupply(init, apply_delay=False)
except IOError as ex:
# This is in particular to handle some cases where the device resets
# when turning on the power. One or more trials and the
logging.exception("Failure during turning on initial power.")
raise HwError(
"Device error when initialising power: %s. "
"Try again or contact support if the problem persists." %
(ex, ))
self.memoryIDs = model.VigilantAttribute(None,
readonly=True,
getter=self._getIdentities)
if ids:
mem_ids = self.memoryIDs.value
for eid in ids:
if eid not in mem_ids:
raise HwError("EEPROM id %s was not detected. Make sure "
"all EEPROM components are connected." %
(eid, ))
def __init__(self, name, role, port, axes=None, **kwargs):
"""
A driver for a Newport ESP 301 Stage Actuator.
This driver supports a serial connection. Note that as of the Linux
kernel 4.13, the USB connection is known to _not_ work, as the TI 3410
chipset apparently behind is not handled properly. Use a of the
RS-232 port is required (via a USB adapter if necessary).
name: (str)
role: (str)
port: (str) port name. Can be a pattern, in which case all the ports
fitting the pattern will be tried.
Use /dev/fake for a simulator
axes: dict str (axis name) -> dict (axis parameters)
axis parameters: {
number (1 <= int <= 3): axis number on the hardware
range: [float, float], default is -1 -> 1
unit (str): the external unit of the axis (internal is mm),
default is "m".
conv_factor (float): a conversion factor that converts to the
device internal unit (mm), default is 1000.
}
inverted: (bool) defines if the axes are inverted
The offset can be specified by setting MD_POS_COR as a coordinate dictionary
"""
if len(axes) == 0:
raise ValueError("Needs at least 1 axis.")
# Connect to serial port
self._ser_access = threading.Lock()
self._serial = None
self._file = None
self._port, self._version = self._findDevice(
port) # sets ._serial and ._file
logging.info("Found Newport ESP301 device on port %s, Ver: %s",
self._port, self._version)
self._offset = {}
self._axis_conv_factor = {}
# Not to be mistaken with axes which is a simple public view
self._axis_map = {} # axis name -> axis number used by controller
axes_def = {} # axis name -> Axis object
speed = {}
accel = {}
decel = {}
self._id = {}
for axis_name, axis_par in axes.items():
# Unpack axis parameters from the definitions in the YAML
try:
axis_num = axis_par['number']
except KeyError:
raise ValueError(
"Axis %s must have a number to identify it. " %
(axis_name, ))
try:
axis_range = axis_par['range']
except KeyError:
logging.info("Axis %s has no range. Assuming (-1, 1)",
axis_name)
axis_range = (-1, 1)
try:
axis_unit = axis_par['unit']
except KeyError:
logging.info("Axis %s has no unit. Assuming m", axis_name)
axis_unit = "m"
try:
conv_factor = float(axis_par['conv_factor'])
except KeyError:
logging.info(
"Axis %s has no conversion factor. Assuming 1000 (m to mm)",
axis_name)
conv_factor = 1000.0
self._axis_map[axis_name] = axis_num
self._axis_conv_factor[axis_num] = conv_factor
self._id[axis_num] = self.GetIdentification(axis_num)
speed[axis_name] = self.GetSpeed(axis_num)
accel[axis_name] = self.GetAcceleration(axis_num)
decel[axis_name] = self.GetDeceleration(axis_num)
# Force millimetres for consistency as the internal unit.
self.SetAxisUnit(axis_num, "mm")
# initialize each motor
self.MotorOn(axis_num)
ad = model.Axis(canAbs=True, unit=axis_unit, range=axis_range)
axes_def[axis_name] = ad
model.Actuator.__init__(self, name, role, axes=axes_def, **kwargs)
self._hwVersion = str(self._id)
self._swversion = self._version
# Get the position in object coord with the offset applied.
# RO, as to modify it the client must use .moveRel() or .moveAbs()
self.position = model.VigilantAttribute({}, readonly=True)
self._updatePosition()
self._speed = speed
self._accel = accel
self._decel = decel
# set offset due to mounting of components (float)
self._metadata[model.MD_POS_COR] = {}
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(1) # one task at a time
# Check the error state
self.checkError()
def __init__(self, name, role, port, axes, ustepsize, refproc=None, temp=False, **kwargs):
"""
port (str): port name (use /dev/fake for a simulator)
axes (list of str): names of the axes, from the 1st to the 3rd.
ustepsize (list of float): size of a microstep in m (the smaller, the
bigger will be a move for a given distance in m)
refproc (str or None): referencing (aka homing) procedure type. Use
None to indicate it's not possible (no reference/limit switch) or the
name of the procedure. For now only "2xFinalForward" is accepted.
temp (bool): if True, will read the temperature from the analogue input
(10 mV <-> 1 °C)
inverted (set of str): names of the axes which are inverted (IOW, either
empty or the name of the axis)
"""
if len(axes) != 3:
raise ValueError("Axes must be a list of 3 axis names (got %s)" % (axes,))
self._axes_names = axes # axes names in order
if len(axes) != len(ustepsize):
raise ValueError("Expecting %d ustepsize (got %s)" %
(len(axes), ustepsize))
if refproc not in {REFPROC_2XFF, REFPROC_FAKE, None}:
raise ValueError("Reference procedure %s unknown" % (refproc, ))
self._refproc = refproc
for sz in ustepsize:
if sz > 10e-3: # sz is typically ~1µm, so > 1 cm is very fishy
raise ValueError("ustepsize should be in meter, but got %g" % (sz,))
self._ustepsize = ustepsize
try:
self._serial = self._openSerialPort(port)
except serial.SerialException:
raise HwError("Failed to find device %s on port %s. Ensure it is "
"connected to the computer." % (name, port))
self._port = port
self._ser_access = threading.Lock()
self._target = 1 # Always one, when directly connected via USB
self._resynchonise()
modl, vmaj, vmin = self.GetVersion()
if modl != 3110:
logging.warning("Controller TMCM-%d is not supported, will try anyway",
modl)
if name is None and role is None: # For scan only
return
if port != "/dev/fake": # TODO: support programs in simulator
# Detect if it is "USB bus powered" by using the fact that programs
# don't run when USB bus powered
addr = 80 # big enough to not overlap with REFPROC_2XFF programs
prog = [(9, 50, 2, 1), # Set global param 50 to 1
(28,), # STOP
]
self.UploadProgram(prog, addr)
if not self._isFullyPowered():
# Only a warning, at the power can be connected afterwards
logging.warning("Device %s has no power, the motor will not move", name)
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
axes_def = {}
for n, sz in zip(self._axes_names, self._ustepsize):
# Mov abs supports ±2³¹ but the actual position is only within ±2²³
rng = [(-2 ** 23) * sz, (2 ** 23 - 1) * sz]
# Probably not that much, but there is no info unless the axis has
# limit switches and we run a referencing
axes_def[n] = model.Axis(range=rng, unit="m")
model.Actuator.__init__(self, name, role, axes=axes_def, **kwargs)
for i, a in enumerate(self._axes_names):
self._init_axis(i)
driver_name = driver.getSerialDriver(self._port)
self._swVersion = "%s (serial driver: %s)" % (odemis.__version__, driver_name)
self._hwVersion = "TMCM-%d (firmware %d.%02d)" % (modl, vmaj, vmin)
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self._updatePosition()
# TODO: add support for changing speed. cf p.68: axis param 4 + p.81 + TMC 429 p.6
self.speed = model.VigilantAttribute({}, unit="m/s", readonly=True)
self._updateSpeed()
if refproc is not None:
# str -> boolean. Indicates whether an axis has already been referenced
axes_ref = dict([(a, False) for a in axes])
self.referenced = model.VigilantAttribute(axes_ref, readonly=True)
if temp:
# One sensor is at the top, one at the bottom of the sample holder.
# The most interesting is the temperature difference, so just
# report both.
self.temperature = model.FloatVA(0, unit=u"°C", readonly=True)
self.temperature1 = model.FloatVA(0, unit=u"°C", readonly=True)
self._temp_timer = util.RepeatingTimer(10, self._updateTemperatureVA,
"TMCM temperature update")
self._updateTemperatureVA() # make sure the temperature is correct
self._temp_timer.start()
def __init__(self, name, role, device, path=None, camera=None, **kwargs):
"""
device (0<=int or "fake"): device number
path (None or string): initialisation path of the Andorcam2 SDK or None
if independent of a camera.
camera (None or AndorCam2): Required if the path is set, a parent should also
be passed, which is a DigitalCamera component.
inverted (None): it is not allowed to invert the axes
"""
# From the documentation:
# If controlling the shamrock through i2c it is important that both the
# camera and spectrograph are being controlled through the same calling
# program and that the DLLs used are contained in the same working
# folder. The camera MUST be initialized before attempting to
# communicate with the Shamrock.
if kwargs.get("inverted", None):
raise ValueError("Axis of spectrograph cannot be inverted")
if device == "fake":
self._dll = FakeShamrockDLL(camera)
device = 0
else:
self._dll = ShamrockDLL()
self._device = device
if (path is None) != (camera is None):
raise ValueError(
"Shamrock needs both path and parent (a camera) or none of them"
)
self._path = path or ""
self._camera = camera
try:
self.Initialize()
except ShamrockError:
raise HwError("Failed to find Andor Shamrock (%s) as device %d" %
(name, device))
try:
nd = self.GetNumberDevices()
if device >= nd:
raise IOError(
"Failed to find Andor Shamrock (%s) as device %d" %
(name, device))
ccd = None
if (camera and hasattr(camera, "_detector")
and isinstance(camera._detector, andorcam2.AndorCam2)):
ccd = camera._detector
self._hw_access = HwAccessMgr(ccd)
# for now, it's fixed (and it's unlikely to be useful to allow less than the max)
max_speed = 1000e-9 / 5 # about 1000 nm takes 5s => max speed in m/s
self.speed = model.MultiSpeedVA({"wavelength": max_speed},
range=[max_speed, max_speed],
unit="m/s",
readonly=True)
# FIXME: for now the SDK 2.99 with SR193, commands will fail if not
# separated by some delay (eg, 1s)
gchoices = self._getGratingChoices()
# The actual limits are per grating. We cannot provide this much
# info via the .axes attribute, so just lowest and largest
# wavelength reachable
wl_range = (float("inf"), float("-inf"))
for g in gchoices:
try:
wmin, wmax = self.GetWavelengthLimits(1)
except ShamrockError:
logging.exception(
"Failed to find wavelength limit for grating %d", g)
continue
wl_range = min(wl_range[0], wmin), max(wl_range[1], wmax)
# Slit (we only actually care about the input side slit for now)
slits = {
"input side": 1,
"input direct": 2,
"output side": 3,
"output direct": 4,
}
for slitn, i in slits.items():
logging.info("Slit %s is %spresent", slitn,
"" if self.AutoSlitIsPresent(i) else "not ")
axes = {
"wavelength":
model.Axis(unit="m",
range=wl_range,
speed=(max_speed, max_speed)),
"grating":
model.Axis(choices=gchoices)
}
# add slit input direct if available
# Note: the documentation mentions the width is in mm,
# but it's probably actually µm (10 is the minimum).
if self.AutoSlitIsPresent(INPUT_SLIT_SIDE):
self._slit = INPUT_SLIT_SIDE
axes["slit"] = model.Axis(
unit="m", range=[SLITWIDTHMIN * 1e-6, SLITWIDTHMAX * 1e-6])
else:
self._slit = None
# provides a ._axes
model.Actuator.__init__(self, name, role, axes=axes, **kwargs)
# set HW and SW version
self._swVersion = "%s" % (odemis.__version__)
# TODO: EEPROM contains name of the device, but there doesn't seem to be any function for getting it?!
self._hwVersion = "%s (s/n: %s)" % ("Andor Shamrock",
self.GetSerialNumber())
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
# RO, as to modify it the client must use .moveRel() or .moveAbs()
self.position = model.VigilantAttribute({},
unit="m",
readonly=True)
self._updatePosition()
except Exception:
self.Close()
raise
def __init__(self, name, role, port, turret=None, _noinit=False, **kwargs):
"""
port (string): name of the serial port to connect to.
turret (None or 1<=int<=3): turret number set-up. If None, consider that
the current turret known by the device is correct.
inverted (None): it is not allowed to invert the axes
_noinit (boolean): for internal use only, don't try to initialise the device
"""
if kwargs.get("inverted", None):
raise ValueError("Axis of spectrograph cannot be inverted")
# start with this opening the port: if it fails, we are done
try:
self._serial = self.openSerialPort(port)
except serial.SerialException:
raise HwError("Failed to find spectrograph %s (on port '%s'). "
"Check the device is turned on and connected to the "
"computer. You might need to turn it off and on again."
% (name, port))
self._port = port
# to acquire before sending anything on the serial port
self._ser_access = threading.Lock()
self._try_recover = False
if _noinit:
return
self._initDevice()
self._try_recover = True
# according to the model determine how many gratings per turret
model_name = self.GetModel()
self.max_gratings = MAX_GRATINGS_NUM.get(model_name, 3)
if turret is not None:
if turret < 1 or turret > self.max_gratings:
raise ValueError("Turret number given is %s, while expected a value between 1 and %d" %
(turret, self.max_gratings))
self.SetTurret(turret)
self._turret = turret
else:
self._turret = self.GetTurret()
# for now, it's fixed (and it's unlikely to be useful to allow less than the max)
max_speed = 1000e-9 / 10 # about 1000 nm takes 10s => max speed in m/s
self.speed = model.MultiSpeedVA(max_speed, range=[max_speed, max_speed], unit="m/s",
readonly=True)
gchoices = self.GetGratingChoices()
# remove the choices which are not valid for the current turret
for c in gchoices:
t = 1 + (c - 1) // self.max_gratings
if t != self._turret:
del gchoices[c]
# TODO: report the grating with its wavelength range (possible to compute from groove density + blaze wl?)
# range also depends on the max grating angle (40°, CCD pixel size, CCD horizontal size, focal length,+ efficienty curve?)
# cf http://www.roperscientific.de/gratingcalcmaster.html
# TODO: a more precise way to find the maximum wavelength (looking at the available gratings?)
# TODO: what's the min? 200nm seems the actual min working, although wavelength is set to 0 by default !?
axes = {"wavelength": model.Axis(unit="m", range=(0, 2400e-9),
speed=(max_speed, max_speed)),
"grating": model.Axis(choices=gchoices)
}
# provides a ._axes
model.Actuator.__init__(self, name, role, axes=axes, **kwargs)
# set HW and SW version
self._swVersion = "%s (serial driver: %s)" % (odemis.__version__, driver.getSerialDriver(port))
self._hwVersion = "%s (s/n: %s)" % (model_name, (self.GetSerialNumber() or "Unknown"))
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
pos = {"wavelength": self.GetWavelength(),
"grating": self.GetGrating()}
# RO, as to modify it the client must use .moveRel() or .moveAbs()
self.position = model.VigilantAttribute(pos, unit="m", readonly=True)
# store focal length and inclusion angle for the polynomial computation
try:
self._focal_length = FOCAL_LENGTH_OFFICIAL[model_name]
self._inclusion_angle = math.radians(INCLUSION_ANGLE_OFFICIAL[model_name])
except KeyError:
self._focal_length = None
self._inclusion_angle = None
def __init__(self, name, role, children=None, sn=None, port=None, axis="rz",
inverted=None, positions=None, **kwargs):
"""
children (dict string->model.HwComponent): they are not actually used.
This is currently in place just to enforce PMT control to be
initialized before the Fiber Flipper since we need the relay reset
to happen before the flipper is turned on.
sn (str): serial number (recommended)
port (str): port name (only if sn is not specified)
axis (str): name of the axis
inverted (set of str): names of the axes which are inverted (IOW, either
empty or the name of the axis)
positions (None, or list of 2 tuples (value, str)): positions values and
their corresponding name. If None: 0 and Pi/2 are used, without names.
"""
if (sn is None and port is None) or (sn is not None and port is not None):
raise ValueError("sn or port argument must be specified (but not both)")
if sn is not None:
if not sn.startswith(SN_PREFIX_MFF) or len(sn) != 8:
logging.warning("Serial number '%s' is unexpected for a MFF "
"device (should be 8 digits starting with %s).",
sn, SN_PREFIX_MFF)
self._port = self._getSerialPort(sn)
self._sn = sn
else:
self._port = port
# The MFF returns no serial number from GetInfo(), so find via USB
try:
self._sn = self._getSerialNumber(port)
logging.info("Found serial number %s for device %s", self._sn, name)
except LookupError:
self._sn = None
self._serial = self._openSerialPort(self._port)
self._ser_access = threading.RLock() # reentrant, so that recovery can keep sending messages
self._recover = False
self._initHw()
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
if positions is None:
positions = ((0, None), (math.radians(90), None))
else:
if len(positions) != 2 or any(len(p) != 2 for p in positions):
raise ValueError("Positions must be exactly 2 tuples of 2 values")
# TODO: have the standard inverted Actuator functions work on enumerated axis
if inverted and axis in inverted:
positions = (positions[1], positions[0])
self._pos_to_jog = {positions[0][0]: 1,
positions[1][0]: 2}
self._status_to_pos = {STA_FWD_HLS: positions[0][0],
STA_RVS_HLS: positions[1][0]}
if positions[0][1] is None:
choices = set(p[0] for p in positions)
else:
choices = dict(positions)
# TODO: add support for speed
axes = {axis: model.Axis(unit="rad", choices=choices)}
model.Actuator.__init__(self, name, role, axes=axes, **kwargs)
driver_name = driver.getSerialDriver(self._port)
self._swVersion = "%s (serial driver: %s)" % (odemis.__version__, driver_name)
try:
snd, modl, typ, fmv, notes, hwv, state, nc = self.GetInfo()
except IOError:
# This is the first communication with the hardware, if it fails
# it can be a sign the device is in a bad state. (it is known to
# fail when turned on and plugged in before the host computer is
# turned on)
logging.exception("GetInfo() failed.")
raise HwError("USB device with S/N %s seems in bad state. "
"Check that the Thorlabs filter flipper was "
"turned on *after* the host computer." % sn)
self._hwVersion = "%s v%d (firmware %s)" % (modl, hwv, fmv)
# It has worked at least once, so if it fails, there are hopes
self._recover = True
self.position = model.VigilantAttribute({}, readonly=True)
self._updatePosition()
def __init__(self, name, role, children, axes_map, ref_on_init=None, **kwargs):
"""
name (string)
role (string)
children (dict str -> actuator): axis name (in this actuator) -> actuator to be used for this axis
axes_map (dict str -> str): axis name in this actuator -> axis name in the child actuator
ref_on_init (None, list or dict (str -> float or None)): axes to be referenced during
initialization. If it's a dict, it will go the indicated position
after referencing, otherwise, it'll stay where it is.
"""
if not children:
raise ValueError("MultiplexActuator needs children")
if set(children.keys()) != set(axes_map.keys()):
raise ValueError("MultiplexActuator needs the same keys in children and axes_map")
# Convert ref_on_init list to dict with no explicit move after
if isinstance(ref_on_init, list):
ref_on_init = {a: None for a in ref_on_init}
self._ref_on_init = ref_on_init or {}
self._axis_to_child = {} # axis name => (Actuator, axis name)
self._position = {}
self._speed = {}
self._referenced = {}
axes = {}
for axis, child in children.items():
caxis = axes_map[axis]
self._axis_to_child[axis] = (child, caxis)
# Ducktyping (useful to support also testing with MockComponent)
# At least, it has .axes
if not isinstance(child, model.ComponentBase):
raise ValueError("Child %s is not a component." % (child,))
if not hasattr(child, "axes") or not isinstance(child.axes, dict):
raise ValueError("Child %s is not an actuator." % child.name)
axes[axis] = copy.deepcopy(child.axes[caxis])
self._position[axis] = child.position.value[axes_map[axis]]
if model.hasVA(child, "speed") and caxis in child.speed.value:
self._speed[axis] = child.speed.value[caxis]
if model.hasVA(child, "referenced") and caxis in child.referenced.value:
self._referenced[axis] = child.referenced.value[caxis]
# this set ._axes and ._children
model.Actuator.__init__(self, name, role, axes=axes,
children=children, **kwargs)
if len(self.children.value) > 1:
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
# TODO: make use of the 'Cancellable' part (for now cancelling a running future doesn't work)
else: # Only one child => optimize by passing all requests directly
self._executor = None
# keep a reference to the subscribers so that they are not
# automatically garbage collected
self._subfun = []
children_axes = {} # dict actuator -> set of string (our axes)
for axis, (child, ca) in self._axis_to_child.items():
logging.debug("adding axis %s to child %s", axis, child.name)
if child in children_axes:
children_axes[child].add(axis)
else:
children_axes[child] = {axis}
# position & speed: special VAs combining multiple VAs
self.position = model.VigilantAttribute(self._position, readonly=True)
for c, ax in children_axes.items():
def update_position_per_child(value, ax=ax, c=c):
logging.debug("updating position of child %s", c.name)
for a in ax:
try:
self._position[a] = value[axes_map[a]]
except KeyError:
logging.error("Child %s is not reporting position of axis %s", c.name, a)
self._updatePosition()
c.position.subscribe(update_position_per_child)
self._subfun.append(update_position_per_child)
# TODO: change the speed range to a dict of speed ranges
self.speed = model.MultiSpeedVA(self._speed, [0., 10.], setter=self._setSpeed)
for axis in self._speed.keys():
c, ca = self._axis_to_child[axis]
def update_speed_per_child(value, a=axis, ca=ca, cname=c.name):
try:
self._speed[a] = value[ca]
except KeyError:
logging.error("Child %s is not reporting speed of axis %s (%s): %s", cname, a, ca, value)
self._updateSpeed()
c.speed.subscribe(update_speed_per_child)
self._subfun.append(update_speed_per_child)
# whether the axes are referenced
self.referenced = model.VigilantAttribute(self._referenced.copy(), readonly=True)
for axis in self._referenced.keys():
c, ca = self._axis_to_child[axis]
def update_ref_per_child(value, a=axis, ca=ca, cname=c.name):
try:
self._referenced[a] = value[ca]
except KeyError:
logging.error("Child %s is not reporting reference of axis %s (%s)", cname, a, ca)
self._updateReferenced()
c.referenced.subscribe(update_ref_per_child)
self._subfun.append(update_ref_per_child)
for axis, pos in self._ref_on_init.items():
# If the axis can be referenced => do it now (and move to a known position)
if axis not in self._referenced:
raise ValueError("Axis '%s' cannot be referenced, while should be referenced at init" % (axis,))
if not self._referenced[axis]:
# The initialisation will not fail if the referencing fails, but
# the state of the component will be updated
def _on_referenced(future, axis=axis):
try:
future.result()
except Exception as e:
c, ca = self._axis_to_child[axis]
c.stop({ca}) # prevent any move queued
self.state._set_value(e, force_write=True)
logging.exception(e)
f = self.reference({axis})
f.add_done_callback(_on_referenced)
# If already referenced => directly move
# otherwise => put move on the queue, so that any move by client will
# be _after_ the init position.
if pos is not None:
self.moveAbs({axis: pos})
def __init__(self,
name,
role,
port,
prot_time=1e-3,
prot_curr=30e-6,
relay_cycle=None,
powered=None,
**kwargs):
'''
port (str): port name
prot_time (float): protection trip time (in s)
prot_curr (float): protection current threshold (in Amperes)
relay_cycle (None or 0<float): if not None, will power cycle the relay
with the given delay (in s)
powered (list of str or None): set of the HwComponents controlled by the relay
Raise an exception if the device cannot be opened
'''
if powered is None:
powered = []
self.powered = powered
model.PowerSupplier.__init__(self, name, role, **kwargs)
# get protection time (s) and current (A) properties
if not 0 <= prot_time < 1e3:
raise ValueError("prot_time should be a time (in s) but got %s" %
(prot_time, ))
self._prot_time = prot_time
if not 0 <= prot_curr <= 100e-6:
raise ValueError("prot_curr (%s A) is not between 0 and 100.e-6" %
(prot_curr, ))
self._prot_curr = prot_curr
# TODO: catch errors and convert to HwError
self._ser_access = threading.Lock()
self._port = self._findDevice(port) # sets ._serial
logging.info("Found PMT Control device on port %s", self._port)
# Get identification of the PMT control device
self._idn = self._getIdentification()
driver_name = driver.getSerialDriver(self._port)
self._swVersion = "serial driver: %s" % (driver_name, )
self._hwVersion = "%s" % (self._idn, )
# Set protection current and time
self._setProtectionCurrent(self._prot_curr)
self._setProtectionTime(self._prot_time)
# gain, powerSupply and protection VAs
self.protection = model.BooleanVA(True,
setter=self._setProtection,
getter=self._getProtection)
self._setProtection(True)
gain_rng = (MIN_VOLT, MAX_VOLT)
gain = self._getGain()
self.gain = model.FloatContinuous(gain,
gain_rng,
unit="V",
setter=self._setGain)
self.powerSupply = model.BooleanVA(True, setter=self._setPowerSupply)
self._setPowerSupply(True)
# will take care of executing supply asynchronously
self._executor = CancellableThreadPoolExecutor(
max_workers=1) # one task at a time
# relay initialization
if relay_cycle is not None:
logging.info("Power cycling the relay for %f s", relay_cycle)
self.setRelay(False)
time.sleep(relay_cycle)
# Reset if no powered provided
if not powered:
self.setRelay(True)
else:
self._supplied = {}
self.supplied = model.VigilantAttribute(self._supplied,
readonly=True)
self._updateSupplied()
def __init__(self, name, role, address, axes, stepsize, sn=None, **kwargs):
"""
address (str): ip address (use "autoip" to automatically scan and find the
controller, "fake" for a simulator)
axes (list of str): names of the axes, from the 1st to the 4th, if present.
if an axis is not connected, put a "".
stepsize (list of float): size of a step in m (the smaller, the
bigger will be a move for a given distance in m)
sn (str or None): serial number of the device (eg, "11500"). If None, the
driver will use whichever controller is first found.
inverted (set of str): names of the axes which are inverted (IOW, either
empty or the name of the axis)
"""
if not 1 <= len(axes) <= 4:
raise ValueError("Axes must be a list of 1 to 4 axis names (got %s)" % (axes,))
if len(axes) != len(stepsize):
raise ValueError("Expecting %d stepsize (got %s)" %
(len(axes), stepsize))
self._name_to_axis = {} # str -> int: name -> axis number
for i, n in enumerate(axes):
if n == "": # skip this non-connected axis
continue
self._name_to_axis[n] = i + 1
for sz in stepsize:
if sz > 10e-3: # sz is typically ~1µm, so > 1 cm is very fishy
raise ValueError("stepsize should be in meter, but got %g" % (sz,))
self._stepsize = stepsize
self._address = address
self._sn = sn
self._accesser = self._openConnection(address, sn)
self._recover = False
self._resynchonise()
if name is None and role is None: # For scan only
return
# Seems to really be the device, so handle connection errors fully
self._recover = True
modl, fw, sn = self.GetIdentification()
if modl != "8742":
logging.warning("Controller %s is not supported, will try anyway", modl)
# will take care of executing axis move asynchronously
self._executor = CancellableThreadPoolExecutor(max_workers=1) # one task at a time
# Let the controller check the actuators are connected
self.MotorCheck()
axes_def = {}
speed = {}
for n, i in self._name_to_axis.items():
sz = self._stepsize[i - 1]
# TODO: allow to pass the range in m in the arguments
# Position supports ±2³¹, probably not that much in reality, but
# there is no info.
rng = [(-2 ** 31) * sz, (2 ** 31 - 1) * sz]
# Check the actuator is connected
mt = self.GetMotorType(i)
if mt in {MT_NONE, MT_UNKNOWN}:
raise HwError("Controller failed to detect motor %d, check the "
"actuator is connected to the controller" %
(i,))
max_stp_s = {MT_STANDARD: 2000, MT_TINY: 1750}[mt]
srng = (0, self._speedToMS(i, max_stp_s))
speed[n] = self._speedToMS(i, self.GetVelocity(i))
axes_def[n] = model.Axis(range=rng, speed=srng, unit="m")
model.Actuator.__init__(self, name, role, axes=axes_def, **kwargs)
self._swVersion = "%s (IP connection)" % (odemis.__version__,)
self._hwVersion = "New Focus %s (firmware %s, S/N %s)" % (modl, fw, sn)
# Note that the "0" position is just the position at which the
# controller turned on
self.position = model.VigilantAttribute({}, unit="m", readonly=True)
self._updatePosition()
max_speed = max(a.speed[1] for a in axes_def.values())
self.speed = model.MultiSpeedVA(speed, range=(0, max_speed),
unit="m/s", setter=self._setSpeed)
