def _load_button_fired(self):
path = self.open_file_dialog(default_directory=paths.device_dir)
# path = os.path.join(root_dir, 'zobs', 'NewStage-Axis-1.txt')
if path is not None:
# sniff the file to get the axis
lines = parse_file(path)
aid = lines[0][0]
try:
ax = self._get_axis_by_id(aid)
func = ax.load_parameters_from_file
except ValueError:
# this is a txt file not a cfg
ax = self._get_selected()
if ax is not None:
func = ax.load
if ax is not None:
func(path)
def _load_button_fired(self):
path = self.open_file_dialog(default_directory=paths.device_dir)
# path = os.path.join(root_dir, 'zobs', 'NewStage-Axis-1.txt')
if path is not None:
# sniff the file to get the axis
lines = parse_file(path)
aid = lines[0][0]
try:
ax = self._get_axis_by_id(aid)
func = ax.load_parameters_from_file
except ValueError:
# this is a txt file not a cfg
ax = self._get_selected()
if ax is not None:
func = ax.load
if ax is not None:
func(path)
def _get_pid_bin(self, temp):
"""
load pid_bins from file
"""
if not self.configuration_dir_path:
self.debug('no configuration_dir_path. this device was not initialized. check initialization.xml')
return
p = os.path.join(self.configuration_dir_path, 'pid.csv')
if not os.path.isfile(p):
self.warning('No pid.csv file in configuration dir. {}'.format(self.configuration_dir_path))
return
lines = parse_file(p, delimiter=',', cast=float)
for i, li in enumerate(lines):
if li[0] > temp:
i = max(0, i - 1)
return lines[i][1:]
else:
t = lines[-1][0]
self.warning(
'could not find appropriate bin for in pid file. using pid for {} bin. temp={}'.format(t, temp))
return lines[-1][1:]
def load(self):
lines = parse_file(self.file_path)
if not lines:
return
# line 0 shape, dimension
shape, dimension = lines[0].split(',')
self.g_shape = shape
self.g_dimension = float(dimension)
# line 1 list of holes to default draw
valid_holes = lines[1].split(',')
# line 2 list of calibration holes
# should always be N,E,S,W,center
self.calibration_holes = lines[2].split(',')
for hi, line in enumerate(lines[3:]):
if not line.startswith('#'):
try:
hole, x, y = line.split(',')
except ValueError:
try:
x, y = line.split(',')
hole = str(hi + 1)
except ValueError:
break
self.sample_holes.append(SampleHole(id=hole,
x=float(x),
y=float(y),
render='x' if hole in valid_holes else '',
shape=shape,
dimension=float(dimension)
))
def load_parameters_from_file(self, path):
"""
"""
self.loaded = False
# self.kind='Commutated step motor'
parameters = parse_file(path)
# with open(path, 'r') as f:
# parameters = []
# for line in f:
# parameters.append(line.strip())
self._kind = int(parameters[0][-1:]) # QM
self._unit = int(parameters[1][-1:]) # SN
self.encoder_resolution = float(parameters[2][3:]) # SU
self.encoder_full_step_resolution = float(parameters[3][3:]) # FR
self.microstep_factor = float(parameters[4][3:]) # QS
self.average_motor_voltage = float(parameters[5][3:]) # QV
self.maximum_motor_current = float(parameters[6][3:]) # QI
self.gear_constant = float(parameters[7][3:]) # QG
self.tachometer_gain = float(parameters[8][3:]) # QT
self.software_negative_limit = float(parameters[9][3:]) # SL
self.software_positive_limit = float(parameters[10][3:]) # SR
self._trajectory_mode = int(parameters[11][-1:]) - 1 # TJ
self._home_search_mode = int(parameters[12][-1:]) # OM
self.maximum_velocity = float(parameters[13][3:]) # VU
self.velocity = float(parameters[14][3:]) # VA
self.jog_high_speed = float(parameters[15][3:]) # JH
self.jog_low_speed = float(parameters[16][3:]) # JW
self.home_search_high_speed = float(parameters[17][3:]) # OH
self.home_search_low_speed = float(parameters[18][3:]) # OL
self.base_velocity = float(parameters[19][3:]) # VB
self.maximum_acceleration_deceleration = float(
parameters[20][3:]) # AU
self.acceleration = float(parameters[21][3:]) # AC
self.deceleration = float(parameters[22][3:]) # AG
self.estop_deceleration = float(parameters[23][3:]) # AE
self.jerk_rate = float(parameters[24][3:]) # JK
self.proportional_gain = float(parameters[25][3:]) # KP
self.integral_gain = float(parameters[26][3:]) # KI
self.derivative_gain = float(parameters[27][3:]) # KD
self.velocity_feed_forward_gain = float(parameters[28][3:]) # VF
self.acceleration_feed_forward_gain = float(parameters[29][3:]) # AF
self.integral_saturation_level = float(parameters[30][3:]) # KS
self.maximum_following_error_threshold = float(
parameters[31][3:]) # FE
self.position_deadband = float(parameters[32][3:]) # DB
self.update_interval = float(parameters[33][3:]) # CL
a, b = parameters[34][3:].split(',')
self.reduce_motor_torque_time = float(a) # QR
self.reduce_motor_torque_percent = float(b) # QR
self.slave_axis = int(parameters[35][3:]) # SS
self.master_slave_reduction_ratio = float(parameters[36][3:]) # GR
self.master_slave_jog_velocity_update = float(parameters[37][3:]) # SI
self.master_slave_jog_velocity_scaling_coefficients = parameters[38][
3:] # SK
self.backlash_compensation = float(parameters[39][3:]) # BA
self.linear_compensation = float(parameters[40][3:]) # CO
self._amplifier_io_configuration = int(parameters[41][3:-1], 16) # ZA
self._feedback_configuration = int(parameters[42][3:-1], 16) # ZB
self._estop_configuration = int(parameters[43][3:-1], 16) # ZE
self._following_error_configuration = int(parameters[44][3:-1],
16) # ZF
self._hardware_limit_configuration = int(parameters[45][3:-1],
16) # ZH
self._software_limit_configuration = int(parameters[46][3:-1],
16) # ZS
self.loaded = True
def load_parameters_from_file(self, path):
"""
"""
self.loaded = False
# self.kind='Commutated step motor'
parameters = parse_file(path)
# with open(path, 'r') as f:
# parameters = []
# for line in f:
# parameters.append(line.strip())
self._kind = int(parameters[0][-1:]) # QM
self._unit = int(parameters[1][-1:]) # SN
self.encoder_resolution = float(parameters[2][3:]) # SU
self.encoder_full_step_resolution = float(parameters[3][3:]) # FR
self.microstep_factor = float(parameters[4][3:]) # QS
self.average_motor_voltage = float(parameters[5][3:]) # QV
self.maximum_motor_current = float(parameters[6][3:]) # QI
self.gear_constant = float(parameters[7][3:]) # QG
self.tachometer_gain = float(parameters[8][3:]) # QT
self.software_negative_limit = float(parameters[9][3:]) # SL
self.software_positive_limit = float(parameters[10][3:]) # SR
self._trajectory_mode = int(parameters[11][-1:]) - 1 # TJ
self._home_search_mode = int(parameters[12][-1:]) # OM
self.maximum_velocity = float(parameters[13][3:]) # VU
self.velocity = float(parameters[14][3:]) # VA
self.jog_high_speed = float(parameters[15][3:]) # JH
self.jog_low_speed = float(parameters[16][3:]) # JW
self.home_search_high_speed = float(parameters[17][3:]) # OH
self.home_search_low_speed = float(parameters[18][3:]) # OL
self.base_velocity = float(parameters[19][3:]) # VB
self.maximum_acceleration_deceleration = float(parameters[20][3:]) # AU
self.acceleration = float(parameters[21][3:]) # AC
self.deceleration = float(parameters[22][3:]) # AG
self.estop_deceleration = float(parameters[23][3:]) # AE
self.jerk_rate = float(parameters[24][3:]) # JK
self.proportional_gain = float(parameters[25][3:]) # KP
self.integral_gain = float(parameters[26][3:]) # KI
self.derivative_gain = float(parameters[27][3:]) # KD
self.velocity_feed_forward_gain = float(parameters[28][3:]) # VF
self.acceleration_feed_forward_gain = float(parameters[29][3:]) # AF
self.integral_saturation_level = float(parameters[30][3:]) # KS
self.maximum_following_error_threshold = float(parameters[31][3:]) # FE
self.position_deadband = float(parameters[32][3:]) # DB
self.update_interval = float(parameters[33][3:]) # CL
a, b = parameters[34][3:].split(",")
self.reduce_motor_torque_time = float(a) # QR
self.reduce_motor_torque_percent = float(b) # QR
self.slave_axis = int(parameters[35][3:]) # SS
self.master_slave_reduction_ratio = float(parameters[36][3:]) # GR
self.master_slave_jog_velocity_update = float(parameters[37][3:]) # SI
self.master_slave_jog_velocity_scaling_coefficients = parameters[38][3:] # SK
self.backlash_compensation = float(parameters[39][3:]) # BA
self.linear_compensation = float(parameters[40][3:]) # CO
self._amplifier_io_configuration = int(parameters[41][3:-1], 16) # ZA
self._feedback_configuration = int(parameters[42][3:-1], 16) # ZB
self._estop_configuration = int(parameters[43][3:-1], 16) # ZE
self._following_error_configuration = int(parameters[44][3:-1], 16) # ZF
self._hardware_limit_configuration = int(parameters[45][3:-1], 16) # ZH
self._software_limit_configuration = int(parameters[46][3:-1], 16) # ZS
self.loaded = True