#! /usr/bin/env python # # ================================================================== # # LSST / StarDICE # # Micro-Controle motors (MM2500) # # Authors: Laurent Le Guillou # Date: 2019-02-18 # # ================================================================== import sys import os, os.path import time from . import mm2500 # ============ XY control ========================================== class XY(object): """ High level class representing the XY motorized support. """ # default_ports = { 'x': "/dev/ttyS16", # 'y': "/dev/ttyS17", # 'z': "/dev/ttyS18" } default_ports = { 'x': "/dev/ttyS0", 'y': "/dev/ttyS0"} # default_serials = { 'x': '9050719', # 'y': '10050833', # 'z': '9050809', # 'a': '15051379' } default_axis_ids = { 'x': 1, 'y': 2 } # all_axes = ['x', 'y'] # ---------- Constructor --------------------------------- def __init__(self, ports = default_ports, # serials = default_serials, axis_ids = default_axis_ids, debug = True): self.ports = ports # self.serials = serials self.axis_ids = axis_ids self.axes = { 'x': None, 'y': None } self.all_axes = list(self.axes.keys()) self.homed = False self.debug = debug # ---------- Open the various devices -------------------- def open(self, check = False): """ Open all the connected devices. """ # -- Open each axis ---------------------------------- for ax in self.all_axes: if ( not(ax in self.ports) or # not(self.serials.has_key(ax)) or not(ax in self.axis_ids) ): continue if self.debug: print(( "Opening '%s' axis on port %s ..." % (ax, self.ports[ax]) ), file=sys.stderr) # Opening the Axis axis = mm2500.MM2500(port = self.ports[ax], axis_id = self.axis_ids[ax], debug = self.debug) try: axis.open() except IOError: if self.debug: print(( "No axis '%s' on port %s." % ( ax, self.ports[ax] ) ), file=sys.stderr) continue if self.debug: print(( "Opening axis '%s' on port %s done." % ( ax, self.ports[ax] ) ), file=sys.stderr) # motor_serial = axis.get_serial() # # print repr(motor_serial) # if motor_serial != self.serials[ax]: # raise IOError("Wrong Axis (wrong/unknown serial number)") self.axes[ax] = axis # -- Manage missing axes depending on the options if check: if self.axes['x'] == None: raise IOError("Missing X Axis") if self.axes['y'] == None: raise IOError("Missing Y Axis") # ---------- Close the one/two devices ------------------- def close(self): """ Close the three/four devices. """ for ax in self.all_axes: if (self.axes[ax] != None): self.axes[ax].close() # ---------- Setup the motors ---------------------------- def setup(self): """ Initialize each connected motor (init strings). """ for ax in self.all_axes: if (self.axes[ax] != None): self.axes[ax].setup() else: if self.debug: print("%s axis disabled." % ax, file=sys.stderr) # ---------- Home procedure for the motors --------------- def home(self, force = False): """ Find the zero index for all motors. """ for ax in self.all_axes: if (self.axes[ax] != None): self.axes[ax].home() else: if self.debug: print("%s axis disabled." % ax, file=sys.stderr) self.homed = True # ---------- Park position ------------------------------- def park(self): """ Park the XY out of the light beam. """ # For the moment, park position is the home position. self.home() # ---------- Current motor position ---------------------- def get_position(self): """ Return the current position on the XY motors (as a dictionary). It is then possible to do move(**get_position()) """ position = {} if (self.axes['x'] != None): position['x'] = self.axes['x'].get_position() else: if self.debug: print("X axis disabled.", file=sys.stderr) if (self.axes['y'] != None): position['y'] = self.axes['y'].get_position() else: if self.debug: print("Y axis disabled.", file=sys.stderr) return dict(position) position = property(get_position, doc = "XY current position") # # ---------- Compute the target position ----------------- # def compute_target(self, # x = None, y = None # dx = None, dy = None): # pos = self.get_position() # xc = pos['x'] # yc = pos['y'] # xt, yt = xc, yc # if x != None: xt = x # if dx != None: xt += dx # if y != None: yt = y # if dy != None: yt += dy # return xt, yt # ---------- Move absolute and relative ------------------ def move(self, x = None, y = None, dx = None, dy = None, wait = True, check = True): """ Move the XY to the given position (or offset). This function can do relative and absolute movements. """ ## First, check the geometric limits # # Due to the complicated shape of the permitted volume, # the limits *MUST* be checked before and after each # independant movement. # Reason: it may happen that the target is allowed, # but the separate movements to go there are not!!! # -------- X axis ------------------------------------ if (self.axes['x'] != None): if x != None: # if check: # xt, yt, zt = self.compute_target(x=x) # self.check_target(xt, yt, zt) self.axes['x'].move_absolute(position = x, wait = wait, check = check) if dx != None: # if check: # xt, yt, zt = self.compute_target(dx=dx) # self.check_target(xt, yt, zt) self.axes['x'].move_relative(offset = dx, wait = wait, check = check) else: if self.debug: print("X axis disabled.", file=sys.stderr) # -------- Y axis ------------------------------------ if (self.axes['y'] != None): if y != None: # if check: # xt, yt, zt = self.compute_target(y=y) # self.check_target(xt, yt, zt) self.axes['y'].move_absolute(position = y, wait = wait, check = check) if dy != None: # if check: # xt, yt, zt = self.compute_target(dy=dy) # self.check_target(xt, yt, zt) self.axes['y'].move_relative(offset = dy, wait = wait, check = check) else: if self.debug: print("Y axis disabled.", file=sys.stderr) # ==================================================================