scratchpad experiments

1 files changed, 109 insertions, 0 deletions

diff --git a/scratchpad.py b/scratchpad.py
index e69de29..56c886d 100644
--- a/scratchpad.py
+++ b/scratchpad.py
@@ -0,0 +1,109 @@
+# -*- coding: utf-8 -*-
+
+import threading
+import rpyc
+import Phytron
+from blinker import Signal
+
+class Constraint:
+	pass
+
+class Stage:
+	def __init__(self, axes):
+		self.axes = axes
+
+	def setTarget(self, target):
+		self.target = target
+
+	def startCycle(self):
+		for ax in self.axes:
+			pass
+
+class Axis(object):
+	def __init__(self, inverted = False, scale={}):
+		self.inverted = inverted
+		self.scale = scale
+		self.position = None
+		self.running = None
+		self.initializing = None
+		self.initialized = None
+		self.initiator_minus = None
+		self.initiator_plus = None
+		self.onPosition = Signal()
+		self.onStarted = Signal()
+		self.onStopped = Signal()
+		self.onInitializing = Signal()
+		self.onInitialized = Signal()
+		self.onInitiatorMinus = Signal()
+		self.onInitiatorPlus = Signal()
+	
+	def update(self):
+		last_position = self.position
+		last_running = self.running
+		last_initializing = self.initializing
+		last_initialized = self.initialized
+		last_initiator_minus = self.initiator_minus
+		last_initiator_plus = self.initiator_plus
+
+		self.do_update()
+
+		if last_position != self.position:
+			self.onPosition.send(position = self.position)
+
+		if last_running != self.running:
+			if self.running:
+				self.onStarted.send()
+			else:
+				self.onStopped.send()
+
+		if last_initializing != self.initializing:
+			self.onInitializing.send(initializing = self.initializing)
+
+		if last_initialized != self.initialized:
+			self.onInitialized.send(initialized = self.initialized)
+
+		if last_initiator_minus != self.initiator_minus:
+			self.onInitiatorMinus.send(active = self.initiator_minus)
+
+		if last_initiator_plus != self.initiator_plus:
+			self.onInitiatorPlus.send(active = self.initiator_plus)
+
+	def wait_for_stop(self):
+		self.update()
+		while self.running:
+			self.update()
+
+	def initialize(self):
+		if self.running:
+			self.stop()
+			self.wait_for_stop()
+		self.do_initialize()
+		self.wait_for_stop()
+
+class PhytronAxis(Axis):
+	INITIATOR_MINUS = 1
+	INITIATOR_PLUS  = 2
+	def __init__(self, ipcomm_axis, max_run_freq, initiator, scale, inverted = False):
+		super(PhytronAxis, self).__init__()
+		self.ipcomm_axis = ipcomm_axis
+		self.max_run_freq = max_run_freq
+		self.initiator = initiator
+	
+	def do_update(self):
+		if self.running:
+			self.pos = self.ipcomm_axis.getPosition()
+
+		status = self.ipcomm_axis.getFullStatus()
+		self.running = status.running
+		self.initializing = status.initializing
+		self.initialized = status.initialized
+		self.initiator_minus = status.initiator_minus
+		self.initator_plus = status.initiator_plus
+
+	def do_initialize(self):
+		self.ipcomm_axis.setRunFrequency(self.max_run_freq)
+		if self.initiator == PhytronAxis.INITIATOR_MINUS:
+			self.ipcomm_axis.initializeMinus()
+		if self.initiator == PhytronAxis.INITIATOR_PLUS:
+			self.ipcomm_axis.initializePlus()
+