rpyc too laggy

4 files changed, 67 insertions, 17 deletions

diff --git a/MotionControl/Axis.py b/MotionControl/Axis.py
index 4d669c5..d137d54 100644
--- a/MotionControl/Axis.py
+++ b/MotionControl/Axis.py
@@ -1,8 +1,9 @@
 # -*- coding: utf8 -*-
 
 class Axis(object):
-	def __init__(self, inverted = False, scale={}):
+	def __init__(self, limits=None, inverted = False, scale={}):
 		from blinker import Signal
+		self.limits = limits
 		self.inverted = inverted
 		self.scale = scale
 		self.position = None
@@ -71,6 +72,11 @@ class Axis(object):
 		raise NotImplementedError()
 
 	def goto_absolute(self, target, speed = None):
+		if self.limits and (target < min(self.limits) or target > max(self.limits)):
+			raise ValueError()
+		self.do_goto_absolute(target, speed)
+
+	def do_goto_absolute(self, target, speed):
 		raise NotImplementedError()
 
 	def goto_relative(self, offset, speed = None):
diff --git a/MotionControl/MotionStage.py b/MotionControl/MotionStage.py
index 2e3583f..90f811a 100644
--- a/MotionControl/MotionStage.py
+++ b/MotionControl/MotionStage.py
@@ -20,10 +20,10 @@ class MotionStage(object):
 		self.onCycleAborted = Signal()
 
 		self.onDestinationChanged = Signal()
-		self.onPositionChanged = Signal()
 
+		self.onPositionChanged = Signal()
 		for axis in self.axes:
-			axis.onPosition.connect(self.forward_onPosition)
+			axis.onPosition.connect(self.onPosition_repeat)
 
 		self.worker_thread = None
 		self.active = False
@@ -48,15 +48,13 @@ class MotionStage(object):
 	def position(self):
 		return tuple([axis.position for axis in self.axes])
 
-	def forward_onPosition(self, sender, position):
+	def onPosition_repeat(self, sender, position):
 		self.onPositionChanged.send(self, axis=self.axes_idx[sender], position=position)
 
 	def update(self):
 		old_position = self.position
 		for axis in self.axes:
 			axis.update()
-		if old_position != self.position:
-			self.onPositionChanged.send(self, position = self.position)
 			
 	def set_destination(self, destination):
 		current_position = self.position
@@ -89,22 +87,23 @@ class MotionStage(object):
 		self.cycle_add_action(GotoAbsolute(self.axes, self.destination, speed))
 
 	def can_cycle_start(self):
-		if self.active:
-			return False
 		return True # FIXME: Add constraint tests here
 
 	def cycle_start(self):
 		import threading, weakref
 
-		if not self.can_cycle_start():
+		if self.active:
 			return False
 
+#		if not self.can_cycle_start():
+#			return False
+
 		self.current_action = None
 		self.active = True
-		self.worker_thread = threading.Thread(target = MotionStage.cycle_worker, name = "MotionControl.worker", args=(weakref.proxy(self),))
-		self.worker_thread.daemon =True
+		self.worker_thread = threading.Thread(target = MotionStage.cycleWorker, name = "MotionControl.cycleWorker", args=(weakref.proxy(self),))
+		self.worker_thread.daemon = True
 		self.worker_thread.start()
-		self.onCycleStarted.send()
+		self.onCycleStarted.send(self)
 
 	def abort(self):
 		import threading
@@ -112,7 +111,7 @@ class MotionStage(object):
 		if isinstance(self.worker_thread, threading.Thread):
 			self.worker_thread.join()
 
-	def cycle_worker(ref):
+	def cycleWorker(ref):
 		abort_action = ref.abort_action
 		try:
 			import time
@@ -136,10 +135,10 @@ class MotionStage(object):
 
 				ref.action_queue.task_done()
 
-			ref.onCycleFinished.send()
+			ref.onCycleFinished.send(ref)
 		except CycleAbort:
 			ref.abort_action.execute()
-			ref.onCycleAborted.send()
+			ref.onCycleAborted.send(ref)
 
 		finally:
 			try:
@@ -149,3 +148,12 @@ class MotionStage(object):
 			except:
 				pass
 			ref.active = False
+	
+	def reference(self):
+		from Action import Initiate, GotoAbsolute
+		self.destination = None
+		self.cycle_clear()
+		self.cycle_add_action(Initiate([self.axes[0]]))
+		self.cycle_add_action(GotoAbsolute([self.axes[0]], [0]))
+		self.cycle_start()
+	
diff --git a/MotionControl/PhytronAxis.py b/MotionControl/PhytronAxis.py
index 80e1c47..986dad7 100644
--- a/MotionControl/PhytronAxis.py
+++ b/MotionControl/PhytronAxis.py
@@ -5,8 +5,8 @@ from Axis import Axis
 class PhytronAxis(Axis):
 	INITIATOR_MINUS = 1
 	INITIATOR_PLUS  = 2
-	def __init__(self, ipcomm_axis, max_run_freq=None, initiator=INITIATOR_MINUS, initiator_position = 0, inverted = False, scale={}):
-		super(PhytronAxis, self).__init__(inverted = inverted, scale = scale)
+	def __init__(self, ipcomm_axis, limits=None, max_run_freq=None, initiator=INITIATOR_MINUS, initiator_position = 0, inverted = False, limited = True, scale={}):
+		super(PhytronAxis, self).__init__(limits = limits, inverted = inverted, scale = scale)
 
 		self.ipcomm_axis = ipcomm_axis
 		if not max_run_freq:
@@ -16,6 +16,11 @@ class PhytronAxis(Axis):
 		self.initiator = initiator
 		self.initiator_position = initiator_position
 		self.onInitialized.connect(self.handle_initialized)
+
+		self.ipcomm_axis.limited = limited
+
+	def __del__(self):
+		self.ipcomm_axis.stop()
 	
 	def handle_initialized(self, sender, initialized):
 		if self.initialisation and sender == self and initialized:
diff --git a/MotionControl/Service.py b/MotionControl/Service.py
new file mode 100644
index 0000000..241d141
--- /dev/null
+++ b/MotionControl/Service.py
@@ -0,0 +1,31 @@
+# -*- coding: utf-8 -*-
+
+import rpyc
+
+class Service(rpyc.Service):
+	stage = None
+	def on_connect(self):
+		Service.stage.onPositionChanged.connect(self.onPosition)
+		
+		for i,p in enumerate(Service.stage.position):
+			self.onPosition(None, i, p)
+	
+	def on_disconnect(self):
+		Service.stage.onPositionChanged.disconnect(self.onPosition)
+	
+	def onPosition(self, sender, axis, position):
+		rpyc.async(self._conn.root.onPosition)(axis, position)
+
+	def exposed_set_destination(self, destination):
+		Service.stage.set_destination(destination)
+	def exposed_cycle_start(self):
+		Service.stage.cycle_start()
+	def exposed_abort(self):
+		Service.stage.abort()
+
+	def exposed_reference(self):
+		Service.stage.reference()
+
+	def exposed_getAxisLimits(self, axis):
+		return Service.stage.axes[axis].limits
+