diff options
Diffstat (limited to 'MotionControl/MotionStage.py')
| -rw-r--r-- | MotionControl/MotionStage.py | 36 |
1 files changed, 22 insertions, 14 deletions
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() + |