diff options
Diffstat (limited to 'motiond')
| -rwxr-xr-x | motiond/motiond | 38 |
1 files changed, 36 insertions, 2 deletions
diff --git a/motiond/motiond b/motiond/motiond index 3bfbde2..64ddaff 100755 --- a/motiond/motiond +++ b/motiond/motiond @@ -1,12 +1,13 @@ #!/usr/bin/python2 # -*- encoding: utf-8 -*- +STAGE_POSITION_STORE = '/var/lib/erdastep/laststageposition' + import Phytron import MotionControl.MotionStage, MotionControl.PhytronAxis, MotionControl.Service from MotionControl.MotionStage import MotionStage from MotionControl.PhytronAxis import PhytronAxis -from MotionControl.Service import Service ipcomm = Phytron.IPCOMM('/dev/ttyERDASTEP', axes=4) @@ -14,12 +15,14 @@ axis_x = PhytronAxis( ipcomm[0], \ max_run_freq = 825, \ initiator = PhytronAxis.INITIATOR_PLUS, \ initiator_position = 221786, \ + limits = (-179000, 221000), \ scale = {'mm': 8000} ) axis_y = PhytronAxis( ipcomm[1], \ max_run_freq = 825, \ initiator = PhytronAxis.INITIATOR_PLUS, \ initiator_position = 115256, \ + limits = (-285000, 115000), \ scale = {'mm': 8000} ) axis_z = PhytronAxis( ipcomm[2], \ @@ -27,20 +30,51 @@ axis_z = PhytronAxis( ipcomm[2], \ initiator = PhytronAxis.INITIATOR_PLUS, \ # FIXME: Z zero position needs yet to be determined initiator_position = 217952, \ + limits = (-183000, 217000), \ scale = {'mm': 8000} ) axis_phi = PhytronAxis( ipcomm[3], \ max_run_freq = 1000, \ initiator = PhytronAxis.INITIATOR_MINUS, \ initiator_position = -273432, \ + limits = (-273000, 271000), \ scale = {'°': 1600} ) stage_axes = (axis_x, axis_y, axis_z, axis_phi) -Service.stage = MotionStage(stage_axes) +stage = MotionStage(stage_axes) + +def load_stage_position_store(): + try: + position = tuple( [int(line.strip()) for line in open(STAGE_POSITION_STORE)] ) + except: + return + for i,p in enumerate(position): + ipcomm[i].position = p + +def update_stage_position_store(): +# try: + store = open(STAGE_POSITION_STORE, 'w') + store.writelines([str(axis.position)+'\n' for axis in ipcomm]) + store.close() +# except: +# pass + +def onCycleTermination(sender): + update_stage_position_store() + +stage.onCycleFinished.connect(onCycleTermination) +stage.onCycleAborted.connect(onCycleTermination) if __name__ == "__main__": from rpyc.utils.server import ThreadedServer + from MotionControl.Service import Service + + load_stage_position_store() + + stage.update() + + Service.stage = stage server = ThreadedServer(Service, port = 12345) server.start() |