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# -*- coding: utf-8 -*-
class CycleAbort(Exception):
pass
class MotionStage(object):
def __init__(self, axes, constraints = None):
from Action import EmergencyStop
from blinker import Signal
self.axes_idx = dict()
for i, axis in enumerate(axes):
self.axes_idx[axis] = i
self.axes = [axis for axis in axes]
self.constraints = constraints
self.abort_action = EmergencyStop(self.axes)
self.onCycleStarted = Signal()
self.onCycleFinished = Signal()
self.onCycleAborted = Signal()
self.onDestinationChanged = Signal()
self.onRunning = Signal()
self.onInitializing = Signal()
self.onInitialized = Signal()
self.onInitiatorMinus = Signal()
self.onInitiatorPlus = Signal()
self.onPositionChanged = Signal()
for axis in self.axes:
axis.onInitializing.connect(self.onInitializing_repeat)
axis.onInitialized.connect(self.onInitialized_repeat)
axis.onInitiatorMinus.connect(self.onInitiatorMinus_repeat)
axis.onInitiatorPlus.connect(self.onInitiatorPlus_repeat)
axis.onRunning.connect(self.onRunning_repeat)
axis.onPosition.connect(self.onPosition_repeat)
self.worker_thread = None
self.active = False
self.destination = None
self.cycle_clear()
self.update()
def __del__(self):
self.abort()
def cycle_clear(self):
import Queue
self.action_queue = Queue.Queue()
def cycle_add_action(self, action):
if not self.action_queue:
self.cycle_clear()
self.action_queue.put(action)
@property
def running(self):
return tuple([axis.running for axis in self.axes])
@property
def initializing(self):
return tuple([axis.initializing for axis in self.axes])
@property
def initialized(self):
return tuple([axis.initialized for axis in self.axes])
@property
def initiator_minus(self):
return tuple([axis.initiator_minus for axis in self.axes])
@property
def initiator_plus(self):
return tuple([axis.initiator_plus for axis in self.axes])
@property
def position(self):
return tuple([axis.position for axis in self.axes])
def onRunning_repeat(self, sender, running):
self.onRunning.send(self, axis=self.axes_idx[sender], running=running)
def onPosition_repeat(self, sender, position):
self.onPositionChanged.send(self, axis=self.axes_idx[sender], position=position)
def onInitializing_repeat(self, sender, initializing):
self.onInitializing.send(self, axis=self.axes_idx[sender], initializing=initializing)
def onInitialized_repeat(self, sender, initialized):
self.onInitialized.send(self, axis=self.axes_idx[sender], initialized=initialized)
def onInitiatorMinus_repeat(self, sender, active):
self.onInitiatorMinus.send(self, axis=self.axes_idx[sender], active=active)
def onInitiatorPlus_repeat(self, sender, active):
self.onInitiatorPlus.send(self, axis=self.axes_idx[sender], active=active)
def update(self):
old_position = self.position
for axis in self.axes:
axis.update()
def set_destination(self, destination):
current_position = self.position
if not self.destination:
self.update()
self.destination = current_position
if isinstance(destination, list) or isinstance(destination, tuple):
if len(destination) != len(self.axes):
raise ValueError
self.destination = tuple(destination)
if isinstance(destination, dict):
new_destination = list(self.destination)
for k in destination:
new_destination[k] = destination[k]
self.destination = tuple(new_destination)
for i,dest in enumerate(self.destination):
self.onDestinationChanged.send(self, axis = i, destination = dest)
speed = None
if not None in current_position:
delta = [abs(a-b) for a,b in zip(self.destination, current_position)]
max_delta = max(delta)
if max_delta > 0:
speed = [float(d)/float(max_delta) for d in delta]
from Action import GotoAbsolute
self.cycle_clear()
self.cycle_add_action(GotoAbsolute(self.axes, self.destination, speed))
def can_cycle_start(self):
return True # FIXME: Add constraint tests here
def cycle_start(self):
import threading, weakref
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.cycleWorker, name = "MotionControl.cycleWorker", args=(weakref.proxy(self),))
self.worker_thread.daemon = True
self.worker_thread.start()
self.onCycleStarted.send(self)
def abort(self):
import threading
self.active = False
if isinstance(self.worker_thread, threading.Thread):
self.worker_thread.join()
def cycleWorker(ref):
abort_action = ref.abort_action
try:
import time
while True:
if not ref.active:
raise CycleAbort()
ref.update()
if not ref.current_action or ref.current_action.ended():
if ref.action_queue.empty():
break
ref.current_action = ref.action_queue.get_nowait()
ref.current_action.execute()
while True:
if not ref.active:
raise CycleAbort()
ref.update()
if ref.current_action.ended():
break
ref.action_queue.task_done()
ref.onCycleFinished.send(ref)
except CycleAbort:
ref.abort_action.execute()
ref.onCycleAborted.send(ref)
finally:
try:
while not ref.action_queue.empty():
ref.action_queue.get_nowait()
ref.action_queue.task_done()
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()
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