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# -*- coding: utf8 -*-
from Axis import Axis
class PhytronAxis(Axis):
INITIATOR_MINUS = 1
INITIATOR_PLUS = 2
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:
max_run_freq = self.ipcomm_axis.getRunFrequency()
self.max_run_freq = max_run_freq
self.initialisation = False
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:
self.ipcomm_axis.setPosition(self.initiator_position)
def do_update(self):
status = self.ipcomm_axis.getFullStatus()
self.position = self.ipcomm_axis.getPosition()
self.running = status.running
self.initializing = status.initializing
self.initialized = status.initialized
self.initiator_minus = status.initiator_minus
self.initator_plus = status.initiator_plus
self.initiator_error = status.initiator_error
self.temperature_warning = status.high_temperature
def emergency_stop(self):
self.ipcomm_axis.stop()
def initiate(self):
self.ipcomm_axis.stop()
self.wait_for_stop()
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()
self.initialisation = True
def set_initiator_position(self, sender, initialized):
if sender == self and initialized:
self.ipcomm_axis.setPosition(self.initiator_position)
self.position = self.initator_position
def goto_absolute(self, target, speed = None):
self.ipcomm_axis.stop()
self.wait_for_stop()
if not speed:
speed = 1.
self.ipcomm_axis.setRunFrequency(self.max_run_freq * speed)
self.ipcomm_axis.gotoAbs(target)
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