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# -*- coding: utf-8 -*-
import Queue
import threading
class Action:
EXECUTING = 0
FINISHED = 1
ABORTED = 2
def execute(self):
self.aborted = False
self.do_execute()
def ended(self):
if self.aborted:
return True
return do_ended()
def abort(self):
self.do_abort()
self.aborted = True
def do_execute():
raise NotImplementedError
def do_abort():
raise NotImplementedError
def do_ended():
raise NotImplementedError
class ActionMotionAbsolute(Action):
def __init__(self, axes, target, speed = None):
if len(axes) != len(target):
raise ValueError()
if speed and len(speed) != len(axes):
raise ValueError()
self.axes = axes
self.target = target
self.speed = speed
def do_execute(self):
for i, axis in enumerate(self.axes):
speed = None
if self.speed:
speed = self.speed[i]
axis.goto_absolute(self.target[i], speed)
class ActionExecuter(object):
def __init__(self, action):
self.action = action
def start(self):
import threading, weakref
self.running = True
self.worker_thread = threading.Thread(target=ActionExecuter.run, args=(weakref.proxy(self),))
def abort(self):
self.running = False
self.worker_thread.join()
def run(self):
action = self.action
try:
action.execute()
except ReferenceError:
action.abort()
class MotionControl(object):
def __init__(self, name):
self.name = name
self.active = True
self.worker_thread = threading.Thread(target = self.workerLoop, name = "MotionControl.worker_thread")
self.worker_thread.setDaemon(True)
self.worker_thread.start()
def __del__(self):
self.active = False
def workerLoop(self):
import time
while self.active:
print self.name
time.sleep(1)
import threading
import rpyc
import Phytron
from blinker import Signal
class Constraint:
pass
class Stage:
def __init__(self, axes):
self.axes = axes
def setTarget(self, target):
self.target = target
def startCycle(self):
for ax in self.axes:
pass
class Axis(object):
def __init__(self, inverted = False, scale={}):
self.inverted = inverted
self.scale = scale
self.position = None
self.running = None
self.initializing = None
self.initialized = None
self.initiator_minus = None
self.initiator_plus = None
self.onPosition = Signal()
self.onStarted = Signal()
self.onStopped = Signal()
self.onInitializing = Signal()
self.onInitialized = Signal()
self.onInitiatorMinus = Signal()
self.onInitiatorPlus = Signal()
def update(self):
last_position = self.position
last_running = self.running
last_initializing = self.initializing
last_initialized = self.initialized
last_initiator_minus = self.initiator_minus
last_initiator_plus = self.initiator_plus
self.do_update()
if last_position != self.position:
self.onPosition.send(position = self.position)
if last_running != self.running:
if self.running:
self.onStarted.send()
else:
self.onStopped.send()
if last_initializing != self.initializing:
self.onInitializing.send(initializing = self.initializing)
if last_initialized != self.initialized:
self.onInitialized.send(initialized = self.initialized)
if last_initiator_minus != self.initiator_minus:
self.onInitiatorMinus.send(active = self.initiator_minus)
if last_initiator_plus != self.initiator_plus:
self.onInitiatorPlus.send(active = self.initiator_plus)
def wait_for_stop(self):
self.update()
while self.running:
self.update()
def initialize(self):
raise NotImplementedError()
"""
if self.running:
self.stop()
self.wait_for_stop()
self.do_initialize()
self.wait_for_stop()
"""
def goto_absolute(self, targeti, speed = None):
raise NotImplementedError()
def goto_relative(self, offset, speed = None):
raise NotImplementedError()
class PhytronAxis(Axis):
INITIATOR_MINUS = 1
INITIATOR_PLUS = 2
def __init__(self, ipcomm_axis, scale=1, max_run_freq=None, initiator=INITIATOR_MINUS, inverted = False):
super(PhytronAxis, self).__init__()
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.initiator = initiator
self.scale = scale if not inverted else -scale
def do_update(self):
if self.running:
self.pos = self.ipcomm_axis.getPosition()
status = self.ipcomm_axis.getFullStatus()
self.running = status.running
self.initializing = status.initializing
self.initialized = status.initialized
self.initiator_minus = status.initiator_minus
self.initator_plus = status.initiator_plus
def stop_sync(self):
self.ipcomm_axis.halt()
while self.ipcomm_axis.getFullStatus().running:
pass
def initialize(self):
self.stop_sync()
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()
def goto_absolute(self, target, speed = None):
self.stop_sync()
if not speed:
speed = 1.
self.ipcomm_axis.setRunFrequency(self.max_run_freq * speed)
self.ipcomm_axis.gotoAbs(target * self.scale)
if __name__ == '__main__':
ipcomm = Phytron.IPCOMM('/dev/ttyERDASTEP', axes=5)
axis = PhytronAxis(ipcomm[0])
action = ActionMotionAbsolute([axis,], [200000,])
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