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# -*- coding: utf-8 -*-
import Queue
import threading
class Action:
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 NullAction(Action):
def do_execute(self):
pass
def do_ended(self):
return True
def do_abort(self):
pass
class Initialize(Action):
def __init__(self, axes):
self.axes = axes
def do_execute(self):
for a in self.axis:
a.initialize()
def do_ended():
all_stopped = not (True in [axis.running for axis in self.axes])
if not all_stopped:
return False
self.aborted = False in [axis.initialized for axis in self.axes]
return True
def do_abort():
for axis in self.axes:
axis.halt()
class MotionAbsolute(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)
def do_abort(self):
for axis in self.axes:
axis.halt()
def do_ended(self):
return not (True in [axis.running for axis in self.axes])
class EmergencyStop(Action):
def __init__(self, axes):
self.axes = axes
def do_execute(self):
for a in axes:
a.emergency_stop()
def do_ended(self):
return not (True in [axis.running for axis in self.axes])
def do_abort(self):
pass
class CycleAbort(Exception):
pass
class CycleFinished(Exception):
pass
class MotionControl(object):
def __init__(self, name):
import weakref, threading
self.name = name
self.on_cycle_started = Signal()
self.on_cycle_finished = Signal()
self.on_cycle_aborted = Signal()
def __del__(self):
self.abort()
def start_cycle(self):
self.active = True
self.worker_thread = threading.Thread(target = MotionControl.cycle_worker, name = "MotionControl.worker", args=(weakref.proxy(self),))
self.worker_thread.daemon =True
self.worker_thread.start()
self.on_cycle_started.send()
def abort(self):
self.active = False
self.worker_thread.join()
def __del__(self):
self.active = False
def cycle_worker(ref):
abort_action = ref.abort_action
try:
import time
while ref.active:
time.sleep(0.01)
ref.on_cycle_finished.send()
except CycleAbort:
ref.abort_action.execute()
ref.on_cycle_aborted.send()
import threading
import rpyc
import Phytron
from blinker import Signal
class Constraint:
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.initiator_error = None
self.temperature_warning = None
self.onPosition = Signal()
self.onStarted = Signal()
self.onStopped = Signal()
self.onInitializing = Signal()
self.onInitialized = Signal()
self.onInitiatorMinus = Signal()
self.onInitiatorPlus = Signal()
self.onInitiatorError = Signal()
self.onTemperatureWarning = 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
last_initiator_error = self.initiator_error
last_temperature_warning = self.temperature_warning
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(self, initializing = self.initializing)
if last_initialized != self.initialized:
self.onInitialized.send(self, initialized = self.initialized)
if last_initiator_minus != self.initiator_minus:
self.onInitiatorMinus.send(self, active = self.initiator_minus)
if last_initiator_plus != self.initiator_plus:
self.onInitiatorPlus.send(self, active = self.initiator_plus)
if last_initiator_error != self.initiator_error:
self.onInitiatorError(self, error = self.initiator_error)
if last_temperature_warning != self.temperature_warning:
self.onTemperatureWarning(self, warning = self.temperature_warning)
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
self.initiator_error = status.initiator_error
self.temperature_warning = status.high_temperature
def emergency_stop(self):
self.ipcomm_axis.stop()
def initialize(self):
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()
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 = MotionAbsolute([axis,], [200000,])
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