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# -*- coding: utf-8 -*-
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):
if self.running:
self.stop()
self.wait_for_stop()
self.do_initialize()
self.wait_for_stop()
class PhytronAxis(Axis):
INITIATOR_MINUS = 1
INITIATOR_PLUS = 2
def __init__(self, ipcomm_axis, max_run_freq, initiator, scale, inverted = False):
super(PhytronAxis, self).__init__()
self.ipcomm_axis = ipcomm_axis
self.max_run_freq = max_run_freq
self.initiator = initiator
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 do_initialize(self):
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()
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