mirror of https://github.com/m-labs/artiq.git
thorlabs tdc driver: all moves are now blocking and wait for move to end or be stopped
This commit is contained in:
Yann Sionneau
parent
b05972059e
commit
4d077f50c6
|
|
@ -221,10 +221,10 @@ class Tcube:
|
|||
def handle_message(self, msg):
|
||||
pass
|
||||
|
||||
def send_request(self, msgreq_id, msgget_id, param1=0, param2=0):
|
||||
Message(msgreq_id, param1, param2).send(self.port)
|
||||
def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
|
||||
Message(msgreq_id, param1, param2, data=data).send(self.port)
|
||||
msg = msg_id = None
|
||||
while msg is None or msg_id != msgget_id:
|
||||
while msg is None or msg_id not in wait_for_msgs:
|
||||
msg = Message.recv(self.port)
|
||||
self.handle_message(msg)
|
||||
msg_id = msg.id
|
||||
|
|
@ -247,7 +247,7 @@ class Tcube:
|
|||
|
||||
def get_channel_enable_state(self):
|
||||
get_msg = self.send_request(MGMSG.MOD_REQ_CHANENABLESTATE,
|
||||
MGMSG.MOD_GET_CHANENABLESTATE, 1)
|
||||
[MGMSG.MOD_GET_CHANENABLESTATE], 1)
|
||||
self.chan_enabled = get_msg.param2
|
||||
if self.chan_enabled == 1:
|
||||
self.chan_enabled = True
|
||||
|
|
@ -286,7 +286,7 @@ class Tcube:
|
|||
|
||||
def hardware_request_information(self):
|
||||
return self.send_request(MGMSG.HW_REQ_INFO,
|
||||
MGMSG.HW_GET_INFO)
|
||||
[MGMSG.HW_GET_INFO])
|
||||
|
||||
def is_channel_enabled(self):
|
||||
return self.chan_enabled
|
||||
|
|
@ -355,7 +355,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
|
||||
MGMSG.PZ_GET_POSCONTROLMODE, 1)
|
||||
[MGMSG.PZ_GET_POSCONTROLMODE], 1)
|
||||
return get_msg.param2
|
||||
|
||||
def set_output_volts(self, voltage):
|
||||
|
|
@ -389,7 +389,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS,
|
||||
MGMSG.PZ_GET_OUTPUTVOLTS, 1)
|
||||
[MGMSG.PZ_GET_OUTPUTVOLTS], 1)
|
||||
return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit*V/32767
|
||||
|
||||
def set_output_position(self, position_sw):
|
||||
|
|
@ -417,7 +417,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTPOS,
|
||||
MGMSG.PZ_GET_OUTPUTPOS, 1)
|
||||
[MGMSG.PZ_GET_OUTPUTPOS], 1)
|
||||
return st.unpack("<H", get_msg.data[2:])[0]
|
||||
|
||||
def set_input_volts_source(self, volt_src):
|
||||
|
|
@ -459,7 +459,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC,
|
||||
MGMSG.PZ_GET_INPUTVOLTSSRC, 1)
|
||||
[MGMSG.PZ_GET_INPUTVOLTSSRC], 1)
|
||||
return st.unpack("<H", get_msg.data[2:])[0]
|
||||
|
||||
def set_pi_constants(self, prop_const, int_const):
|
||||
|
|
@ -488,7 +488,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_PICONSTS,
|
||||
MGMSG.PZ_GET_PICONSTS, 1)
|
||||
[MGMSG.PZ_GET_PICONSTS], 1)
|
||||
return st.unpack("<HH", get_msg.data[2:])
|
||||
|
||||
def set_output_lut(self, lut_index, output):
|
||||
|
|
@ -546,7 +546,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUT,
|
||||
MGMSG.PZ_GET_OUTPUTLUT, 1)
|
||||
[MGMSG.PZ_GET_OUTPUTLUT], 1)
|
||||
(index, output) = st.unpack("<Hh", get_msg.data[2:])
|
||||
return index, output*self.voltage_limit*V/32767
|
||||
|
||||
|
|
@ -626,7 +626,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUTPARAMS,
|
||||
MGMSG.PZ_GET_OUTPUTLUTPARAMS, 1)
|
||||
[MGMSG.PZ_GET_OUTPUTLUTPARAMS], 1)
|
||||
return st.unpack("<HHLLLL", get_msg.data[2:22])
|
||||
|
||||
def start_lut_output(self):
|
||||
|
|
@ -669,7 +669,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_DISPSETTINGS,
|
||||
MGMSG.PZ_GET_TPZ_DISPSETTINGS, 1)
|
||||
[MGMSG.PZ_GET_TPZ_DISPSETTINGS], 1)
|
||||
return st.unpack("<H", get_msg.data)[0]
|
||||
|
||||
def set_tpz_io_settings(self, voltage_limit, hub_analog_input):
|
||||
|
|
@ -731,7 +731,7 @@ class Tpz(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS,
|
||||
MGMSG.PZ_GET_TPZ_IOSETTINGS, 1)
|
||||
[MGMSG.PZ_GET_TPZ_IOSETTINGS], 1)
|
||||
voltage_limit, hub_analog_input = st.unpack("<HH", get_msg.data[2:6])
|
||||
if voltage_limit == 1:
|
||||
voltage_limit = 75*V
|
||||
|
|
@ -763,8 +763,6 @@ class Tdc(Tcube):
|
|||
raise MsgError("Hardware error {}: {}"
|
||||
.format(code,
|
||||
data[4:].decode(encoding="ascii")))
|
||||
elif msg_id == MGMSG.MOT_MOVE_HOMED:
|
||||
pass
|
||||
elif (msg_id == MGMSG.MOT_MOVE_COMPLETED or
|
||||
msg_id == MGMSG.MOT_MOVE_STOPPED or
|
||||
msg_id == MGMSG.MOT_GET_DCSTATUSUPDATE):
|
||||
|
|
@ -777,6 +775,10 @@ class Tdc(Tcube):
|
|||
(self.position, self.velocity, r, self.status) = st.unpack(
|
||||
"<LHHL", data[2:])
|
||||
|
||||
def is_moving(self):
|
||||
status_bits = self.get_status_bits()
|
||||
return (status_bits & 0x2F0) != 0
|
||||
|
||||
def set_pot_parameters(self, zero_wnd, vel1, wnd1, vel2, wnd2, vel3,
|
||||
wnd3, vel4):
|
||||
"""Set pot parameters.
|
||||
|
|
@ -811,12 +813,12 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_POTPARAMS,
|
||||
MGMSG.MOT_GET_POTPARAMS, 1)
|
||||
[MGMSG.MOT_GET_POTPARAMS], 1)
|
||||
return st.unpack("<HLHLHLHL", get_msg.data[2:])
|
||||
|
||||
def hub_get_bay_used(self):
|
||||
get_msg = self.send_request(MGMSG.HUB_REQ_BAYUSED,
|
||||
MGMSG.HUB_GET_BAYUSED)
|
||||
[MGMSG.HUB_GET_BAYUSED])
|
||||
return get_msg.param1
|
||||
|
||||
def set_position_counter(self, position):
|
||||
|
|
@ -841,7 +843,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_POSCOUNTER,
|
||||
MGMSG.MOT_GET_POSCOUNTER, 1)
|
||||
[MGMSG.MOT_GET_POSCOUNTER], 1)
|
||||
return st.unpack("<l", get_msg.data[2:])[0]
|
||||
|
||||
def set_encoder_counter(self, encoder_count):
|
||||
|
|
@ -865,7 +867,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_ENCCOUNTER,
|
||||
MGMSG.MOT_GET_ENCCOUNTER, 1)
|
||||
[MGMSG.MOT_GET_ENCCOUNTER], 1)
|
||||
return st.unpack("<l", get_msg.data[2:])[0]
|
||||
|
||||
def set_velocity_parameters(self, acceleration, max_velocity):
|
||||
|
|
@ -886,7 +888,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_VELPARAMS,
|
||||
MGMSG.MOT_GET_VELPARAMS, 1)
|
||||
[MGMSG.MOT_GET_VELPARAMS], 1)
|
||||
return st.unpack("<LL", get_msg.data[6:])
|
||||
|
||||
def set_jog_parameters(self, mode, step_size, acceleration,
|
||||
|
|
@ -915,7 +917,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_JOGPARAMS,
|
||||
MGMSG.MOT_GET_JOGPARAMS, 1)
|
||||
[MGMSG.MOT_GET_JOGPARAMS], 1)
|
||||
(jog_mode, step_size, _, acceleration, max_velocity,
|
||||
stop_mode) = st.unpack("<HLLLLH", get_msg.data[2:])
|
||||
return jog_mode, step_size, acceleration, max_velocity, stop_mode
|
||||
|
|
@ -938,7 +940,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_GENMOVEPARAMS,
|
||||
MGMSG.MOT_GET_GENMOVEPARAMS, 1)
|
||||
[MGMSG.MOT_GET_GENMOVEPARAMS], 1)
|
||||
return st.unpack("<l", get_msg.data[2:])[0]
|
||||
|
||||
def set_move_relative_parameters(self, relative_distance):
|
||||
|
|
@ -960,7 +962,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_MOVERELPARAMS,
|
||||
MGMSG.MOT_GET_MOVERELPARAMS, 1)
|
||||
[MGMSG.MOT_GET_MOVERELPARAMS], 1)
|
||||
return st.unpack("<l", get_msg.data[2:])[0]
|
||||
|
||||
def set_move_absolute_parameters(self, absolute_position):
|
||||
|
|
@ -982,7 +984,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_MOVEABSPARAMS,
|
||||
MGMSG.MOT_GET_MOVEABSPARAMS, 1)
|
||||
[MGMSG.MOT_GET_MOVEABSPARAMS], 1)
|
||||
return st.unpack("<l", get_msg.data[2:])[0]
|
||||
|
||||
def set_home_parameters(self, home_velocity):
|
||||
|
|
@ -1002,17 +1004,17 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_HOMEPARAMS,
|
||||
MGMSG.MOT_GET_HOMEPARAMS, 1)
|
||||
[MGMSG.MOT_GET_HOMEPARAMS], 1)
|
||||
return st.unpack("<L", get_msg.data[6:10])[0]
|
||||
|
||||
def move_home(self):
|
||||
"""Start a home move sequence.
|
||||
|
||||
This call is blocking until device is homed.
|
||||
This call is blocking until device is homed or move is stopped.
|
||||
"""
|
||||
|
||||
self.send_request(MGMSG.MOT_MOVE_HOME,
|
||||
MGMSG.MOT_MOVE_HOMED, 1)
|
||||
[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED], 1)
|
||||
|
||||
def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
|
||||
"""Set the limit switch parameters.
|
||||
|
|
@ -1057,7 +1059,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_LIMSWITCHPARAMS,
|
||||
MGMSG.MOT_GET_LIMSWITCHPARAMS, 1)
|
||||
[MGMSG.MOT_GET_LIMSWITCHPARAMS], 1)
|
||||
return st.unpack("<HH", get_msg.data[2:6])
|
||||
|
||||
def move_relative_memory(self):
|
||||
|
|
@ -1069,7 +1071,8 @@ class Tdc(Tcube):
|
|||
command.
|
||||
"""
|
||||
|
||||
self.send(Message(MGMSG.MOT_MOVE_RELATIVE, param1=1))
|
||||
self.send_request(MGMSG.MOT_MOVE_RELATIVE,
|
||||
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], 1)
|
||||
|
||||
def move_relative(self, relative_distance):
|
||||
"""Start a relative move
|
||||
|
|
@ -1079,7 +1082,9 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
payload = st.pack("<Hl", 1, relative_distance)
|
||||
self.send(Message(MGMSG.MOT_MOVE_RELATIVE, data=payload))
|
||||
self.send_request(MGMSG.MOT_MOVE_RELATIVE,
|
||||
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
|
||||
data=payload)
|
||||
|
||||
def move_absolute_memory(self):
|
||||
"""Start an absolute move of distance in the controller's memory.
|
||||
|
|
@ -1090,7 +1095,9 @@ class Tdc(Tcube):
|
|||
command.
|
||||
"""
|
||||
|
||||
self.send(Message(MGMSG.MOT_MOVE_ABSOLUTE, param1=1))
|
||||
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
|
||||
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
|
||||
param1=1)
|
||||
|
||||
def move_absolute(self, absolute_distance):
|
||||
"""Start an absolute move.
|
||||
|
|
@ -1101,21 +1108,19 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
payload = st.pack("<Hl", 1, absolute_distance)
|
||||
self.send(Message(MGMSG.MOT_MOVE_ABSOLUTE, data=payload))
|
||||
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
|
||||
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
|
||||
data=payload)
|
||||
|
||||
def move_jog(self, direction, async=False):
|
||||
def move_jog(self, direction):
|
||||
"""Start a job move.
|
||||
|
||||
:param direction: The direction to jog. 1 is forward, 2 is backward.
|
||||
:param async: If True then the command does not wait for the move to
|
||||
finish. If False the command only returns when move is finished.
|
||||
"""
|
||||
|
||||
if async:
|
||||
self.send_request(MGMSG.MOT_MOVE_JOG,
|
||||
MGMSG.MOT_MOVE_COMPLETED, 1, direction)
|
||||
else:
|
||||
self.send(Message(MGMSG.MOT_MOVE_JOG, param1=1, param2=direction))
|
||||
self.send_request(MGMSG.MOT_MOVE_JOG,
|
||||
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
|
||||
param1=1, param2=direction)
|
||||
|
||||
def move_velocity(self, direction):
|
||||
"""Start a move.
|
||||
|
|
@ -1134,7 +1139,7 @@ class Tdc(Tcube):
|
|||
|
||||
self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction))
|
||||
|
||||
def move_stop(self, stop_mode, async=False):
|
||||
def move_stop(self, stop_mode):
|
||||
"""Stop any type of motor move.
|
||||
|
||||
Stops any of those motor move: relative, absolute, homing or move at
|
||||
|
|
@ -1143,15 +1148,13 @@ class Tdc(Tcube):
|
|||
:param stop_mode: The stop mode defines either an immediate (abrupt)
|
||||
or profiled stop. Set this byte to 1 to stop immediately, or to 2
|
||||
to stop in a controlled (profiled) manner.
|
||||
:param async: If set to False, this method will block until motor
|
||||
is really stopped. Returns immediately if set to True.
|
||||
"""
|
||||
|
||||
if async:
|
||||
self.send(Message(MGMSG.MOT_MOVE_STOP, param1=1, param2=stop_mode))
|
||||
else:
|
||||
if self.is_moving():
|
||||
self.send_request(MGMSG.MOT_MOVE_STOP,
|
||||
MGMSG.MOT_MOVE_STOPPED, 1, stop_mode)
|
||||
[MGMSG.MOT_MOVE_STOPPED,
|
||||
MGMSG.MOT_MOVE_COMPLETED],
|
||||
1, stop_mode)
|
||||
|
||||
def set_dc_pid_parameters(self, proportional, integral, differential,
|
||||
integral_limit, filter_control=0x0F):
|
||||
|
|
@ -1185,7 +1188,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS,
|
||||
MGMSG.MOT_GET_DCPIDPARAMS, 1)
|
||||
[MGMSG.MOT_GET_DCPIDPARAMS], 1)
|
||||
return st.unpack("<LLLLH", get_msg.data[2:])
|
||||
|
||||
def set_av_modes(self, mode_bits):
|
||||
|
|
@ -1212,7 +1215,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_AVMODES,
|
||||
MGMSG.MOT_GET_AVMODES, 1)
|
||||
[MGMSG.MOT_GET_AVMODES], 1)
|
||||
return st.unpack("<H", get_msg.data[2:])[0]
|
||||
|
||||
def set_button_parameters(self, mode, position1, position2):
|
||||
|
|
@ -1250,7 +1253,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS,
|
||||
MGMSG.MOT_GET_BUTTONPARAMS, 1)
|
||||
[MGMSG.MOT_GET_BUTTONPARAMS], 1)
|
||||
return st.unpack("<Hll", get_msg.data[2:12])
|
||||
|
||||
def set_eeprom_parameters(self, msg_id):
|
||||
|
|
@ -1274,7 +1277,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_DCSTATUSUPDATE,
|
||||
MGMSG.MOT_GET_DCSTATUSUPDATE, 1)
|
||||
[MGMSG.MOT_GET_DCSTATUSUPDATE], 1)
|
||||
pos, vel, _, stat = st.unpack("<LHHL", get_msg.data[2:])
|
||||
return pos, vel, stat
|
||||
|
||||
|
|
@ -1286,7 +1289,7 @@ class Tdc(Tcube):
|
|||
"""
|
||||
|
||||
get_msg = self.send_request(MGMSG.MOT_REQ_STATUSBITS,
|
||||
MGMSG.MOT_GET_STATUSBITS, 1)
|
||||
[MGMSG.MOT_GET_STATUSBITS], 1)
|
||||
return st.unpack("<L", get_msg.data[2:])[0]
|
||||
|
||||
def suspend_end_of_move_messages(self):
|
||||
|
|
|
|||
Loading…
Reference in New Issue