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Tpz fixes (#1178) 

*   flake8
*   fix TPZ constructor after move to asyncio
*   Tcube fix docummentation in set_channel_enable_state
This commit is contained in:
Marius Weber 2018-10-20 13:49:15 +01:00 committed by Sebastien Bourdeauducq
parent 6d7790844d
commit c0d89db677
2 changed files with 59 additions and 47 deletions
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104
artiq/devices/thorlabs_tcube/driver.py
View File

@ -207,7 +207,8 @@ class _Tcube:
# derived classes must implement this
raise NotImplementedError
async def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
async def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0,
data=None):
await self.send(Message(msgreq_id, param1, param2, data=data))
msg = None
while msg is None or msg.id not in wait_for_msgs:
@ -218,7 +219,7 @@ class _Tcube:
async def set_channel_enable_state(self, activated):
"""Enable or Disable channel 1.
:param activated: 1 to enable channel, 2 to disable it.
:param activated: 1 to enable channel, 0 to disable it.
"""
if activated:
@ -283,9 +284,13 @@ class _Tcube:
class Tpz(_Tcube):
"""Either :py:meth:`set_tpz_io_settings()<Tpz.set_tpz_io_settings>`
or :py:meth:`get_tpz_io_settings()<Tpz.get_tpz_io_settings>` must
be completed to finish initialising the driver.
"""
def __init__(self, serial_dev):
_Tcube.__init__(self, serial_dev)
self.voltage_limit = self.get_tpz_io_settings()[0]
self.voltage_limit = None
async def handle_message(self, msg):
msg_id = msg.id
@ -336,7 +341,7 @@ class Tpz(_Tcube):
:rtype: int
"""
get_msg = await self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
[MGMSG.PZ_GET_POSCONTROLMODE], 1)
[MGMSG.PZ_GET_POSCONTROLMODE], 1)
return get_msg.param2
async def set_output_volts(self, voltage):
@ -348,9 +353,8 @@ class Tpz(_Tcube):
:param voltage: The output voltage applied to the piezo when operating
in open loop mode. The voltage value must be in range
[0; voltage_limit]. Voltage_limit being set by the
:py:meth:`set_tpz_io_settings()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method
between the three values 75 V, 100 V and 150 V.
:py:meth:`set_tpz_io_settings()<Tpz.set_tpz_io_settings>`
method between the three values 75 V, 100 V and 150 V.
"""
if voltage < 0 or voltage > self.voltage_limit:
raise ValueError("Voltage must be in range [0;{}]"
@ -366,7 +370,7 @@ class Tpz(_Tcube):
:rtype: float
"""
get_msg = await 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/32767
async def set_output_position(self, position_sw):
@ -404,7 +408,7 @@ class Tpz(_Tcube):
0x00 Software Only: Unit responds only to software inputs and the
HV amp output is that set using the :py:meth:`set_output_volts()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_output_volts>` method.
<Tpz.set_output_volts>` method.
0x01 External Signal: Unit sums the differential signal on the rear
panel EXT IN(+) and EXT IN(-) connectors with the voltage set
@ -426,13 +430,12 @@ class Tpz(_Tcube):
amplifier circuit.
:return: Value which selects the various analog sources, cf.
:py:meth:`set_input_volts_source()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_input_volts_source>` method
docstring for meaning of bits.
:py:meth:`set_input_volts_source()<Tpz.set_input_volts_source>`
method docstring for meaning of bits.
:rtype: int
"""
get_msg = await 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]
async def set_pi_constants(self, prop_const, int_const):
@ -459,7 +462,7 @@ class Tpz(_Tcube):
:rtype: a 2 int elements tuple : (int, int)
"""
get_msg = await 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:])
async def set_output_lut(self, lut_index, output):
@ -488,7 +491,7 @@ class Tpz(_Tcube):
applicable channel is specified by the Chan Ident parameter If only a
sub set of the array is being used (as specified by the cyclelength
parameter of the :py:meth:`set_output_lut_parameters()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_output_lut_parameters>`
<Tpz.set_output_lut_parameters>`
function), then only the first cyclelength values need to be set. In
this manner, any arbitrary voltage waveform can be programmed into the
LUT. Note. The LUT values are output by the system at a maximum
@ -499,8 +502,8 @@ class Tpz(_Tcube):
to 512 for TPZ).
:param output: The voltage value to be set. Values are in the range
[0; voltage_limit]. Voltage_limit being set with the
:py:meth:`set_tpz_io_settings
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method.
:py:meth:`set_tpz_io_settings<Tpz.set_tpz_io_settings>`
method.
"""
volt = round(output*32767/self.voltage_limit)
payload = st.pack("<HHH", 1, lut_index, volt)
@ -519,7 +522,8 @@ class Tpz(_Tcube):
return index, output*self.voltage_limit/32767
async def set_output_lut_parameters(self, mode, cycle_length, num_cycles,
delay_time, precycle_rest, postcycle_rest):
delay_time, precycle_rest,
postcycle_rest):
"""Set Waveform Generator Mode parameters.
It is possible to use the controller in an arbitrary Waveform
@ -680,8 +684,8 @@ class Tpz(_Tcube):
:return: Returns a tuple whose elements are the voltage limit and the
Hub analog input. Refer to :py:meth:`set_tpz_io_settings()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` for the
meaning of those parameters.
<Tpz.set_tpz_io_settings>` for
the meaning of those parameters.
:rtype: a 2 elements tuple (int, int)
"""
get_msg = await self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS,
@ -760,8 +764,7 @@ class Tdc(_Tcube):
:return: An 8 int tuple containing the following values: zero_wnd,
vel1, wnd1, vel2, wnd2, vel3, wnd3, vel4. See
:py:meth:`set_pot_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_pot_parameters>` for a
:py:meth:`set_pot_parameters()<Tdc.set_pot_parameters>` for a
description of each tuple element meaning.
:rtype: An 8 int tuple
"""
@ -839,7 +842,7 @@ class Tdc(_Tcube):
return st.unpack("<LL", get_msg.data[6:])
async def set_jog_parameters(self, mode, step_size, acceleration,
max_velocity, stop_mode):
max_velocity, stop_mode):
"""Set the velocity jog parameters.
:param mode: 1 for continuous jogging, 2 for single step jogging.
@ -883,7 +886,7 @@ class Tdc(_Tcube):
:rtype: int
"""
get_msg = await 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]
async def set_move_relative_parameters(self, relative_distance):
@ -950,7 +953,8 @@ class Tdc(_Tcube):
This call is blocking until device is homed or move is stopped.
"""
await self.send_request(MGMSG.MOT_MOVE_HOME,
[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED], 1)
[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED],
1)
async def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
"""Set the limit switch parameters.
@ -988,7 +992,7 @@ class Tdc(_Tcube):
:return: A 2 int tuple containing the following in order: cw_hw_limit,
ccw_hw_limit. Cf. description in
:py:meth:`set_limit_switch_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_limit_switch_parameters>`
<Tdc.set_limit_switch_parameters>`
method.
:rtype: A 2 int tuple.
"""
@ -1001,11 +1005,13 @@ class Tdc(_Tcube):
The relative distance parameter used for the move will be the parameter
sent previously by a :py:meth:`set_move_relative_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_relative_parameters>`
<Tdc.set_move_relative_parameters>`
command.
"""
await self.send_request(MGMSG.MOT_MOVE_RELATIVE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], 1)
[MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_STOPPED],
1)
async def move_relative(self, relative_distance):
"""Start a relative move
@ -1015,7 +1021,8 @@ class Tdc(_Tcube):
"""
payload = st.pack("<Hl", 1, relative_distance)
await self.send_request(MGMSG.MOT_MOVE_RELATIVE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
[MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_STOPPED],
data=payload)
async def move_absolute_memory(self):
@ -1023,11 +1030,12 @@ class Tdc(_Tcube):
The absolute move position parameter used for the move will be the
parameter sent previously by a :py:meth:`set_move_absolute_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_absolute_parameters>`
<Tdc.set_move_absolute_parameters>`
command.
"""
await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
[MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_STOPPED],
param1=1)
async def move_absolute(self, absolute_distance):
@ -1039,7 +1047,8 @@ class Tdc(_Tcube):
"""
payload = st.pack("<Hl", 1, absolute_distance)
await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
[MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_STOPPED],
data=payload)
async def move_jog(self, direction):
@ -1048,7 +1057,8 @@ class Tdc(_Tcube):
:param direction: The direction to jog. 1 is forward, 2 is backward.
"""
await self.send_request(MGMSG.MOT_MOVE_JOG,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
[MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_STOPPED],
param1=1, param2=direction)
async def move_velocity(self, direction):
@ -1057,15 +1067,15 @@ class Tdc(_Tcube):
When this method is called, the motor will move continuously in the
specified direction using the velocity parameter set by the
:py:meth:`set_move_relative_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_relative_parameters>`
command until a :py:meth:`move_stop()
<artiq.devices.thorlabs_tcube.driver.Tdc.move_stop>` command (either
<Tdc.set_move_relative_parameters>`
command until a :py:meth:`move_stop()<Tdc.move_stop>` command (either
StopImmediate or StopProfiled) is called, or a limit switch is reached.
:param direction: The direction to jog: 1 to move forward, 2 to move
backward.
"""
await self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction))
await self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1,
param2=direction))
async def move_stop(self, stop_mode):
"""Stop any type of motor move.
@ -1080,11 +1090,11 @@ class Tdc(_Tcube):
if await self.is_moving():
await self.send_request(MGMSG.MOT_MOVE_STOP,
[MGMSG.MOT_MOVE_STOPPED,
MGMSG.MOT_MOVE_COMPLETED],
MGMSG.MOT_MOVE_COMPLETED],
1, stop_mode)
async def set_dc_pid_parameters(self, proportional, integral, differential,
integral_limit, filter_control=0x0F):
integral_limit, filter_control=0x0F):
"""Set the position control loop parameters.
:param proportional: The proportional gain, values in range [0; 32767].
@ -1108,8 +1118,8 @@ class Tdc(_Tcube):
:return: A 5 int tuple containing in this order:
proportional gain, integral gain, differential gain, integral limit
and filter control. Cf. :py:meth:`set_dc_pid_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_dc_pid_parameters>` for
precise description.
<Tdc.set_dc_pid_parameters>`
for precise description.
:rtype: A 5 int tuple.
"""
get_msg = await self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS,
@ -1151,10 +1161,10 @@ class Tdc(_Tcube):
:param mode: If set to 1, the buttons are used to jog the motor. Once
set to this mode, the move parameters for the buttons are taken
from the arguments of the :py:meth:`set_jog_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_jog_parameters>` method.
If set to 2, each button can be programmed with a differente
position value such that the controller will move the motor to that
position when the specific button is pressed.
<Tdc.set_jog_parameters>`
method. If set to 2, each button can be programmed with a
differente position value such that the controller will move the
motor to that position when the specific button is pressed.
:param position1: The position (in encoder counts) to which the motor
will move when the top button is pressed.
:param position2: The position (in encoder counts) to which the motor
@ -1169,8 +1179,8 @@ class Tdc(_Tcube):
:return: A 3 int tuple containing in this order: button mode,
position1 and position2. Cf. :py:meth:`set_button_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_button_parameters>` for
description.
<Tdc.set_button_parameters>`
for description.
:rtype: A 3 int tuple
"""
get_msg = await self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS,

2
artiq/frontend/aqctl_thorlabs_tcube.py
View File

@ -53,6 +53,8 @@ def main():
dev = Tdc(args.device)
elif product == "tpz001":
dev = Tpz(args.device)
loop = asyncio.get_event_loop()
loop.run_until_complete(dev.get_tpz_io_settings())
else:
print("Invalid product string (-P/--product), "
"choose from tdc001 or tpz001")