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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 # derived classes must implement this
raise NotImplementedError 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)) await self.send(Message(msgreq_id, param1, param2, data=data))
msg = None msg = None
while msg is None or msg.id not in wait_for_msgs: 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): async def set_channel_enable_state(self, activated):
"""Enable or Disable channel 1. """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: if activated:
@ -283,9 +284,13 @@ class _Tcube:
class Tpz(_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): def __init__(self, serial_dev):
_Tcube.__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): async def handle_message(self, msg):
msg_id = msg.id msg_id = msg.id
@ -336,7 +341,7 @@ class Tpz(_Tcube):
:rtype: int :rtype: int
""" """
get_msg = await self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE, get_msg = await self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
[MGMSG.PZ_GET_POSCONTROLMODE], 1) [MGMSG.PZ_GET_POSCONTROLMODE], 1)
return get_msg.param2 return get_msg.param2
async def set_output_volts(self, voltage): 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 :param voltage: The output voltage applied to the piezo when operating
in open loop mode. The voltage value must be in range in open loop mode. The voltage value must be in range
[0; voltage_limit]. Voltage_limit being set by the [0; voltage_limit]. Voltage_limit being set by the
:py:meth:`set_tpz_io_settings() :py:meth:`set_tpz_io_settings()<Tpz.set_tpz_io_settings>`
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method method between the three values 75 V, 100 V and 150 V.
between the three values 75 V, 100 V and 150 V.
""" """
if voltage < 0 or voltage > self.voltage_limit: if voltage < 0 or voltage > self.voltage_limit:
raise ValueError("Voltage must be in range [0;{}]" raise ValueError("Voltage must be in range [0;{}]"
@ -366,7 +370,7 @@ class Tpz(_Tcube):
:rtype: float :rtype: float
""" """
get_msg = await self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS, 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 return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit/32767
async def set_output_position(self, position_sw): 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 0x00 Software Only: Unit responds only to software inputs and the
HV amp output is that set using the :py:meth:`set_output_volts() 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 0x01 External Signal: Unit sums the differential signal on the rear
panel EXT IN(+) and EXT IN(-) connectors with the voltage set panel EXT IN(+) and EXT IN(-) connectors with the voltage set
@ -426,13 +430,12 @@ class Tpz(_Tcube):
amplifier circuit. amplifier circuit.
:return: Value which selects the various analog sources, cf. :return: Value which selects the various analog sources, cf.
:py:meth:`set_input_volts_source() :py:meth:`set_input_volts_source()<Tpz.set_input_volts_source>`
<artiq.devices.thorlabs_tcube.driver.Tpz.set_input_volts_source>` method method docstring for meaning of bits.
docstring for meaning of bits.
:rtype: int :rtype: int
""" """
get_msg = await self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC, 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] return st.unpack("<H", get_msg.data[2:])[0]
async def set_pi_constants(self, prop_const, int_const): 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) :rtype: a 2 int elements tuple : (int, int)
""" """
get_msg = await self.send_request(MGMSG.PZ_REQ_PICONSTS, 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:]) return st.unpack("<HH", get_msg.data[2:])
async def set_output_lut(self, lut_index, output): 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 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 sub set of the array is being used (as specified by the cyclelength
parameter of the :py:meth:`set_output_lut_parameters() 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 function), then only the first cyclelength values need to be set. In
this manner, any arbitrary voltage waveform can be programmed into the this manner, any arbitrary voltage waveform can be programmed into the
LUT. Note. The LUT values are output by the system at a maximum LUT. Note. The LUT values are output by the system at a maximum
@ -499,8 +502,8 @@ class Tpz(_Tcube):
to 512 for TPZ). to 512 for TPZ).
:param output: The voltage value to be set. Values are in the range :param output: The voltage value to be set. Values are in the range
[0; voltage_limit]. Voltage_limit being set with the [0; voltage_limit]. Voltage_limit being set with the
:py:meth:`set_tpz_io_settings :py:meth:`set_tpz_io_settings<Tpz.set_tpz_io_settings>`
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method. method.
""" """
volt = round(output*32767/self.voltage_limit) volt = round(output*32767/self.voltage_limit)
payload = st.pack("<HHH", 1, lut_index, volt) payload = st.pack("<HHH", 1, lut_index, volt)
@ -519,7 +522,8 @@ class Tpz(_Tcube):
return index, output*self.voltage_limit/32767 return index, output*self.voltage_limit/32767
async def set_output_lut_parameters(self, mode, cycle_length, num_cycles, 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. """Set Waveform Generator Mode parameters.
It is possible to use the controller in an arbitrary Waveform 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 :return: Returns a tuple whose elements are the voltage limit and the
Hub analog input. Refer to :py:meth:`set_tpz_io_settings() Hub analog input. Refer to :py:meth:`set_tpz_io_settings()
<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` for the <Tpz.set_tpz_io_settings>` for
meaning of those parameters. the meaning of those parameters.
:rtype: a 2 elements tuple (int, int) :rtype: a 2 elements tuple (int, int)
""" """
get_msg = await self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS, 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, :return: An 8 int tuple containing the following values: zero_wnd,
vel1, wnd1, vel2, wnd2, vel3, wnd3, vel4. See vel1, wnd1, vel2, wnd2, vel3, wnd3, vel4. See
:py:meth:`set_pot_parameters() :py:meth:`set_pot_parameters()<Tdc.set_pot_parameters>` for a
<artiq.devices.thorlabs_tcube.driver.Tdc.set_pot_parameters>` for a
description of each tuple element meaning. description of each tuple element meaning.
:rtype: An 8 int tuple :rtype: An 8 int tuple
""" """
@ -839,7 +842,7 @@ class Tdc(_Tcube):
return st.unpack("<LL", get_msg.data[6:]) return st.unpack("<LL", get_msg.data[6:])
async def set_jog_parameters(self, mode, step_size, acceleration, async def set_jog_parameters(self, mode, step_size, acceleration,
max_velocity, stop_mode): max_velocity, stop_mode):
"""Set the velocity jog parameters. """Set the velocity jog parameters.
:param mode: 1 for continuous jogging, 2 for single step jogging. :param mode: 1 for continuous jogging, 2 for single step jogging.
@ -883,7 +886,7 @@ class Tdc(_Tcube):
:rtype: int :rtype: int
""" """
get_msg = await self.send_request(MGMSG.MOT_REQ_GENMOVEPARAMS, 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] return st.unpack("<l", get_msg.data[2:])[0]
async def set_move_relative_parameters(self, relative_distance): 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. This call is blocking until device is homed or move is stopped.
""" """
await self.send_request(MGMSG.MOT_MOVE_HOME, 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): async def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
"""Set the limit switch parameters. """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, :return: A 2 int tuple containing the following in order: cw_hw_limit,
ccw_hw_limit. Cf. description in ccw_hw_limit. Cf. description in
:py:meth:`set_limit_switch_parameters() :py:meth:`set_limit_switch_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_limit_switch_parameters>` <Tdc.set_limit_switch_parameters>`
method. method.
:rtype: A 2 int tuple. :rtype: A 2 int tuple.
""" """
@ -1001,11 +1005,13 @@ class Tdc(_Tcube):
The relative distance parameter used for the move will be the parameter The relative distance parameter used for the move will be the parameter
sent previously by a :py:meth:`set_move_relative_parameters() 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. command.
""" """
await self.send_request(MGMSG.MOT_MOVE_RELATIVE, 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): async def move_relative(self, relative_distance):
"""Start a relative move """Start a relative move
@ -1015,7 +1021,8 @@ class Tdc(_Tcube):
""" """
payload = st.pack("<Hl", 1, relative_distance) payload = st.pack("<Hl", 1, relative_distance)
await self.send_request(MGMSG.MOT_MOVE_RELATIVE, 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) data=payload)
async def move_absolute_memory(self): 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 The absolute move position parameter used for the move will be the
parameter sent previously by a :py:meth:`set_move_absolute_parameters() 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. command.
""" """
await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE, 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) param1=1)
async def move_absolute(self, absolute_distance): async def move_absolute(self, absolute_distance):
@ -1039,7 +1047,8 @@ class Tdc(_Tcube):
""" """
payload = st.pack("<Hl", 1, absolute_distance) payload = st.pack("<Hl", 1, absolute_distance)
await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE, 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) data=payload)
async def move_jog(self, direction): 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. :param direction: The direction to jog. 1 is forward, 2 is backward.
""" """
await self.send_request(MGMSG.MOT_MOVE_JOG, 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) param1=1, param2=direction)
async def move_velocity(self, 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 When this method is called, the motor will move continuously in the
specified direction using the velocity parameter set by the specified direction using the velocity parameter set by the
:py:meth:`set_move_relative_parameters() :py:meth:`set_move_relative_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_relative_parameters>` <Tdc.set_move_relative_parameters>`
command until a :py:meth:`move_stop() command until a :py:meth:`move_stop()<Tdc.move_stop>` command (either
<artiq.devices.thorlabs_tcube.driver.Tdc.move_stop>` command (either
StopImmediate or StopProfiled) is called, or a limit switch is reached. StopImmediate or StopProfiled) is called, or a limit switch is reached.
:param direction: The direction to jog: 1 to move forward, 2 to move :param direction: The direction to jog: 1 to move forward, 2 to move
backward. 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): async def move_stop(self, stop_mode):
"""Stop any type of motor move. """Stop any type of motor move.
@ -1080,11 +1090,11 @@ class Tdc(_Tcube):
if await self.is_moving(): if await self.is_moving():
await self.send_request(MGMSG.MOT_MOVE_STOP, await self.send_request(MGMSG.MOT_MOVE_STOP,
[MGMSG.MOT_MOVE_STOPPED, [MGMSG.MOT_MOVE_STOPPED,
MGMSG.MOT_MOVE_COMPLETED], MGMSG.MOT_MOVE_COMPLETED],
1, stop_mode) 1, stop_mode)
async def set_dc_pid_parameters(self, proportional, integral, differential, 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. """Set the position control loop parameters.
:param proportional: The proportional gain, values in range [0; 32767]. :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: :return: A 5 int tuple containing in this order:
proportional gain, integral gain, differential gain, integral limit proportional gain, integral gain, differential gain, integral limit
and filter control. Cf. :py:meth:`set_dc_pid_parameters() and filter control. Cf. :py:meth:`set_dc_pid_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_dc_pid_parameters>` for <Tdc.set_dc_pid_parameters>`
precise description. for precise description.
:rtype: A 5 int tuple. :rtype: A 5 int tuple.
""" """
get_msg = await self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS, 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 :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 set to this mode, the move parameters for the buttons are taken
from the arguments of the :py:meth:`set_jog_parameters() from the arguments of the :py:meth:`set_jog_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_jog_parameters>` method. <Tdc.set_jog_parameters>`
If set to 2, each button can be programmed with a differente method. If set to 2, each button can be programmed with a
position value such that the controller will move the motor to that differente position value such that the controller will move the
position when the specific button is pressed. motor to that position when the specific button is pressed.
:param position1: The position (in encoder counts) to which the motor :param position1: The position (in encoder counts) to which the motor
will move when the top button is pressed. will move when the top button is pressed.
:param position2: The position (in encoder counts) to which the motor :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, :return: A 3 int tuple containing in this order: button mode,
position1 and position2. Cf. :py:meth:`set_button_parameters() position1 and position2. Cf. :py:meth:`set_button_parameters()
<artiq.devices.thorlabs_tcube.driver.Tdc.set_button_parameters>` for <Tdc.set_button_parameters>`
description. for description.
:rtype: A 3 int tuple :rtype: A 3 int tuple
""" """
get_msg = await self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS, 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) dev = Tdc(args.device)
elif product == "tpz001": elif product == "tpz001":
dev = Tpz(args.device) dev = Tpz(args.device)
loop = asyncio.get_event_loop()
loop.run_until_complete(dev.get_tpz_io_settings())
else: else:
print("Invalid product string (-P/--product), " print("Invalid product string (-P/--product), "
"choose from tdc001 or tpz001") "choose from tdc001 or tpz001")