From 4d077f50c6621ad771818f489a5dd611e320ea6d Mon Sep 17 00:00:00 2001
From: Yann Sionneau <ys@m-labs.hk>
Date: Fri, 19 Jun 2015 01:01:25 +0200
Subject: [PATCH] thorlabs tdc driver: all moves are now blocking and wait for
 move to end or be stopped

---
 artiq/devices/thorlabs_tcube/driver.py | 109 +++++++++++++------------
 1 file changed, 56 insertions(+), 53 deletions(-)

diff --git a/artiq/devices/thorlabs_tcube/driver.py b/artiq/devices/thorlabs_tcube/driver.py
index 649b051c7..f023d41d0 100644
--- a/artiq/devices/thorlabs_tcube/driver.py
+++ b/artiq/devices/thorlabs_tcube/driver.py
@@ -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):