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thorlabs tdc driver: all moves are now blocking and wait for move to end or be stopped

This commit is contained in:
Yann Sionneau 2015-06-19 01:01:25 +02:00
parent b05972059e
commit 4d077f50c6
1 changed files with 56 additions and 53 deletions
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109
artiq/devices/thorlabs_tcube/driver.py
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@ -221,10 +221,10 @@ class Tcube:
def handle_message(self, msg): def handle_message(self, msg):
pass pass
def send_request(self, msgreq_id, msgget_id, param1=0, param2=0): def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
Message(msgreq_id, param1, param2).send(self.port) Message(msgreq_id, param1, param2, data=data).send(self.port)
msg = msg_id = None 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) msg = Message.recv(self.port)
self.handle_message(msg) self.handle_message(msg)
msg_id = msg.id msg_id = msg.id
@ -247,7 +247,7 @@ class Tcube:
def get_channel_enable_state(self): def get_channel_enable_state(self):
get_msg = self.send_request(MGMSG.MOD_REQ_CHANENABLESTATE, 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 self.chan_enabled = get_msg.param2
if self.chan_enabled == 1: if self.chan_enabled == 1:
self.chan_enabled = True self.chan_enabled = True
@ -286,7 +286,7 @@ class Tcube:
def hardware_request_information(self): def hardware_request_information(self):
return self.send_request(MGMSG.HW_REQ_INFO, return self.send_request(MGMSG.HW_REQ_INFO,
MGMSG.HW_GET_INFO) [MGMSG.HW_GET_INFO])
def is_channel_enabled(self): def is_channel_enabled(self):
return self.chan_enabled return self.chan_enabled
@ -355,7 +355,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE, get_msg = 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
def set_output_volts(self, voltage): def set_output_volts(self, voltage):
@ -389,7 +389,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS, 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 return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit*V/32767
def set_output_position(self, position_sw): def set_output_position(self, position_sw):
@ -417,7 +417,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTPOS, 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] return st.unpack("<H", get_msg.data[2:])[0]
def set_input_volts_source(self, volt_src): def set_input_volts_source(self, volt_src):
@ -459,7 +459,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC, 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] return st.unpack("<H", get_msg.data[2:])[0]
def set_pi_constants(self, prop_const, int_const): 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, 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:]) return st.unpack("<HH", get_msg.data[2:])
def set_output_lut(self, lut_index, output): def set_output_lut(self, lut_index, output):
@ -546,7 +546,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUT, 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:]) (index, output) = st.unpack("<Hh", get_msg.data[2:])
return index, output*self.voltage_limit*V/32767 return index, output*self.voltage_limit*V/32767
@ -626,7 +626,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUTPARAMS, 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]) return st.unpack("<HHLLLL", get_msg.data[2:22])
def start_lut_output(self): def start_lut_output(self):
@ -669,7 +669,7 @@ class Tpz(Tcube):
""" """
get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_DISPSETTINGS, 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] return st.unpack("<H", get_msg.data)[0]
def set_tpz_io_settings(self, voltage_limit, hub_analog_input): 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, 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]) voltage_limit, hub_analog_input = st.unpack("<HH", get_msg.data[2:6])
if voltage_limit == 1: if voltage_limit == 1:
voltage_limit = 75*V voltage_limit = 75*V
@ -763,8 +763,6 @@ class Tdc(Tcube):
raise MsgError("Hardware error {}: {}" raise MsgError("Hardware error {}: {}"
.format(code, .format(code,
data[4:].decode(encoding="ascii"))) data[4:].decode(encoding="ascii")))
elif msg_id == MGMSG.MOT_MOVE_HOMED:
pass
elif (msg_id == MGMSG.MOT_MOVE_COMPLETED or elif (msg_id == MGMSG.MOT_MOVE_COMPLETED or
msg_id == MGMSG.MOT_MOVE_STOPPED or msg_id == MGMSG.MOT_MOVE_STOPPED or
msg_id == MGMSG.MOT_GET_DCSTATUSUPDATE): msg_id == MGMSG.MOT_GET_DCSTATUSUPDATE):
@ -777,6 +775,10 @@ class Tdc(Tcube):
(self.position, self.velocity, r, self.status) = st.unpack( (self.position, self.velocity, r, self.status) = st.unpack(
"<LHHL", data[2:]) "<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, def set_pot_parameters(self, zero_wnd, vel1, wnd1, vel2, wnd2, vel3,
wnd3, vel4): wnd3, vel4):
"""Set pot parameters. """Set pot parameters.
@ -811,12 +813,12 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_POTPARAMS, 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:]) return st.unpack("<HLHLHLHL", get_msg.data[2:])
def hub_get_bay_used(self): def hub_get_bay_used(self):
get_msg = self.send_request(MGMSG.HUB_REQ_BAYUSED, get_msg = self.send_request(MGMSG.HUB_REQ_BAYUSED,
MGMSG.HUB_GET_BAYUSED) [MGMSG.HUB_GET_BAYUSED])
return get_msg.param1 return get_msg.param1
def set_position_counter(self, position): def set_position_counter(self, position):
@ -841,7 +843,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_POSCOUNTER, 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] return st.unpack("<l", get_msg.data[2:])[0]
def set_encoder_counter(self, encoder_count): def set_encoder_counter(self, encoder_count):
@ -865,7 +867,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_ENCCOUNTER, 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] return st.unpack("<l", get_msg.data[2:])[0]
def set_velocity_parameters(self, acceleration, max_velocity): def set_velocity_parameters(self, acceleration, max_velocity):
@ -886,7 +888,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_VELPARAMS, 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:]) return st.unpack("<LL", get_msg.data[6:])
def set_jog_parameters(self, mode, step_size, acceleration, 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, 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, (jog_mode, step_size, _, acceleration, max_velocity,
stop_mode) = st.unpack("<HLLLLH", get_msg.data[2:]) stop_mode) = st.unpack("<HLLLLH", get_msg.data[2:])
return jog_mode, step_size, acceleration, max_velocity, stop_mode 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, 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] return st.unpack("<l", get_msg.data[2:])[0]
def set_move_relative_parameters(self, relative_distance): def set_move_relative_parameters(self, relative_distance):
@ -960,7 +962,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_MOVERELPARAMS, 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] return st.unpack("<l", get_msg.data[2:])[0]
def set_move_absolute_parameters(self, absolute_position): def set_move_absolute_parameters(self, absolute_position):
@ -982,7 +984,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_MOVEABSPARAMS, 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] return st.unpack("<l", get_msg.data[2:])[0]
def set_home_parameters(self, home_velocity): def set_home_parameters(self, home_velocity):
@ -1002,17 +1004,17 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_HOMEPARAMS, 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] return st.unpack("<L", get_msg.data[6:10])[0]
def move_home(self): def move_home(self):
"""Start a home move sequence. """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, 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): def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
"""Set the limit switch parameters. """Set the limit switch parameters.
@ -1057,7 +1059,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_LIMSWITCHPARAMS, 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]) return st.unpack("<HH", get_msg.data[2:6])
def move_relative_memory(self): def move_relative_memory(self):
@ -1069,7 +1071,8 @@ class Tdc(Tcube):
command. 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): def move_relative(self, relative_distance):
"""Start a relative move """Start a relative move
@ -1079,7 +1082,9 @@ class Tdc(Tcube):
""" """
payload = st.pack("<Hl", 1, relative_distance) 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): def move_absolute_memory(self):
"""Start an absolute move of distance in the controller's memory. """Start an absolute move of distance in the controller's memory.
@ -1090,7 +1095,9 @@ class Tdc(Tcube):
command. 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): def move_absolute(self, absolute_distance):
"""Start an absolute move. """Start an absolute move.
@ -1101,21 +1108,19 @@ class Tdc(Tcube):
""" """
payload = st.pack("<Hl", 1, absolute_distance) 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. """Start a job move.
:param direction: The direction to jog. 1 is forward, 2 is backward. :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,
self.send_request(MGMSG.MOT_MOVE_JOG, [MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
MGMSG.MOT_MOVE_COMPLETED, 1, direction) param1=1, param2=direction)
else:
self.send(Message(MGMSG.MOT_MOVE_JOG, param1=1, param2=direction))
def move_velocity(self, direction): def move_velocity(self, direction):
"""Start a move. """Start a move.
@ -1134,7 +1139,7 @@ class Tdc(Tcube):
self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction)) 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. """Stop any type of motor move.
Stops any of those motor move: relative, absolute, homing or move at 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) :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 or profiled stop. Set this byte to 1 to stop immediately, or to 2
to stop in a controlled (profiled) manner. 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: if self.is_moving():
self.send(Message(MGMSG.MOT_MOVE_STOP, param1=1, param2=stop_mode))
else:
self.send_request(MGMSG.MOT_MOVE_STOP, 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, def set_dc_pid_parameters(self, proportional, integral, differential,
integral_limit, filter_control=0x0F): integral_limit, filter_control=0x0F):
@ -1185,7 +1188,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS, 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:]) return st.unpack("<LLLLH", get_msg.data[2:])
def set_av_modes(self, mode_bits): def set_av_modes(self, mode_bits):
@ -1212,7 +1215,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_AVMODES, 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] return st.unpack("<H", get_msg.data[2:])[0]
def set_button_parameters(self, mode, position1, position2): def set_button_parameters(self, mode, position1, position2):
@ -1250,7 +1253,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS, 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]) return st.unpack("<Hll", get_msg.data[2:12])
def set_eeprom_parameters(self, msg_id): def set_eeprom_parameters(self, msg_id):
@ -1274,7 +1277,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_DCSTATUSUPDATE, 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:]) pos, vel, _, stat = st.unpack("<LHHL", get_msg.data[2:])
return pos, vel, stat return pos, vel, stat
@ -1286,7 +1289,7 @@ class Tdc(Tcube):
""" """
get_msg = self.send_request(MGMSG.MOT_REQ_STATUSBITS, 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] return st.unpack("<L", get_msg.data[2:])[0]
def suspend_end_of_move_messages(self): def suspend_end_of_move_messages(self):