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devices/thorlabs_tcube: fix more style issues

This commit is contained in:
Sebastien Bourdeauducq 2015-11-24 17:10:31 +08:00
parent 76eadc0a61
commit bda11149df
1 changed files with 17 additions and 84 deletions
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101
artiq/devices/thorlabs_tcube/driver.py
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@ -186,7 +186,7 @@ class Message:
raise ValueError raise ValueError
class Tcube: class _Tcube:
def __init__(self, serial_dev): def __init__(self, serial_dev):
self.port = serial.serial_for_url(serial_dev, baudrate=115200, self.port = serial.serial_for_url(serial_dev, baudrate=115200,
rtscts=True) rtscts=True)
@ -202,16 +202,15 @@ class Tcube:
msg.send(self.port) msg.send(self.port)
def handle_message(self, msg): def handle_message(self, msg):
pass # derived classes must implement this
raise NotImplementedError
def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None): 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) Message(msgreq_id, param1, param2, data=data).send(self.port)
msg = msg_id = 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:
msg = Message.recv(self.port) msg = Message.recv(self.port)
self.handle_message(msg) self.handle_message(msg)
msg_id = msg.id
return msg return msg
def set_channel_enable_state(self, activated): def set_channel_enable_state(self, activated):
@ -238,7 +237,7 @@ class Tcube:
self.chan_enabled = False self.chan_enabled = False
else: else:
raise MsgError("Channel state response is invalid: neither " raise MsgError("Channel state response is invalid: neither "
+ "1 nor 2: {}".format(self.chan_enabled)) "1 nor 2: {}".format(self.chan_enabled))
return self.chan_enabled return self.chan_enabled
def module_identify(self): def module_identify(self):
@ -247,7 +246,6 @@ class Tcube:
Instruct hardware unit to identify itself by flashing its front panel Instruct hardware unit to identify itself by flashing its front panel
led. led.
""" """
self.send(Message(MGMSG.MOD_IDENTIFY)) self.send(Message(MGMSG.MOD_IDENTIFY))
def hardware_start_update_messages(self, update_rate): def hardware_start_update_messages(self, update_rate):
@ -258,13 +256,10 @@ class Tcube:
:param update_rate: Rate at which you will receive status updates :param update_rate: Rate at which you will receive status updates
""" """
self.send(Message(MGMSG.HW_START_UPDATEMSGS, param1=update_rate)) self.send(Message(MGMSG.HW_START_UPDATEMSGS, param1=update_rate))
def hardware_stop_update_messages(self): def hardware_stop_update_messages(self):
"""Stop status updates from the controller. """Stop status updates from the controller."""
"""
self.send(Message(MGMSG.HW_STOP_UPDATEMSGS)) self.send(Message(MGMSG.HW_STOP_UPDATEMSGS))
def hardware_request_information(self): def hardware_request_information(self):
@ -282,9 +277,9 @@ class Tcube:
return True return True
class Tpz(Tcube): class Tpz(_Tcube):
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 = self.get_tpz_io_settings()[0]
def handle_message(self, msg): def handle_message(self, msg):
@ -294,8 +289,8 @@ class Tpz(Tcube):
if msg_id == MGMSG.HW_DISCONNECT: if msg_id == MGMSG.HW_DISCONNECT:
raise MsgError("Error: Please disconnect the TPZ001") raise MsgError("Error: Please disconnect the TPZ001")
elif msg_id == MGMSG.HW_RESPONSE: elif msg_id == MGMSG.HW_RESPONSE:
raise MsgError("Hardware error, please disconnect" raise MsgError("Hardware error, please disconnect "
+ "and reconnect the TPZ001") "and reconnect the TPZ001")
elif msg_id == MGMSG.HW_RICHRESPONSE: elif msg_id == MGMSG.HW_RICHRESPONSE:
(code, ) = st.unpack("<H", data[2:4]) (code, ) = st.unpack("<H", data[2:4])
raise MsgError("Hardware error {}: {}" raise MsgError("Hardware error {}: {}"
@ -317,7 +312,6 @@ class Tpz(Tcube):
0x04 for Closed Loop Smooth. 0x04 for Closed Loop Smooth.
""" """
self.send(Message(MGMSG.PZ_SET_POSCONTROLMODE, param1=1, self.send(Message(MGMSG.PZ_SET_POSCONTROLMODE, param1=1,
param2=control_mode)) param2=control_mode))
@ -336,7 +330,6 @@ class Tpz(Tcube):
:rtype: int :rtype: int
""" """
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
@ -354,7 +347,6 @@ class Tpz(Tcube):
<artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` method <artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` 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;{}]"
.format(self.voltage_limit)) .format(self.voltage_limit))
@ -368,7 +360,6 @@ class Tpz(Tcube):
:return: The output voltage. :return: The output voltage.
:rtype: float :rtype: float
""" """
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/32767 return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit/32767
@ -385,7 +376,6 @@ class Tpz(Tcube):
[0; 65535] depending on the unit. This corresponds to 0 to 100% of [0; 65535] depending on the unit. This corresponds to 0 to 100% of
the maximum piezo extension. the maximum piezo extension.
""" """
payload = st.pack("<HH", 1, position_sw) payload = st.pack("<HH", 1, position_sw)
self.send(Message(MGMSG.PZ_SET_OUTPUTPOS, data=payload)) self.send(Message(MGMSG.PZ_SET_OUTPUTPOS, data=payload))
@ -396,7 +386,6 @@ class Tpz(Tcube):
position. position.
:rtype: int :rtype: int
""" """
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]
@ -424,7 +413,6 @@ class Tpz(Tcube):
The values can be bitwise or'ed to sum the software source with The values can be bitwise or'ed to sum the software source with
either or both of the other source options. either or both of the other source options.
""" """
payload = st.pack("<HH", 1, volt_src) payload = st.pack("<HH", 1, volt_src)
self.send(Message(MGMSG.PZ_SET_INPUTVOLTSSRC, data=payload)) self.send(Message(MGMSG.PZ_SET_INPUTVOLTSSRC, data=payload))
@ -438,7 +426,6 @@ class Tpz(Tcube):
docstring for meaning of bits. docstring for meaning of bits.
:rtype: int :rtype: int
""" """
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]
@ -456,7 +443,6 @@ class Tpz(Tcube):
:param prop_const: Value of the proportional term in range [0; 255]. :param prop_const: Value of the proportional term in range [0; 255].
:param int_const: Value of the integral term in range [0; 255]. :param int_const: Value of the integral term in range [0; 255].
""" """
payload = st.pack("<HHH", 1, prop_const, int_const) payload = st.pack("<HHH", 1, prop_const, int_const)
self.send(Message(MGMSG.PZ_SET_PICONSTS, data=payload)) self.send(Message(MGMSG.PZ_SET_PICONSTS, data=payload))
@ -467,7 +453,6 @@ class Tpz(Tcube):
term and the second element is the integral term. term and the second element is the integral term.
:rtype: a 2 int elements tuple : (int, int) :rtype: a 2 int elements tuple : (int, int)
""" """
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:])
@ -512,7 +497,6 @@ class Tpz(Tcube):
:py:meth:`set_tpz_io_settings :py:meth:`set_tpz_io_settings
<artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` method. <artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` 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)
self.send(Message(MGMSG.PZ_SET_OUTPUTLUT, data=payload)) self.send(Message(MGMSG.PZ_SET_OUTPUTLUT, data=payload))
@ -524,10 +508,9 @@ class Tpz(Tcube):
the voltage output value. the voltage output value.
:rtype: a 2 elements tuple (int, float) :rtype: a 2 elements tuple (int, float)
""" """
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/32767 return index, output*self.voltage_limit/32767
def set_output_lut_parameters(self, mode, cycle_length, num_cycles, def set_output_lut_parameters(self, mode, cycle_length, num_cycles,
@ -590,7 +573,6 @@ class Tpz(Tcube):
and 2147483648 sample intervals. The system then outputs the last and 2147483648 sample intervals. The system then outputs the last
value in the cycle until the postcycle_rest time has expired. value in the cycle until the postcycle_rest time has expired.
""" """
# triggering is not supported by the TPZ device # triggering is not supported by the TPZ device
payload = st.pack("<HHHLLLLHLH", 1, mode, cycle_length, num_cycles, payload = st.pack("<HHHLLLLHLH", 1, mode, cycle_length, num_cycles,
delay_time, precycle_rest, postcycle_rest, delay_time, precycle_rest, postcycle_rest,
@ -604,21 +586,16 @@ class Tpz(Tcube):
num_cycles, delay_time, precycle_rest, postcycle_rest). num_cycles, delay_time, precycle_rest, postcycle_rest).
:rtype: 6 int elements tuple :rtype: 6 int elements tuple
""" """
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):
"""Start the voltage waveform (LUT) outputs. """Start the voltage waveform (LUT) outputs."""
"""
self.send(Message(MGMSG.PZ_START_LUTOUTPUT, param1=1)) self.send(Message(MGMSG.PZ_START_LUTOUTPUT, param1=1))
def stop_lut_output(self): def stop_lut_output(self):
"""Stop the voltage waveform (LUT) outputs. """Stop the voltage waveform (LUT) outputs."""
"""
self.send(Message(MGMSG.PZ_STOP_LUTOUTPUT, param1=1)) self.send(Message(MGMSG.PZ_STOP_LUTOUTPUT, param1=1))
def set_eeprom_parameters(self, msg_id): def set_eeprom_parameters(self, msg_id):
@ -627,7 +604,6 @@ class Tpz(Tcube):
:param msg_id: The message ID of the message containing the parameters :param msg_id: The message ID of the message containing the parameters
to be saved. to be saved.
""" """
payload = st.pack("<HH", 1, msg_id) payload = st.pack("<HH", 1, msg_id)
self.send(Message(MGMSG.PZ_SET_EEPROMPARAMS, data=payload)) self.send(Message(MGMSG.PZ_SET_EEPROMPARAMS, data=payload))
@ -637,7 +613,6 @@ class Tpz(Tcube):
:param intensity: The intensity is set as a value from 0 (Off) to 255 :param intensity: The intensity is set as a value from 0 (Off) to 255
(brightest). (brightest).
""" """
payload = st.pack("<H", intensity) payload = st.pack("<H", intensity)
self.send(Message(MGMSG.PZ_SET_TPZ_DISPSETTINGS, data=payload)) self.send(Message(MGMSG.PZ_SET_TPZ_DISPSETTINGS, data=payload))
@ -647,7 +622,6 @@ class Tpz(Tcube):
:return: The intensity as a value from 0 (Off) to 255 (brightest). :return: The intensity as a value from 0 (Off) to 255 (brightest).
:rtype: int :rtype: int
""" """
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]
@ -682,7 +656,6 @@ class Tpz(Tcube):
0x03: the feedback signals run through the read panel SMA 0x03: the feedback signals run through the read panel SMA
connectors. connectors.
""" """
self.voltage_limit = voltage_limit self.voltage_limit = voltage_limit
if self.voltage_limit == 75: if self.voltage_limit == 75:
@ -706,7 +679,6 @@ class Tpz(Tcube):
meaning of those parameters. meaning of those parameters.
:rtype: a 2 elements tuple (int, int) :rtype: a 2 elements tuple (int, int)
""" """
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])
@ -722,7 +694,7 @@ class Tpz(Tcube):
return voltage_limit, hub_analog_input return voltage_limit, hub_analog_input
class Tdc(Tcube): class Tdc(_Tcube):
def send_status_ack(self): def send_status_ack(self):
self.send(Message(MGMSG.MOT_ACK_DCSTATUSUPDATE)) self.send(Message(MGMSG.MOT_ACK_DCSTATUSUPDATE))
@ -749,7 +721,7 @@ class Tdc(Tcube):
else: else:
self.status_report_counter += 1 self.status_report_counter += 1
# 'r' is a currently unused and reserved field # 'r' is a currently unused and reserved field
(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): def is_moving(self):
@ -773,7 +745,6 @@ class Tdc(Tcube):
wnd2 to 127) to apply vel3. wnd2 to 127) to apply vel3.
:param vel4: The velocity to move when beyond wnd3. :param vel4: The velocity to move when beyond wnd3.
""" """
payload = st.pack("<HHLHLHLHL", 1, zero_wnd, vel1, wnd1, vel2, wnd2, payload = st.pack("<HHLHLHLHL", 1, zero_wnd, vel1, wnd1, vel2, wnd2,
vel3, wnd3, vel4) vel3, wnd3, vel4)
self.send(Message(MGMSG.MOT_SET_POTPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_POTPARAMS, data=payload))
@ -788,7 +759,6 @@ class Tdc(Tcube):
description of each tuple element meaning. description of each tuple element meaning.
:rtype: An 8 int tuple :rtype: An 8 int tuple
""" """
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:])
@ -808,7 +778,6 @@ class Tdc(Tcube):
:param position: The new value of the position counter. :param position: The new value of the position counter.
""" """
payload = st.pack("<Hl", 1, position) payload = st.pack("<Hl", 1, position)
self.send(Message(MGMSG.MOT_SET_POSCOUNTER, data=payload)) self.send(Message(MGMSG.MOT_SET_POSCOUNTER, data=payload))
@ -818,7 +787,6 @@ class Tdc(Tcube):
:return: The value of the position counter. :return: The value of the position counter.
:rtype: int :rtype: int
""" """
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]
@ -832,7 +800,6 @@ class Tdc(Tcube):
:param encoder_count: The new value of the encoder counter. :param encoder_count: The new value of the encoder counter.
""" """
payload = st.pack("<Hl", 1, encoder_count) payload = st.pack("<Hl", 1, encoder_count)
self.send(Message(MGMSG.MOT_SET_ENCCOUNTER, data=payload)) self.send(Message(MGMSG.MOT_SET_ENCCOUNTER, data=payload))
@ -842,7 +809,6 @@ class Tdc(Tcube):
:return: The value of the encoder counter. :return: The value of the encoder counter.
:rtype: int :rtype: int
""" """
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]
@ -853,7 +819,6 @@ class Tdc(Tcube):
:param acceleration: The acceleration in encoder counts/sec/sec. :param acceleration: The acceleration in encoder counts/sec/sec.
:param max_velocity: The maximum (final) velocity in counts/sec. :param max_velocity: The maximum (final) velocity in counts/sec.
""" """
payload = st.pack("<HLLL", 1, 0, acceleration, max_velocity) payload = st.pack("<HLLL", 1, 0, acceleration, max_velocity)
self.send(Message(MGMSG.MOT_SET_VELPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_VELPARAMS, data=payload))
@ -863,7 +828,6 @@ class Tdc(Tcube):
:return: A 2 int tuple: (acceleration, max_velocity). :return: A 2 int tuple: (acceleration, max_velocity).
:rtype: A 2 int tuple (int, int) :rtype: A 2 int tuple (int, int)
""" """
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:])
@ -880,7 +844,6 @@ class Tdc(Tcube):
:param stop_mode: 1 for immediate (abrupt) stop, 2 for profiled stop :param stop_mode: 1 for immediate (abrupt) stop, 2 for profiled stop
(with controlled deceleration). (with controlled deceleration).
""" """
payload = st.pack("<HHLLLLH", 1, mode, step_size, 0, acceleration, payload = st.pack("<HHLLLLH", 1, mode, step_size, 0, acceleration,
max_velocity, stop_mode) max_velocity, stop_mode)
self.send(Message(MGMSG.MOT_SET_JOGPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_JOGPARAMS, data=payload))
@ -892,7 +855,6 @@ class Tdc(Tcube):
step_size, acceleration, max_velocity, stop_mode step_size, acceleration, max_velocity, stop_mode
:rtype: A 5 int tuple. :rtype: A 5 int tuple.
""" """
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,
@ -905,7 +867,6 @@ class Tdc(Tcube):
:param backlash_distance: The value of the backlash distance, :param backlash_distance: The value of the backlash distance,
which specifies the relative distance in position counts. which specifies the relative distance in position counts.
""" """
payload = st.pack("<Hl", 1, backlash_distance) payload = st.pack("<Hl", 1, backlash_distance)
self.send(Message(MGMSG.MOT_SET_GENMOVEPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_GENMOVEPARAMS, data=payload))
@ -915,7 +876,6 @@ class Tdc(Tcube):
:return: The value of the backlash distance. :return: The value of the backlash distance.
:rtype: int :rtype: int
""" """
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]
@ -927,7 +887,6 @@ class Tdc(Tcube):
integer that specifies the relative distance in position encoder integer that specifies the relative distance in position encoder
counts. counts.
""" """
payload = st.pack("<Hl", 1, relative_distance) payload = st.pack("<Hl", 1, relative_distance)
self.send(Message(MGMSG.MOT_SET_MOVERELPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_MOVERELPARAMS, data=payload))
@ -937,7 +896,6 @@ class Tdc(Tcube):
:return: The relative distance move parameter. :return: The relative distance move parameter.
:rtype: int :rtype: int
""" """
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]
@ -949,7 +907,6 @@ class Tdc(Tcube):
signed integer that specifies the absolute move position in encoder signed integer that specifies the absolute move position in encoder
counts. counts.
""" """
payload = st.pack("<Hl", 1, absolute_position) payload = st.pack("<Hl", 1, absolute_position)
self.send(Message(MGMSG.MOT_SET_MOVEABSPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_MOVEABSPARAMS, data=payload))
@ -959,7 +916,6 @@ class Tdc(Tcube):
:return: The absolute position to move. :return: The absolute position to move.
:rtype: int :rtype: int
""" """
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]
@ -969,7 +925,6 @@ class Tdc(Tcube):
:param home_velocity: Homing velocity. :param home_velocity: Homing velocity.
""" """
payload = st.pack("<HHHLL", 1, 0, 0, home_velocity, 0) payload = st.pack("<HHHLL", 1, 0, 0, home_velocity, 0)
self.send(Message(MGMSG.MOT_SET_HOMEPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_HOMEPARAMS, data=payload))
@ -979,7 +934,6 @@ class Tdc(Tcube):
:return: The homing velocity. :return: The homing velocity.
:rtype: int :rtype: int
""" """
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]
@ -989,7 +943,6 @@ 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.
""" """
self.send_request(MGMSG.MOT_MOVE_HOME, 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)
@ -1020,7 +973,6 @@ class Tdc(Tcube):
:param ccw_hw_limit: The operation of counter clockwise hardware limit :param ccw_hw_limit: The operation of counter clockwise hardware limit
switch when contact is made. switch when contact is made.
""" """
payload = st.pack("<HHHLLH", 1, cw_hw_limit, ccw_hw_limit, 0, 0, 0) payload = st.pack("<HHHLLH", 1, cw_hw_limit, ccw_hw_limit, 0, 0, 0)
self.send(Message(MGMSG.MOT_SET_LIMSWITCHPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_LIMSWITCHPARAMS, data=payload))
@ -1034,7 +986,6 @@ class Tdc(Tcube):
method. method.
:rtype: A 2 int tuple. :rtype: A 2 int tuple.
""" """
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])
@ -1047,7 +998,6 @@ class Tdc(Tcube):
<artiq.devices.thorlabs.driver.Tdc.set_move_relative_parameters>` <artiq.devices.thorlabs.driver.Tdc.set_move_relative_parameters>`
command. command.
""" """
self.send_request(MGMSG.MOT_MOVE_RELATIVE, 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)
@ -1057,7 +1007,6 @@ class Tdc(Tcube):
:param relative_distance: The distance to move in position encoder :param relative_distance: The distance to move in position encoder
counts. counts.
""" """
payload = st.pack("<Hl", 1, relative_distance) payload = st.pack("<Hl", 1, relative_distance)
self.send_request(MGMSG.MOT_MOVE_RELATIVE, self.send_request(MGMSG.MOT_MOVE_RELATIVE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], [MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
@ -1071,7 +1020,6 @@ class Tdc(Tcube):
<artiq.devices.thorlabs.driver.Tdc.set_move_absolute_parameters>` <artiq.devices.thorlabs.driver.Tdc.set_move_absolute_parameters>`
command. command.
""" """
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE, 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)
@ -1083,18 +1031,16 @@ class Tdc(Tcube):
integer that specifies the absolute distance in position encoder integer that specifies the absolute distance in position encoder
counts. counts.
""" """
payload = st.pack("<Hl", 1, absolute_distance) payload = st.pack("<Hl", 1, absolute_distance)
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE, 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)
def move_jog(self, direction): def move_jog(self, direction):
"""Start a job move. """Start a jog 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.
""" """
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, MGMSG.MOT_MOVE_STOPPED],
param1=1, param2=direction) param1=1, param2=direction)
@ -1113,7 +1059,6 @@ class Tdc(Tcube):
: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.
""" """
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): def move_stop(self, stop_mode):
@ -1126,7 +1071,6 @@ class Tdc(Tcube):
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.
""" """
if self.is_moving(): if self.is_moving():
self.send_request(MGMSG.MOT_MOVE_STOP, self.send_request(MGMSG.MOT_MOVE_STOP,
[MGMSG.MOT_MOVE_STOPPED, [MGMSG.MOT_MOVE_STOPPED,
@ -1148,7 +1092,6 @@ class Tdc(Tcube):
setting the corresponding bit to 1. By default, all parameters are setting the corresponding bit to 1. By default, all parameters are
applied, and this parameter is set to 0x0F (1111). applied, and this parameter is set to 0x0F (1111).
""" """
payload = st.pack("<HLLLLH", 1, proportional, integral, payload = st.pack("<HLLLLH", 1, proportional, integral,
differential, integral_limit, filter_control) differential, integral_limit, filter_control)
self.send(Message(MGMSG.MOT_SET_DCPIDPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_DCPIDPARAMS, data=payload))
@ -1163,7 +1106,6 @@ class Tdc(Tcube):
precise description. precise description.
:rtype: A 5 int tuple. :rtype: A 5 int tuple.
""" """
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:])
@ -1180,7 +1122,6 @@ class Tdc(Tcube):
forward or reverse limit switch. forward or reverse limit switch.
Set the bit 3 (value 8) will make the LED lit when motor is moving. Set the bit 3 (value 8) will make the LED lit when motor is moving.
""" """
payload = st.pack("<HH", 1, mode_bits) payload = st.pack("<HH", 1, mode_bits)
self.send(Message(MGMSG.MOT_SET_AVMODES, data=payload)) self.send(Message(MGMSG.MOT_SET_AVMODES, data=payload))
@ -1190,7 +1131,6 @@ class Tdc(Tcube):
:return: The LED indicator mode bits. :return: The LED indicator mode bits.
:rtype: int :rtype: int
""" """
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]
@ -1214,7 +1154,6 @@ class Tdc(Tcube):
:param position2: The position (in encoder counts) to which the motor :param position2: The position (in encoder counts) to which the motor
will move when the bottom button is pressed. will move when the bottom button is pressed.
""" """
payload = st.pack("<HHllHH", 1, mode, position1, position2, payload = st.pack("<HHllHH", 1, mode, position1, position2,
0, 0) 0, 0)
self.send(Message(MGMSG.MOT_SET_BUTTONPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_BUTTONPARAMS, data=payload))
@ -1228,7 +1167,6 @@ class Tdc(Tcube):
description. description.
:rtype: A 3 int tuple :rtype: A 3 int tuple
""" """
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])
@ -1239,7 +1177,6 @@ class Tdc(Tcube):
:param msg_id: The message ID of the message containing the parameters :param msg_id: The message ID of the message containing the parameters
to be saved. to be saved.
""" """
payload = st.pack("<HH", 1, msg_id) payload = st.pack("<HH", 1, msg_id)
self.send(Message(MGMSG.MOT_SET_EEPROMPARAMS, data=payload)) self.send(Message(MGMSG.MOT_SET_EEPROMPARAMS, data=payload))
@ -1252,7 +1189,6 @@ class Tdc(Tcube):
velocity, status bits. velocity, status bits.
:rtype: A 3 int tuple :rtype: A 3 int tuple
""" """
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:])
@ -1264,7 +1200,6 @@ class Tdc(Tcube):
:return: The motor status. :return: The motor status.
:rtype: :rtype:
""" """
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]
@ -1276,7 +1211,6 @@ class Tdc(Tcube):
i.e., MGMSG.MOT_MOVE_STOPPED, MGMSG.MOT_MOVE_COMPLETED, i.e., MGMSG.MOT_MOVE_STOPPED, MGMSG.MOT_MOVE_COMPLETED,
MGMSGS_MOT_MOVE_HOMED MGMSGS_MOT_MOVE_HOMED
""" """
self.send(Message(MGMSG.MOT_SUSPEND_ENDOFMOVEMSGS)) self.send(Message(MGMSG.MOT_SUSPEND_ENDOFMOVEMSGS))
def resume_end_of_move_messages(self): def resume_end_of_move_messages(self):
@ -1291,7 +1225,6 @@ class Tdc(Tcube):
MGMSG.HW_RESPONSE, MGMSG.HW_RESPONSE,
MGMSG.HW_RICHRESPONSE MGMSG.HW_RICHRESPONSE
""" """
self.send(Message(MGMSG.MOT_RESUME_ENDOFMOVEMSGS)) self.send(Message(MGMSG.MOT_RESUME_ENDOFMOVEMSGS))