cgse 2023.38.0__py3-none-any.whl → 2024.1.4__py3-none-any.whl

egse/stages/aerotech/ensemble_controller.py

@@ -1,275 +0,0 @@
-import logging
-
-from numpy import degrees, arccos, cos, radians
-
-from egse.command import Command
-from egse.settings import Settings
-from egse.socketdevice import SocketDevice
-from egse.stages.aerotech.ensemble_interface import EnsembleInterface
-from egse.stages.aerotech.ensemble_parameters import EnsembleParameter
-from egse.state import GlobalState
-
-logger = logging.getLogger(__name__)
-
-# Load the device settings from the global common-egse config file
-DEVICE_SETTINGS = Settings.load("Aerotech Ensemble Controller")
-
-# Load the device protocol
-DEVICE_PROTOCOL = Settings.load(filename='ensemble.yaml')['Commands']
-
-
-class EnsembleException(Exception):
-    pass
-
-
-class EnsembleController(SocketDevice, EnsembleInterface):
-    def __init__(self, hostname=None, port=None):
-
-        # Load device configuration from the common-egse global config file
-        self._hostname      = DEVICE_SETTINGS.HOSTNAME if hostname is None else hostname
-        self._port          = DEVICE_SETTINGS.PORT if port is None else port
-        
-
-        # Create a dict of Command objects for each function
-        self._commands = {}
-        for name, items in DEVICE_PROTOCOL.items():
-            if 'cmd' in items:
-                self._commands[name] = Command(name, items['cmd'])
-
-        # Get the movement speed from the setup
-        setup = GlobalState.setup
-        self.speed = setup.gse.ensemble.maximum_speed
-        self.limit = setup.gse.ensemble.limit
-        
-        self.limits         = {'X': [(0 - self.limit), self.limit], 'Y': [(0 - self.limit), self.limit]}
-        # Initialize the parent class with the port and baudrate
-        super().__init__(hostname=self._hostname, port=self._port, timeout=10000)
-        self.connect()
-        
-        self.set_absolute()
-        self.set_wait_mode('NOWAIT')
-
-
-    def get_idn(self):
-        return self.query(self._commands['get_idn'].get_cmd_string())
-
-
-    def reset(self):
-        return self.query(self._commands['reset'].get_cmd_string())
-
-
-    def abort(self):
-        return self.query(self._commands['abort'].get_cmd_string())
-
-
-    def clear_errors(self):
-        return self.query(self._commands['clear_errors'].get_cmd_string())
-
-    def get_plane_status(self):
-        status = self.query(self._commands['get_plane_status'].get_cmd_string())
-        return int(status) & 0xFFFFFFF # turn into unsigned
-
-    def get_status(self, axis):
-        status = self.query(self._commands['get_status'].get_cmd_string(axis=axis))
-        return int(status) & 0xFFFFFFFF # turn into unsigned
-
-    def get_fault(self, axis):
-        fault = self.query(self._commands['get_fault'].get_cmd_string(axis=axis))
-        return int(fault) & 0xFFFFFFFF # turn into unsigned
-
-    def set_blocking(self, axis, enable):
-        enable_string = 'ON' if enable else 'OFF'
-        return self.query(self._commands['set_blocking'].get_cmd_string(
-            axis=axis, enable=enable_string))
-
-    def get_command_position(self, axis):
-        return float(self.query(self._commands['get_command_position'].get_cmd_string(axis=axis)))
-
-    def get_actual_position(self, axis):
-        return float(self.query(self._commands['get_actual_position'].get_cmd_string(axis=axis)))
-
-    def get_error_position(self, axis):
-        return float(self.query(self._commands['get_error_position'].get_cmd_string(axis=axis)))
-
-    def get_command_velocity(self, axis):
-        return float(self.query(self._commands['get_command_velocity'].get_cmd_string(axis=axis)))
-
-    def get_actual_velocity(self, axis):
-        return float(self.query(self._commands['get_actual_velocity'].get_cmd_string(axis=axis)))
-
-    def get_command_current(self, axis):
-        return float(self.query(self._commands['get_command_current'].get_cmd_string(axis=axis)))
-
-    def get_actual_current(self, axis):
-        return float(self.query(self._commands['get_actual_current'].get_cmd_string(axis=axis)))
-
-    def enable_axis(self, axis):
-        logger.info(f"Enabeling the {axis} axis")
-        return self.query(f"ENABLE {axis}\n")
-    
-    def enable_axes(self):
-        logger.info("Enabling X Y Axes")
-        return self.query("ENABLE X Y\n")
-    
-    def disable_axis(self, axis):
-        logger.info(f"Disabeling the {axis} axis")
-        return self.query(f"DISABLE {axis}\n")
-    
-    def disable_axes(self):
-        logger.info("Disabling the X Y axes")
-        return self.query(f"DISABLE X Y\n")
-
-    def set_wait_mode(self, mode):
-        return self.query(f"WAIT MODE {mode}\n")
-    
-    def set_absolute(self):
-        return self.query(self._commands['set_absolute'].get_cmd_string())
-
-    def set_incremental(self):
-        return self.query(self._commands['set_incremental'].get_cmd_string())
-
-    def move_axis_degrees(self, axis, position):
-        if not self.is_homed(axis):
-            logger.warning("The gimbal has not been homed")
-            raise EnsembleException(f'axis {axis} is not homed')
-
-        if not (self.limits[axis][0] <= position <= self.limits[axis][1]):
-            logger.warning("Move denied: Position out of limit")
-            raise EnsembleException(f'position {axis} outside limits\
-                {self.limits[axis][0]} <= {position} <= {self.limits[axis][1]}')
-
-        logger.info(f"Moving {axis} axis to {position}")
-
-        self.query(f"LINEAR {axis} {position} {axis}F {self.speed}\n")
-
-    def move_axes_degrees(self, position_x, position_y):
-        if not self.is_homed('X') or not self.is_homed('Y'):
-            logger.warning("The gimbal has not been homed")
-            raise EnsembleException(f'not all axes are homed')
-
-        if not (self.limits['X'][0] <= position_x <= self.limits['X'][1]):
-            logger.warning("Move denied: X Position out of limit")
-            raise EnsembleException(f"position X outside limits \
-                {self.limits['X'][0]} <= {position_x} <= {self.limits['X'][1]}")
-
-        if not (self.limits['Y'][0] <= position_y <= self.limits['Y'][1]):
-            logger.warning("Move denied: Y Position out of limit")
-            raise EnsembleException(f"position Y outside limits \
-                {self.limits['Y'][0]} <= {position_y} <= {self.limits['Y'][1]}")
-
-        radius = degrees(arccos(cos(radians(position_x)) * cos(radians(position_y))))
-
-        # Due to rounding errors, we have to round the radius as well
-        radius = round(radius, 6)
-        
-        logger.info(f"Radial distance is: {radius}")
-      
-        if not (radius <= self.limit):
-            logger.warning("Move denied: radial distance out of limit")
-            raise EnsembleException(f"Command is outside allowed radial distance \
-                {radius} <= {self.limit}")                
-
-        logger.info(f"Moving Y to {position_y} and X to {position_x}")
-
-        self.query(f"LINEAR X {position_x} Y {position_y} F {self.speed}\n")
-
-
-    def home_axis(self, axis):
-        if self.is_homed(axis):
-            logger.info("Gimbal has already been homed")
-            return
-
-        logger.info(f"Homing the {axis} axis...")
-
-        self.query(f"HOME {axis}\n")
-
-        logger.info(f"{axis} axis has been homed")
-
-
-    def home_axes(self):
-        if self.is_homed('Y') and self.is_homed('X'):
-            logger.info("Gimbal was already homed")
-            return
-
-        logger.info(f"Homing both axis")
-
-        self.query(f"HOME X Y\n")
-
-        logger.info(f"Homing complete")
-
-    def is_moving(self, axis):
-        return bool(self.get_status(axis) & 0x08)
-
-    def is_homed(self, axis):
-        return bool(self.get_status(axis) & 0x02)
-
-    def get_parameter(self, paramId: EnsembleParameter):
-        return int(self.query(self._commands['get_parameter'].get_cmd_string(index=paramId)))
-
-    def set_parameter(self, paramId: EnsembleParameter, value):
-        return self.query(self._commands['set_parameter'].get_cmd_string(index=paramId, value=value))
-
-    def print_status(self):
-        """ Pretty print the status word. """
-        status = self.get_status('X')
-        print('STATUS:')
-        print(f'\t{"Enabled":20s}: {bool(status & 0x00000001)}')
-        print(f'\t{"Homed":20s}: {bool(status & 0x00000002)}')
-        print(f'\t{"InPosition":20s}: {bool(status & 0x00000004)}')
-        print(f'\t{"MoveActive":20s}: {bool(status & 0x00000008)}')
-        print(f'\t{"AccelPhase":20s}: {bool(status & 0x00000010)}')
-        print(f'\t{"DecelPhase":20s}: {bool(status & 0x00000020)}')
-        print(f'\t{"PositionCapture":20s}: {bool(status & 0x00000040)}')
-        print(f'\t{"CurrentClamp":20s}: {bool(status & 0x00000080)}')
-        print(f'\t{"BrakeOutput":20s}: {bool(status & 0x00000100)}')
-        print(f'\t{"MotionIsCw":20s}: {bool(status & 0x00000200)}')
-        print(f'\t{"MasterSlaveControl":20s}: {bool(status & 0x0000400)}')
-        print(f'\t{"CalActive":20s}: {bool(status & 0x00000800)}')
-        print(f'\t{"CallEnabled":20s}: {bool(status & 0x00001000)}')
-        print(f'\t{"JoystickControl":20s}: {bool(status & 0x0002000)}')
-        print(f'\t{"Homing":20s}: {bool(status & 0x00004000)}')
-        print(f'\t{"MasterSupress":20s}: {bool(status & 0x00008000)}')
-        print(f'\t{"GantryActive":20s}: {bool(status & 0x00010000)}')
-        print(f'\t{"GantryMaster":20s}: {bool(status & 0x00020000)}')
-        print(f'\t{"AutoFocusActive":20s}: {bool(status & 0x00040000)}')
-        print(f'\t{"CommandFilterDone":20s}: {bool(status & 0x00080000)}')
-        print(f'\t{"InPosition2":20s}: {bool(status & 0x00100000)}')
-        print(f'\t{"ServoControl":20s}: {bool(status & 0x002000000)}')
-        print(f'\t{"CwEOTLimit":20s}: {bool(status & 0x004000000)}')
-        print(f'\t{"CcwEOTLimit":20s}: {bool(status & 0x008000000)}')
-        print(f'\t{"HomeLimit":20s}: {bool(status & 0x01000000)}')
-        print(f'\t{"MarkerInput":20s}: {bool(status & 0x02000000)}')
-        print(f'\t{"HallAInput":20s}: {bool(status & 0x04000000)}')
-        print(f'\t{"HallBInput":20s}: {bool(status & 0x08000000)}')
-        print(f'\t{"HallCInput":20s}: {bool(status & 0x10000000)}')
-        print(f'\t{"SineEncoderError":20s}: {bool(status & 0x20000000)}')
-        print(f'\t{"CosineEncoderError":20s}: {bool(status & 0x40000000)}')
-        print(f'\t{"ESTOPInput":20s}: {bool(status & 0x80000000)}')
-
-    def query(self, command: str):
-        """ Override the parent class to do some error checking on the response. """
-
-        # print(command)
-
-        response = super().query(command)
-
-        # print(response)
-
-        if response[-1] != '\n':
-            raise ConnectionError(f"Invalid termination character in response: {response}")
-        elif response[0] == '!':
-            raise ConnectionError(f"Command invalid error for command: {command}")
-        elif response[0] == '#':
-            raise ConnectionError(f"Command fault error for command: {command}")
-        elif response[0] != '%':
-            raise ConnectionError(f"Invalid starting character in response: {response}")
-        elif len(response[:-1]) > 1:
-            return response[1:-1]
-        else:
-            return None
-        
-if __name__ == "__main__":
-    ens = EnsembleController()
-    ens.get_idn()
-    
-    ens.move_axes_degrees(14, 13, True)

egse/stages/aerotech/ensemble_cs.py

@@ -1,110 +0,0 @@
-import click
-import logging
-import sys
-
-import zmq
-from prometheus_client import start_http_server
-
-from egse.control import ControlServer
-from egse.settings import Settings
-from egse.stages.aerotech.ensemble import EnsembleProtocol, EnsembleProxy
-
-logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
-
-logger = logging.getLogger(__name__)
-
-CTRL_SETTINGS = Settings.load("Aerotech Ensemble Control Server")
-
-
-class EnsembleControlServer(ControlServer):
-    """
-    EnsembleControlServer - Command and monitor the Ensemble motor controller.
-    This class works as a command and monitoring server to control the device remotely.
-    The sever binds to the following ZeroMQ sockets:
-    * a REP socket that can be used as a command server. Any client can connect and
-      send a command to the Lamp controller.
-    * a PUB socket that serves as a monitoring server. It will send out Lamp status
-      information to all the connected clients every DELAY seconds.
-    """
-
-    def __init__(self):
-        super().__init__()
-
-        self.device_protocol = EnsembleProtocol(self)
-
-        self.logger.debug(f"Binding ZeroMQ socket to {self.device_protocol.get_bind_address()}")
-
-        self.device_protocol.bind(self.dev_ctrl_cmd_sock)
-
-        self.poller.register(self.dev_ctrl_cmd_sock, zmq.POLLIN)
-
-        self.set_hk_delay(CTRL_SETTINGS.DELAY)
-
-    def get_communication_protocol(self):
-        return CTRL_SETTINGS.PROTOCOL
-
-    def get_commanding_port(self):
-        return CTRL_SETTINGS.COMMANDING_PORT
-
-    def get_service_port(self):
-        return CTRL_SETTINGS.SERVICE_PORT
-
-    def get_monitoring_port(self):
-        return CTRL_SETTINGS.MONITORING_PORT
-
-    def get_storage_mnemonic(self):
-        try:
-            return CTRL_SETTINGS.STORAGE_MNEMONIC
-        except AttributeError:
-            return "Ensemble"
-
-    def before_serve(self):
-        start_http_server(CTRL_SETTINGS.METRICS_PORT)
-
-
-@click.group()
-def cli():
-    pass
-
-
-@cli.command()
-@click.option("--simulator", "--sim", is_flag=True, help="Start the Simulator as the backend.")
-def start(simulator):
-    """Start the Control Server."""
-
-    if simulator:
-        Settings.set_simulation_mode(True)
-    try:
-        controller = EnsembleControlServer()
-        controller.serve()
-
-    except KeyboardInterrupt:
-        print("Shutdown requested...exiting")
-
-    except SystemExit as exit_code:
-        print("System Exit with code {}.".format(exit_code))
-        sys.exit(exit_code)
-
-    except Exception:
-
-        logger.exception("Cannot start the Ensemble Control Server")
-        # The above line does exactly the same as the traceback, but on the logger
-        # import traceback
-        # traceback.print_exc(file=sys.stdout)
-
-    return 0
-
-
-@cli.command()
-def stop():
-    """Send a 'quit_server' command to the Control Server."""
-
-    with EnsembleProxy() as proxy:
-
-        sp = proxy.get_service_proxy()
-        sp.quit_server()
-
-
-if __name__ == "__main__":
-
-    sys.exit(cli())

egse/stages/aerotech/ensemble_interface.py

@@ -1,132 +0,0 @@
-from egse.device import DeviceInterface
-from egse.decorators import dynamic_interface
-
-
-class EnsembleInterface(DeviceInterface):
-    @dynamic_interface
-    def get_idn(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def reset(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def abort(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def clear_errors(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_status(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_fault(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_plane_status(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def set_blocking(self, axis, enable):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_actual_position(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_command_position(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_error_position(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_command_velocity(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_actual_velocity(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_actual_current(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_command_current(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def enable_axis(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def enable_axes(self):
-        return NotImplemented
-    
-    @dynamic_interface
-    def disable_axis(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def disable_axes(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def set_absolute(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def set_incremental(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def set_wait_mode(self, mode):
-        return NotImplemented
-
-    @dynamic_interface
-    def move_axis_degrees(self, axis, position):
-        return NotImplemented
-
-    @dynamic_interface
-    def move_axes_degrees(self, position_x, position_y):
-        return NotImplemented
-
-    @dynamic_interface
-    def home_axes(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def home_axis(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def is_moving(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def is_homed(self, axis):
-        return NotImplemented
-
-    @dynamic_interface
-    def get_parameter(self, index):
-        return NotImplemented
-
-    @dynamic_interface
-    def set_parameter(self, index, value):
-        return NotImplemented
-
-    @dynamic_interface
-    def print_status(self):
-        return NotImplemented
-
-    @dynamic_interface
-    def query(self, command):
-        return NotImplemented