cgse 2024.7.0__py3-none-any.whl → 2025.0.2__py3-none-any.whl

egse/stages/__init__.py

@@ -1,12 +0,0 @@
-"""
-This package defines all classes and functions that work with
-stages, stepper motors, and multi-axes motion controllers.
-"""
-
-
-class StagesError(Exception):
-    """A Stages specific error."""
-    pass
-
-
-__all__ = ['StagesError']

egse/stages/aerotech/ensemble.py

@@ -1,245 +0,0 @@
-import logging
-
-from prometheus_client import Gauge
-
-from egse.command import ClientServerCommand
-from egse.control import ControlServer
-from egse.protocol import CommandProtocol
-from egse.proxy import Proxy
-from egse.settings import Settings
-from egse.stages.aerotech.ensemble_controller import EnsembleController
-from egse.stages.aerotech.ensemble_interface import EnsembleInterface
-from egse.stages.aerotech.ensemble_simulator import EnsembleSimulator
-from egse.system import format_datetime
-from egse.zmq_ser import bind_address
-from egse.zmq_ser import connect_address
-
-PLANESTATUS = {
-    0: "MotionActive",
-    1: "ProfilingActive",
-    2: "AccelPhase",
-    3: "DecelPhase",
-    4: "MotionAbort",
-    5: "HoldMode"
-}
-
-AXISFAULT = {
-    0:  "PositionError",
-    1:  "OverCurrent",
-    2:  "CwEOTLimit",
-    3:  "CcwEOTLimit",
-    4:  "CwSoftLimit",
-    5:  "CcwSoftLimit",
-    6:  "AmplifierFault",
-    7:  "PositionFbk",
-    8:  "VelocityFbk",
-    9:  "HallFault",
-    10: "MaxVelocity",
-    11: "EstopFault",
-    12: "VelocityError",
-    15: "ExternalFault",
-    17: "MotorTemp",
-    18: "AmplifierTemp",
-    19: "EncoderFault",
-    20: "CommLost",
-    23: "FbkScalingFault",
-    24: "MrkSearchFault",
-    27: "VoltageClamp",
-    28: "PowerSupply",
-    30: "Internal"
-}
-AXISSTATUS = {
-    0:  "Enabled",
-    1:  "Homed",
-    2:  "InPosition",
-    3:  "MoveActive",
-    4:  "AccelPhase",
-    5:  "DecelPhase",
-    6:  "PositionCapture",
-    7:  "CurrentClamp",
-    8:  "BreakOutput",
-    9:  "MotionIsCw",
-    10: "MsSlControl",
-    11: "CalActivate",
-    12: "CalEnabled",
-    13: "JoystickControl",
-    14: "Homing",
-    15: "MasterSuppress",
-    16: "GantryActive",
-    17: "GantryMaster",
-    18: "AutofocusActive",
-    19: "CommandFilterDone",
-    20: "InPosition2",
-    21: "ServoControl",
-    22: "CwEOTLimit",
-    23: "CcwEOTLimit",
-    24: "HomeLimit",
-    25: "MarketInput",
-    26: "HallAInput",
-    27: "HallBInput",
-    28: "HallCInput",
-    29: "SinEncErr",
-    30: "CSinEncErr",
-    21: "ESTOPInput"
-}
-
-LOGGER = logging.getLogger(__name__)
-
-DEVICE_SETTINGS = Settings.load(filename="ensemble.yaml")
-CTRL_SETTINGS = Settings.load("Aerotech Ensemble Control Server")
-
-
-class EnsembleCommand(ClientServerCommand):
-    pass
-
-
-class EnsembleProtocol(CommandProtocol):
-
-    def __init__(self, control_server: ControlServer):
-
-        super().__init__()
-        self.control_server = control_server
-
-        if Settings.simulation_mode():
-            self.dev = EnsembleSimulator()
-        else:
-            self.dev = EnsembleController()
-
-        self.gauge_actual_position_x     = Gauge('GSRON_ENSEMBLE_ACT_POS_X', '')
-        self.gauge_actual_position_y     = Gauge('GSRON_ENSEMBLE_ACT_POS_Y', '')
-        self.gauge_command_position_x    = Gauge('GSRON_ENSEMBLE_CMD_POS_X', '')
-        self.gauge_command_position_y    = Gauge('GSRON_ENSEMBLE_CMD_POS_Y', '')
-        self.gauge_error_position_x      = Gauge('GSRON_ENSEMBLE_ERR_POS_X', '')
-        self.gauge_error_position_y      = Gauge('GSRON_ENSEMBLE_ERR_POS_Y', '')
-        self.gauge_actual_current_x      = Gauge('GSRON_ENSEMBLE_ACT_CUR_X', '')
-        self.gauge_actual_current_y      = Gauge('GSRON_ENSEMBLE_ACT_CUR_Y', '')
-        self.gauge_command_current_x     = Gauge('GSRON_ENSEMBLE_CMD_CUR_X', '')
-        self.gauge_command_current_y     = Gauge('GSRON_ENSEMBLE_CMD_CUR_Y', '')
-
-        self.gauge_actual_velocity_x     = Gauge('GSRON_ENSEMBLE_ACT_VEL_X', '')
-        self.gauge_actual_velocity_y     = Gauge('GSRON_ENSEMBLE_ACT_VEL_Y', '')
-        self.gauge_command_velocity_x    = Gauge('GSRON_ENSEMBLE_CMD_VEL_X', '')
-        self.gauge_command_velocity_y    = Gauge('GSRON_ENSEMBLE_CMD_VEL_Y', '')
-
-        self.gauge_power_x               = Gauge('GSRON_ENSEMBLE_POWER_X', '')
-        self.gauge_power_y               = Gauge('GSRON_ENSEMBLE_POWER_Y', '')
-        self.gauge_status_x              = [
-            Gauge(f'GSRON_ENSEMBLE_STATUS_X_{status}', '') for status in AXISSTATUS.values()]
-        self.gauge_status_y              = [
-            Gauge(f'GSRON_ENSEMBLE_STATUS_Y_{status}', '') for status in AXISSTATUS.values()]
-        self.gauge_fault_x               = [
-            Gauge(f'GSRON_ENSEMBLE_FAULT_X_{fault}', '') for fault in AXISFAULT.values()]
-        self.gauge_fault_y               = [
-            Gauge(f'GSRON_ENSEMBLE_FAULT_Y_{fault}', '') for fault in AXISFAULT.values()]
-        self.gauge_status_plane          = [
-            Gauge(f'GSRON_ENSEMBLE_STATUS_PLANE_{status}', '') for status in PLANESTATUS.values()]
-        
-        self.load_commands(DEVICE_SETTINGS.Commands, EnsembleCommand, EnsembleInterface)
-        self.build_device_method_lookup_table(self.dev)
-
-
-    # move to parent class?
-    def get_bind_address(self):
-
-        return bind_address(
-            self.control_server.get_communication_protocol(),
-            self.control_server.get_commanding_port(),
-        )
-
-
-    def get_status(self):
-
-        status_dict = super().get_status()
-
-        status_dict["alpha"] = self.dev.get_actual_position(axis="X")   # [degrees]
-        status_dict["beta"] = self.dev.get_actual_position(axis="Y")    # [degrees]
-
-        return status_dict
-
-
-    def get_housekeeping(self) -> dict:
-
-        result = dict()
-
-        result["timestamp"] = format_datetime()
-        try:
-            result["GSRON_ENSEMBLE_STATUS_PLANE"]   = self.dev.get_plane_status()
-            result["GSRON_ENSEMBLE_STATUS_X"]       = self.dev.get_status(axis='X')
-            result["GSRON_ENSEMBLE_STATUS_Y"]       = self.dev.get_status(axis='Y')
-            result["GSRON_ENSEMBLE_FAULT_X"]        = self.dev.get_fault(axis='X')
-            result["GSRON_ENSEMBLE_FAULT_Y"]        = self.dev.get_fault(axis='Y')
-            result["GSRON_ENSEMBLE_ACT_POS_X"]      = self.dev.get_actual_position(axis='X')
-            result["GSRON_ENSEMBLE_ACT_POS_Y"]      = self.dev.get_actual_position(axis='Y')
-            result["GSRON_ENSEMBLE_CMD_POS_X"]      = self.dev.get_command_position(axis='X')
-            result["GSRON_ENSEMBLE_CMD_POS_Y"]      = self.dev.get_command_position(axis='Y')
-            result["GSRON_ENSEMBLE_ERR_POS_X"]      = self.dev.get_error_position(axis='X')
-            result["GSRON_ENSEMBLE_ERR_POS_Y"]      = self.dev.get_error_position(axis='Y')
-            result["GSRON_ENSEMBLE_ACT_CUR_X"]      = self.dev.get_actual_current(axis='X')
-            result["GSRON_ENSEMBLE_ACT_CUR_Y"]      = self.dev.get_actual_current(axis='Y')
-            result["GSRON_ENSEMBLE_CMD_CUR_X"]      = self.dev.get_command_current(axis='X')
-            result["GSRON_ENSEMBLE_CMD_CUR_Y"]      = self.dev.get_command_current(axis='Y')
-            result["GSRON_ENSEMBLE_CMD_VEL_X"]      = self.dev.get_command_velocity(axis='X')
-            result["GSRON_ENSEMBLE_CMD_VEL_Y"]      = self.dev.get_command_velocity(axis='Y')
-            result["GSRON_ENSEMBLE_ACT_VEL_X"]      = self.dev.get_actual_velocity(axis='X')
-            result["GSRON_ENSEMBLE_ACT_VEL_Y"]      = self.dev.get_actual_velocity(axis='Y')
-
-            # calculate the power dissipated
-            result["GSRON_ENSEMBLE_POWER_X"]        = float(result["GSRON_ENSEMBLE_ACT_CUR_X"]) * 60.0 * (3/2)
-            result["GSRON_ENSEMBLE_POWER_Y"]        = float(result["GSRON_ENSEMBLE_ACT_CUR_Y"]) * 60.0 * (3/2)
-
-            # LOGGER.debug(f"PACT: {result['GSRON_ENSEMBLE_ACT_POS_Y']}, \
-            #                PCMD: {result['GSRON_ENSEMBLE_CMD_POS_Y']}, \
-            #                IACT: {result['GSRON_ENSEMBLE_ACT_CUR_Y']}, \
-            #                ICMD: {result['GSRON_ENSEMBLE_CMD_CUR_Y']}")
-
-        except Exception as exc:
-            LOGGER.error(f"Exception getting HK: {exc}")
-
-        self.gauge_actual_position_x.set(result["GSRON_ENSEMBLE_ACT_POS_X"])
-        self.gauge_actual_position_y.set(result["GSRON_ENSEMBLE_ACT_POS_Y"])
-        self.gauge_command_position_x.set(result["GSRON_ENSEMBLE_CMD_POS_X"])
-        self.gauge_command_position_y.set(result["GSRON_ENSEMBLE_CMD_POS_Y"])
-        self.gauge_actual_current_x.set(result['GSRON_ENSEMBLE_ACT_CUR_X'])
-        self.gauge_actual_current_y.set(result['GSRON_ENSEMBLE_ACT_CUR_Y'])
-        self.gauge_command_current_x.set(result["GSRON_ENSEMBLE_CMD_CUR_X"])
-        self.gauge_command_current_y.set(result["GSRON_ENSEMBLE_CMD_CUR_Y"])
-        self.gauge_actual_velocity_x.set(result["GSRON_ENSEMBLE_ACT_VEL_X"])
-        self.gauge_actual_velocity_y.set(result["GSRON_ENSEMBLE_ACT_VEL_Y"])
-        self.gauge_command_velocity_x.set(result["GSRON_ENSEMBLE_CMD_VEL_X"])
-        self.gauge_command_velocity_y.set(result["GSRON_ENSEMBLE_CMD_VEL_Y"])
-
-        self.gauge_power_x.set(result["GSRON_ENSEMBLE_POWER_X"])
-        self.gauge_power_y.set(result["GSRON_ENSEMBLE_POWER_Y"])
-
-        for idx, _ in enumerate(AXISSTATUS):
-            self.gauge_status_x[idx].set((result["GSRON_ENSEMBLE_STATUS_X"] >> idx) & 0b1)
-            self.gauge_status_y[idx].set((result["GSRON_ENSEMBLE_STATUS_Y"] >> idx) & 0b1)
-
-        for idx, _ in enumerate(AXISFAULT):
-            self.gauge_fault_x[idx].set((result["GSRON_ENSEMBLE_FAULT_X"] >> idx) & 0b1)
-            self.gauge_fault_y[idx].set((result["GSRON_ENSEMBLE_FAULT_Y"] >> idx) & 0b1)
-        
-        for idx, _ in enumerate(PLANESTATUS):
-            self.gauge_status_plane[idx].set((result['GSRON_ENSEMBLE_STATUS_PLANE'] >> idx) & 0b1)
-        
-        # Check X axis EoT limits
-        if result['GSRON_ENSEMBLE_FAULT_X'] & 0x04:
-            LOGGER.warning("X axis clockwise End-of-Travel limit has been reached")
-        if result['GSRON_ENSEMBLE_FAULT_X'] & 0x08:
-            LOGGER.warning("X axis counterclockwise End-of-Travel limit has been reached")
-        
-        # Check Y axis EoT limits 
-        if result['GSRON_ENSEMBLE_FAULT_Y'] & 0x04:
-            LOGGER.warning("Y axis clockwise End-of-Travel limit has been reached")
-        if result['GSRON_ENSEMBLE_FAULT_Y'] & 0x08:
-            LOGGER.warning("Y axis counterclockwise End-of-Travel limit has been reached")
-
-        return result
-
-
-class EnsembleProxy(Proxy, EnsembleInterface):
-
-    def __init__(self):
-        super().__init__(
-            connect_address(
-                CTRL_SETTINGS.PROTOCOL, CTRL_SETTINGS.HOSTNAME, CTRL_SETTINGS.COMMANDING_PORT), timeout=500000)

egse/stages/aerotech/ensemble.yaml

@@ -1,205 +0,0 @@
-BaseClass:
-    egse.stages.aerotech.ensemble_interface.EnsembleInterface
-
-ProxyClass:
-    egse.stages.aerotech.ensemble.EnsembleProxy
-
-ControlServer:
-    egse.stages.aerotech.ensemble_cs
-
-Commands:
-
-    disconnect:
-        description:        Disconnect from the device.
-
-    connect:
-        description:        Connect to the device.
-
-    reconnect:
-        description:        Reconnect to the device.
-                            This command will force a disconnect and then try to re-connect to the controller.
-    is_connected:
-        description:        Check if the Thorlabs Hardware Controller is connected.
-
-    is_simulator:
-        description:        Ask if the control server is a simulator instead of the real controller class.
-        returns:            bool | True if the far end is a simulator instead of the real hardware
-
-    get_idn:
-        description:        Get device firmware version.
-        cmd:                "VERSION\n"
-        returns:            str | version number
-
-    reset:
-        description:        Reset the controller.
-        cmd:                "RESET\n"
-
-    abort:
-        description:        Abort all motion.
-        args:
-            axis:           str | axis identifier (multiple axes allowed)
-        cmd:                "ABORT {axis}\n"
-
-    clear_errors:
-        description:        Clear all faults on all axes.
-        cmd:                "ACKNOWLEDGEALL\n"
-
-    get_status:
-        description:        Get the status of an axis.
-        args:
-            axis:           str | axis identifier
-        cmd:                "AXISSTATUS({axis})\n"
-        returns:            int | axis status
-
-    get_plane_status:
-        description:        Get the status of the plane
-        cmd:                "PLANESTATUS(0)\n"
-
-    get_fault:
-        description:        Get the fault codes of an axis.
-        args:
-            axis:           str | axis identifier
-        cmd:                "AXISFAULT({axis})\n"
-        returns:            int | fault codes
-
-    set_blocking:
-        description:        Blocking prevents motion on an axis.
-        args:
-            axis:           str | axis identifier
-            enable:         bool | True = block
-        cmd:                "BLOCKMOTION {axis} {enable}\n"
-
-    get_actual_position:
-        description:        Get the actual position read from the encoders.
-        args:
-            axis:           str | axis identifier
-        cmd:                "PFBK({axis})\n"
-        returns:            float | actual position in degrees
-
-    get_error_position:
-        description:        Get the position error calculated by the .
-        args:
-            axis:           str | axis identifier
-        cmd:                "PERR({axis})\n"
-        returns:            float | actual position in degrees
-
-    get_command_position:
-        description:        Get the TARGET position of an axis.
-        args:
-            axis:           str | axis identifier
-        cmd:                "PLANEPOS({axis})\n"
-        returns:            float | target position in degrees
-
-    get_actual_velocity:
-        description:        Get the actual velocity read from the encoders.
-        args:
-            axis:           str | axis identifier
-        cmd:                "VFBK({axis})\n"
-        returns:            float | actual position in degrees
-
-    get_command_velocity:
-        description:        Get the TARGET velocity of an axis.
-        args:
-            axis:           str | axis identifier
-        cmd:                "VCMD({axis})\n"
-        returns:            float | target position in degrees
-
-
-    get_actual_current:
-        description:        Get the actual current read from the controller
-        args:
-            axis:           str | axis identifier
-        cmd:                "IFBK({axis})\n"
-        returns:            float | actual current
-
-    get_command_current:
-        description:        Get the TARGET current of an axis
-        args:
-            axis:           str | axis identifier
-        cmd:                "ICMD({axis})\n"
-        returns:            float | target current
-
-    enable_axis:
-        description:        Enable an axis.
-        args:
-            axis:           str | axis identifier (multiple axes allowed)
-        cmd:                "ENABLE {axis}\n"
-
-    enable_axes:
-        description:        Enable both axes.
-        cmd:                ""
-
-    disable_axes:
-        description:        Disable both axes.
-        cmd:                ""
-
-    set_wait_mode:
-        description:        Set the wait mode
-        cmd:                "{mode}"
-
-    disable_axis:
-        description:        Disable an axis.
-        args:
-            axis:           str | axis identifier (multiple axes allowed)
-        cmd:                "DISABLE {axis}\n"
-
-    set_absolute:
-        description:        Set the controller to absolute positioning.
-        cmd:                "ABS\n"
-
-    set_incremental:
-        description:        Set the controller to relative positioning.
-        cmd:                "INC\n"
-
-    home_axis:
-        description:        Home one axis
-        args:
-            axis:           str | axis identifier
-        cmd:                "HOME {axis}\n"
-
-    home_axes:
-        description:        home both axes
-        cmd:                ""
-
-    move_axis_degrees:
-        description:        Move one axis using either the encoder position or user defined units.
-        args:
-            axis:           str | axis identifier ['X', 'Y']
-            position:       float | target position in encoder degrees
-        cmd:                "{axis}{position}"
-
-    move_axes_degrees:
-        description:        Move one axis using either the encoder position or user defined units.
-        args:
-            position_x:     float | target position in encoder degrees for the X axis
-            position_y:     float | target position in encoder degrees for the Y axis
-        cmd:                "{position_x}{position_y}"
-
-    is_moving:
-        description:        Check if the device is in motion
-        returns:            bool | True if in motion
-
-    is_homed:
-        description:        Checks if the device is homed
-        returns:            bool | True if homed
-
-    get_parameter:
-        description:        Get the value of a parameter.
-        args:
-          index:            int | parameter index
-        cmd:                "GETPARM({index})\n"
-        returns:            int | paramter value
-
-    set_parameter:
-        description:        Set a parameter value for all axes.
-        args:
-            index:          int | parameter index
-            value:          int | parameter value
-        cmd:                "SETPARM({index}, {value})\n"
-
-    query:
-        description:        Send a command to the Ensemble controler
-        args:
-            command:        str | ASCII command
-        cmd:                "{command}"
-        returns:            str | ASCII response