pymodaq 3.6.12__py3-none-any.whl → 4.0.1__py3-none-any.whl

pymodaq/control_modules/daq_move.py

@@ -1,7 +1,970 @@
 # -*- coding: utf-8 -*-
 """
-Created the 21/10/2022
+Created the 29/07/2022
 
 @author: Sebastien Weber
 """
-from pymodaq.daq_move.daq_move_main import DAQ_Move
+import sys
+
+from qtpy.QtCore import QObject, Signal, QThread, Slot, Qt, QTimer
+from qtpy import QtWidgets
+
+from easydict import EasyDict as edict
+
+from pymodaq.utils.logger import set_logger, get_module_name, get_module_name
+from pymodaq.control_modules.utils import ControlModule
+from pymodaq.utils.parameter import ioxml
+from pymodaq.control_modules.daq_move_ui import DAQ_Move_UI, ThreadCommand
+from pymodaq.utils.managers.parameter_manager import ParameterManager, Parameter
+from pymodaq.control_modules.move_utility_classes import MoveCommand
+from pymodaq.utils.tcp_server_client import TCPClient
+from pymodaq.control_modules.move_utility_classes import params as daq_move_params
+from pymodaq.utils import daq_utils as utils
+from pymodaq.utils.parameter import utils as putils
+from pymodaq.utils.gui_utils import get_splash_sc
+from pymodaq.utils import config
+from pymodaq.utils.exceptions import ActuatorError
+from pymodaq.utils.messenger import deprecation_msg
+from pymodaq.utils.h5modules import module_saving
+
+
+local_path = config.get_set_local_dir()
+sys.path.append(local_path)
+logger = set_logger(get_module_name(__file__))
+DAQ_Move_Actuators = utils.get_plugins('daq_move')
+ACTUATOR_TYPES = [mov['name'] for mov in DAQ_Move_Actuators]
+
+STATUS_WAIT_TIME = 1000
+
+
+class DAQ_Move(ParameterManager, ControlModule):
+    """ Main PyMoDAQ class to drive actuators
+
+    Qt object and generic UI to drive actuators.
+
+    Attributes
+    ----------
+    init_signal: Signal[bool]
+        This signal is emitted when the chosen actuator is correctly initialized
+    move_done_signal: Signal[str, float]
+        This signal is emitted when the chosen actuator finished its action. It gives the actuator's name and current
+        value
+    bounds_signal: Signal[bool]
+        This signal is emitted when the actuator reached defined limited boundaries.
+
+    See Also
+    --------
+    :class:`ControlModule`, :class:`ParameterManager`
+    """
+    settings_name = 'daq_move_settings'
+
+    move_done_signal = Signal(str, float)
+    _current_value_signal = Signal(str, float)
+    # to be used in external program to make sure the move has been done,
+    # export the current position. str refer to the unique title given to the module
+    _update_settings_signal = Signal(edict)
+    bounds_signal = Signal(bool)
+
+    
+    params = daq_move_params
+
+    def __init__(self, parent=None, title="DAQ Move"):
+        """
+
+        Parameters
+        ----------
+        parent: QWidget or None
+        parent: QWidget or None
+            if it is a valid QWidget, it will hold the user interface to drive it
+        title: str
+            The unique (should be unique) string identifier for the underlying actuator
+        """
+
+        self.logger = set_logger(f'{logger.name}.{title}')
+        self.logger.info(f'Initializing DAQ_Move: {title}')
+
+        QObject.__init__(self)
+        ParameterManager.__init__(self)
+        ControlModule.__init__(self)
+
+        self.parent = parent
+        if parent is not None:
+            self.ui = DAQ_Move_UI(parent, title)
+        else:
+            self.ui = None
+
+        if self.ui is not None:
+            self.ui.actuators = ACTUATOR_TYPES
+            self.ui.set_settings_tree(self.settings_tree)
+            self.ui.command_sig.connect(self.process_ui_cmds)
+
+        self.splash_sc = get_splash_sc()
+        self._title = title
+        if len(ACTUATOR_TYPES) > 0:  # will be 0 if no valid plugins are installed
+            self.actuator = ACTUATOR_TYPES[0]
+
+        self.module_and_data_saver = module_saving.ActuatorSaver(self)
+
+        self._move_done_bool = True
+
+        self._current_value = 0.
+        self._target_value = 0.
+        self._relative_value = 0.
+
+        self._refresh_timer = QTimer()
+        self._refresh_timer.timeout.connect(self.get_actuator_value)
+
+    def process_ui_cmds(self, cmd: utils.ThreadCommand):
+        """Process commands sent by actions done in the ui
+
+        Parameters
+        ----------
+        cmd: ThreadCommand
+            Possible values are :
+            * init
+            * quit
+            * get_value
+            * loop_get_value
+            * find_home
+            * stop
+            * move_abs
+            * move_rel
+            * show_log
+            * actuator_changed
+            * rel_value
+        """
+        if cmd.command == 'init':
+            self.init_hardware(cmd.attribute[0])
+        elif cmd.command == 'quit':
+            self.quit_fun()
+        elif cmd.command == 'get_value':
+            self.get_actuator_value()
+        elif cmd.command == 'loop_get_value':
+            self.get_continuous_actuator_value(cmd.attribute)
+        elif cmd.command == 'find_home':
+            self.move_home()
+        elif cmd.command == 'stop':
+            self.stop_motion()
+        elif cmd.command == 'move_abs':
+            self.move_abs(cmd.attribute)
+        elif cmd.command == 'move_rel':
+            self.move_rel(cmd.attribute)
+        elif cmd.command == 'show_log':
+            self.show_log()
+        elif cmd.command == 'actuator_changed':
+            self.actuator = cmd.attribute
+        elif cmd.command == 'rel_value':
+            self._relative_value = cmd.attribute
+
+
+    def stop_motion(self):
+        """Stop any motion
+        """
+        try:
+            self.command_hardware.emit(ThreadCommand(command="stop_motion"))
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def move(self, move_command: MoveCommand):
+        """Generic method to trigger the correct action on the actuator
+
+        Parameters
+        ----------
+        move_command: MoveCommand
+            MoveCommand with move_type attribute either:
+            * 'abs': performs an absolute action
+            * 'rel': performs a relative action
+            * 'home': find the actuator's home
+
+        See Also
+        --------
+        :meth:`move_abs`, :meth:`move_rel`, :meth:`move_home`, :class:`..utility_classes.MoveCommand`
+
+        """
+        if move_command.move_type == 'abs':
+            self.move_abs(move_command.value)
+        elif move_command.move_type == 'rel':
+            self.move_rel(move_command.value)
+        elif move_command.move_type == 'home':
+            self.move_home(move_command.value)
+
+    def move_Abs(self, value, send_to_tcpip=False):
+        deprecation_msg(f'The method *move_Abs* should not be used anymore, use *move_abs*')
+        self.move_abs(value, send_to_tcpip=send_to_tcpip)
+
+    def move_abs(self, value, send_to_tcpip=False):
+        """Move the connected hardware to the absolute value
+
+        Returns nothing but the move_done_signal will be send once the action is done
+
+        Parameters
+        ----------
+        value: float
+            The value the actuator should reach
+        send_to_tcpip: bool
+            if True, this position is send through the TCP/IP communication canal
+        """
+        try:
+            self._send_to_tcpip = send_to_tcpip
+            if not value == self._current_value:
+                if self.ui is not None:
+                    self.ui.move_done = False
+                self._move_done_bool = False
+                self._target_value = value
+                self.update_status("Moving")
+                self.command_hardware.emit(ThreadCommand(command="reset_stop_motion"))
+                self.command_hardware.emit(ThreadCommand(command="move_abs", attribute=[value]))
+
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def move_Home(self, send_to_tcpip=False):
+        self.move_home(send_to_tcpip)
+        deprecation_msg(f'The method *move_Home* is deprecated, use *move_home*')
+
+    def move_home(self, send_to_tcpip=False):
+        """Move the connected actuator to its home value (if any)
+
+        Parameters
+        ----------
+        send_to_tcpip: bool
+            if True, this position is send through the TCP/IP communication canal
+        """
+        self._send_to_tcpip = send_to_tcpip
+        try:
+            if self.ui is not None:
+                self.ui.move_done = False
+            self._move_done_bool = False
+            self.update_status("Moving")
+            self.command_hardware.emit(ThreadCommand(command="reset_stop_motion"))
+            self.command_hardware.emit(ThreadCommand(command="move_Home"))
+
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def move_Rel(self, rel_value, send_to_tcpip=False):
+        deprecation_msg(f'The method *move_Rel* should not be used anymore, use *move_rel*')
+        self.move_rel(rel_value, send_to_tcpip=send_to_tcpip)
+
+    def move_rel(self, rel_value, send_to_tcpip=False):
+        """Move the connected hardware to the relative value
+
+        Returns nothing but the move_done_signal will be send once the action is done
+
+        Parameters
+        ----------
+        value: float
+            The relative value the actuator should reach
+        send_to_tcpip: bool
+            if True, this position is send through the TCP/IP communication canal
+        """
+
+        try:
+            self._send_to_tcpip = send_to_tcpip
+            if self.ui is not None:
+                self.ui.move_done = False
+            self._move_done_bool = False
+            self._target_value = self._current_value + rel_value
+            self.update_status("Moving")
+            self.command_hardware.emit(ThreadCommand(command="reset_stop_motion"))
+            self.command_hardware.emit(ThreadCommand(command="move_rel", attribute=[rel_value]))
+
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def move_Rel_p(self):
+        deprecation_msg(f'The method *move_Rel_p* should not be used anymore, use *move_rel_p*')
+        self.move_rel_p()
+
+    def move_Rel_m(self):
+        deprecation_msg(f'The method *move_Rel_m* should not be used anymore, use *move_rel_m*')
+        self.move_rel_m()
+
+    def move_rel_p(self):
+        self.move_rel(self._relative_value)
+
+    def move_rel_m(self):
+        self.move_rel(-self._relative_value)
+
+    def quit_fun(self):
+        """Programmatic quitting of the current instance of DAQ_Move
+
+        Des-init the actuator then close the UI parent widget
+        """
+        # insert anything that needs to be closed before leaving
+
+        if self._initialized_state:
+            self.init_hardware(False)
+        if self.ui is not None:
+            self.ui.get_action('quit').trigger()
+        self.quit_signal.emit()
+
+    def ini_stage_fun(self):
+        deprecation_msg(f'The function *ini_stage_fun* is deprecated, use init_hardware')
+        self.init_hardware(True)
+
+    def init_hardware_ui(self, do_init=True):
+        """Programmatic actuator's Initialization
+
+        Programmatic way to simulate a click on the init button of the UI to initialize the communication with the
+        hardware
+
+        Parameters
+        ----------
+        do_init: bool
+            if the init or des-init should be performed
+        """
+        self.ui.do_init(do_init)
+
+    def init_hardware(self, do_init=True):
+
+        if not do_init:
+            try:
+                self.command_hardware.emit(ThreadCommand(command="close"))
+                if self.ui is not None:
+                    self.ui.actuator_init = False
+            except Exception as e:
+                self.logger.exception(str(e))
+        else:
+            try:
+                hardware = DAQ_Move_Hardware(self._actuator_type, self._current_value, self._title)
+                self._hardware_thread = QThread()
+                hardware.moveToThread(self._hardware_thread)
+
+                self.command_hardware[ThreadCommand].connect(hardware.queue_command)
+                hardware.status_sig[ThreadCommand].connect(self.thread_status)
+                self._update_settings_signal[edict].connect(hardware.update_settings)
+
+                self._hardware_thread.hardware = hardware
+                self._hardware_thread.start()
+                self.command_hardware.emit(
+                    ThreadCommand(command="ini_stage", attribute=[self.settings.child(('move_settings')).saveState(),
+                                                                  self.controller]))
+            except Exception as e:
+                self.logger.exception(str(e))
+
+    @property
+    def initialized_state(self):
+        """bool: status of the actuator's initialization (init or not)"""
+        return self._initialized_state
+
+    @property
+    def move_done_bool(self):
+        """bool: status of the actuator's action (done or not)"""
+        return self._move_done_bool
+
+    def value_changed(self, param):
+        if param.name() == 'connect_server':
+            if param.value():
+                self.connect_tcp_ip()
+            else:
+                self._command_tcpip.emit(ThreadCommand('quit', ))
+
+        elif param.name() == 'ip_address' or param.name == 'port':
+            self._command_tcpip.emit(
+                ThreadCommand('update_connection', dict(ipaddress=self.settings.child('main_settings', 'tcpip',
+                                                                                      'ip_address').value(),
+                                                        port=self.settings.child('main_settings', 'tcpip',
+                                                                                 'port').value())))
+        elif param.name() == 'refresh_timeout':
+            self._refresh_timer.setInterval(param.value())
+
+        path = self.settings.childPath(param)
+        if path is not None:
+            if 'main_settings' not in path:
+                self._update_settings_signal.emit(edict(path=path, param=param, change='value'))
+                if self.settings.child('main_settings', 'tcpip', 'tcp_connected').value():
+                    self._command_tcpip.emit(ThreadCommand('send_info', dict(path=path, param=param)))
+
+    def param_deleted(self, param):
+        if param.name() not in putils.iter_children(self.settings.child('main_settings'), []):
+            self._update_settings_signal.emit(edict(path=['move_settings'], param=param, change='parent'))
+
+    def child_added(self, param, data):
+        path = self.settings.childPath(param)
+        if 'main_settings' not in path:
+            self._update_settings_signal.emit(edict(path=path, param=data[0].saveState(), change='childAdded'))
+
+    @Slot()
+    def raise_timeout(self):
+        """Update status with "Timeout occurred" statement and change the timeout flag.
+        """
+        self.update_status("Timeout occurred")
+        self.wait_position_flag = False
+
+    @Slot(ThreadCommand)
+    def thread_status(self, status):  # general function to get datas/infos from all threads back to the main
+        """
+            | General function to get datas/infos from all threads back to the main0
+            |
+
+            Interpret a command from the command given by the ThreadCommand status :
+                * In case of **'Update_status'** command, call the update_status method with status attribute as parameters
+                * In case of **'ini_stage'** command, initialise a Stage from status attribute
+                * In case of **'close'** command, close the launched stage thread
+                * In case of **'check_position'** command, set the current_value value from status attribute
+                * In case of **'move_done'** command, set the current_value value, make profile of move_done and send the move done signal with status attribute
+                * In case of **'Move_Not_Done'** command, set the current position value from the status attribute, make profile of Not_move_done and send the Thread Command "move_abs"
+                * In case of **'update_settings'** command, create child "Move Settings" from  status attribute (if possible)
+
+            ================ ================= ======================================================
+            **Parameters**     **Type**         **Description**
+
+            *status*          ThreadCommand()   instance of ThreadCommand containing two attribute :
+
+                                                 * *command*    str
+                                                 * *attribute* list
+
+            ================ ================= ======================================================
+
+            See Also
+            --------
+            update_status, set_enabled_move_buttons, get_actuator_value, DAQ_utils.ThreadCommand, parameter_tree_changed, raise_timeout
+        """
+
+        if status.command == "Update_Status":
+            if len(status.attribute) > 2:
+                self.update_status(status.attribute[0], log=status.attribute[1])
+            else:
+                self.update_status(status.attribute[0])
+
+        elif status.command == "ini_stage":
+            # status.attribute[0]=edict(initialized=bool,info="", controller=)
+            self.update_status("Stage initialized: {:} info: {:}".format(status.attribute[0]['initialized'],
+                                                                         status.attribute[0]['info']))
+            if status.attribute[0]['initialized']:
+                self.controller = status.attribute[0]['controller']
+                if self.ui is not None:
+                    self.ui.actuator_init = True
+                self._initialized_state = True
+            else:
+                self._initialized_state = False
+            if self._initialized_state:
+                self.get_actuator_value()
+            self.init_signal.emit(self._initialized_state)
+
+        elif status.command == "close":
+            try:
+                self.update_status(status.attribute[0])
+                self._hardware_thread.exit()
+                self._hardware_thread.wait()
+                finished = self._hardware_thread.isFinished()
+                if finished:
+                    pass
+                    delattr(self, 'hardware_thread')
+                else:
+                    self.update_status('thread is locked?!', STATUS_WAIT_TIME, 'log')
+            except Exception as e:
+                self.logger.exception(str(e))
+            self._initialized_state = False
+            self.init_signal.emit(self._initialized_state)
+
+        elif status.command == "get_actuator_value" or status.command == 'check_position':
+            if self.ui is not None:
+                self.ui.display_value(status.attribute[0])
+            self._current_value = status.attribute[0]
+            self._current_value_signal.emit(self.title, self._current_value)
+            if self.settings.child('main_settings', 'tcpip', 'tcp_connected').value() and self._send_to_tcpip:
+                self._command_tcpip.emit(ThreadCommand('position_is', status.attribute))
+
+        elif status.command == "move_done":
+            if self.ui is not None:
+                self.ui.display_value(status.attribute[0])
+                self.ui.move_done = True
+            self._current_value = status.attribute[0]
+            self._move_done_bool = True
+            self.move_done_signal.emit(self._title, status.attribute[0])
+            if self.settings.child('main_settings', 'tcpip', 'tcp_connected').value() and self._send_to_tcpip:
+                self._command_tcpip.emit(ThreadCommand('move_done', status.attribute))
+
+        elif status.command == "Move_Not_Done":
+            if self.ui is not None:
+                self.ui.display_value(status.attribute[0])
+                self.ui.move_done = False
+
+            self._current_value = status.attribute[0]
+            self._move_done_bool = False
+            self.command_hardware.emit(ThreadCommand(command="move_abs", attribute=[self._target_value]))
+
+        elif status.command == 'update_main_settings':
+            # this is a way for the plugins to update main settings of the ui (solely values, limits and options)
+            try:
+                if status.attribute[2] == 'value':
+                    self.settings.child('main_settings', *status.attribute[0]).setValue(status.attribute[1])
+                elif status.attribute[2] == 'limits':
+                    self.settings.child('main_settings', *status.attribute[0]).setLimits(status.attribute[1])
+                elif status.attribute[2] == 'options':
+                    self.settings.child('main_settings', *status.attribute[0]).setOpts(**status.attribute[1])
+            except Exception as e:
+                self.logger.exception(str(e))
+
+        elif status.command == 'update_settings':
+            # ThreadCommand(command='update_settings',attribute=[path,data,change]))
+            try:
+                self.settings.sigTreeStateChanged.disconnect(
+                    self.parameter_tree_changed)  # any changes on the settings will update accordingly the detector
+            except Exception:
+                pass
+            try:
+                if status.attribute[2] == 'value':
+                    self.settings.child('move_settings', *status.attribute[0]).setValue(status.attribute[1])
+                elif status.attribute[2] == 'limits':
+                    self.settings.child('move_settings', *status.attribute[0]).setLimits(status.attribute[1])
+                elif status.attribute[2] == 'options':
+                    self.settings.child('move_settings', *status.attribute[0]).setOpts(**status.attribute[1])
+                elif status.attribute[2] == 'childAdded':
+                    child = Parameter.create(name='tmp')
+                    child.restoreState(status.attribute[1][0])
+                    self.settings.child('move_settings', *status.attribute[0]).addChild(status.attribute[1][0])
+
+            except Exception as e:
+                self.logger.exception(str(e))
+            self.settings.sigTreeStateChanged.connect(
+                self.parameter_tree_changed)  # any changes on the settings will update accordingly the detector
+
+        elif status.command == 'raise_timeout':
+            self.raise_timeout()
+
+        elif status.command == 'outofbounds':
+            self.bounds_signal.emit(True)
+
+        elif status.command == 'show_splash':
+            self.settings_tree.setEnabled(False)
+            self.splash_sc.show()
+            self.splash_sc.raise_()
+            self.splash_sc.showMessage(status.attribute[0], color=Qt.white)
+
+        elif status.command == 'close_splash':
+            self.splash_sc.close()
+            self.settings_tree.setEnabled(True)
+
+        elif status.command == 'set_allowed_values':
+            if self.ui is not None:
+                self.ui.set_spinbox_properties(**status.attribute)
+
+    def get_position(self):
+        deprecation_msg(f'This method is deprecated , please use `get_actuator_value`')
+        self.get_actuator_value()
+
+    def get_actuator_value(self):
+        """Get the current actuator value via the "get_actuator_value" command send to the hardware
+
+        Returns nothing but the  `move_done_signal` will be send once the action is done
+        """
+        try:
+            self.command_hardware.emit(ThreadCommand(command="get_actuator_value"))
+
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def grab(self):
+        if self.ui is not None:
+            self.manage_ui_actions('refresh_value', 'setChecked', 'False')
+        self.get_continuous_actuator_value(False)
+
+    def stop_grab(self):
+        """Stop value polling. Mandatory
+
+        First uncheck the ui action if ui is not None, then stop the polling
+        """
+        if self.ui is not None:
+            self.manage_ui_actions('refresh_value', 'setChecked', 'False')
+        self.get_continuous_actuator_value(False)
+
+    def get_continuous_actuator_value(self, get_value=True):
+        """Start the continuous getting of the actuator's value
+
+        Parameters
+        ----------
+        get_value: bool
+            if True start the timer to periodically fetch the actuator's value, else stop it
+
+        Notes
+        -----
+        The current timer period is set by the refresh value *'refresh_timeout'* in the actuator main settings.
+        """
+        if get_value:
+            self._refresh_timer.setInterval(self.settings['main_settings', 'refresh_timeout'])
+            self._refresh_timer.start()
+        else:
+            self._refresh_timer.stop()
+
+    @property
+    def actuator(self):
+        """str: the selected actuator's type
+
+        Returns
+        -------
+
+        """
+        return self._actuator_type
+
+    @actuator.setter
+    def actuator(self, act_type):
+        if act_type in ACTUATOR_TYPES:
+            self._actuator_type = act_type
+            if self.ui is not None:
+                self.ui.actuator = act_type
+                self.update_settings()
+        else:
+            raise ActuatorError(f'{act_type} is an invalid actuator, should be within {ACTUATOR_TYPES}')
+
+    @property
+    def units(self):
+        return self.settings['move_settings', 'units']
+
+    def update_settings(self):
+
+        self.settings.child('main_settings', 'move_type').setValue(self._actuator_type)
+        self.settings.child('main_settings', 'module_name').setValue(self._title)
+        try:
+            for child in self.settings.child('move_settings').children():
+                child.remove()
+            parent_module = utils.find_dict_in_list_from_key_val(DAQ_Move_Actuators, 'name', self._actuator_type)
+            class_ = getattr(getattr(parent_module['module'], 'daq_move_' + self._actuator_type),
+                             'DAQ_Move_' + self._actuator_type)
+            params = getattr(class_, 'params')
+            move_params = Parameter.create(name='move_settings', type='group', children=params)
+
+            self.settings.child('move_settings').addChildren(move_params.children())
+
+        except Exception as e:
+            self.logger.exception(str(e))
+
+    def connect_tcp_ip(self):
+        if self.settings.child('main_settings', 'tcpip', 'connect_server').value():
+            self._tcpclient_thread = QThread()
+
+            tcpclient = TCPClient(self.settings.child('main_settings', 'tcpip', 'ip_address').value(),
+                                  self.settings.child('main_settings', 'tcpip', 'port').value(),
+                                  self.settings.child('move_settings'), client_type="ACTUATOR")
+            tcpclient.moveToThread(self._tcpclient_thread)
+            self._tcpclient_thread.tcpclient = tcpclient
+            tcpclient.cmd_signal.connect(self.process_tcpip_cmds)
+
+            self._command_tcpip[ThreadCommand].connect(tcpclient.queue_command)
+
+            self._tcpclient_thread.start()
+            tcpclient.init_connection()
+
+    @Slot(ThreadCommand)
+    def process_tcpip_cmds(self, status):
+        if 'move_abs' in status.command:
+            self.move_abs(status.attribute[0], send_to_tcpip=True)
+
+        elif 'move_rel' in status.command:
+            self.move_rel(status.attribute[0], send_to_tcpip=True)
+
+        elif 'move_home' in status.command:
+            self.move_home(send_to_tcpip=True)
+
+        elif 'check_position' in status.command:
+            deprecation_msg('check_position is deprecated, you should use get_actuator_value')
+            self._send_to_tcpip = True
+            self.command_hardware.emit(ThreadCommand('get_actuator_value', ))
+
+        elif 'get_actuator_value' in status.command:
+            self._send_to_tcpip = True
+            self.command_hardware.emit(ThreadCommand('get_actuator_value', ))
+
+        elif status.command == 'connected':
+            self.settings.child('main_settings', 'tcpip', 'tcp_connected').setValue(True)
+
+        elif status.command == 'disconnected':
+            self.settings.child('main_settings', 'tcpip', 'tcp_connected').setValue(False)
+
+        elif status.command == 'Update_Status':
+            self.thread_status(status)
+
+        elif status.command == 'set_info':
+            param_dict = ioxml.XML_string_to_parameter(status.attribute[1])[0]
+            param_tmp = Parameter.create(**param_dict)
+            param = self.settings.child('move_settings', *status.attribute[0][1:])
+
+            param.restoreState(param_tmp.saveState())
+
+
+class DAQ_Move_Hardware(QObject):
+    """
+        ================== ========================
+        **Attributes**      **Type**
+        *status_sig*        instance of Signal
+        *hardware*          ???
+        *actuator_type*        string
+        *current_position*  float
+        *target_value*   float
+        *hardware_adress*   string
+        *axis_address*      string
+        *motion_stoped*     boolean
+        ================== ========================
+    """
+    status_sig = Signal(ThreadCommand)
+
+    def __init__(self, actuator_type, position, title='actuator'):
+        super().__init__()
+        self.logger = set_logger(f'{logger.name}.{title}.actuator')
+        self._title = title
+        self.hardware = None
+        self.actuator_type = actuator_type
+        self.current_position = position
+        self._target_value = 0
+        self.hardware_adress = None
+        self.axis_address = None
+        self.motion_stoped = False
+
+    def close(self):
+        """
+            Uninitialize the stage closing the hardware.
+
+        """
+        self.hardware.close()
+
+        return "Stage uninitialized"
+
+    def get_actuator_value(self):
+        """Get the current position checking the hardware value.
+        """
+        pos = self.hardware.get_actuator_value()
+        return pos
+
+    def check_position(self):
+        """Get the current position checking the hardware position (deprecated)
+        """
+        deprecation_msg('check_position is deprecated, use get_actuator_value')
+        pos = self.hardware.get_actuator_value()
+        return pos
+
+    def ini_stage(self, params_state=None, controller=None):
+        """
+            Init a stage updating the hardware and sending an hardware move_done signal.
+
+            =============== =================================== ==========================================================================================================================
+            **Parameters**   **Type**                             **Description**
+
+             *params_state*  ordered dictionnary list             The parameter state of the hardware class composed by a list representing the tree to keep a temporary save of the tree
+
+             *controller*    one or many instance of DAQ_Move     The controller id of the hardware
+
+             *stage*         instance of DAQ_Move                 Defining axes and motors
+            =============== =================================== ==========================================================================================================================
+
+            See Also
+            --------
+            DAQ_utils.ThreadCommand, DAQ_Move
+        """
+
+        status = edict(initialized=False, info="")
+        try:
+            parent_module = utils.find_dict_in_list_from_key_val(DAQ_Move_Actuators, 'name', self.actuator_type)
+            class_ = getattr(getattr(parent_module['module'], 'daq_move_' + self.actuator_type),
+                             'DAQ_Move_' + self.actuator_type)
+            self.hardware = class_(self, params_state)
+            try:
+                infos = self.hardware.ini_stage(controller)  # return edict(info="", controller=, stage=)
+            except Exception as e:
+                logger.exception('Hardware couldn\'t be initialized' + str(e))
+                infos = str(e), False
+
+            if isinstance(infos, edict):  # following old plugin templating
+                status.update(infos)
+                deprecation_msg('Returns from init_stage should now be a string and a boolean,'
+                                ' see pymodaq_plugins_template', stacklevel=3)
+            else:
+                status.info = infos[0]
+                status.initialized = infos[1]
+            status.controller = self.hardware.controller
+            self.hardware.move_done_signal.connect(self.move_done)
+
+            return status
+        except Exception as e:
+            self.logger.exception(str(e))
+            return status
+
+    def move_abs(self, position, polling=True):
+        """
+            Make the hardware absolute move from the given position.
+
+            =============== ========= =======================
+            **Parameters**  **Type**   **Description**
+
+            *position*       float     The absolute position
+            =============== ========= =======================
+
+            See Also
+            --------
+            move_Abs
+        """
+        position = float(position)  # because it may be a numpy float and could cause issues
+        # see https://github.com/pythonnet/pythonnet/issues/1833
+        self._target_value = position
+        self.hardware.move_is_done = False
+        self.hardware.ispolling = polling
+        pos = self.hardware.move_abs(position)
+        self.hardware.poll_moving()
+
+    def move_rel(self, rel_position, polling=True):
+        """
+            Make the hardware relative move from the given relative position added to the current one.
+
+            ================ ========= ======================
+            **Parameters**   **Type**  **Description**
+
+             *position*       float    The relative position
+            ================ ========= ======================
+
+            See Also
+            --------
+            move_Rel
+        """
+        rel_position = float(rel_position)  # because it may be a numpy float and could cause issues
+        # see https://github.com/pythonnet/pythonnet/issues/1833
+        self.hardware.move_is_done = False
+        self._target_value = self.current_position + rel_position
+        self.hardware.ispolling = polling
+        pos = self.hardware.move_rel(rel_position)
+        self.hardware.poll_moving()
+
+    @Slot(float)
+    def Move_Stoped(self, pos):
+        """
+            Send a "move_done" Thread Command with the given position as an attribute.
+
+            See Also
+            --------
+            DAQ_utils.ThreadCommand
+        """
+        self.status_sig.emit(ThreadCommand("move_done", [pos]))
+
+    def move_home(self):
+        """
+            Make the hardware move to the init position.
+
+        """
+        self.hardware.move_is_done = False
+        self._target_value = 0
+        self.hardware.move_home()
+
+    @Slot(float)
+    def move_done(self, pos):
+        """Send the move_done signal back to the main class
+        """
+        self._current_value = pos
+        self.status_sig.emit(ThreadCommand(command="move_done", attribute=[pos]))
+
+    @Slot(ThreadCommand)
+    def queue_command(self, command: ThreadCommand):
+        """Interpret command send by DAQ_Move class
+                * In case of **'ini_stage'** command, init a stage from command attribute.
+                * In case of **'close'** command, unitinalise the stage closing hardware and emitting the corresponding status signal
+                * In case of **'move_abs'** command, call the move_Abs method with position from command attribute
+                * In case of **'move_rel'** command, call the move_Rel method with the relative position from the command attribute.
+                * In case of **'move_home'** command, call the move_Home method
+                * In case of **'get_actuator_value'** command, get the current position from the check_position method
+                * In case of **'Stop_motion'** command, stop any motion via the stop_Motion method
+                * In case of **'reset_stop_motion'** command, set the motion_stopped attribute to false
+
+        Parameters
+        ----------
+        command: ThreadCommand
+            Possible commands are:
+            * **'ini_stage'** command, init a stage from command attribute.
+            * **'close'** command, unitinalise the stage closing hardware and emitting the corresponding status signal
+            * **'move_abs'** command, call the move_abs method with position from command attribute
+            * **'move_rel'** command, call the move_rel method with the relative position from the command attribute.
+            * **'move_home'** command, call the move_home method
+            * **'get_actuator_value'** command, get the current position from the check_position method
+            * **'stop_motion'** command, stop any motion via the stop_Motion method
+            * **'reset_stop_motion'** command, set the motion_stopped attribute to false
+        """
+        try:
+            if command.command == "ini_stage":
+                status = self.ini_stage(
+                    *command.attribute)  # return edict(initialized=bool,info="", controller=, stage=)
+                self.status_sig.emit(ThreadCommand(command=command.command, attribute=[status, 'log']))
+
+            elif command.command == "close":
+                status = self.close()
+                self.status_sig.emit(ThreadCommand(command=command.command, attribute=[status]))
+
+            elif command.command == "move_abs":
+                self.move_abs(*command.attribute)
+
+            elif command.command == "move_rel":
+                self.move_rel(*command.attribute)
+
+            elif command.command == "move_home":
+                self.move_home()
+
+            elif command.command == "get_actuator_value":
+                pos = self.get_actuator_value()
+                self.status_sig.emit(ThreadCommand('get_actuator_value', [pos]))
+
+            elif command.command == "stop_motion":
+                self.stop_motion()
+
+            elif command.command == "reset_stop_motion":
+                self.motion_stoped = False
+
+            else:  # custom commands for particular plugins (see spectrometer module 'get_spectro_wl' for instance)
+                if hasattr(self.hardware, command.command):
+                    cmd = getattr(self.hardware, command.command)
+                    cmd(*command.attribute)
+        except Exception as e:
+            self.logger.exception(str(e))
+
+
+    def stop_motion(self):
+        """
+            stop hardware motion with motion_stopped attribute updtaed to True and a status signal sended with an "update_status" Thread Command
+
+            See Also
+            --------
+            DAQ_utils.ThreadCommand, stop_motion
+        """
+        self.status_sig.emit(ThreadCommand(command="Update_Status", attribute=["Motion stoping", 'log']))
+        self.motion_stoped = True
+        self.hardware.stop_motion()
+        self.hardware.poll_timer.stop()
+
+    @Slot(edict)
+    def update_settings(self, settings_parameter_dict):
+        """
+            Update settings of hardware with dictionnary parameters in case of "Move_Settings" path, else update attribute with dictionnary parameters.
+
+            =========================  =========== ======================================================
+            **Parameters**              **Type**    **Description**
+
+            *settings_parameter_dict*  dictionnary  Dictionnary containing the path and linked parameter
+            =========================  =========== ======================================================
+
+            See Also
+            --------
+            update_settings
+        """
+        # settings_parameter_dict = edict(path=path,param=param)
+        path = settings_parameter_dict['path']
+        param = settings_parameter_dict['param']
+        if path[0] == 'main_settings':
+            if hasattr(self, path[-1]):
+                setattr(self, path[-1], param.value())
+
+        elif path[0] == 'move_settings':
+            self.hardware.update_settings(settings_parameter_dict)
+
+
+def main(init_qt=True):
+    if init_qt:  # used for the test suite
+        app = QtWidgets.QApplication(sys.argv)
+
+    widget = QtWidgets.QWidget()
+    prog = DAQ_Move(widget, title="test")
+    widget.show()
+
+    if init_qt:
+        sys.exit(app.exec_())
+    return prog, widget
+
+
+if __name__ == '__main__':
+    main()
+