pymodaq 3.6.13__py3-none-any.whl → 4.0.1__py3-none-any.whl

pymodaq/daq_move/utility_classes.py

@@ -1,686 +0,0 @@
-from qtpy import QtWidgets
-from qtpy.QtCore import QObject, Slot, QThread, Signal, QTimer
-
-from easydict import EasyDict as edict
-import pymodaq.daq_utils.daq_utils as utils
-import pymodaq.daq_utils.parameter.utils as putils
-from pymodaq.daq_utils.parameter import ioxml
-from pyqtgraph.parametertree import Parameter
-from pymodaq.daq_utils.daq_utils import ThreadCommand, getLineInfo
-from pymodaq.daq_utils.config import Config
-from pymodaq.daq_utils.tcp_server_client import TCPServer, tcp_parameters
-from pymodaq.daq_utils.messenger import deprecation_msg
-import numpy as np
-from time import perf_counter
-
-logger = utils.set_logger(utils.get_module_name(__file__))
-config = Config()
-
-# comon_parameters will be deprecated in version 4 and following new template. Should use comon_parameters_fun
-comon_parameters = [{'title': 'Units:', 'name': 'units', 'type': 'str', 'value': '', 'readonly': True},
-                    {'title': 'Epsilon:', 'name': 'epsilon', 'type': 'float',
-                     'value': config('actuator', 'epsilon_default'),
-                     'tip': 'Differential Value at which the controller considers it reached the target position'},
-                    {'title': 'Timeout (s):', 'name': 'timeout', 'type': 'int',
-                     'value': config('actuator', 'polling_timeout_s')},
-                    {'title': 'Bounds:', 'name': 'bounds', 'type': 'group', 'children': [
-                        {'title': 'Set Bounds:', 'name': 'is_bounds', 'type': 'bool', 'value': False},
-                        {'title': 'Min:', 'name': 'min_bound', 'type': 'float', 'value': 0, 'default': 0},
-                        {'title': 'Max:', 'name': 'max_bound', 'type': 'float', 'value': 1, 'default': 1}, ]},
-                    {'title': 'Scaling:', 'name': 'scaling', 'type': 'group', 'children': [
-                        {'title': 'Use scaling:', 'name': 'use_scaling', 'type': 'bool', 'value': False,
-                         'default': False},
-                        {'title': 'Scaling factor:', 'name': 'scaling', 'type': 'float', 'value': 1., 'default': 1.},
-                        {'title': 'Offset factor:', 'name': 'offset', 'type': 'float', 'value': 0., 'default': 0.}]}]
-
-
-MOVE_COMMANDS = ['abs', 'rel', 'home']
-
-
-class MoveCommand:
-    def __init__(self, move_type, value=0):
-        if move_type not in MOVE_COMMANDS:
-            raise ValueError(f'The allowed move types fro an actuator are {MOVE_COMMANDS}')
-        self.move_type = move_type
-        self.value = value
-
-
-def comon_parameters_fun(is_multiaxes=False, axes_names=[], master=True, epsilon=config('actuator', 'epsilon_default')):
-    """Function returning the common and mandatory parameters that should be on the actuator plugin level
-
-    Parameters
-    ----------
-    is_multiaxes: bool
-        If True, display the particular settings to define which axis the controller is driving
-    axes_names: list of str
-        The string identifier of every axis the controller can drive
-    master: bool
-        If True consider this plugin has to init the controller, otherwise use an already initialized instance
-    epsilon: float
-        The default or preset value of epsilon, the resolution with which a DAQ_Move should end its move
-    """
-    params = \
-        [{'title': 'MultiAxes:', 'name': 'multiaxes', 'type': 'group', 'visible': is_multiaxes, 'children': [
-            {'title': 'is Multiaxes:', 'name': 'ismultiaxes', 'type': 'bool', 'value': is_multiaxes,
-             'default': False},
-            {'title': 'Status:', 'name': 'multi_status', 'type': 'list', 'value': 'Master' if master else 'Slave',
-             'limits': ['Master', 'Slave']},
-            {'title': 'Axis:', 'name': 'axis', 'type': 'list', 'limits': axes_names},
-        ]},
-         {'title': 'Units:', 'name': 'units', 'type': 'str', 'value': '', 'readonly': True},
-         {'title': 'Epsilon:', 'name': 'epsilon', 'type': 'float', 'value': epsilon,
-          'tip': 'Differential Value at which the controller considers it reached the target position'},
-         {'title': 'Timeout (s):', 'name': 'timeout', 'type': 'int',
-          'value': config('actuator', 'polling_timeout_s')},
-         {'title': 'Bounds:', 'name': 'bounds', 'type': 'group', 'children': [
-             {'title': 'Set Bounds:', 'name': 'is_bounds', 'type': 'bool', 'value': False},
-             {'title': 'Min:', 'name': 'min_bound', 'type': 'float', 'value': 0, 'default': 0},
-             {'title': 'Max:', 'name': 'max_bound', 'type': 'float', 'value': 1, 'default': 1}, ]},
-         {'title': 'Scaling:', 'name': 'scaling', 'type': 'group', 'children': [
-             {'title': 'Use scaling:', 'name': 'use_scaling', 'type': 'bool', 'value': False,
-              'default': False},
-             {'title': 'Scaling factor:', 'name': 'scaling', 'type': 'float', 'value': 1., 'default': 1.},
-             {'title': 'Offset factor:', 'name': 'offset', 'type': 'float', 'value': 0., 'default': 0.}]}]
-    return params
-
-
-params = [
-    {'title': 'Main Settings:', 'name': 'main_settings', 'type': 'group', 'children': [
-        {'title': 'Actuator type:', 'name': 'move_type', 'type': 'str', 'value': '', 'readonly': True},
-        {'title': 'Controller ID:', 'name': 'controller_ID', 'type': 'int', 'value': 0, 'default': 0},
-        {'title': 'TCP/IP options:', 'name': 'tcpip', 'type': 'group', 'visible': True, 'expanded': False,
-         'children': [
-             {'title': 'Connect to server:', 'name': 'connect_server', 'type': 'bool_push', 'label': 'Connect',
-              'value': False},
-             {'title': 'Connected?:', 'name': 'tcp_connected', 'type': 'led', 'value': False},
-             {'title': 'IP address:', 'name': 'ip_address', 'type': 'str',
-              'value': config('network', 'tcp-server', 'ip')},
-             {'title': 'Port:', 'name': 'port', 'type': 'int', 'value': config('network', 'tcp-server', 'port')},
-         ]},
-    ]},
-    {'title': 'Actuator Settings:', 'name': 'move_settings', 'type': 'group'}
-]
-
-
-def main(plugin_file, init=True, title='test'):
-    """
-    this method start a DAQ_Move object with this defined plugin as actuator
-    Returns
-    -------
-
-    """
-    import sys
-    from qtpy import QtWidgets
-    from pymodaq.daq_move.daq_move_main import DAQ_Move
-    from pathlib import Path
-    app = QtWidgets.QApplication(sys.argv)
-    if config('style', 'darkstyle'):
-        import qdarkstyle
-        app.setStyleSheet(qdarkstyle.load_stylesheet())
-
-    Form = QtWidgets.QWidget()
-    prog = DAQ_Move(Form, title=title,)
-    Form.show()
-    prog.actuator = Path(plugin_file).stem[9:]
-    if init:
-        prog.init()
-
-    sys.exit(app.exec_())
-
-
-class DAQ_Move_base(QObject):
-    """ The base class to be inherited by all actuator modules
-
-    This base class implements all necessary parameters and methods for the plugin to communicate with its parent (the
-    DAQ_Move module)
-
-    Parameters
-    ----------
-    parent : DAQ_Move_stage instance (see daq_viewer_main module)
-    params_state : Parameter instance (pyqtgraph) from which the module will get the initial settings (as defined in the managers)
-
-
-    :ivar Move_Done_signal: Signal signal represented by a float. Is emitted each time the hardware reached the target
-                            position within the epsilon precision (see comon_parameters variable)
-
-    :ivar controller: the object representing the hardware in the plugin. Used to access hardware functionality
-
-    :ivar status: easydict instance to set information (str), controller object, stage object (if required) and initialized
-                  state (bool) to return to parent after initialization
-
-    :ivar settings: Parameter instance representing the hardware settings defined from the params attribute. Modifications
-                    on the GUI settings will be transferred to this attribute. It stores at all times the current state of the hardware/plugin
-
-    :ivar params: class level attribute. List of dict used to create a Parameter object. Its definition on the class level enable
-                  the automatic update of the GUI settings when changing plugins (even in managers mode creation). To be populated
-                  on the plugin level as the base class does't represents a real hardware
-
-    :ivar is_multiaxes: class level attribute (bool). Defines if the plugin controller controls multiple axes. If True, one has to define
-                        a Master instance of this plugin and slave instances of this plugin (all sharing the same controller_ID Parameter)
-
-    :ivar current_position: (float) stores the current position after each call to the get_actuator_value in the child module
-
-    :ivar target_position: (float) stores the target position the controller should reach within epsilon
-
-    """
-
-    Move_Done_signal = Signal(float)
-    is_multiaxes = False
-    stage_names = [] #deprecated
-    axes_names = []
-    params = []
-    _controller_units = ''
-    _epsilon = 1
-
-    def __init__(self, parent=None, params_state=None):
-        QObject.__init__(self)  # to make sure this is the parent class
-        self.move_is_done = False
-        self.parent = parent
-        self.shamrock_controller = None
-        self.stage = None
-        self.status = edict(info="", controller=None, stage=None, initialized=False)
-        self.current_position = 0.
-        self.target_position = 0.
-        self._ispolling = True
-        self.parent_parameters_path = []  # this is to be added in the send_param_status to take into account when the
-        # current class instance parameter list is a child of some other class
-        self.settings = Parameter.create(name='Settings', type='group', children=self.params)
-        if params_state is not None:
-            if isinstance(params_state, dict):
-                self.settings.restoreState(params_state)
-            elif isinstance(params_state, Parameter):
-                self.settings.restoreState(params_state.saveState())
-
-        self.settings.sigTreeStateChanged.connect(self.send_param_status)
-        self.controller_units = self._controller_units
-        self.controller = None
-        #
-        # if self.settings['epsilon'] == config('actuator', 'epsilon_default'):
-        #     self.settings.child('epsilon').setValue(self._epsilon)
-
-        self.poll_timer = QTimer()
-        self.poll_timer.setInterval(config('actuator', 'polling_interval_ms'))
-        self._poll_timeout = config('actuator', 'polling_timeout_s')
-        self.poll_timer.timeout.connect(self.check_target_reached)
-
-        self.ini_attributes()
-
-    def ini_attributes(self):
-        pass
-
-    def ini_stage_init(self, old_controller=None, new_controller=None):
-        """Manage the Master/Slave controller issue
-
-        First initialize the status dictionnary
-        Then check whether this stage is controlled by a multiaxe controller (to be defined for each plugin)
-            if it is a multiaxes controller then:
-            * if it is Master: init the controller here
-            * if it is Slave: use an already initialized controller (defined in the preset of the dashboard)
-
-        Parameters
-        ----------
-        old_controller: object
-            The particular object that allow the communication with the hardware, in general a python wrapper around the
-            hardware library. In case of Slave this one comes from a previously initialized plugin
-        new_controller: object
-            The particular object that allow the communication with the hardware, in general a python wrapper around the
-            hardware library. In case of Master it is the new instance of your plugin controller
-        """
-        self.status.update(edict(info="", controller=None, initialized=False))
-        if self.settings['multiaxes', 'ismultiaxes'] and self.settings['multiaxes', 'multi_status'] == "Slave":
-            if old_controller is None:
-                raise Exception('no controller has been defined externally while this axe is a slave one')
-            else:
-                controller = old_controller
-        else:  # Master stage
-            controller = new_controller
-        self.controller = controller
-        return controller
-
-    @property
-    def controller_units(self):
-        return self._controller_units
-
-    @controller_units.setter
-    def controller_units(self, units: str = ''):
-        self._controller_units = units
-        try:
-            self.settings.child('units').setValue(units)
-        except Exception:
-            pass
-
-    @property
-    def ispolling(self):
-        return self._ispolling
-
-    @ispolling.setter
-    def ispolling(self, polling=True):
-        self._ispolling = polling
-
-    def check_bound(self, position):
-        """
-
-        Parameters
-        ----------
-        position
-
-        Returns
-        -------
-
-        """
-        if self.settings.child('bounds', 'is_bounds').value():
-            if position > self.settings.child('bounds', 'max_bound').value():
-                position = self.settings.child('bounds', 'max_bound').value()
-                self.emit_status(ThreadCommand('outofbounds', []))
-            elif position < self.settings.child('bounds', 'min_bound').value():
-                position = self.settings.child('bounds', 'min_bound').value()
-                self.emit_status(ThreadCommand('outofbounds', []))
-        return position
-
-    def get_actuator_value(self):
-        if hasattr(self, 'check_position'):
-            deprecation_msg('check_position method in plugins is deprecated, use get_actuator_value',3)
-            return self.check_position()
-        else:
-            raise NotImplementedError
-
-    def move_abs(self, value):
-        if hasattr(self, 'move_Abs'):
-            deprecation_msg('move_Abs method in plugins is deprecated, use move_abs',3)
-            self.move_Abs(value)
-        else:
-            raise NotImplementedError
-
-    def move_rel(self, value):
-        if hasattr(self, 'move_Rel'):
-            deprecation_msg('move_Rel method in plugins is deprecated, use move_rel',3)
-            self.move_Rel(value)
-        else:
-            raise NotImplementedError
-
-    def move_home(self):
-        if hasattr(self, 'move_Home'):
-            deprecation_msg('move_Home method in plugins is deprecated, use move_home', 3)
-            self.move_Home()
-        else:
-            raise NotImplementedError
-
-    def emit_status(self, status):
-        """
-            | Emit the statut signal from the given status parameter.
-            |
-            | The signal is sended to the gui to update the user interface.
-
-            =============== ===================== ========================================================================================================================================
-            **Parameters**   **Type**              **Description**
-             *status*        ordered dictionnary    dictionnary containing keys:
-                                                        * *info* : string displaying various info
-                                                        * *controller*: instance of the controller object in order to control other axes without the need to init the same controller twice
-                                                        * *stage*: instance of the stage (axis or whatever) object
-                                                        * *initialized*: boolean indicating if initialization has been done corretly
-            =============== ===================== ========================================================================================================================================
-        """
-        if self.parent is not None:
-            self.parent.status_sig.emit(status)
-            QtWidgets.QApplication.processEvents()
-        else:
-            print(status)
-
-    def commit_settings(self, param):
-        """
-          to subclass to transfer parameters to hardware
-        """
-        pass
-
-    def commit_common_settings(self, param):
-        pass
-
-    def get_position_with_scaling(self, pos):
-        """
-            Get the current position from the hardware with scaling conversion.
-
-            =============== ========= =====================
-            **Parameters**  **Type**  **Description**
-             *pos*           float    the current position
-            =============== ========= =====================
-
-            Returns
-            =======
-            float
-                the computed position.
-        """
-        if self.settings.child('scaling', 'use_scaling').value():
-            pos = (pos - self.settings.child('scaling', 'offset').value()) * self.settings.child('scaling',
-                                                                                                 'scaling').value()
-        return pos
-
-    def move_done(self, position=None):  # the position argument is just there to match some signature of child classes
-        """
-            | Emit a move done signal transmitting the float position to hardware.
-            | The position argument is just there to match some signature of child classes.
-
-            =============== ========== =============================================================================
-             **Arguments**   **Type**  **Description**
-             *position*      float     The position argument is just there to match some signature of child classes
-            =============== ========== =============================================================================
-
-        """
-        if position is None:
-            position = self.get_actuator_value()
-        self.Move_Done_signal.emit(position)
-        self.move_is_done = True
-
-    def poll_moving(self):
-        """
-            Poll the current moving. In case of timeout emit the raise timeout Thread command.
-
-            See Also
-            --------
-            DAQ_utils.ThreadCommand, move_done
-        """
-        if 'TCPServer' not in self.__class__.__name__:
-            self.start_time = perf_counter()
-            if self.ispolling:
-                self.poll_timer.start()
-            else:
-                self.current_position = self.get_actuator_value()
-                logger.debug(f'Current position: {self.current_position}')
-                self.move_done(self.current_position)
-
-    def check_target_reached(self):
-        if np.abs(self.current_position - self.target_position) > self.settings.child('epsilon').value():
-            logger.debug(f'Check move_is_done: {self.move_is_done}')
-            if self.move_is_done:
-                self.emit_status(ThreadCommand('Move has been stopped'))
-                logger.info(f'Move has been stopped')
-
-            self.current_position = self.get_actuator_value()
-            self.emit_status(ThreadCommand('check_position', [self.current_position]))
-            logger.debug(f'Current position: {self.current_position}')
-
-            if perf_counter() - self.start_time >= self.settings.child('timeout').value():
-                self.poll_timer.stop()
-                self.emit_status(ThreadCommand('raise_timeout'))
-                logger.info(f'Timeout activated')
-        else:
-            self.poll_timer.stop()
-            logger.debug(f'Current position: {self.current_position}')
-            self.move_done(self.current_position)
-
-    def send_param_status(self, param, changes):
-        """
-            | Send changes value updates to the gui to update consequently the User Interface.
-            | The message passing is made via the Thread Command "update_settings".
-
-            =============== =================================== ==================================================
-            **Parameters**  **Type**                             **Description**
-            *param*         instance of pyqtgraph parameter      The parameter to be checked
-            *changes*       (parameter,change,infos)tuple list   The (parameter,change,infos) list to be treated
-            =============== =================================== ==================================================
-
-            See Also
-            ========
-            DAQ_utils.ThreadCommand
-        """
-
-        for param, change, data in changes:
-            path = self.settings.childPath(param)
-            if change == 'childAdded':
-                self.emit_status(ThreadCommand('update_settings',
-                                               [self.parent_parameters_path + path, [data[0].saveState(), data[1]],
-                                                change]))  # send parameters values/limits back to the GUI. Send kind of a copy back the GUI otherwise the child reference will be the same in both th eUI and the plugin so one of them will be removed
-            elif change == 'value' or change == 'limits' or change == 'options':
-                self.emit_status(ThreadCommand('update_settings', [self.parent_parameters_path + path, data,
-                                                                   change]))  # send parameters values/limits back to the GUI
-            elif change == 'parent':
-                pass
-
-    def set_position_with_scaling(self, pos):
-        """
-            Set the current position from the parameter and hardware with scaling conversion.
-
-            =============== ========= ==========================
-            **Parameters**  **Type**  **Description**
-             *pos*           float    the position to be setted
-            =============== ========= ==========================
-
-            Returns
-            =======
-            float
-                the computed position.
-        """
-        if self.settings.child('scaling', 'use_scaling').value():
-            pos = pos / self.settings.child('scaling', 'scaling').value() + self.settings.child('scaling',
-                                                                                                'offset').value()
-        return pos
-
-    def set_position_relative_with_scaling(self, pos):
-        """
-            Set the scaled positions in case of relative moves
-        """
-        if self.settings.child('scaling', 'use_scaling').value():
-            pos = pos / self.settings.child('scaling', 'scaling').value()
-        return pos
-
-    @Slot(edict)
-    def update_settings(self, settings_parameter_dict):  # settings_parameter_dict=edict(path=path,param=param)
-        """
-            Receive the settings_parameter signal from the param_tree_changed method and make hardware updates of mmodified values.
-
-            ==========================  =========== ==========================================================================================================
-            **Arguments**               **Type**     **Description**
-            *settings_parameter_dict*   dictionnary Dictionnary with the path of the parameter in hardware structure as key and the parameter name as element
-            ==========================  =========== ==========================================================================================================
-
-            See Also
-            --------
-            send_param_status, commit_settings
-        """
-        path = settings_parameter_dict['path']
-        param = settings_parameter_dict['param']
-        change = settings_parameter_dict['change']
-        try:
-            self.settings.sigTreeStateChanged.disconnect(self.send_param_status)
-        except Exception:
-            pass
-        if change == 'value':
-            self.settings.child(*path[1:]).setValue(param.value())  # blocks signal back to main UI
-        elif change == 'childAdded':
-            child = Parameter.create(name='tmp')
-            child.restoreState(param)
-            self.settings.child(*path[1:]).addChild(child)  # blocks signal back to main UI
-            param = child
-
-        elif change == 'parent':
-            children = putils.get_param_from_name(self.settings, param.name())
-
-            if children is not None:
-                path = putils.get_param_path(children)
-                self.settings.child(*path[1:-1]).removeChild(children)
-
-        self.settings.sigTreeStateChanged.connect(self.send_param_status)
-        self.commit_common_settings(param)
-        self.commit_settings(param)
-
-
-class DAQ_Move_TCP_server(DAQ_Move_base, TCPServer):
-    """
-        ================= ==============================
-        **Attributes**      **Type**
-        *command_server*    instance of Signal
-        *x_axis*            1D numpy array
-        *y_axis*            1D numpy array
-        *data*              double precision float array
-        ================= ==============================
-
-        See Also
-        --------
-        utility_classes.DAQ_TCP_server
-    """
-    params_client = []  # parameters of a client grabber
-    command_server = Signal(list)
-
-    message_list = ["Quit", "Status", "Done", "Server Closed", "Info", "Infos", "Info_xml", "move_abs",
-                    'move_home', 'move_rel', 'get_actuator_value', 'stop_motion', 'position_is', 'move_done']
-    socket_types = ["ACTUATOR"]
-    params = comon_parameters_fun() + tcp_parameters
-
-    def __init__(self, parent=None, params_state=None):
-        """
-
-        Parameters
-        ----------
-        parent
-        params_state
-        """
-        self.client_type = "ACTUATOR"
-        DAQ_Move_base.__init__(self, parent, params_state)  # initialize base class with commom attributes and methods
-        self.settings.child(('bounds')).hide()
-        self.settings.child(('scaling')).hide()
-        self.settings.child(('epsilon')).setValue(1)
-
-        TCPServer.__init__(self, self.client_type)
-
-    def command_to_from_client(self, command):
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client 'ACTUATOR' is connected then send it the command
-
-            if command == 'position_is':
-                pos = sock.get_scalar()
-
-                pos = self.get_position_with_scaling(pos)
-                self.current_position = pos
-                self.emit_status(ThreadCommand('get_actuator_value', [pos]))
-
-            elif command == 'move_done':
-                pos = sock.get_scalar()
-                pos = self.get_position_with_scaling(pos)
-                self.current_position = pos
-                self.emit_status(ThreadCommand('move_done', [pos]))
-            else:
-                self.send_command(sock, command)
-
-    def commit_settings(self, param):
-
-        if param.name() in putils.iter_children(self.settings.child(('settings_client')), []):
-            actuator_socket = [client['socket'] for client in self.connected_clients if client['type'] == 'ACTUATOR'][0]
-            actuator_socket.send_string('set_info')
-            path = putils.get_param_path(param)[2:]
-            # get the path of this param as a list starting at parent 'infos'
-
-            actuator_socket.send_list(path)
-
-            # send value
-            data = ioxml.parameter_to_xml_string(param)
-            actuator_socket.send_string(data)
-
-    def ini_stage(self, controller=None):
-        """
-            | Initialisation procedure of the detector updating the status dictionnary.
-            |
-            | Init axes from image , here returns only None values (to tricky to di it with the server and not really necessary for images anyway)
-
-            See Also
-            --------
-            utility_classes.DAQ_TCP_server.init_server, get_xaxis, get_yaxis
-        """
-        self.status.update(edict(initialized=False, info="", x_axis=None, y_axis=None, controller=None))
-        try:
-            self.settings.child(('infos')).addChildren(self.params_client)
-
-            self.init_server()
-
-            self.settings.child('units').hide()
-            self.settings.child('epsilon').hide()
-
-            self.status.info = 'TCP Server actuator'
-            self.status.initialized = True
-            self.status.controller = self.serversocket
-            return self.status
-
-        except Exception as e:
-            self.status.info = getLineInfo() + str(e)
-            self.status.initialized = False
-            return self.status
-
-    def close(self):
-        """
-            Should be used to uninitialize hardware.
-
-            See Also
-            --------
-            utility_classes.DAQ_TCP_server.close_server
-        """
-        self.listening = False
-        self.close_server()
-
-    def move_Abs(self, position):
-        """
-
-        """
-        position = self.check_bound(position)
-        self.target_position = position
-
-        position = self.set_position_with_scaling(position)
-
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client self.client_type is connected then send it the command
-            sock.send_string('move_abs')
-            sock.send_scalar(position)
-
-    def move_Rel(self, position):
-        position = self.check_bound(self.current_position + position) - self.current_position
-        self.target_position = position + self.current_position
-
-        position = self.set_position_relative_with_scaling(position)
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client self.client_type is connected then send it the command
-            sock.send_string('move_rel')
-            sock.send_scalar(position)
-
-    def move_Home(self):
-        """
-            Make the absolute move to original position (0).
-
-            See Also
-            --------
-            move_Abs
-        """
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client self.client_type is connected then send it the command
-            sock.send_string('move_home')
-
-    def get_actuator_value(self):
-        """
-            Get the current hardware position with scaling conversion given by get_position_with_scaling.
-
-            See Also
-            --------
-            daq_move_base.get_position_with_scaling, daq_utils.ThreadCommand
-        """
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client self.client_type is connected then send it the command
-            self.send_command(sock, 'get_actuator_value')
-
-        return self.current_position
-
-    def stop_motion(self):
-        """
-            See Also
-            --------
-            daq_move_base.move_done
-        """
-        sock = self.find_socket_within_connected_clients(self.client_type)
-        if sock is not None:  # if client self.client_type is connected then send it the command
-            self.send_command(sock, 'stop_motion')
-
-    def stop(self):
-        """
-            not implemented.
-        """
-        pass
-        return ""
-
-
-if __name__ == '__main__':
-    test = DAQ_Move_base()