python-microscopy 25.6.5__cp39-cp39-win_amd64.whl

PYME/Acquire/Hardware/Piezos/piezo_pipython_gcs.py

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+
+# Defines a GCSPiezo class which uses the pipython package distributed 
+# by Physik Instrumente to initialize and run their stages.
+# Tested with a E-727 controller, on pipython 2.9.0.4 (pypi)
+# see https://github.com/PI-PhysikInstrumente/PIPython
+
+# GETTING STARTED:
+# 1. Install https://github.com/PI-PhysikInstrumente/PIPython
+# 2. In a Python shell, import this file and call get_gcs_usb()
+# to find your stage (assuming it has the drivers it needs, is turned on, etc.)
+# 3. Use the full description string returned by get_gcs_usb() to 
+# find the axes names as used by PI by calling
+# get_stage_axes(description). You'll want to use this description
+# exactly in the next step, as PIPython can be sensitive to e.g.
+# ['1', '2'] vs [1, 2], or '['A', 'B'] vs. ['a', 'b'].
+# 4. Initialize the stage with GCSPiezo(description, axes) in your
+# PYME init script.
+# 5: Consider using GCSPiezoThreaded for performance improvements,
+# particularly if you are using a multi-axis stage, or multiple GCSPiezos
+# in your setup, as updating the position of stages happens in order to
+# update the GUI and can slow down PYMEAcquire considerably.
+
+
+from PYME.Acquire.Hardware.Piezos.base_piezo import PiezoBase
+from pipython import GCSDevice, pitools
+from pipython import PILogger, WARNING
+import numpy as np
+import logging
+import time
+PILogger.setLevel(WARNING)
+
+logger = logging.getLogger(__name__)
+
+
+
+
+def get_gcs_usb():
+    """
+    returns list of PI devices connected by USB and their serial numbers. Use
+    to get str description suitable for initializing GCSPiezo, e.g.
+    'PI E-727 Controller SN 0118035989'
+    """
+    with GCSDevice() as pidev:
+        return pidev.EnumerateUSB()
+
+def get_stage_axes(description):
+    try:
+        pi = GCSDevice()
+        pi.ConnectUSB(description)
+        return pitools.getaxeslist(pi, None)
+    finally:
+        pi.CloseConnection()
+
+
+class GCSPiezo(PiezoBase):
+    units_um = 1  # assumes controllers is configured in units of um.
+    def __init__(self, description=None, axes=None):
+        """
+        Parameters
+        ----------
+        descriptions: str
+            description as found by GCS enumerate, e.g. 
+            PI E-727 Controller SN 0118035989.
+        axes : list
+            list of axes if this is a multi-axis controller. e.g. [1, 2, 3]
+            for a 3-axis stage. Note some PI firmwares assume ['a', 'b', 'c'],
+            or ['X', 'Y', 'Z']. After initialization these will be indexed into
+            for method calls, i.e. GetPos(iChannel=0) will use axes[0] for the
+            GCS axis descriptor.
+
+        """
+        PiezoBase.__init__(self)
+        self.pi = GCSDevice()
+        self.pi.ConnectUSB(description)
+        assert self.pi.IsConnected()
+
+        if axes is None:
+            logger.error('NO AXES SPECIFIED. Will try and run with all axes')
+            self.axes = pitools.getaxeslist(self.pi, None)
+        else:
+            self.axes = axes
+        
+        self._min = {}  # key'd on iChan
+        self._max = {}
+        # try:
+        #     units = self.pi.qPUN(self.axes)
+        #     logger.debug('stage units: %s' % [units[axis] for axis in self.axes])
+        # except:
+        #     pass
+        # PI appears to use unicoded um to set units to um, not funcitonal at the moment, but
+        # ideally we would remove the unit check/log above and just force to um here.
+        # self.pi.PUN(axes, values)
+
+    def SetServo(self, val=1):
+        # due to form of SetServo in the baseclass, just set all axes for now
+        self.pi.SVO(self.axes, [val for axis in self.axes])
+    
+    def MoveTo(self, iChannel, fPos, bTimeOut=True):
+        self.pi.MOV(self.axes[iChannel], fPos)
+    
+    def MoveRel(self, iChannel, incr, bTimeOut=True):
+        """ relative to current target position
+        @param axes: Axis or list of axes or dictionary {axis : value}.
+        @param values : Float or list of floats or None.
+        """
+        self.pi.MVR(self.axes[iChannel], incr)
+    
+    def GetPos(self, iChannel=1):
+        try:
+            assert np.isscalar(iChannel)
+        except:
+            raise AssertionError('GetPos only supports single-axis query')
+        axis = self.axes[iChannel]
+        return self.pi.qPOS([axis])[axis]
+    
+    def GetTargetPos(self, iChannel=1):
+        # assume that target pos = current pos. Over-ride in derived class if possible
+        # axis = self.axes[iChannel]
+        return self.GetPos(iChannel)
+    
+    def GetMin(self, iChan=1):
+        """
+        Get lower limits ("soft limits")
+        """
+        try:
+            assert np.isscalar(iChan)
+        except:
+            raise AssertionError('GetMin only supports single-axis query')
+
+        try:
+            return self._min[iChan]
+        except KeyError:
+            logger.debug('Fetching %s axis min' % iChan)
+            axis = self.axes[iChan]
+            self._min[iChan] = self.pi.qTMN(axis)[axis]
+            return self._min[iChan]
+        # return self.pi.qNLM(axes=[iChan])[iChan]
+        # qCMN min commandable closed-loop target
+    
+    def GetMax(self, iChan=1):
+        """
+        Get upper limits ("soft limits")
+        """
+        try:
+            assert np.isscalar(iChan)
+        except:
+            raise AssertionError('GetMax only supports single-axis query')
+        try:
+            return self._max[iChan]
+        except KeyError:
+            logger.debug('Fetching %s axis max' % iChan)
+            axis = self.axes[iChan]
+            self._max[iChan] = self.pi.qTMX(axis)[axis]
+            return self._max[iChan]
+    
+    def GetFirmwareVersion(self):
+        raise NotImplementedError
+    
+    def OnTarget(self, axes=None):
+        """
+        For multiaxis stages, query with None reports for all of them
+        """
+        return all(self.pi.qONT(axes))
+    
+    def close(self):
+        self.pi.CloseConnection()
+
+
+import threading
+from PYME.Acquire.eventLog import logEvent
+class GCSPiezoThreaded(PiezoBase):
+    units_um = 1  # assumes controllers is configured in units of um.
+    def __init__(self, description=None, axes=None, update_rate=0.01, startup=True,
+                 stages=None, refmodes=None, servostates=True, controlmodes=None, joystick=None,
+                 target_tol=0.001, adc_channels=None, analog_drive_info=None):
+        """
+        Parameters
+        ----------
+        descriptions: str
+            description as found by GCS enumerate, e.g. 
+            PI E-727 Controller SN 0118035989.
+        axes : list
+            list of axes if this is a multi-axis controller. e.g. ['1', '2', '3']
+            for a 3-axis stage. Note some PI firmwares assume ['a', 'b', 'c'],
+            or ['X', 'Y', 'Z']. After initialization these will be indexed into
+            for method calls, i.e. GetPos(iChannel=0) will use axes[0] for the
+            GCS axis descriptor.
+        update_rate : float
+            number of seconds pause between threaded polling of position / 
+            on-targets
+        startup: boolean to use pitools.startup function to startup device
+
+        next keyword parameters below are passed to the pitools.startup command:
+        
+        stages: Name of stage(s) to initialize as string or list (not tuple!) or 'None' to skip.
+        refmodes: Referencing command(s) as string (for all stages) or list (not tuple!) or 'None' to skip.
+                     Please see the manual of the controller for the valid reference procedure.
+                     'refmodes' can be:
+                         'FRF': References the stage using the reference position.
+                         'FNL': References the stage using the negative limit switch.
+                         'FPL': References the stage using the positive limit switch.
+                         'POS': Sets the current position of the stage to 0.0.
+                         'ATZ': Runs an auto zero procedure.
+        servostates: Desired servo state(s) as Boolean (for all stages) or dict {axis : state} or 'None' to skip.
+                        For controllers with GCS 3.0 syntax:
+                            If True the axis is switched to control mode 0x2.
+                            If False the axis is switched to control mode 0x1.
+        controlmodes: Only valid for controllers with GCS 3.0 syntax!
+                         Switch the axis to the given control mode:
+                             int (for all axes) or dict {axis : controlmode} or 'None' to skip.
+                         To skip any control mode switch make sure the servostate is also 'None'!
+                         If 'controlmodes' is set (not 'None') the parameter 'servostates' is ignored.
+
+        joystick: should be a joystick object or None if no joystick; needs to support a few standard methods
+
+        target_tol: float, optional
+            tolerance [um] for on-target position, default is 0.001 um. Applied to
+            all axes. Does not change servo settings in the controller, but flags
+            when a move is considered complete and re-sends a move command durring polling
+            if target position is not reached within tolerance. 
+        
+        adc_channels: list, optional
+            list of ADC channels to use for axes in `axes`. You will need
+            to consult the manual for your controller, as the available ADC 
+            channels may be offset from the axis number and/or flexibly configurable.
+            You will also need to set the command level to 1 (in your init script)
+            with e.,g. stage.pi.gcsdevice.CCL(1, 'password') before using the `set_analog_control`
+            method. The password should also be in your controller manual.
+        
+        analog_drive_info: dict, optional
+            dictionary holding controller-specific information for setting up analog control, namely
+            the IDs for parameters which need to be set on the controller. Required keys are: 
+            'ADC_CHANNEL_FOR_TARGET', 'OFFSET', and 'GAIN'. See your controller manual for details.
+            Example:
+            analog_drive_info = {  # these values are for the E-727 controller
+                'ADC_CHANNEL_FOR_TARGET': 0x06000500,
+                'OFFSET': 0x02000200,  # sensor mech correction 1, analog drive offset
+                'GAIN': 0x02000300}  # sensor mech correction 2, analog drive gain
+        """
+        PiezoBase.__init__(self)
+        self.pi = GCSDevice()
+        self.pi.ConnectUSB(description)
+        assert self.pi.IsConnected()
+        self._lock = threading.Lock()
+
+        if axes is None:
+            logger.error('NO AXES SPECIFIED. Will try and run with all axes')
+            self.axes = pitools.getaxeslist(self.pi, None)
+        else:
+            self.axes = axes
+        
+        self.adc_channels = adc_channels
+        if self.adc_channels is None:
+            logger.debug('No analog control channels specified')
+        
+        self.analog_drive_info = analog_drive_info
+        if self.analog_drive_info is None:
+            logger.debug('No analog drive info specified')
+
+
+        # startup device with supplied per axes parameters
+        if startup:
+            pitools.startup(self.pi, stages=stages, refmodes=refmodes,
+                            servostates=servostates, controlmodes=controlmodes)
+            if not refmodes is None: # if any referencing is carried out wait to finish
+                pitools.waitonreferencing(self.pi, None, timeout=120) # for now 2 min timeout
+
+        self._min = [pitools.getmintravelrange(self.pi, axis)[axis] for axis in self.axes]
+        self._max = [pitools.getmaxtravelrange(self.pi, axis)[axis] for axis in self.axes]
+
+        # before the loop is active, need to query positions explicitly to make self.positions valid
+        self.positions = np.array([self.pi.qPOS([axis])[axis] for axis in self.axes])
+        self._ontarget_tol = target_tol
+        self.joystick = joystick
+        if self.joystick is not None:
+            self.joystick.init(self) # the joystick object should have an init method
+            self.disable_joystick() # this includes enabling updating_ontarget
+        else:
+            self.enable_updating_ontarget()
+
+        self._update_rate = update_rate
+        self._start_loop()
+
+    def enable_joystick(self):
+        if self.joystick is None:
+            return
+        self.disable_updating_ontarget()
+        with self._lock:
+            self.joystick.enablecommands()
+        self._joystick_enabled = True
+
+    def disable_joystick(self):
+        if self.joystick is None:
+            return
+        with self._lock:
+            self.joystick.disablecommands()
+        self.enable_updating_ontarget()
+        self._joystick_enabled = False
+
+    def SetServo(self, val=1):
+        with self._lock:
+            # due to form of SetServo in the baseclass, just set all axes for now
+            self.pi.SVO(self.axes, [val for axis in self.axes])
+    
+    def MoveTo(self, iChannel, fPos, bTimeOut=True):
+        self.target_positions[iChannel] = fPos
+        # self.pi.MOV(self.axes[iChannel], fPos)
+    
+    def MoveRel(self, iChannel, incr, bTimeOut=True):
+        """ relative to current target position
+        @param axes: Axis or list of axes or dictionary {axis : value}.
+        @param values : Float or list of floats or None.
+        """
+        new_pos = self.target_positions[iChannel] + incr
+        self.target_positions[iChannel] = new_pos
+        # self.pi.MVR(self.axes[iChannel], incr)
+    
+    def GetPos(self, iChannel=1):
+        try:
+            assert np.isscalar(iChannel)
+        except:
+            raise AssertionError('GetPos only supports single-axis query')
+        return self.positions[iChannel]
+        # axis = self.axes[iChannel]
+        # return self.pi.qPOS([axis])[axis]
+    
+    def GetTargetPos(self, iChannel=1):
+        # assume that target pos = current pos. Over-ride in derived class if possible
+        # axis = self.axes[iChannel]
+        # return self.GetPos(iChannel)
+        return self.target_positions[iChannel]
+    
+    def GetMin(self, iChan=1):
+        """
+        Get lower limits ("soft limits")
+        """
+        try:
+            assert np.isscalar(iChan)
+        except:
+            raise AssertionError('GetMin only supports single-axis query')
+        
+        return self._min[iChan]
+    
+    def GetMax(self, iChan=1):
+        """
+        Get upper limits ("soft limits")
+        """
+        try:
+            assert np.isscalar(iChan)
+        except:
+            raise AssertionError('GetMax only supports single-axis query')
+        
+        return self._max[iChan]
+    
+    def GetFirmwareVersion(self):
+        if self.pi.HasqVER():
+            ver = self.pi.qVER() # under lock?
+            verinfo = ver.strip()
+        else:
+            verinfo = 'Controller has no version info'
+
+        return verinfo
+    
+    def OnTarget(self):
+        """
+        For multiaxis stages, query with None reports for all of them
+        """
+        return self._all_on_target
+    
+    def close(self):
+        self.loop_active = False
+        with self._lock:
+            self.pi.CloseConnection()
+    
+    def _start_loop(self):
+        self.loop_active = True
+        self.tloop = threading.Thread(target=self._Loop)
+        self.tloop.daemon=True
+        self.tloop.start()
+
+    def enable_updating_ontarget(self):
+        # first reset the relevant variables
+        self.target_positions = np.copy(self.positions)
+        self._last_target_positions = np.copy(self.positions)
+        self._all_on_target = True
+        self._on_target = np.asarray([True for axis in self.axes])
+        # now also switch the flag
+        self._updating_ontarget = True
+
+    def disable_updating_ontarget(self): # does this need a lock, any race conditions?
+        self._updating_ontarget = False
+
+    def _Loop(self):
+        while self.loop_active:
+            time.sleep(self._update_rate) # we should sleep while NOT holding the lock so that others can grab it if needed
+            with self._lock:
+                try:
+                    # check position
+                    for ind, axis in enumerate(self.axes):
+                        # does this need a lock?
+                        self.positions[ind] = self.pi.qPOS([axis])[axis]
+                    
+                    if not self._updating_ontarget:
+                        continue # skip below if not currently in update target mode (e.g. when joystick active)
+                    
+                    # update ontarget
+                    old_on_target = np.copy(self._on_target)
+                    on_targets = pitools.ontarget(self.pi, None)
+                    self._on_target = np.asarray([on_targets[axis] for axis in self.axes])
+                    if not np.all(self._on_target == old_on_target):
+                        # FIXME - something to log which axis would be cool?
+                        # FIXME - analog control of even 1 axis will essentially break this
+                        logEvent('PiezoOnTarget', '%s' % self.positions, time.time())
+                        self._all_on_target = np.all(self._on_target)
+                    targets_matched = np.isclose(self.target_positions, self._last_target_positions,
+                                                 rtol=0, atol=self._ontarget_tol)
+                    if all(targets_matched):
+                        self._all_on_target = True
+                    else:
+                        self._all_on_target = False
+                        for ind, matched in enumerate(targets_matched):
+                            if not matched:
+                                new_pos = np.clip(self.target_positions[ind], self._min[ind], self._max[ind])
+                                self.pi.MOV(self.axes[ind], new_pos)
+                                self._on_target[ind] = False
+                        
+                        self._last_target_positions = np.copy(self.target_positions)
+                
+                except Exception as e:
+                    logger.error(str(e))
+                
+        logger.debug('exiting')
+    
+    def set_analog_control(self, channel, adc_channel=None, vmin=-10, vmax=10):
+        """ Configure and enable analog control for a given axis
+
+        Parameters
+        ----------
+        channel : int
+            index into self.axes for the axis to configure
+        adc_channel : int, optional
+            if `self.adc_channels` is set, the ADC channel specified for
+            `channel` axis will be configured and enabled. Can also pass 0 here
+            which will DISABLE analog control for the axis.
+        vmin : float, optional
+            minimum control voltage, and the voltage which will correspond to
+            the minimum of the movement range for this axis. Default is -10V.
+        vmax : float, optional
+            maximum control voltage, and the voltage which will correspond to
+            the maximum of the movement range for this axis. Default is 10V.
+
+        Raises
+        ------
+        NotImplementedError
+            if no ADC channel is specified and `self.adc_channels` is not
+            configured.
+        
+        Notes
+        -----
+        OnTarget events are not aware of analog control, and will not
+        generally fire if even one axis is under analog control.
+
+        Requires command level 1. which can be enabled with 
+        self.pi.gcsdevice.CCL(1, password)
+
+        Not sure why qSGA is an 'unknown command' to query the gain.
+        Note also that the qAOS command for querying analog input offset only
+        works for the axes present, not the ADC channels which is what we need
+        to query.
+        
+        """
+        # voltage is assigned to a normalized range. For E-727, -100 to 100 [norm. units] corresponds to -10 to 10 [V]
+        min_norm, max_norm = min([10*vmin, -100]), max([10*vmax, 100])
+        gain = (self._max[channel] - self._min[channel]) / (max_norm - min_norm)
+        offset = self._max[channel] - gain * max_norm
+        # scaled_value = offset + gain * norm_value
+        if adc_channel is None:
+            try:
+                adc_channel = self.adc_channels[channel]
+            except:
+                raise NotImplementedError('No ADC channel configured for analog control of axis %s' % channel)
+        elif adc_channel == 0:
+            # disable analog control
+            self.pi.SPA(self.axes[channel], self.analog_drive_info['ADC_CHANNEL_FOR_TARGET'], 0)
+            return
+        
+        # set parameters in RAM/temporary settings
+        self.pi.SPA(adc_channel, self.analog_drive_info['OFFSET'], offset)
+        self.pi.SPA(adc_channel, self.analog_drive_info['GAIN'], gain)
+        # and finally hook up the analog control
+        self.pi.SPA(self.axes[channel], self.analog_drive_info['ADC_CHANNEL_FOR_TARGET'], adc_channel)
+        # note qSGA is an 'unknown command' to query the gain
+        # note qAOS does not work for querying the ADC channels
+    
+    def disable_analog_control(self, channel):
+        self.set_analog_control(channel, adc_channel=0)
+
+    def get_analog_control_settings(self, channel):
+        adc_channel = self.pi.qSPA(self.axes[channel], 
+                                   self.analog_drive_info['ADC_CHANNEL_FOR_TARGET'])[self.axes[channel]][int(self.analog_drive_info['ADC_CHANNEL_FOR_TARGET'])]
+        enabled = adc_channel != 0
+        offset = self.pi.qSPA(adc_channel, self.analog_drive_info['OFFSET'])[adc_channel][int(self.analog_drive_info['OFFSET'])]
+        gain = self.pi.qSPA(adc_channel, self.analog_drive_info['GAIN'])[adc_channel][int(self.analog_drive_info['GAIN'])]
+        return enabled, adc_channel, offset, gain
+    
+
+# a piezo_pipython_gcs compatible joystick class
+# - provides Enable() and IsEnabled() methods for use by PYME position ui and scope object
+# - an init() method to set the joystick parameters via GCS commands and register the gcspiezo "parent" instance
+# - an enablecommands() method of GCS commands that will be used by the gcspiezo "parent" object to enable the joystick
+# - a disablecommands() method of GCS commands that will be used by the gcspiezo "parent" object to disable the joystick
+
+# example usage:
+#    from PYME.Acquire.Hardware.Piezos.piezo_pipython_gcs import GCSPiezoThreaded
+#    from PYMEcs.Acquire.Hardware.Piezos.joystick_c867_digital import DigitalJoystick
+#    scope.stage = GCSPiezoThreaded('PI C-867 Piezomotor Controller SN 0122013807', axes=['1', '2'],
+#                                   refmodes='FRF',joystick=DigitalJoystick())
+
+class JoystickBase(object):
+    def __init__(self):
+        self.gcspiezo = None
+        self._initialised = False
+
+    # this method needs to be tweaked to the specific controller and joystick model in derived class
+    def init(self,gcspiezo):
+        # register the piezo device
+        self.gcspiezo = gcspiezo # needs to be retained in derived class implementation
+        
+        # further initialisation code should go below (e.g. GCS commands)
+        # i.e., this method needs to be implemented in a derived class
+        
+        # when completed needs to set the initialised flag: self._initialised = True
+        
+        raise NotImplementedError('Needs to be implemented in derived class.')
+
+    def Enable(self, enabled = True):
+        self.check_initialised()
+        if not self.IsEnabled() == enabled:
+            if enabled:
+                self.gcspiezo.enable_joystick()
+            else:
+                self.gcspiezo.disable_joystick()
+
+    def IsEnabled(self):
+        self.check_initialised()
+        return self.gcspiezo._joystick_enabled
+
+    def check_initialised(self):
+        if not self._initialised:
+            raise RuntimeError("joystick must be initialised before using these methods")
+
+    # GCS commands to enable the joystick
+    def enablecommands(self): # this method is supposed to be used from the parent gcspiezo object
+        #    e.g. self.gcspiezo.pi.HIN(self.gcspiezo.axes,[True for axis in self.gcspiezo.axes])
+        raise NotImplementedError('Needs to be implemented in derived class.')
+
+    # GCS commands to enable the joystick
+    def disablecommands(self): # this method is supposed to be used from the parent gcspiezo object
+        #    e.g. self.gcspiezo.pi.HIN(self.gcspiezo.axes,[False for axis in self.gcspiezo.axes])
+        raise NotImplementedError('Needs to be implemented in derived class.')

PYME/Acquire/Hardware/Piezos/piezo_test.py

@@ -0,0 +1,55 @@
+#!/usr/bin/python
+
+##################
+# piezo_test.py
+#
+# Copyright David Baddeley, 2009
+# d.baddeley@auckland.ac.nz
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+#
+##################
+
+import scipy
+import matplotlib.pyplot as plt
+import time
+
+def test_piezo(piezo, startpos=0, endpos=0, stepsize=0.04, chan = 1, delay=0):
+    if endpos == 0:
+        endpos = piezo.GetMax(chan)
+
+    pos = scipy.arange(startpos, endpos, stepsize)
+    a = scipy.zeros(len(pos), 'd')
+
+    for i in range(len(pos)):
+        piezo.MoveTo(chan,pos[i], 0)
+        if delay > 0:
+            time.sleep(delay)
+        a[i] = (piezo.GetPos(chan))
+
+    return (pos, a)
+
+def plot_diff(data):
+    plt.plot(data[0], data[1] - data[0])
+
+def save_data(data, fname):
+    s = ''
+    for i in range(len(data[0])):
+        for j in range(len(data)):
+            s = s + '%s ' % (data[j][i],)
+        s = s + '\n'
+
+    f = open(fname, 'w')
+    f.write(s)
+    f.close()