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Commit fe12f33

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beniroquaibeniroquai
authored
Merge branch 'master' into mergemaster
2 parents 9b8501b + 1b05844 commit fe12f33

5 files changed

Lines changed: 20 additions & 61 deletions

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‎uc2rest/home.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -78,7 +78,7 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
7878
{
7979
"stepperid": axis,
8080
"timeout":timeout*1000,
81-
"speed":speed,
81+
"speed":direction*abs(speed),
8282
"direction":direction,
8383
"endposrelease":endposrelease,
8484
"endstoppolarity":endstoppolarity

‎uc2rest/laser.py‎

Lines changed: 1 addition & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@ def set_laser(self, channel=1, value=0, auto_filterswitch=False,
4646

4747
}
4848
#self._parent.logger.debug("Setting Laser "+str(channel)+", value: "+str(value))
49-
r = self._parent.post_json(path, payload, getReturn=is_blocking)
49+
r = self._parent.post_json(path, payload, getReturn=is_blocking, timeout=.5)
5050
return r
5151

5252
def set_laserpin(self, laserid=1, laserpin=0):
@@ -61,33 +61,3 @@ def set_laserpin(self, laserid=1, laserpin=0):
6161
r = self._parent.post_json(path, payload)
6262
return r
6363

64-
def get_laserpins(self):
65-
path = '/laser_get'
66-
67-
r = self._parent.get_json(path)
68-
69-
if type(r) is dict:
70-
# cast laser pins
71-
if "LASER1pin" in r: r["LASER1pin"] = int(r["LASER1pin"])
72-
else: r["LASER1pin"] = 0
73-
if r.__contains__("LASER2pin"): r["LASER2pin"] = int(r["LASER2pin"])
74-
else: r["LASER2pin"] = 0
75-
if r.__contains__("LASER3pin"): r["LASER3pin"] = int(r["LASER3pin"])
76-
else: r["LASER3pin"] = 0
77-
else:
78-
r={}
79-
r["LASER1pin"] = 0
80-
r["LASER2pin"] = 0
81-
r["LASER3pin"] = 0
82-
83-
return r
84-
85-
def get_laserpin(self, laserid=1):
86-
path = '/laser_get'
87-
88-
payload = {
89-
"task": path,
90-
}
91-
92-
r = self._parent.post_json(path, payload,timeout=2)
93-
return r["LASER"+str(laserid)+"pin"]

‎uc2rest/motor.py‎

Lines changed: 9 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -49,16 +49,16 @@ def __init__(self, parent=None):
4949
self.stepSizeA = 1
5050

5151
self.DEFAULT_ACCELERATION = 10000
52-
52+
5353
self.motorAxisOrder = [0,1,2,3] # motor axis is 1,2,3,0 => X,Y,Z,T # FIXME: Hardcoded
5454

5555
# register a callback function for the motor status on the serial loop
5656
if hasattr(self._parent, "serial"):
5757
self._parent.serial.register_callback(self._callback_motor_status, pattern="steppers")
5858

5959
# move motor to wake them up #FIXME: Should not be necessary!
60-
#self.move_stepper(steps=(1,1,1,1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False), is_blocking=False)
61-
#self.move_stepper(steps=(-1,-1,-1,-1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False), is_blocking=False)
60+
#self.move_stepper(steps=(1,1,1,1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False))
61+
#self.move_stepper(steps=(-1,-1,-1,-1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False))
6262

6363
def _callback_motor_status(self, data):
6464
''' cast the json in the form:
@@ -98,7 +98,7 @@ def setTrigger(self, axis="X", pin=1, offset=0, period=1):
9898
}}
9999
r = self._parent.post_json(path, payload)
100100
return r
101-
101+
102102
# {"task": "/motor_act", "stagescan": {"nStepsLine": 100, "dStepsLine": 1, "nTriggerLine": 1, "nStepsPixel": 100, "dStepsPixel": 1, "nTriggerPixel": 1, "delayTimeStep": 10, "stopped": 0, "nFrames": 5}}"}}
103103
def startStageScanning(self, nStepsLine=100, dStepsLine=1, nTriggerLine=1, nStepsPixel=100, dStepsPixel=1, nTriggerPixel=1, delayTimeStep=10, nFrames=5):
104104
path = "/motor_act"
@@ -117,17 +117,10 @@ def startStageScanning(self, nStepsLine=100, dStepsLine=1, nTriggerLine=1, nStep
117117
}}
118118
r = self._parent.post_json(path, payload)
119119
return r
120-
120+
121121
def stopStageScanning(self):
122-
path = "/motor_act"
123-
payload = {
124-
"task": path,
125-
"stagescan":{
126-
"stopped": 1
127-
}}
128-
r = self._parent.post_json(path, payload)
129-
return r
130-
122+
self.startStageScanning(stopped=1)
123+
131124
def setIsCoreXY(self, isCoreXY = False):
132125
self.isCoreXY = isCoreXY
133126

@@ -529,7 +522,7 @@ def set_motor_enable(self, enable=None, enableauto=None):
529522
r = self._parent.post_json(path, payload)
530523
return r
531524

532-
def get_position(self, axis=None, timeout=1):
525+
def get_position(self, axis=None, timeout=.2):
533526
# pulls all current positions from the stepper controller
534527
path = "/motor_get"
535528
payload = {
@@ -540,7 +533,7 @@ def get_position(self, axis=None, timeout=1):
540533
_physicalStepSizes = np.array((self.stepSizeA, self.stepSizeX, self.stepSizeY, self.stepSizeZ))
541534

542535
# this may be an asynchronous call.. #FIXME!
543-
r = self._parent.post_json(path, payload, getReturn = True, nResponses=1)
536+
r = self._parent.post_json(path, payload, getReturn = True, nResponses=1, timeout=timeout)
544537
if "motor" in r:
545538
for index, istepper in enumerate(r["motor"]["steppers"]):
546539
_position[istepper["stepperid"]]=istepper["position"]*_physicalStepSizes[self.motorAxisOrder[index]]

‎uc2rest/mserial.py‎

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ class Serial:
99
def __init__(self, port, baudrate=115200, timeout=5,
1010
identity="UC2_Feather", parent=None, DEBUG=False):
1111

12-
self.serialdevice= None
12+
self.serialdevice = None
1313
self.serialport = port
1414
self.baudrate = baudrate
1515
self.timeout = timeout
@@ -179,7 +179,7 @@ def _process_commands(self):
179179
# Check if the last command went through successfully
180180
#if not self.command_queue.empty() and not reading_json:
181181
# currentIdentifier, command = self.command_queue.get()
182-
182+
183183
# device not ready yet
184184
if self.serialdevice is None:
185185
self.is_connected = False
@@ -294,11 +294,9 @@ def sendMessage(self, command, nResponses=1, timeout = 20):
294294
try:
295295
json_command = json.dumps(command)+"\n"
296296
with self.lock:
297-
t0 = time.time()
298297
self.serialdevice.flush()
299298
self._logger.debug("[SendMessage]: "+str(json_command))
300299
self.serialdevice.write(json_command.encode('utf-8') )
301-
#self._logger.debug("[SendMessage] took: "+str(time.time()-t0))
302300
except Exception as e:
303301
if self.DEBUG: self._logger.error(e)
304302
return "Failed to Send"
@@ -394,7 +392,7 @@ def __init__(self, port, baudrate, timeout=1):
394392

395393
def flush(self):
396394
pass
397-
395+
398396
def isOpen(self):
399397
return self.is_open
400398

‎uc2rest/temperature.py‎

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
class Temperature(object):
2-
2+
33
def __init__(self, parent):
44
self._parent = parent
5-
5+
66
'''
77
##############################################################################################################################
88
Temperature Controllers
@@ -12,8 +12,8 @@ def __init__(self, parent):
1212
def stop_heating(self):
1313
r = self.set_temperature(active=0)
1414
return r
15-
16-
def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=60000000, updaterate=1000):
15+
16+
def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=600000000, updaterate=1000):
1717
# {"task": "/heat_act", "active":1, "Kp":1000, "Ki":0.1, "Kd":0.1, "target":37, "timeout":60000000, "updaterate":1000}
1818
path = "/heat_act"
1919
payload = {
@@ -28,7 +28,7 @@ def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=
2828
}
2929
r = self._parent.post_json(path, payload, getReturn=False)
3030
return r
31-
31+
3232
def get_temperature(self, timeout=0.5):
3333
path = "/heat_get"
3434
r = self._parent.get_json(path, timeout=timeout)
@@ -40,7 +40,7 @@ def get_temperature(self, timeout=0.5):
4040

4141

4242
if __name__ == "__main__":
43-
43+
4444
#%%
4545
import uc2rest
4646
import time
@@ -52,5 +52,3 @@ def get_temperature(self, timeout=0.5):
5252
time.sleep(1)
5353
ESP32.temperature.stop_heating()
5454
ESP32.close()
55-
56-

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