Smallish cleanup.

Signed-off-by: Henner Zeller <h.zeller@acm.org>

hostcontrol/src/gcode_stage.rs

@@ -0,0 +1,45 @@
+use crate::stage_io::StageIO;
+use crate::xy_stage::{Result, XYStage};
+
+pub struct GCodeStage {
+    stage_io: StageIO,
+    max_range_μm: nalgebra::Vector3<f64>,
+}
+
+impl GCodeStage {
+    pub fn new(stage_io: StageIO) -> Result<Self> {
+        let mut res = Self {
+            stage_io,
+            // TODO: determine max range with some M-code ?
+            max_range_μm: nalgebra::vector![100.0 * 1000.0, 100.0 * 1000.0, 50.0 * 1000.0],
+        };
+        res.stage_io.send_request("G28\n")?;
+        Ok(res)
+    }
+}
+
+impl XYStage for GCodeStage {
+    /// Move to absolute coordinates (x,y,z) in micrometers.
+    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
+        // TODO: check range
+        self.stage_io.send_request(format!(
+            "G1 X{} Y{} Z{}\n",
+            a[0] / 1000.0,
+            a[1] / 1000.0,
+            a[2] / 1000.0
+        ))?;
+        Ok(())
+    }
+
+    /// Get range of valid cartesian coordinates box. For now, assuming one
+    /// corner is fixed at (0,0,0), the other remote corner is this range.
+    fn get_range(&self) -> nalgebra::Vector3<f64> {
+        self.max_range_μm
+    }
+}
+
+impl Drop for GCodeStage {
+    fn drop(&mut self) {
+        self.stage_io.send_request("M84\n").unwrap(); // switch off motors.
+    }
+}

hostcontrol/src/main.rs

@@ -1,7 +1,14 @@
-use clap::Parser;
+use clap::{Parser, ValueEnum};
 use std::{thread::sleep, time::Duration};
 
-mod stage;
+mod gcode_stage;
+mod openflexure_stage;
+
+mod stage_io;
+use crate::stage_io::StageIO;
+use crate::xy_stage::XYStage;
+
+mod xy_stage;
 
 #[derive(clap::Parser, Debug)]
 #[command(version, about, long_about = None)]
@@ -13,44 +20,43 @@ struct CliArgs {
     /// Speed of the stage device (bps)
     #[arg(long, default_value = "115200")]
     tty_speed: u32,
+
+    #[arg(long, value_enum)]
+    backend: Backend,
+}
+
+// [derive(DebugCopy, Clone, PartialEq, Eq, PartialOrd, Ord, ValueEnum)]
+#[derive(Debug, Clone, ValueEnum)]
+enum Backend {
+    /// OpenFlexure stage
+    OpenFlexure,
+
+    /// GCode stage
+    GCode,
 }
 
 fn main() {
     let args = CliArgs::parse();
     env_logger::init();
-    let stage_io = stage::StageIO::new(&args.stage_device, args.tty_speed).unwrap();
-    let mut s = stage::Stage::new(stage_io, 1.12).unwrap();
-    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
-    //println!("{}", s.version().unwrap());
-
-    //let a = nalgebra::vector![-10000.0, 0.0, -1250.0];
-    //let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
-    //let c = nalgebra::vector![0.0, -15000.0, -250.0];
-
-    s.move_absolute_cartesian(origin).unwrap();
-    sleep(Duration::from_secs(5));
-    //s.move_absolute_cartesian(origin + a).unwrap();
-    ////sleep(Duration::from_secs(5));
-    ////s.move_absolute_cartesian(origin).unwrap();
-    ////s.move_absolute_cartesian(origin + c).unwrap();
-    ////sleep(Duration::from_secs(5));
-    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
-    ////println!("D");
-    ////sleep(Duration::from_secs(5));
-    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
-    //println!("{:?}", s.get_position_cartesian());
-
-    //Ok(())
-}
-
-struct App {}
-
-impl Default for App {
-    fn default() -> Self {
-        App {}
+    let stage_io = StageIO::new(&args.stage_device, args.tty_speed).unwrap();
+    let mut stage: Box<dyn XYStage> = match args.backend {
+        Backend::GCode => Box::new(gcode_stage::GCodeStage::new(stage_io).unwrap()),
+        Backend::OpenFlexure => {
+            Box::new(openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap())
         }
+    };
+    let origin = nalgebra::vector![0.0, 0.0, 0.0];
+    stage.move_absolute_cartesian(origin).unwrap();
+    sleep(Duration::from_secs(1));
+    let mut max_xy = stage.get_range();
+    max_xy[2] = 0.0;
+    stage.move_absolute_cartesian(max_xy).unwrap();
+    sleep(Duration::from_secs(5));
 }
 
+#[derive(Default)]
+struct App {}
+
 impl eframe::App for App {
     fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
         egui::CentralPanel::default().show(ctx, |ui| {
@@ -58,25 +64,3 @@ impl eframe::App for App {
         });
     }
 }
-
-//
-//    let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
-//    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
-//    println!("{}", s.version().unwrap());
-//
-//    let a = nalgebra::vector![18000.0, 0.0, -1250.0];
-//    let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
-//    let c = nalgebra::vector![0.0, -15000.0, -250.0];
-//
-//    s.move_absolute_cartesian(origin).unwrap();
-//    //sleep(Duration::from_secs(5));
-//    //s.move_absolute_cartesian(origin + a).unwrap();
-//    //sleep(Duration::from_secs(5));
-//    //s.move_absolute_cartesian(origin + c).unwrap();
-//    //sleep(Duration::from_secs(5));
-//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
-//    //println!("D");
-//    //sleep(Duration::from_secs(5));
-//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
-//    println!("{:?}", s.get_position_cartesian());
-//}

hostcontrol/src/openflexure_stage.rs

@@ -1,8 +1,7 @@
 //! Stage controller for openflexure-delta like stage controllers.
 
-use log::debug;
-use std::time::Duration;
-use thiserror::Error;
+use crate::stage_io::StageIO;
+use crate::xy_stage::{Result, StageError, XYStage};
 
 fn new_camera_rotation(theta: f64) -> nalgebra::Matrix3<f64> {
     nalgebra::matrix![
@@ -23,74 +22,14 @@ fn new_delta_into_cartesian(flex_h: f64, flex_a: f64, flex_b: f64) -> nalgebra::
     ]
 }
 
-#[derive(Error, Debug)]
-pub enum StageIOError {
-    #[error("could not connect to stage controller")]
-    Open(#[from] serialport::Error),
-    #[error("error when sending data to the stage controller")]
-    Write(std::io::Error),
-    #[error("error when receiving data from the stage controller")]
-    Read(std::io::Error),
-}
-
-#[derive(Error, Debug)]
-pub enum StageError {
-    #[error("Interface issue")]
-    Communication(#[from] StageIOError),
-    #[error("protocol error")]
-    Mumble,
-}
-
-pub struct StageIO {
-    serial: Box<dyn serialport::SerialPort>,
-}
-
-pub struct Stage {
+pub struct OpenFlexureStage {
     stage_io: StageIO,
     delta_pos: nalgebra::Vector3<i32>,
     cartesian_to_delta: nalgebra::Matrix3<f64>,
     delta_to_cartesian: nalgebra::Matrix3<f64>,
 }
 
-pub type StageIOResult<T> = std::result::Result<T, StageIOError>;
-impl StageIO {
-    pub fn new(port: &str, speed: u32) -> StageIOResult<Self> {
-        let serial = serialport::new(port, speed)
-            .timeout(Duration::from_secs(60))
-            .open()?;
-        // TODO: read and discard initial characters; some devices like to be
-        // chatty on start-up.
-        Ok(Self { serial })
-    }
-
-    fn receive_until<S: AsRef<str>>(&mut self, needle: S) -> StageIOResult<String> {
-        let mut res: Vec<u8> = vec![];
-        loop {
-            let mut buf = [0u8; 1];
-            self.serial
-                .read_exact(&mut buf)
-                .map_err(|e| StageIOError::Read(e))?;
-            res.push(buf[0]);
-            if res.ends_with(needle.as_ref().as_bytes()) {
-                return Ok(String::from_utf8_lossy(&res).to_string());
-            }
-        }
-    }
-
-    // Send request and wait for response deliminated with a newline
-    pub fn send_request<S: AsRef<str>>(&mut self, command: S) -> StageIOResult<String> {
-        debug!("->: {:?}", command.as_ref());
-        self.serial
-            .write_all(command.as_ref().as_bytes())
-            .map_err(|e| StageIOError::Write(e))?;
-        let response = self.receive_until("\n")?;
-        debug!("<-: {:?}", response);
-        Ok(response.trim().to_string())
-    }
-}
-
-pub type Result<T> = std::result::Result<T, StageError>;
-impl Stage {
+impl OpenFlexureStage {
     pub fn new(stage_io: StageIO, camera_rotation: f64) -> Result<Self> {
         // TODO: non-blocking moves
         let delta_to_cartesian = new_camera_rotation(camera_rotation).try_inverse().unwrap()
@@ -142,7 +81,19 @@ impl Stage {
         self.move_relative_delta(diff)
     }
 
-    pub fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
+    pub fn move_relative_cartesian(&mut self, d: nalgebra::Vector3<f64>) -> Result<()> {
+        let abs = self.get_position_cartesian() + d;
+        self.move_absolute_cartesian(abs)
+    }
+
+    pub fn version(&mut self) -> Result<String> {
+        Ok(self.stage_io.send_request("version\n")?)
+    }
+}
+
+impl XYStage for OpenFlexureStage {
+    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
+        // TODO: check range with get_movement_box()
         let current = self.get_position_delta();
         let target = self.cartesian_to_delta * a;
         let target = nalgebra::vector![target[0] as i32, target[1] as i32, target[2] as i32];
@@ -162,12 +113,7 @@ impl Stage {
         self.move_absolute_delta(target)
     }
 
-    pub fn move_relative_cartesian(&mut self, d: nalgebra::Vector3<f64>) -> Result<()> {
-        let abs = self.get_position_cartesian() + d;
-        self.move_absolute_cartesian(abs)
-    }
-
-    pub fn version(&mut self) -> Result<String> {
-        Ok(self.stage_io.send_request("version\n")?)
+    fn get_range(&self) -> nalgebra::Vector3<f64> {
+        nalgebra::vector![10000.0, 10000.0, 5000.0]
     }
 }

hostcontrol/src/stage_io.rs

@@ -0,0 +1,56 @@
+use log::debug;
+use std::time::Duration;
+use thiserror::Error;
+
+#[derive(Error, Debug)]
+pub enum StageIOError {
+    #[error("could not connect to stage controller")]
+    Open(#[from] serialport::Error),
+    #[error("error when sending data to the stage controller")]
+    Write(std::io::Error),
+    #[error("error when receiving data from the stage controller")]
+    Read(std::io::Error),
+}
+
+pub struct StageIO {
+    serial: Box<dyn serialport::SerialPort>,
+}
+
+pub type StageIOResult<T> = std::result::Result<T, StageIOError>;
+impl StageIO {
+    /// Create a new serial StageIO at given serial device and speed.
+    pub fn new(port: &str, speed: u32) -> StageIOResult<Self> {
+        let serial = serialport::new(port, speed)
+            .timeout(Duration::from_secs(60))
+            .open()?;
+        // TODO: read and discard initial characters; some devices like to be
+        // chatty on start-up.
+        Ok(Self { serial })
+    }
+
+    /// Receive data until the given character string "needle" is seen.
+    fn receive_until<S: AsRef<str>>(&mut self, needle: S) -> StageIOResult<String> {
+        let mut res: Vec<u8> = vec![];
+        loop {
+            let mut buf = [0u8; 1];
+            self.serial
+                .read_exact(&mut buf)
+                .map_err(StageIOError::Read)?;
+            res.push(buf[0]);
+            if res.ends_with(needle.as_ref().as_bytes()) {
+                return Ok(String::from_utf8_lossy(&res).to_string());
+            }
+        }
+    }
+
+    /// Send request and wait for response deliminated with a newline
+    pub fn send_request<S: AsRef<str>>(&mut self, command: S) -> StageIOResult<String> {
+        debug!("->: {:?}", command.as_ref());
+        self.serial
+            .write_all(command.as_ref().as_bytes())
+            .map_err(StageIOError::Write)?;
+        let response = self.receive_until("\n")?;
+        debug!("<-: {:?}", response);
+        Ok(response.trim().to_string())
+    }
+}

hostcontrol/src/xy_stage.rs

@@ -0,0 +1,20 @@
+use crate::stage_io::StageIOError;
+use thiserror::Error;
+
+#[derive(Error, Debug)]
+pub enum StageError {
+    #[error("Interface issue")]
+    Communication(#[from] StageIOError),
+    #[error("protocol error")]
+    Mumble,
+}
+
+pub type Result<T> = std::result::Result<T, StageError>;
+pub trait XYStage {
+    /// Move to absolute coordinates (x,y,z) in micrometers.
+    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()>;
+
+    /// Get range of valid cartesian coordinates box. For now, assuming one
+    /// corner is fixed at (0,0,0), the other remote corner is this range.
+    fn get_range(&self) -> nalgebra::Vector3<f64>;
+}