Make a XYStage trait, and have OpenFlexureStage implement it.

This way, we can have multiple implementations of a stage
that moves in XY direction.

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

hostcontrol/src/main.rs

@@ -1,10 +1,13 @@
 use clap::Parser;
 use std::{thread::sleep, time::Duration};
 
-mod 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)]
@@ -22,28 +25,14 @@ fn main() {
     let args = CliArgs::parse();
     env_logger::init();
     let stage_io = StageIO::new(&args.stage_device, args.tty_speed).unwrap();
-    let mut s = stage::Stage::new(stage_io, 1.12).unwrap();
+    let mut s = openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap();
-    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
+    let origin = nalgebra::vector![0.0, 0.0, 0.0];
-    //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(1));
+    let mut max_xy = s.get_range();
+    max_xy[2] = 0.0;
+    s.move_absolute_cartesian(max_xy).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 {}
@@ -61,25 +50,3 @@ 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

@@ -1,7 +1,7 @@
 //! Stage controller for openflexure-delta like stage controllers.
 
-use crate::stage_io::{StageIO, StageIOError};
+use crate::stage_io::StageIO;
-use thiserror::Error;
+use crate::xy_stage::{XYStage, StageError,Result};
 
 fn new_camera_rotation(theta: f64) -> nalgebra::Matrix3<f64> {
     nalgebra::matrix![
@@ -22,23 +22,14 @@ fn new_delta_into_cartesian(flex_h: f64, flex_a: f64, flex_b: f64) -> nalgebra::
     ]
 }
 
-#[derive(Error, Debug)]
+pub struct OpenFlexureStage {
-pub enum StageError {
-    #[error("Interface issue")]
-    Communication(#[from] StageIOError),
-    #[error("protocol error")]
-    Mumble,
-}
-
-pub struct Stage {
     stage_io: StageIO,
     delta_pos: nalgebra::Vector3<i32>,
     cartesian_to_delta: nalgebra::Matrix3<f64>,
     delta_to_cartesian: nalgebra::Matrix3<f64>,
 }
 
-pub type Result<T> = std::result::Result<T, StageError>;
+impl OpenFlexureStage {
-impl Stage {
     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()
@@ -90,7 +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];
@@ -110,12 +113,7 @@ impl Stage {
         self.move_absolute_delta(target)
     }
 
-    pub fn move_relative_cartesian(&mut self, d: nalgebra::Vector3<f64>) -> Result<()> {
+    fn get_range(&self) -> nalgebra::Vector3<f64> {
-        let abs = self.get_position_cartesian() + d;
+	nalgebra::vector![10000.0, 10000.0, 5000.0]
-        self.move_absolute_cartesian(abs)
-    }
-
-    pub fn version(&mut self) -> Result<String> {
-        Ok(self.stage_io.send_request("version\n")?)
     }
 }

hostcontrol/src/xy_stage.rs

@@ -0,0 +1,21 @@
+
+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>;
+}