From 0728b6fe0857528b9e51ceb12ef4cf4554a8e5c5 Mon Sep 17 00:00:00 2001
From: Joel Collins <joel@jtcollins.net>
Date: Mon, 4 Nov 2019 12:09:23 +0000
Subject: [PATCH] Moved scans into base class

---
 openflexure_microscope/stage/base.py  | 38 +++++++++++++++++++++++++
 openflexure_microscope/stage/sanga.py | 40 +--------------------------
 2 files changed, 39 insertions(+), 39 deletions(-)

diff --git a/openflexure_microscope/stage/base.py b/openflexure_microscope/stage/base.py
index 05b69a9c..0fb0cc6b 100644
--- a/openflexure_microscope/stage/base.py
+++ b/openflexure_microscope/stage/base.py
@@ -73,3 +73,41 @@ class BaseStage(metaclass=ABCMeta):
     def close(self):
         """Cleanly close communication with the stage"""
         pass
+
+    def scan_linear(self, rel_positions, backlash=True, return_to_start=True):
+        """
+        Scan through a list of (relative) positions (generator fn)
+        rel_positions should be an nx3-element array (or list of 3 element arrays).
+        Positions should be relative to the starting position - not a list of relative moves.
+        backlash argument is passed to move_rel
+        if return_to_start is True (default) we return to the starting position after a
+        successful scan.  NB we always attempt to return to the starting position if an
+        exception occurs during the scan..
+        """
+        starting_position = self.position
+        rel_positions = np.array(rel_positions)
+        assert rel_positions.shape[1] == 3, ValueError(
+            "Positions should be 3 elements long."
+        )
+        try:
+            self.move_rel(rel_positions[0], backlash=backlash)
+            yield 0
+
+            for i, step in enumerate(np.diff(rel_positions, axis=0)):
+                self.move_rel(step, backlash=backlash)
+                yield i + 1
+        except Exception as e:
+            return_to_start = True  # always return to start if it went wrong.
+            raise e
+        finally:
+            if return_to_start:
+                self.move_abs(starting_position, backlash=backlash)
+
+    def scan_z(self, dz, **kwargs):
+        """Scan through a list of (relative) z positions (generator fn)
+        This function takes a 1D numpy array of Z positions, relative to
+        the position at the start of the scan, and converts it into an
+        array of 3D positions with x=y=0.  This, along with all the
+        keyword arguments, is then passed to ``scan_linear``.
+        """
+        return self.scan_linear([[0, 0, z] for z in dz], **kwargs)
\ No newline at end of file
diff --git a/openflexure_microscope/stage/sanga.py b/openflexure_microscope/stage/sanga.py
index 4359d2b0..d25d5691 100644
--- a/openflexure_microscope/stage/sanga.py
+++ b/openflexure_microscope/stage/sanga.py
@@ -101,7 +101,7 @@ class SangaStage(BaseStage):
 
         return config
 
-    def move_rel(self, displacement, axis=None, backlash=True):
+    def move_rel(self, displacement: list, axis=None, backlash=True):
         """Make a relative move, optionally correcting for backlash.
         displacement: integer or array/list of 3 integers
         axis: None (for 3-axis moves) or one of 'x','y','z'
@@ -147,44 +147,6 @@ class SangaStage(BaseStage):
         with self.lock:
             self.board.move_abs(final, **kwargs)
 
-    def scan_linear(self, rel_positions, backlash=True, return_to_start=True):
-        """
-        Scan through a list of (relative) positions (generator fn)
-        rel_positions should be an nx3-element array (or list of 3 element arrays).
-        Positions should be relative to the starting position - not a list of relative moves.
-        backlash argument is passed to move_rel
-        if return_to_start is True (default) we return to the starting position after a
-        successful scan.  NB we always attempt to return to the starting position if an
-        exception occurs during the scan..
-        """
-        starting_position = self.position
-        rel_positions = np.array(rel_positions)
-        assert rel_positions.shape[1] == 3, ValueError(
-            "Positions should be 3 elements long."
-        )
-        try:
-            self.move_rel(rel_positions[0], backlash=backlash)
-            yield 0
-
-            for i, step in enumerate(np.diff(rel_positions, axis=0)):
-                self.move_rel(step, backlash=backlash)
-                yield i + 1
-        except Exception as e:
-            return_to_start = True  # always return to start if it went wrong.
-            raise e
-        finally:
-            if return_to_start:
-                self.move_abs(starting_position, backlash=backlash)
-
-    def scan_z(self, dz, **kwargs):
-        """Scan through a list of (relative) z positions (generator fn)
-        This function takes a 1D numpy array of Z positions, relative to
-        the position at the start of the scan, and converts it into an
-        array of 3D positions with x=y=0.  This, along with all the
-        keyword arguments, is then passed to ``scan_linear``.
-        """
-        return self.scan_linear([[0, 0, z] for z in dz], **kwargs)
-
     def close(self):
         """Cleanly close communication with the stage"""
         if hasattr(self, "board"):