Remove dependencies from stages

src/openflexure_microscope_server/things/stage/__init__.py

@@ -133,24 +133,15 @@ class BaseStage(lt.Thing):
         self.axis_inverted = direction
 
     @lt.action
-    def move_relative(
+    def move_relative(self, block_cancellation: bool = False, **kwargs: int) -> None:
-        self,
-        cancel: lt.deps.CancelHook,
-        block_cancellation: bool = False,
-        **kwargs: int,
-    ) -> None:
         """Make a relative move. Keyword arguments should be axis names."""
         self._hardware_move_relative(
-            cancel=cancel,
             block_cancellation=block_cancellation,
             **self._apply_axis_direction(kwargs),
         )
 
     def _hardware_move_relative(
-        self,
+        self, block_cancellation: bool = False, **kwargs: int
-        cancel: lt.deps.CancelHook,
-        block_cancellation: bool = False,
-        **kwargs: int,
     ) -> Never:
         """Make a relative move in the coordinate system used by the physical hardware.
 
@@ -161,22 +152,15 @@ class BaseStage(lt.Thing):
         )
 
     @lt.action
-    def move_absolute(
+    def move_absolute(self, block_cancellation: bool = False, **kwargs: int) -> None:
-        self,
-        cancel: lt.deps.CancelHook,
-        block_cancellation: bool = False,
-        **kwargs: int,
-    ) -> None:
         """Make an absolute move. Keyword arguments should be axis names."""
         self._hardware_move_absolute(
-            cancel=cancel,
             block_cancellation=block_cancellation,
             **self._apply_axis_direction(kwargs),
         )
 
     def _hardware_move_absolute(
         self,
-        cancel: lt.deps.CancelHook,
         block_cancellation: bool = False,
         **kwargs: int,
     ) -> Never:
@@ -212,20 +196,16 @@ class BaseStage(lt.Thing):
         return (position_dict["x"], position_dict["y"], position_dict["z"])
 
     @lt.action
-    def move_to_xyz_position(
+    def move_to_xyz_position(self, xyz_pos: tuple[int, int, int]) -> None:
-        self, cancel: lt.deps.CancelHook, xyz_pos: tuple[int, int, int]
-    ) -> None:
         """Move to the location specified by an (x, y, z) tuple.
 
-        :param cancel: A cancel hook for cancelling the move. This dependency should be
-            injected automatically by LabThings-FastAPI
         :param xyz_pos: The (x, y, z) position to move to.
 
         :raises KeyError: if this stage does not have axes named "x", "y", and "z".
 
         This method provides the interface expected by the camera_stage_mapping.
         """
-        self.move_absolute(cancel=cancel, x=xyz_pos[0], y=xyz_pos[1], z=xyz_pos[2])
+        self.move_absolute(x=xyz_pos[0], y=xyz_pos[1], z=xyz_pos[2])
 
 
 StageDependency = lt.deps.direct_thing_client_dependency(BaseStage, "stage")

src/openflexure_microscope_server/things/stage/dummy.py

@@ -55,7 +55,6 @@ class DummyStage(BaseStage):
 
     def _hardware_move_relative(
         self,
-        cancel: lt.deps.CancelHook,
         block_cancellation: bool = False,
         **kwargs: int,
     ) -> None:
@@ -71,7 +70,7 @@ class DummyStage(BaseStage):
                 if block_cancellation:
                     time.sleep(dt)
                 else:
-                    cancel.sleep(dt)
+                    lt.cancellable_sleep(dt)
                 fraction_complete = (time.time() - start_time) / (dt * max_displacement)
                 self.instantaneous_position = {
                     ax: self._hardware_position[ax] + int(fraction_complete * disp)
@@ -93,7 +92,6 @@ class DummyStage(BaseStage):
 
     def _hardware_move_absolute(
         self,
-        cancel: lt.deps.CancelHook,
         block_cancellation: bool = False,
         **kwargs: int,
     ) -> None:
@@ -104,7 +102,7 @@ class DummyStage(BaseStage):
             if axis in self.axis_names
         }
         self._hardware_move_relative(
-            cancel, block_cancellation=block_cancellation, **displacement
+            block_cancellation=block_cancellation, **displacement
         )
 
     @lt.action

src/openflexure_microscope_server/things/stage/sangaboard.py

@@ -2,7 +2,6 @@
 
 from __future__ import annotations
 
-import logging
 import threading
 import time
 from collections.abc import Mapping
@@ -18,8 +17,6 @@ import sangaboard
 
 from . import BaseStage
 
-LOGGER = logging.getLogger(__name__)
-
 REQUIRED_VERSION = semver.Version.parse("1.0.0")
 RECOMMENDED_VERSION = semver.Version.parse("1.0.4")
 
@@ -117,14 +114,13 @@ class SangaboardThing(BaseStage):
 
             # Warn if version is below recommended
             if version < RECOMMENDED_VERSION:
-                LOGGER.warning(
+                self.logger.warning(
                     f"Sangaboard firmware version {version} is below the recommended "
                     f"{RECOMMENDED_VERSION}."
                 )
 
     def _hardware_move_relative(
         self,
-        cancel: lt.deps.CancelHook,
         block_cancellation: bool = False,
         **kwargs: int,
     ) -> None:
@@ -138,7 +134,7 @@ class SangaboardThing(BaseStage):
                     sb.query("notify_on_stop")
                 else:
                     while sb.query("moving?") == "true":
-                        cancel.sleep(0.1)
+                        lt.cancellable_sleep(0.1)
             except lt.exceptions.InvocationCancelledError as e:
                 # If the move has been cancelled, stop it but don't handle the exception.
                 # We need the exception to propagate in order to stop any calling tasks,
@@ -151,7 +147,6 @@ class SangaboardThing(BaseStage):
 
     def _hardware_move_absolute(
         self,
-        cancel: lt.deps.CancelHook,
         block_cancellation: bool = False,
         **kwargs: int,
     ) -> None:
@@ -164,7 +159,7 @@ class SangaboardThing(BaseStage):
                 if axis in self.axis_names
             }
             self._hardware_move_relative(
-                cancel, block_cancellation=block_cancellation, **displacement
+                block_cancellation=block_cancellation, **displacement
             )
 
     @lt.action
@@ -203,7 +198,7 @@ class SangaboardThing(BaseStage):
             # cannot be used.
             intended_brightness = float(return_value[7:])
             on_brightness = 0.32
-            LOGGER.warning(
+            self.logger.warning(
                 "Brightness control is not yet implemented. Desired brightness: "
                 f"{intended_brightness}. Set brightness: {on_brightness}"
             )