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Merge remote-tracking branch 'origin/master' into auto-exposure-gain-awb

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This was primarily done to disable the warning about f strings in
logging statements, globally rather than per-file.
This commit is contained in:
Richard Bowman 2021-04-27 17:16:19 +01:00
commit 42f00b69a4
3 changed files with 61 additions and 35 deletions
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51
openflexure_microscope/api/v2/views/actions/stage.py
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@ -1,50 +1,47 @@
import logging
from typing import List, Tuple
from labthings import fields, find_component
from labthings.views import ActionView
from openflexure_microscope.utilities import axes_to_array
class MoveStageAPI(ActionView):
args = {
"absolute": fields.Boolean(
missing=False, example=False, description="Move to an absolute position"
),
"x": fields.Int(missing=0, example=100),
"y": fields.Int(missing=0, example=100),
"z": fields.Int(missing=0, example=20),
"x": fields.Int(missing=None, example=100),
"y": fields.Int(missing=None, example=100),
"z": fields.Int(missing=None, example=20),
}
def post(self, args):
"""
Move the microscope stage in x, y, z
Any axes that are not specifed will not move.
"""
microscope = find_component("org.openflexure.microscope")
# Handle absolute positioning (calculate a relative move from current position and target)
if (args.get("absolute")) and (microscope.stage): # Only if stage exists
target_position: List[int] = axes_to_array(args, ["x", "y", "z"])
logging.debug("TARGET: %s", (target_position))
position: Tuple[int, int, int] = (
target_position[i] - microscope.stage.position[i] for i in range(3)
)
logging.debug("DELTA: %s", (position))
else:
# Get coordinates from payload
position = axes_to_array(args, ["x", "y", "z"], [0, 0, 0])
logging.debug(position)
# Move if stage exists
if microscope.stage:
# Explicitally acquire lock with 1s timeout
with microscope.stage.lock(timeout=1):
microscope.stage.move_rel(position)
else:
if not microscope.stage:
logging.warning("Unable to move. No stage found.")
return microscope.state["stage"]["position"]
absolute_move = args.get("absolute")
move = [0, 0, 0] # Default to no motion
for i, axis in enumerate(["x", "y", "z"]):
if axis in args and args[axis] is not None:
if absolute_move:
# We emulate absolute moves by calculating a relative move that
# will take us to the right position.
move[i] = args[axis] - microscope.stage.position[i]
else:
move[i] = args[axis]
logging.debug(f"Moving stage by {move}, request was {args}")
# Explicitly acquire lock with 1s timeout
with microscope.stage.lock(timeout=1):
microscope.stage.move_rel(move)
return microscope.state["stage"]["position"]