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Apply suggestions from code review of branch include-sangaboard

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Co-authored-by: Beth Probert <beth_probert@outlook.com>
This commit is contained in:
Julian Stirling 2025-07-03 12:26:14 +00:00
parent 222a0c973d
commit 544ede0bf9
1 changed files with 12 additions and 7 deletions
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19
src/openflexure_microscope_server/things/stage/sangaboard.py
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@ -20,7 +20,10 @@ class SangaboardThing(BaseStage):
def __init__(self, port: str = None, **kwargs): def __init__(self, port: str = None, **kwargs):
"""A Thing to manage a Sangaboard motor controller """A Thing to manage a Sangaboard motor controller
Internally, this uses the `pysangaboard` library. Internally, this uses the `pysangaboard` package from PyPi. This imports
as `sangaboard`. As `pysangaboard` does not support some features added
to the Sangaboard firmware v1 (LED flashing, aborting moves, etc) this
functionality is accessed by directly querying the serial interface.
""" """
self.sangaboard_kwargs = kwargs self.sangaboard_kwargs = kwargs
self.sangaboard_kwargs["port"] = port self.sangaboard_kwargs["port"] = port
@ -30,7 +33,9 @@ class SangaboardThing(BaseStage):
self._sangaboard_lock = threading.RLock() self._sangaboard_lock = threading.RLock()
with self.sangaboard() as sb: with self.sangaboard() as sb:
if sb.version_tuple[0] != 1: if sb.version_tuple[0] != 1:
raise RuntimeError("labthings-sangaboard requires firmware v1") raise RuntimeError(
"Please update your Sangaboard Firmware. v1 is required."
)
sb.query("blocking_moves false") sb.query("blocking_moves false")
self.update_position() self.update_position()
@ -47,7 +52,7 @@ class SangaboardThing(BaseStage):
with self._sangaboard_lock: with self._sangaboard_lock:
yield self._sangaboard yield self._sangaboard
def update_position(self): def update_position(self) -> None:
"""Read position from the stage and set the corresponding property.""" """Read position from the stage and set the corresponding property."""
with self.sangaboard() as sb: with self.sangaboard() as sb:
self.position = dict(zip(self.axis_names, sb.position)) self.position = dict(zip(self.axis_names, sb.position))
@ -58,9 +63,9 @@ class SangaboardThing(BaseStage):
cancel: CancelHook, cancel: CancelHook,
block_cancellation: bool = False, block_cancellation: bool = False,
**kwargs: Mapping[str, int], **kwargs: Mapping[str, int],
): ) -> None:
"""Make a relative move. Keyword arguments should be axis names.""" """Make a relative move. Keyword arguments should be axis names."""
displacement = [kwargs.get(k, 0) for k in self.axis_names] displacement = [kwargs.get(axis, 0) for axis in self.axis_names]
with self.sangaboard() as sb: with self.sangaboard() as sb:
self.moving = True self.moving = True
try: try:
@ -86,7 +91,7 @@ class SangaboardThing(BaseStage):
cancel: CancelHook, cancel: CancelHook,
block_cancellation: bool = False, block_cancellation: bool = False,
**kwargs: Mapping[str, int], **kwargs: Mapping[str, int],
): ) -> None:
"""Make an absolute move. Keyword arguments should be axis names.""" """Make an absolute move. Keyword arguments should be axis names."""
with self.sangaboard(): with self.sangaboard():
self.update_position() self.update_position()
@ -100,7 +105,7 @@ class SangaboardThing(BaseStage):
) )
@thing_action @thing_action
def set_zero_position(self): def set_zero_position(self) -> None:
"""Make the current position zero in all axes """Make the current position zero in all axes
This action does not move the stage, but resets the position to zero. This action does not move the stage, but resets the position to zero.