Move SangaboardThing into repo
This commit is contained in:
Julian Stirling
parent
248f43d0fc
commit
5e6aeb9bbf
4 changed files with 179 additions and 75 deletions
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@ -25,7 +25,7 @@ from labthings_fastapi.dependencies.metadata import GetThingStates
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from labthings_fastapi.server import ThingServer
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from . import BaseCamera, JPEGBlob, ArrayModel
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from ..stage import StageProtocol as Stage
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from ..stage import BaseStage
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# The ratio between "motor" steps and pixels
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# higher related to a faster movement
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@ -35,7 +35,7 @@ RATIO = 0.2
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class SimulatedCamera(BaseCamera):
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"""A Thing representing an OpenCV camera"""
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_stage: Optional[Stage] = None
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_stage: Optional[BaseStage] = None
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_server: Optional[ThingServer] = None
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def __init__(
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@ -1,65 +1,12 @@
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from __future__ import annotations
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from typing import Any, Protocol, TypeAlias, runtime_checkable
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from typing import TypeAlias
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from collections.abc import Sequence, Mapping
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from labthings_fastapi.descriptors.property import PropertyDescriptor
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from labthings_fastapi.thing import Thing
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from labthings_fastapi.decorators import thing_action, thing_property
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from labthings_fastapi.dependencies.invocation import CancelHook
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from labthings_fastapi.dependencies.thing import direct_thing_client_dependency
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from collections.abc import Sequence, Mapping
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@runtime_checkable
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class StageProtocol(Protocol):
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"""A protocol for the OpenFlexure translation stage"""
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_axis_names: Sequence[str]
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@property
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def axis_names(self) -> Sequence[str]:
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"""The names of the stage's axes, in order."""
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...
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@property
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def position(self) -> Mapping[str, int]:
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"""Current position of the stage"""
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...
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@property
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def moving() -> bool:
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"Whether the stage is in motion"
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...
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@property
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def thing_state(self) -> Mapping[str, Any]:
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"""Summary metadata describing the current state of the stage"""
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...
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def move_relative(
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self,
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cancel: CancelHook,
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block_cancellation: bool = False,
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**kwargs: Mapping[str, int],
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):
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"""Make a relative move. Keyword arguments should be axis names."""
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...
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def move_absolute(
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self,
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cancel: CancelHook,
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block_cancellation: bool = False,
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**kwargs: Mapping[str, int],
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):
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"""Make an absolute move. Keyword arguments should be axis names."""
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...
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def set_zero_position(self):
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"""Make the current position zero in all axes
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This action does not move the stage, but resets the position to zero.
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It is intended for use after manually or automatically recentring the
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stage.
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"""
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...
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class BaseStage(Thing):
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@ -99,16 +46,6 @@ class BaseStage(Thing):
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"""Summary metadata describing the current state of the stage"""
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return {"position": self.position}
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class StageStub(BaseStage):
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"""A Stub Thing for the OpenFlexure translation stage
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As of LabThings-FastAPI 0.0.7, we can't make a thing client dependency
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based on a protocol, because the protocol is not a Thing, and its
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methods/properties are not decorated as Affordances. This stub class
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is a workaround for that limitation, and should not be used directly.
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"""
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@thing_action
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def move_relative(
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self,
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@ -117,7 +54,9 @@ class StageStub(BaseStage):
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**kwargs: Mapping[str, int],
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):
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"""Make a relative move. Keyword arguments should be axis names."""
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raise NotImplementedError("StageStub should not be used directly")
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raise NotImplementedError(
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"StageThings must define their own move_relative method"
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)
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@thing_action
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def move_absolute(
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@ -127,7 +66,9 @@ class StageStub(BaseStage):
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**kwargs: Mapping[str, int],
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):
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"""Make an absolute move. Keyword arguments should be axis names."""
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raise NotImplementedError("StageStub should not be used directly")
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raise NotImplementedError(
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"StageThings must define their own move_absolute method"
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)
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@thing_action
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def set_zero_position(self):
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@ -137,7 +78,9 @@ class StageStub(BaseStage):
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It is intended for use after manually or automatically recentring the
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stage.
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"""
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raise NotImplementedError("StageStub should not be used directly")
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raise NotImplementedError(
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"StageThings must define their own set_zero_position method"
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)
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StageDependency: TypeAlias = direct_thing_client_dependency(StageStub, "/stage/")
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StageDependency: TypeAlias = direct_thing_client_dependency(BaseStage, "/stage/")
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@ -75,9 +75,9 @@ class DummyStage(BaseStage):
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):
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"""Make an absolute move. Keyword arguments should be axis names."""
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displacement = {
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k: int(v) - self.position[k]
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for k, v in kwargs.items()
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if k in self.axis_names
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axis: int(pos) - self.position[axis]
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for axis, pos in kwargs.items()
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if axis in self.axis_names
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}
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self.move_relative(
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cancel, block_cancellation=block_cancellation, **displacement
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161
src/openflexure_microscope_server/things/stage/sangaboard.py
Normal file
161
src/openflexure_microscope_server/things/stage/sangaboard.py
Normal file
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@ -0,0 +1,161 @@
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from __future__ import annotations
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import logging
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import threading
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import time
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from typing import Iterator, Literal
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from contextlib import contextmanager
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from collections.abc import Mapping
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from fastapi import HTTPException
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import sangaboard
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from labthings_fastapi.decorators import thing_action
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from labthings_fastapi.dependencies.invocation import (
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CancelHook,
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InvocationCancelledError,
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)
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from . import BaseStage
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class SangaboardThing(BaseStage):
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def __init__(self, port: str = None, **kwargs):
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"""A Thing to manage a Sangaboard motor controller
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Internally, this uses the `pysangaboard` library.
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"""
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self.sangaboard_kwargs = kwargs
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self.sangaboard_kwargs["port"] = port
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def __enter__(self):
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self._sangaboard = sangaboard.Sangaboard(**self.sangaboard_kwargs)
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self._sangaboard_lock = threading.RLock()
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with self.sangaboard() as sb:
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if sb.version_tuple[0] != 1:
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raise RuntimeError("labthings-sangaboard requires firmware v1")
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sb.query("blocking_moves false")
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self.update_position()
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def __exit__(self, _exc_type, _exc_value, _traceback):
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with self.sangaboard() as sb:
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sb.close()
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@contextmanager
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def sangaboard(self) -> Iterator[sangaboard.Sangaboard]:
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"""Return the wrapped `sangaboard.Sangaboard` instance.
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This is protected by a `threading.RLock`, which may change in future.
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"""
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with self._sangaboard_lock:
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yield self._sangaboard
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def update_position(self):
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"""Read position from the stage and set the corresponding property."""
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with self.sangaboard() as sb:
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self.position = dict(zip(self.axis_names, sb.position))
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@thing_action
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def move_relative(
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self,
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cancel: CancelHook,
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block_cancellation: bool = False,
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**kwargs: Mapping[str, int],
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):
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"""Make a relative move. Keyword arguments should be axis names."""
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displacement = [kwargs.get(k, 0) for k in self.axis_names]
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with self.sangaboard() as sb:
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self.moving = True
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try:
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sb.move_rel(displacement)
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if block_cancellation:
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sb.query("notify_on_stop")
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else:
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while sb.query("moving?") == "true":
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cancel.sleep(0.1)
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except InvocationCancelledError as e:
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# If the move has been cancelled, stop it but don't handle the exception.
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# We need the exception to propagate in order to stop any calling tasks,
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# and to mark the invocation as "cancelled" rather than stopped.
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sb.query("stop")
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raise e
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finally:
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self.moving = False
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self.update_position()
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@thing_action
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def move_absolute(
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self,
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cancel: CancelHook,
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block_cancellation: bool = False,
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**kwargs: Mapping[str, int],
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):
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"""Make an absolute move. Keyword arguments should be axis names."""
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with self.sangaboard():
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self.update_position()
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displacement = {
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axis: int(pos) - self.position[axis]
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for axis, pos in kwargs.items()
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if axis in self.axis_names
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}
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self.move_relative(
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cancel, block_cancellation=block_cancellation, **displacement
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)
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@thing_action
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def abort_move(self):
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"""Abort a current move"""
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if self.moving:
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# Skip the lock - because we need to write **before** the current query
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# finishes. This merits further careful thought for thread safety.
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# TODO: more robust aborts
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logging.warning("Aborting move: this is an experimental feature!")
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tc = self._sangaboard.termination_character
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self._sangaboard._ser.write(("stop" + tc).encode())
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else:
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raise HTTPException(status_code=409, detail="Stage is not moving.")
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@thing_action
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def set_zero_position(self):
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"""Make the current position zero in all axes
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This action does not move the stage, but resets the position to zero.
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It is intended for use after manually or automatically recentring the
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stage.
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"""
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with self.sangaboard() as sb:
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sb.zero_position()
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self.update_position()
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@thing_action
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def flash_led(
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self,
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number_of_flashes: int = 10,
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dt: float = 0.5,
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led_channel: Literal["cc"] = "cc",
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) -> None:
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"""Flash the LED to identify the board
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This is intended to be useful in situations where there are multiple
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Sangaboards in use, and it is necessary to identify which one is
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being addressed.
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"""
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led_command = f"led_{led_channel}"
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with self.sangaboard() as sb:
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return_value = sb.query(f"{led_command}?")
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if not return_value.startswith("CC LED:"):
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raise IOError("The sangaboard does not support LED control")
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# Reading and setting LED brightness suffers from repeated reads and writes
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# decreasing the value. Rather than use the value the code warns that the value
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# cannot be used.
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intended_brightness = float(return_value[7:])
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on_brightness = 0.32
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logging.warning(
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"Brightness control is not yet implemented. Desired brightness: "
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f"{intended_brightness}. Set brightness: {on_brightness}"
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)
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for i in range(number_of_flashes):
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sb.query(f"{led_command} 0")
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time.sleep(dt)
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sb.query(f"{led_command} {on_brightness}")
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time.sleep(dt)
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