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Handle absolute moves correctly

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I've changed the default values in MoveStageAPI
so that it correctly handles absolute moves with missing axes.
I've also simplified it so it isn't using axes_to_array as that
resulted in a confusing code path.
This commit is contained in:
Richard Bowman 2021-04-27 10:55:51 +01:00
parent 2eade9ed30
commit 90f5a755b1
1 changed files with 24 additions and 24 deletions
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48
openflexure_microscope/api/v2/views/actions/stage.py
View file

@ -12,39 +12,39 @@ class MoveStageAPI(ActionView):
"absolute": fields.Boolean( "absolute": fields.Boolean(
missing=False, example=False, description="Move to an absolute position" missing=False, example=False, description="Move to an absolute position"
), ),
"x": fields.Int(missing=0, example=100), "x": fields.Int(missing=None, example=100),
"y": fields.Int(missing=0, example=100), "y": fields.Int(missing=None, example=100),
"z": fields.Int(missing=0, example=20), "z": fields.Int(missing=None, example=20),
} }
def post(self, args): def post(self, args):
""" """
Move the microscope stage in x, y, z Move the microscope stage in x, y, z
Any axes that are not specifed will not move.
""" """
microscope = find_component("org.openflexure.microscope") microscope = find_component("org.openflexure.microscope")
# Handle absolute positioning (calculate a relative move from current position and target) if not microscope.stage:
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:
logging.warning("Unable to move. No stage found.") 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"] return microscope.state["stage"]["position"]