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Stricter runtime type checks

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This commit is contained in:
Joel Collins 2020-12-01 17:30:53 +00:00
parent fd42e2e2b6
commit f2a2d880f2
1 changed files with 24 additions and 13 deletions
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33
openflexure_microscope/stage/sanga.py
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@ -1,6 +1,7 @@
import logging
import time
from collections.abc import Iterable
from types import GeneratorType
from typing import Optional, Tuple, Union
import numpy as np
@ -58,7 +59,7 @@ class SangaStage(BaseStage):
return self.board.position
@property
def backlash(self):
def backlash(self) -> np.ndarray:
"""The distance used for backlash compensation.
Software backlash compensation is enabled by setting this property to a value
other than `None`. The value can either be an array-like object (list, tuple,
@ -73,16 +74,17 @@ class SangaStage(BaseStage):
back by ``backlash[i]``. This is computed per-axis, so if some axes are moving
in the same direction as ``backlash``, they won't do two moves.
"""
if isinstance(self._backlash, (list, np.ndarray)):
if isinstance(self._backlash, np.ndarray):
return self._backlash
elif isinstance(self._backlash, list):
return np.array(self._backlash)
elif isinstance(self._backlash, int):
return np.array([self._backlash] * self.n_axes)
else:
return np.array([0] * self.n_axes)
@backlash.setter
def backlash(self, blsh) -> Optional[np.ndarray]:
def backlash(self, blsh):
logging.debug("Setting backlash to %s", (blsh))
if blsh is None:
self._backlash = None
@ -105,7 +107,10 @@ class SangaStage(BaseStage):
def read_settings(self) -> dict:
"""Return the current settings as a dictionary"""
blsh = self.backlash.tolist()
if self.backlash is not None:
blsh = self.backlash.tolist()
else:
blsh = None
config = {
"backlash": {"x": blsh[0], "y": blsh[1], "z": blsh[2]},
"settle_time": self.settle_time,
@ -152,15 +157,21 @@ class SangaStage(BaseStage):
raise ValueError("axis must be one of x, y, or z")
# Create the displacement array
displacement_array: np.ndarray = np.array([
displacement if axis == "x" else 0,
displacement if axis == "y" else 0,
displacement if axis == "z" else 0,
])
displacement_array: np.ndarray = np.array(
[
displacement if axis == "x" else 0,
displacement if axis == "y" else 0,
displacement if axis == "z" else 0,
]
)
else:
elif isinstance(displacement, np.ndarray):
displacement_array = displacement
elif isinstance(displacement, (list, tuple, GeneratorType)):
# Convert our displacement tuple/generator into a numpy array
displacement_array = np.array(list(displacement))
else:
raise TypeError(f"Unsupported displacement type {type(displacement)}")
# Calculate main movement
initial_move: np.ndarray = displacement_array