zaberTMMController.py

##############################################################################
##
# This file is part of Sardana
##
# http://www.sardana-controls.org/
##
# Copyright 2011 CELLS / ALBA Synchrotron, Bellaterra, Spain
##
# Sardana is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
##
# Sardana is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU Lesser General Public License for more details.
##
# You should have received a copy of the GNU Lesser General Public License
# along with Sardana.  If not, see <http://www.gnu.org/licenses/>.
##
##############################################################################

"""This file contains the code for an hypothetical Springfield motor controller
used in documentation"""

from zaber.serial import BinarySerial, BinaryCommand
import time
from sardana import State
from sardana.pool.controller import MotorController
from sardana.pool.controller import Type, Description, DefaultValue


class ZaberTMMController(MotorController):
    ctrl_properties = {'port': {Type: str,
                                Description: 'The port of the rs232 device',
                                DefaultValue: '/dev/ttyZaber'}}
    axis_attributes = {
    "Homing" : {
            Type         : bool,
            Description  : "(de)activates the motor homing algorithm",
            DefaultValue : False,
        },
    }
    
    MaxDevice = 2
    
    def __init__(self, inst, props, *args, **kwargs):
        super(ZaberTMMController, self).__init__(
            inst, props, *args, **kwargs)

        # initialize hardware communication
        self.con = BinarySerial(self.port, timeout=5)
        
        print('Zaber TMM Controller Initialization ...'),
        print('SUCCESS on port %s' % self.port)
        # do some initialization
        self._motors = {}

    def AddDevice(self, axis):
        self._motors[axis] = True
        # change setting of devices, because they are non-volatile
        # disable auto-reply 1*2^0
        # enable backlash correction 1*2^1
        command_number = 40 # set device mode
        command = BinaryCommand(axis, command_number, 3)
        self.con.write(command)

    def DeleteDevice(self, axis):
        del self._motors[axis]

    StateMap = {
        1: State.On,
        2: State.Moving,
        3: State.Fault,
    }

    def StateOne(self, axis):
        limit_switches = MotorController.NoLimitSwitch     
        command_number = 54 # return status
        command = BinaryCommand(axis, command_number)
        self.con.write(command)
        reply = self.con.read()
        
        while (reply.command_number != command_number) & (reply.device_number != axis):
            self.con.write(command)
            reply = self.con.read()
            time.sleep(0.2)
            
        if reply.data == 0: # idle
            return self.StateMap[1], 'Zaber is idle', limit_switches
        elif (reply.data >= 1) & (reply.data <=23):
            return self.StateMap[2], 'Zaber is moving', limit_switches
        else:
            return self.StateMap[3], 'Zaber is faulty', limit_switches      

    def ReadOne(self, axis):
        command_number = 60 # return current position
        command = BinaryCommand(axis, command_number)
        self.con.write(command)
        reply = self.con.read()
        
        while (reply.command_number != command_number) & (reply.device_number != axis):
            self.con.write(command)
            reply = self.con.read()
            time.sleep(0.2)
        
        return int(reply.data)
        
    def StartOne(self, axis, position):
        command_number = 20 # move absolute
        command = BinaryCommand(axis, command_number, int(position))
        self.con.write(command)

    def StopOne(self, axis):
        command_number = 23 # move absolute
        command = BinaryCommand(axis, command_number)
        self.con.write(command)

    def AbortOne(self, axis):
        command_number = 23 # move absolute
        command = BinaryCommand(axis, command_number)
        self.con.write(command)

    def setHoming(self, axis, value):
        """Homing for given axis"""
        if value:       
            command_number = 1 # homing
            command = BinaryCommand(axis, command_number)
            self.con.write(command)
    
    def getHoming(self, axis):
        """Homing for given axis"""       
        return False