microscope.controllers.zaber._ZaberDeviceConnection Class Reference

Public Member Functions
None	__init__ (self, _ZaberConnection conn, int device_address)
_ZaberReply	command (self, bytes command, int axis=0)
bool	is_busy (self)
None	wait_until_idle (self, float timeout=10.0)
int	get_number_axes (self)
bool	been_homed (self, int axis=0)
None	home (self, int axis=0)
int	get_rotation_length (self, int axis)
int	get_index_distance (self, int axis)
int	get_current_index (self, int axis)
None	move_to_index (self, int axis, int index)
None	move_to_absolute_position (self, int axis, int position)
None	move_by_relative_position (self, int axis, int position)
int	get_absolute_position (self, int axis)
int	get_limit_max (self, int axis)
int	get_limit_min (self, int axis)
None	lamp_off (self, int channel)
None	lamp_on (self, int channel)
float	get_lamp_max_flux (self, int channel)
float	get_lamp_flux (self, int channel)
None	set_lamp_flux (self, int channel, float flux)
bool	get_lamp_is_on (self, int channel)
float	get_lamp_temperature (self, int channel)

Protected Member Functions
None	_validate_reply (self, _ZaberReply reply)

Protected Attributes
	_conn = conn
str	_address_bytes = b"%02d" % device_address

Detailed Description

A Zaber connection to control a single device.

This class provides a Python interface to the Zaber commands.  It
also does the routing of commands to the correct device in the
chain.

Args:
    conn: the :class:`_ZaberConnection` instance for this device.
    device_address: the device address for the specific device.
        This is the number used at the start of all Zaber
        commands.

Definition at line 159 of file zaber.py.

Constructor & Destructor Documentation

__init__()

None microscope.controllers.zaber._ZaberDeviceConnection.__init__	(		self,
		_ZaberConnection	conn,
		int	device_address )

Definition at line 173 of file zaber.py.

    def __init__(self, conn: _ZaberConnection, device_address: int) -> None:
        self._conn = conn
        self._address_bytes = b"%02d" % device_address
 

Member Function Documentation

_validate_reply()

None microscope.controllers.zaber._ZaberDeviceConnection._validate_reply ( self, _ZaberReply reply )

protected

Definition at line 177 of file zaber.py.

    def _validate_reply(self, reply: _ZaberReply) -> None:
        if reply.address != self._address_bytes:
            raise RuntimeError(
                "received reply from a device with different"
                " address (%s instead of %s)"
                % (reply.address.decode(), self._address_bytes.decode())
            )
        if reply.flag != b"OK":
            raise RuntimeError(
                "command rejected because '%s'" % reply.response.decode()
            )
 

been_homed()

bool microscope.controllers.zaber._ZaberDeviceConnection.been_homed	(		self,
		int	axis = 0 )

True if all axes, or selected axis, has been homed.

Definition at line 231 of file zaber.py.

    def been_homed(self, axis: int = 0) -> bool:
        """True if all axes, or selected axis, has been homed."""
        reply = self.command(b"get limit.home.triggered", axis)
        return all([int(x) for x in reply.response.split()])
 

command()

_ZaberReply microscope.controllers.zaber._ZaberDeviceConnection.command	(		self,
		bytes	command,
		int	axis = 0 )

Send command and return reply.

Args:
    command: a bytes array with the command and its
        parameters.
    axis: the axis number to send the command.  If zero, the
        command is executed by all axis in the device.

Definition at line 189 of file zaber.py.

    def command(self, command: bytes, axis: int = 0) -> _ZaberReply:
        """Send command and return reply.
 
        Args:
            command: a bytes array with the command and its
                parameters.
            axis: the axis number to send the command.  If zero, the
                command is executed by all axis in the device.
        """
        # We do not need to check whether axis number is valid because
        # the device will reject the command with BADAXIS if so.
        with self._conn.lock:
            self._conn.write(
                b"/%s %1d %s\n" % (self._address_bytes, axis, command)
            )
            data = self._conn.readline()
        reply = _ZaberReply(data)
        self._validate_reply(reply)
        return reply
 

get_absolute_position()

int microscope.controllers.zaber._ZaberDeviceConnection.get_absolute_position	(		self,
		int	axis )

Current absolute position of an axis, in microsteps.

Definition at line 265 of file zaber.py.

    def get_absolute_position(self, axis: int) -> int:
        """Current absolute position of an axis, in microsteps."""
        return int(self.command(b"get pos", axis).response)
 

get_current_index()

int microscope.controllers.zaber._ZaberDeviceConnection.get_current_index	(		self,
		int	axis )

The current index number or zero if between index positions.

Definition at line 252 of file zaber.py.

    def get_current_index(self, axis: int) -> int:
        """The current index number or zero if between index positions."""
        return int(self.command(b"get motion.index.num", axis).response)
 

get_index_distance()

int microscope.controllers.zaber._ZaberDeviceConnection.get_index_distance	(		self,
		int	axis )

The distance between consecutive index positions.

Definition at line 248 of file zaber.py.

    def get_index_distance(self, axis: int) -> int:
        """The distance between consecutive index positions."""
        return int(self.command(b"get motion.index.dist", axis).response)
 

get_lamp_flux()

float microscope.controllers.zaber._ZaberDeviceConnection.get_lamp_flux	(		self,
		int	channel )

Definition at line 286 of file zaber.py.

    def get_lamp_flux(self, channel: int) -> float:
        return float(self.command(b"get lamp.flux", channel).response)
 

get_lamp_is_on()

bool microscope.controllers.zaber._ZaberDeviceConnection.get_lamp_is_on	(		self,
		int	channel )

Definition at line 292 of file zaber.py.

    def get_lamp_is_on(self, channel: int) -> bool:
        return self.command(b"get lamp.status", channel).response == b"2"
 

get_lamp_max_flux()

float microscope.controllers.zaber._ZaberDeviceConnection.get_lamp_max_flux	(		self,
		int	channel )

Definition at line 283 of file zaber.py.

    def get_lamp_max_flux(self, channel: int) -> float:
        return float(self.command(b"get lamp.flux.max", channel).response)
 

get_lamp_temperature()

float microscope.controllers.zaber._ZaberDeviceConnection.get_lamp_temperature	(		self,
		int	channel )

Definition at line 295 of file zaber.py.

    def get_lamp_temperature(self, channel: int) -> float:
        return float(self.command(b"get lamp.temperature", channel).response)
 
 

get_limit_max()

int microscope.controllers.zaber._ZaberDeviceConnection.get_limit_max	(		self,
		int	axis )

The maximum position the device can move to, in microsteps.

Definition at line 269 of file zaber.py.

    def get_limit_max(self, axis: int) -> int:
        """The maximum position the device can move to, in microsteps."""
        return int(self.command(b"get limit.max", axis).response)
 

get_limit_min()

int microscope.controllers.zaber._ZaberDeviceConnection.get_limit_min	(		self,
		int	axis )

The minimum position the device can move to, in microsteps.

Definition at line 273 of file zaber.py.

    def get_limit_min(self, axis: int) -> int:
        """The minimum position the device can move to, in microsteps."""
        return int(self.command(b"get limit.min", axis).response)
 

get_number_axes()

int microscope.controllers.zaber._ZaberDeviceConnection.get_number_axes

(

self

)

Reports the number of axes in the device.

Definition at line 227 of file zaber.py.

    def get_number_axes(self) -> int:
        """Reports the number of axes in the device."""
        return int(self.command(b"get system.axiscount").response)
 

get_rotation_length()

int microscope.controllers.zaber._ZaberDeviceConnection.get_rotation_length	(		self,
		int	axis )

Number of microsteps needed to complete one full rotation.

This is only valid on controllers and rotary devices including
filter wheels and filter cube turrets.

Definition at line 240 of file zaber.py.

    def get_rotation_length(self, axis: int) -> int:
        """Number of microsteps needed to complete one full rotation.
 
        This is only valid on controllers and rotary devices including
        filter wheels and filter cube turrets.
        """
        return int(self.command(b"get limit.cycle.dist", axis).response)
 

home()

None microscope.controllers.zaber._ZaberDeviceConnection.home	(		self,
		int	axis = 0 )

Move the axis to the home position.

Definition at line 236 of file zaber.py.

    def home(self, axis: int = 0) -> None:
        """Move the axis to the home position."""
        self.command(b"home", axis)
 

is_busy()

bool microscope.controllers.zaber._ZaberDeviceConnection.is_busy

(

self

)

Definition at line 209 of file zaber.py.

    def is_busy(self) -> bool:
        return self.command(b"").status == b"BUSY"
 

lamp_off()

None microscope.controllers.zaber._ZaberDeviceConnection.lamp_off	(		self,
		int	channel )

Definition at line 277 of file zaber.py.

    def lamp_off(self, channel: int) -> None:
        self.command(b"lamp off", channel)
 

lamp_on()

None microscope.controllers.zaber._ZaberDeviceConnection.lamp_on	(		self,
		int	channel )

Definition at line 280 of file zaber.py.

    def lamp_on(self, channel: int) -> None:
        self.command(b"lamp on", channel)
 

move_by_relative_position()

None microscope.controllers.zaber._ZaberDeviceConnection.move_by_relative_position	(		self,
		int	axis,
		int	position )

Definition at line 262 of file zaber.py.

    def move_by_relative_position(self, axis: int, position: int) -> None:
        self.command(b"move rel %d" % position, axis)
 

move_to_absolute_position()

None microscope.controllers.zaber._ZaberDeviceConnection.move_to_absolute_position	(		self,
		int	axis,
		int	position )

Definition at line 259 of file zaber.py.

    def move_to_absolute_position(self, axis: int, position: int) -> None:
        self.command(b"move abs %d" % position, axis)
 

move_to_index()

None microscope.controllers.zaber._ZaberDeviceConnection.move_to_index	(		self,
		int	axis,
		int	index )

Definition at line 256 of file zaber.py.

    def move_to_index(self, axis: int, index: int) -> None:
        self.command(b"move index %d" % index, axis)
 

set_lamp_flux()

None microscope.controllers.zaber._ZaberDeviceConnection.set_lamp_flux	(		self,
		int	channel,
		float	flux )

Definition at line 289 of file zaber.py.

    def set_lamp_flux(self, channel: int, flux: float) -> None:
        self.command(b"set lamp.flux %.3f" % flux, channel)
 

wait_until_idle()

None microscope.controllers.zaber._ZaberDeviceConnection.wait_until_idle	(		self,
		float	timeout = 10.0 )

Wait, or error, until device is idle.

A device is busy if *any* of its axis is busy.

Definition at line 212 of file zaber.py.

    def wait_until_idle(self, timeout: float = 10.0) -> None:
        """Wait, or error, until device is idle.
 
        A device is busy if *any* of its axis is busy.
        """
        sleep_interval = 0.1
        for _ in range(int(timeout / sleep_interval)):
            if not self.is_busy():
                break
            time.sleep(sleep_interval)
        else:
            raise microscope.DeviceError(
                "device still busy after %f seconds" % timeout
            )
 

Member Data Documentation

_address_bytes

microscope.controllers.zaber._ZaberDeviceConnection._address_bytes = b"%02d" % device_address

protected

Definition at line 175 of file zaber.py.

_conn

microscope.controllers.zaber._ZaberDeviceConnection._conn = conn

protected

Definition at line 174 of file zaber.py.

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The documentation for this class was generated from the following file:

• BioImager/PythonMicroscope/microscope/controllers/zaber.py