zaberstage: Switch to BinarySerial, which seems to be compatible with the stage we have,

and implement move and close functions. Round values to ints before programming.

Wait until device is in position before returning. Timeout after 60 seconds.

TODO, low priority: smart programming and remote value checking.

Author: chrisjbillington

ZaberStageController/blacs_workers.py

@@ -12,6 +12,7 @@
 #####################################################################
 
 from blacs.tab_base_classes import Worker
+from time import monotonic
 from labscript_utils import dedent
 import labscript_utils.h5_lock, h5py
 
@@ -27,9 +28,10 @@ def move(self, stage_number, position):
     def close(self):
         print(f"mock close")
 
-
 zaber = None
 
+TIMEOUT = 60
+
 class ZaberInterface(object):
     def __init__(self, com_port):
         global zaber
@@ -40,33 +42,34 @@ def __init__(self, com_port):
                 installed. It is installable via pip with 'pip install zaber.serial'"""
             raise ImportError(dedent(msg))
 
-        self.port = zaber.AsciiSerial(com_port)
+        self.port = zaber.BinarySerial(com_port)
 
     def move(self, stage_number, position):
-        pass
+        device = zaber.BinaryDevice(self.port, stage_number)
+        device.move_abs(position)
+        deadline = monotonic() + TIMEOUT
+        while device.get_position() != position:
+            if monotonic() > deadline:
+                msg = "Device did not move to requested position within timeout"
+                raise TimeoutError(msg)
 
     def close(self):
-        pass
-
-
+        self.port.close()
 
 class ZaberWorker(Worker):
     def init(self):
         if self.mock:
             self.controller = MockZaberInterface(self.com_port)
         else:
             self.controller = ZaberInterface(self.com_port)
-        
+
     def program_manual(self, values):
-        #print "***************programming static*******************"
-        #self.stages.move_absolute(settings)
         for connection, value in values.items():
             stage_number = get_stage_number(connection)
-            self.controller.move(stage_number, value)
-        
+            self.controller.move(stage_number, int(round(value)))
         #TODO: return actual position of the zaber stage. Are they readable? Check API
         return values
-    
+
     # TODO: home stage function?
 
     def transition_to_buffered(self, device_name, h5file, initial_values, fresh):
@@ -76,18 +79,18 @@ def transition_to_buffered(self, device_name, h5file, initial_values, fresh):
                 data = group['static_values']
                 values = {name: data[0][name] for name in data.dtype.names}
             else:
-                values = {} 
-        
+                values = {}
+
         return self.program_manual(values)
-                        
+
     def transition_to_manual(self):
         return True
-    
+
     def abort_buffered(self):
         return True
-        
+
     def abort_transition_to_buffered(self):
         return True
-    
+
     def shutdown(self):
-        self.controller.close()
+        self.controller.close()

ZaberStageController/testing/test.py

@@ -1,8 +1,8 @@
 from labscript import *
 from labscript_devices.DummyPseudoclock.labscript_devices import DummyPseudoclock
 
-MOCK = True
-labscript_init('test.h5', new=True, overwrite=True)
+MOCK = False
+# labscript_init('test.h5', new=True, overwrite=True)
 
 from labscript_devices.ZaberStageController.labscript_devices import (
     ZaberStageTLS28M,
@@ -12,11 +12,11 @@
 
 DummyPseudoclock()
 ZaberStageController('controller', com_port='COM1', mock=MOCK)
-ZaberStageTLS28M('stage', controller, 'stage 1')
-ZaberStageTLS28M('stage2', controller, 'stage 2')
+ZaberStageTLS28M('stage', controller, 'stage 1', limits=(0, 30000))
+# ZaberStageTLS28M('stage2', controller, 'stage 2')
 
 start()
 
-stage.constant(65465)
+stage.constant(30000)
 
 stop(1)