fixed app to use new thorlabs driver
This commit is contained in:
Thomas Ales [M S E]
+139
-93
@@ -21,7 +21,7 @@ from hardware.helios_laser import HeliosLaser, PulseMode
|
||||
from hardware.uc480_camera import UC480Camera, CameraStreamThread
|
||||
|
||||
# Import stage controller and motion worker
|
||||
from hardware.bbd202 import MotionController
|
||||
from hardware.pybbd202 import ThorlabsServoDriver, AXIS_X, AXIS_Y, TriggerBitsServo
|
||||
from scanengine.motion_worker import MotionWorker
|
||||
|
||||
# Import scan planning tool
|
||||
@@ -54,33 +54,7 @@ class ScanWorker(QtCore.QObject):
|
||||
|
||||
@QtCore.pyqtSlot()
|
||||
def run_scan(self):
|
||||
"""
|
||||
Execute the full scanning process.
|
||||
|
||||
TODO: Implement your own motion control logic here.
|
||||
|
||||
Available data:
|
||||
self.scan_params - dict containing:
|
||||
'scan_boxes' - list of scan box dicts with:
|
||||
'angle_degrees' - rotation angle
|
||||
'start' - (x_start, y_start) in mm
|
||||
'end' - (x_end, y_end) in mm
|
||||
'row_spacing' - spacing between rows in mm
|
||||
|
||||
self.motion_worker.controller - MotionController instance (if connected)
|
||||
|
||||
self.should_stop - set to True when user requests abort
|
||||
|
||||
Signals to emit:
|
||||
self.scan_started.emit() - at start
|
||||
self.angle_started.emit(angle_idx, total_angles) - when starting each angle
|
||||
self.line_started.emit(line_idx, total_lines, y_pos) - when starting each line
|
||||
self.current_progress.emit(percent) - progress for current angle
|
||||
self.overall_progress.emit(percent) - overall progress
|
||||
self.status_message.emit(message) - status updates
|
||||
self.scan_completed.emit() - on successful completion
|
||||
self.scan_failed.emit(error_msg) - on failure
|
||||
"""
|
||||
"""Execute the full scanning process."""
|
||||
# Pause motion worker polling during scan to avoid conflicts
|
||||
if self.motion_worker:
|
||||
self.motion_worker.scanning_active = True
|
||||
@@ -88,40 +62,114 @@ class ScanWorker(QtCore.QObject):
|
||||
try:
|
||||
self.scan_started.emit()
|
||||
|
||||
# Extract parameters
|
||||
scan_boxes = self.scan_params.get('scan_boxes', [])
|
||||
num_angles = len(scan_boxes)
|
||||
row_spacing = self.scan_params.get('row_spacing', 0.1)
|
||||
scan_velocity = self.scan_params.get('scan_velocity_mm_s', 200.0)
|
||||
scan_accel = self.scan_params.get('scan_acceleration_mm_s2', 500.0)
|
||||
|
||||
print(f"Scan worker: Starting scan with {num_angles} angles")
|
||||
print(f"Row spacing: {row_spacing} mm")
|
||||
print(f"Row spacing: {row_spacing} mm, velocity: {scan_velocity} mm/s")
|
||||
|
||||
controller = self.motion_worker.controller if self.motion_worker else None
|
||||
if not controller:
|
||||
self.scan_failed.emit("No motion controller connected")
|
||||
return
|
||||
|
||||
# TODO: Implement your motion control logic here
|
||||
#
|
||||
# For each angle in scan_boxes:
|
||||
# - Move to start position (x_start, y_start)
|
||||
# - For each row from y_start to y_end with row_spacing:
|
||||
# - Move X from x_start to x_end (flying scan)
|
||||
# - Move to next row (X back to x_start, Y to next row)
|
||||
#
|
||||
# The MotionController provides these methods:
|
||||
# controller.move_to_fast(x=mm, y=mm) - send move commands
|
||||
# controller.get_position(dest, timeout) - get current position
|
||||
# controller.poll_until_idle(tolerance, timeout) - poll until settled
|
||||
# controller.set_velocity_params(dest, min_vel, accel, max_vel)
|
||||
# controller.start_update_messages() - enable status updates
|
||||
# etc.
|
||||
# Store original velocity params for restoration
|
||||
orig_x_velocity = controller.max_velocities[0]
|
||||
orig_x_accel = controller.max_accels[0]
|
||||
orig_y_velocity = controller.max_velocities[1]
|
||||
orig_y_accel = controller.max_accels[1]
|
||||
|
||||
self.scan_failed.emit("Motion control not implemented - please implement run_scan()")
|
||||
# Configure stage for high-speed scanning
|
||||
controller.set_velocity_params(AXIS_X, max_velocity=scan_velocity, acceleration=scan_accel)
|
||||
controller.set_velocity_params(AXIS_Y, max_velocity=scan_velocity, acceleration=scan_accel)
|
||||
|
||||
# Set X-axis trigger output HIGH during motion (for oscilloscope sync)
|
||||
controller.set_trigger(AXIS_X, TriggerBitsServo.TRIGOUT_INMOTION)
|
||||
|
||||
self.status_message.emit("Scan configured, starting raster...")
|
||||
|
||||
# Main scan loop
|
||||
for angle_idx, scan_box in enumerate(scan_boxes):
|
||||
if self.should_stop:
|
||||
self.scan_failed.emit("Scan aborted by user")
|
||||
return
|
||||
|
||||
self.angle_started.emit(angle_idx, num_angles)
|
||||
angle_deg = scan_box.get('angle_degrees', 0)
|
||||
self.status_message.emit(f"Angle {angle_idx + 1}/{num_angles} ({angle_deg:.1f} deg)")
|
||||
|
||||
# Extract scan area boundaries
|
||||
x_start, y_start = scan_box['start']
|
||||
x_end, y_end = scan_box['end']
|
||||
|
||||
# Calculate scan lines
|
||||
y_range = y_end - y_start
|
||||
num_lines = max(1, int(y_range / row_spacing) + 1)
|
||||
|
||||
# Move to start position only for first angle
|
||||
if angle_idx == 0:
|
||||
self.status_message.emit("Moving to scan start position...")
|
||||
controller.move_axis_absolute(AXIS_X, x_start, timeout=30.0)
|
||||
controller.move_axis_absolute(AXIS_Y, y_start, timeout=30.0)
|
||||
|
||||
# Scan each line (snake/boustrophedon pattern)
|
||||
for line_idx in range(num_lines):
|
||||
if self.should_stop:
|
||||
self.scan_failed.emit("Scan aborted by user")
|
||||
return
|
||||
|
||||
y_current = y_start + line_idx * row_spacing
|
||||
if y_current > y_end:
|
||||
y_current = y_end
|
||||
|
||||
# Alternate scan direction for snake pattern
|
||||
if line_idx % 2 == 0:
|
||||
scan_start_x, scan_end_x = x_start, x_end
|
||||
else:
|
||||
scan_start_x, scan_end_x = x_end, x_start
|
||||
|
||||
self.line_started.emit(line_idx, num_lines, y_current)
|
||||
|
||||
# Position to line start (diagonal move - X and Y simultaneously)
|
||||
# Y move issued first (non-blocking from stage perspective),
|
||||
# then X move; both complete before scan line begins
|
||||
controller.move_axis_absolute(AXIS_Y, y_current, timeout=20.0)
|
||||
controller.move_axis_absolute(AXIS_X, scan_start_x, timeout=20.0)
|
||||
|
||||
# Perform scan line (trigger is HIGH during this move)
|
||||
scan_distance = abs(scan_end_x - scan_start_x)
|
||||
scan_timeout = max(10.0, scan_distance / scan_velocity * 3)
|
||||
controller.move_axis_absolute(AXIS_X, scan_end_x, timeout=scan_timeout)
|
||||
|
||||
# Update progress
|
||||
line_progress = int(100 * (line_idx + 1) / num_lines)
|
||||
self.current_progress.emit(line_progress)
|
||||
|
||||
overall = int(100 * (angle_idx + (line_idx + 1) / num_lines) / num_angles)
|
||||
self.overall_progress.emit(overall)
|
||||
|
||||
# Cleanup: disable triggers and restore original velocity
|
||||
controller.set_trigger(AXIS_X, 0)
|
||||
controller.set_velocity_params(AXIS_X, max_velocity=orig_x_velocity, acceleration=orig_x_accel)
|
||||
controller.set_velocity_params(AXIS_Y, max_velocity=orig_y_velocity, acceleration=orig_y_accel)
|
||||
|
||||
self.status_message.emit("Scan complete")
|
||||
self.scan_completed.emit()
|
||||
|
||||
except Exception as e:
|
||||
print(f"ERROR in scan worker: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
# Best-effort cleanup on error
|
||||
try:
|
||||
if self.motion_worker and self.motion_worker.controller:
|
||||
self.motion_worker.controller.set_trigger(AXIS_X, 0)
|
||||
except Exception:
|
||||
pass
|
||||
self.scan_failed.emit(str(e))
|
||||
finally:
|
||||
# Re-enable motion worker polling
|
||||
@@ -2395,8 +2443,8 @@ class ScanVisualizationDialog(QtWidgets.QDialog):
|
||||
self.current_scan_label.setText("Checking home status...")
|
||||
|
||||
# Get home status for both axes
|
||||
x_homed = controller.is_homed_x
|
||||
y_homed = controller.is_homed_y
|
||||
x_homed = controller.am_homed[0]
|
||||
y_homed = controller.am_homed[1]
|
||||
|
||||
print(f"Home status - X: {x_homed}, Y: {y_homed}")
|
||||
|
||||
@@ -2430,26 +2478,25 @@ class ScanVisualizationDialog(QtWidgets.QDialog):
|
||||
QtWidgets.QApplication.processEvents()
|
||||
|
||||
try:
|
||||
success = controller.home_axis(controller.DEST_X_AXIS, timeout=60.0)
|
||||
if success:
|
||||
print("X-axis homed successfully")
|
||||
self.current_scan_progress.setValue(50)
|
||||
controller.home_axis(AXIS_X, timeout=60.0)
|
||||
print("X-axis homed successfully")
|
||||
self.current_scan_progress.setValue(50)
|
||||
|
||||
# Small delay to let system stabilize
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
else:
|
||||
print("ERROR: X-axis homing timeout")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
self,
|
||||
"Homing Error",
|
||||
"X-axis homing timed out after 60 seconds.\n\n"
|
||||
"Please check:\n"
|
||||
"• Stage can move freely\n"
|
||||
"• No obstructions\n"
|
||||
"• Stage is connected properly"
|
||||
)
|
||||
return False
|
||||
# Small delay to let system stabilize
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
except TimeoutError:
|
||||
print("ERROR: X-axis homing timeout")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
self,
|
||||
"Homing Error",
|
||||
"X-axis homing timed out after 60 seconds.\n\n"
|
||||
"Please check:\n"
|
||||
"• Stage can move freely\n"
|
||||
"• No obstructions\n"
|
||||
"• Stage is connected properly"
|
||||
)
|
||||
return False
|
||||
except Exception as e:
|
||||
print(f"ERROR: Failed to home X-axis: {e}")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
@@ -2467,26 +2514,25 @@ class ScanVisualizationDialog(QtWidgets.QDialog):
|
||||
QtWidgets.QApplication.processEvents()
|
||||
|
||||
try:
|
||||
success = controller.home_axis(controller.DEST_Y_AXIS, timeout=60.0)
|
||||
if success:
|
||||
print("Y-axis homed successfully")
|
||||
self.current_scan_progress.setValue(90)
|
||||
controller.home_axis(AXIS_Y, timeout=60.0)
|
||||
print("Y-axis homed successfully")
|
||||
self.current_scan_progress.setValue(90)
|
||||
|
||||
# Small delay to let system stabilize
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
else:
|
||||
print("ERROR: Y-axis homing timeout")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
self,
|
||||
"Homing Error",
|
||||
"Y-axis homing timed out after 60 seconds.\n\n"
|
||||
"Please check:\n"
|
||||
"• Stage can move freely\n"
|
||||
"• No obstructions\n"
|
||||
"• Stage is connected properly"
|
||||
)
|
||||
return False
|
||||
# Small delay to let system stabilize
|
||||
import time
|
||||
time.sleep(0.5)
|
||||
except TimeoutError:
|
||||
print("ERROR: Y-axis homing timeout")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
self,
|
||||
"Homing Error",
|
||||
"Y-axis homing timed out after 60 seconds.\n\n"
|
||||
"Please check:\n"
|
||||
"• Stage can move freely\n"
|
||||
"• No obstructions\n"
|
||||
"• Stage is connected properly"
|
||||
)
|
||||
return False
|
||||
except Exception as e:
|
||||
print(f"ERROR: Failed to home Y-axis: {e}")
|
||||
QtWidgets.QMessageBox.critical(
|
||||
@@ -2689,16 +2735,16 @@ class OptionsDialog(QtWidgets.QDialog):
|
||||
|
||||
def populate_trigger_modes(self):
|
||||
"""Populate the trigger mode combo boxes with available options"""
|
||||
from hardware.bbd202 import TriggerMode
|
||||
from hardware.pybbd202 import TriggerBitsServo
|
||||
|
||||
trigger_options = [
|
||||
("Disabled", TriggerMode.DISABLED),
|
||||
("In/Out Relative Move", TriggerMode.IN_OUT_RELATIVE_MOVE),
|
||||
("In/Out Absolute Move", TriggerMode.IN_OUT_ABSOLUTE_MOVE),
|
||||
("In/Out Home", TriggerMode.IN_OUT_HOME),
|
||||
("In/Out Stop", TriggerMode.IN_OUT_STOP),
|
||||
("Out Only (HIGH during motion)", TriggerMode.OUT_ONLY),
|
||||
("Out Position", TriggerMode.OUT_POSITION),
|
||||
("Disabled", 0),
|
||||
("Trigger In: Relative Move", TriggerBitsServo.TRIGIN_RELMOVE),
|
||||
("Trigger In: Absolute Move", TriggerBitsServo.TRIGIN_ABSMOVE),
|
||||
("Trigger In: Home", TriggerBitsServo.TRIGIN_HOMEMOVE),
|
||||
("Trigger Out: In Motion", TriggerBitsServo.TRIGOUT_INMOTION),
|
||||
("Trigger Out: Motion Complete", TriggerBitsServo.TRIGOUT_MOTIONCOMPLETE),
|
||||
("Trigger Out: Max Velocity", TriggerBitsServo.TRIGOUT_MAXVELOCITY),
|
||||
]
|
||||
|
||||
for label, mode in trigger_options:
|
||||
|
||||
Reference in New Issue
Block a user