from terapy.hardware.axes.base import AxisDevice
class AxisExample(AxisDevice):
def __init__(self):
AxisDevice.__init__(self)
# Insert here what the driver should do when loaded
# (e.g. check that the right modules/interface cards/... are present).
# DON'T initialize the device here (see initialize() function for that).
self.qtynames = "Position" # name of returned quantities
self.units = "ps" # units of axis readings
# variables stated in self.config will be loaded/saved
# from/to the configuration file (devices.ini)
self.config = ["variable1", "variable2"]
self.variable1 = 0.0
self.variable2 = "blah"
def assign(self, address, ID, name, axis):
"""
Configure device driver prior to initialization.
Parameters:
address - physical address as required by communication interface driver
ID - device short name (str)
name - device long name (str)
axis - axis id (int)
"""
self.address = address
self.ID = ID
self.name = name
self.axis = axis
def initialize(self):
"""
Initialize device.
"""
pass
def configure(self):
"""
Run configuration routine for device.
"""
pass
def detect(self):
"""
Detect available devices handled by device driver.
Output:
list of available devices, each entry as (address, short name, long name, axis id)
"""
return []
def reset(self):
"""
Reset device.
"""
pass
def ask(self, cmd):
"""
Send given command to instrument and return result.
Parameters:
cmd - command (str)
Output:
instrument reply (float)
"""
return 0
def write(self, cmd):
"""
Send given command to instrument.
Parameters:
cmd - command (str)
"""
pass
def jog(self, step):
"""
Jog device relative to current position by given amount.
Parameters:
step - movement size (float)
"""
pass
def get_motion_status(self):
"""
Return current state of device.
Output:
device response to status polling
"""
return 0
def pos(self):
"""
Return current position of device.
Output:
Device position (float)
"""
return 0
def stop(self):
"""
Stop device movement.
"""
pass
def prepareScan(self):
"""
Prepare device for scanning.
"""
pass
def goTo(self, position, wait = False):
"""
Set device position to given position.
Parameters:
position - position (float)
wait - if True, wait that device reaches position before return
"""
pass
