from mxcubecore.HardwareObjects.MD2Motor import MD2Motor
from mxcubecore.HardwareObjects.abstract.AbstractMotor import MotorStates
import logging
import math
[docs]class MicrodiffSamplePseudo(MD2Motor):
def __init__(self, name):
MD2Motor.__init__(self, name)
self.actuator_name = name
self.sampx = None
self.sampy = None
self.phi = None
self.direction = None
self.motorState = MotorStates.NOTINITIALIZED
[docs] def init(self):
self.direction = self.get_property("direction")
self.sampx = self.get_object_by_role("sampx")
self.sampy = self.get_object_by_role("sampy")
self.phi = self.get_object_by_role("phi")
self.connect(self.sampx, "valueChanged", self.real_motor_moved)
self.connect(self.sampx, "stateChanged", self.real_motor_changed)
self.connect(self.sampy, "valueChanged", self.real_motor_moved)
self.connect(self.sampy, "stateChanged", self.real_motor_changed)
self.connect(self.phi, "valueChanged", self.real_motor_moved)
self.connect(self.phi, "stateChanged", self.real_motor_changed)
def real_motor_moved(self, _):
self.motor_positions_changed(self.get_value())
def updateMotorState(self):
states = [m.get_state() for m in (self.sampx, self.sampy, self.phi)]
error_states = [
state
in (MotorStates.UNUSABLE, MotorStates.NOTINITIALIZED, MotorStates.ONLIMIT)
for state in states
]
moving_state = [
state in (MotorStates.MOVING, MotorStates.MOVESTARTED) for state in states
]
if any(error_states):
self.motorState = MotorStates.UNUSABLE
elif any(moving_state):
self.motorState = MotorStates.MOVING
else:
self.motorState = MotorStates.READY
self.motorStateChanged(self.motorState)
def motorStateChanged(self, state):
logging.getLogger().debug(
"%s: in motorStateChanged: motor state changed to %s", self.name(), state
)
self.emit("stateChanged", (self.motorState,))
[docs] def get_value(self):
sampx = self.sampx.get_value()
sampy = self.sampy.get_value()
phi = self.phi.get_value()
if phi:
phi = math.radians(self.phi.get_value())
if self.direction == "horizontal":
new_pos = sampx * math.cos(phi) + sampy * math.sin(phi)
else:
new_pos = sampx * math.sin(-phi) + sampy * math.cos(-phi)
return new_pos
[docs] def get_state(self):
if self.motorState == MotorStates.NOTINITIALIZED:
self.updateMotorState()
return self.motorState
def real_motor_changed(self, _):
self.updateMotorState()
def motor_positions_changed(self, absolutePosition):
self.emit("valueChanged", (absolutePosition,))
def _set_value(self, value):
sampx = self.sampx.get_value()
sampy = self.sampy.get_value()
phi = math.radians(self.phi.get_value())
if self.direction == "horizontal":
ver = sampx * math.sin(-phi) + sampy * math.cos(-phi)
self.sampx.set_value(value * math.cos(-phi) + ver * math.sin(-phi))
self.sampy.set_value(-value * math.sin(-phi) + ver * math.cos(-phi))
else:
hor = sampx * math.cos(phi) + sampy * math.sin(phi)
self.sampx.set_value(value * math.sin(-phi) + hor * math.cos(-phi))
self.sampy.set_value(value * math.cos(-phi) - hor * math.sin(-phi))
def _motor_abort(self):
for m in (self.phi, self.sampx, self.sampy):
m.stop()