Stage motors widget for LFM

sashimi/gui/main_gui.py

@@ -13,6 +13,7 @@
 from sashimi.gui.status_bar import StatusBarWidget
 from sashimi.gui.top_bar import TopWidget
 from sashimi.state import State
+from sashimi.gui.stage_gui import StageMotorWidget
 
 
 class DockedWidget(QDockWidget):
@@ -45,6 +46,7 @@ def __init__(self, st: State, style: str):
         self.wid_camera = CameraSettingsWidget(st, self.wid_display, self.timer)
         self.wid_status_bar = StatusBarWidget(st, self.timer)
         self.toolbar = TopWidget(st, self.timer)
+        self.wid_stage = StageMotorWidget(st)
 
         self.addToolBar(Qt.TopToolBarArea, self.toolbar)
 
@@ -60,6 +62,11 @@ def __init__(self, st: State, style: str):
             DockedWidget(widget=self.wid_scan, title="Scanning settings"),
         )
 
+        self.addDockWidget(
+            Qt.RightDockWidgetArea,
+            DockedWidget(widget=self.wid_stage, title="Stage Motors"),
+        )
+
         self.addDockWidget(
             Qt.RightDockWidgetArea,
             DockedWidget(widget=self.wid_laser, title="Light source"),
@@ -121,6 +128,7 @@ def refresh_param_values(self, omit_wid_camera=False):
         # TODO should be possible with lightparam, when it's implemented there remove here
         self.wid_laser.wid_settings.refresh_widgets()
         self.wid_scan.wid_planar.refresh_widgets()
+        self.wid_stage.wid_settings.refresh_widgets()
         self.wid_status.wid_volume.wid_volume.refresh_widgets()
         self.wid_status.wid_calibration.refresh_widgets()
         self.wid_status.wid_single_plane.wid_singleplane.refresh_widgets()

sashimi/gui/stage_gui.py

@@ -0,0 +1,17 @@
+from PyQt5.QtWidgets import (
+    QWidget,
+    QVBoxLayout,
+    QCheckBox,
+)
+from lightparam.gui import ParameterGui
+
+
+# stage motors setting for LFM
+class StageMotorWidget(QWidget):
+    def __init__(self, state):
+        super().__init__()
+        self.state = state
+        self.setLayout(QVBoxLayout())
+        self.wid_settings = ParameterGui(state.stage_setting)
+        self.layout().addWidget(self.wid_settings)
+

sashimi/hardware/stage_motors/KDC101/KCube_py_int.py

@@ -0,0 +1,110 @@
+"Bindings for Thorlabs Benchtop Brushless Motor DLL"
+# flake8: noqa
+from ctypes import (
+    Structure,
+    cdll,
+    windll,
+    c_bool,
+    c_short,
+    c_int,
+    c_uint,
+    c_int16,
+    c_int32,
+    c_char,
+    c_byte,
+    c_long,
+    c_float,
+    c_double,
+    POINTER,
+    CFUNCTYPE,
+    CDLL,
+    CFUNCTYPE,
+    c_ushort,
+    c_ulong,
+)
+
+import os
+
+from typing import (
+    Any,
+    List,
+)
+
+c_word = c_ushort
+c_dword = c_ulong
+
+
+def bind(lib: CDLL, func: str,
+         argtypes: List[Any]=None, restype: Any=None) -> CFUNCTYPE:
+    _func = getattr(lib, func, null_function)
+    _func.argtypes = argtypes
+    _func.restype = restype
+
+    return _func
+
+
+def null_function():
+    pass
+
+
+__all__ = [
+    bind,
+    null_function,
+    c_word,
+    c_dword,
+]
+
+
+
+#path for dlls
+master_path = os.getcwd()
+
+
+dll_folder = "dlls_servo"
+dll_lib = "dlls_servo\Thorlabs.MotionControl.KCube.DCServo.dll"
+
+
+dlls_path = os.path.join(master_path,dll_folder)
+lib_path = os.path.join(master_path,dll_lib)
+
+
+#specify folder for dlls
+os.chdir(dlls_path)
+lib = cdll.LoadLibrary(lib_path)
+
+MOT_TravelDirection = c_short
+MOT_TravelModes = c_int
+
+CC_Open = bind(lib, "CC_Open", [POINTER(c_char)], c_short)
+CC_Close = bind(lib, "CC_Close", [POINTER(c_char)])
+TLI_BuildDeviceList = bind(lib, "TLI_BuildDeviceList", None, c_short)
+TLI_GetDeviceListSize = bind(lib, "TLI_GetDeviceListSize", None, c_short)
+CC_MoveToPosition = bind(lib, "CC_MoveToPosition", [POINTER(c_char), c_int], c_short)
+CC_GetPosition = bind(lib, "CC_GetPosition", [POINTER(c_char)], c_int)
+CC_CanHome = bind(lib, "CC_CanHome", [POINTER(c_char)], c_bool)
+CC_Home = bind(lib, "CC_Home", [POINTER(c_char)], c_short)
+CC_ClearMessageQueue = bind(lib, "CC_ClearMessageQueue", [POINTER(c_char)])
+CC_RequestHomingParams = bind(lib, "CC_RequestHomingParams", [POINTER(c_char)], c_short)
+CC_GetHomingVelocity = bind(lib, "CC_GetHomingVelocity", [POINTER(c_char)], c_uint)
+CC_SetHomingVelocity = bind(lib, "CC_SetHomingVelocity", [POINTER(c_char), c_uint], c_short)
+CC_MoveRelative = bind(lib, "CC_MoveRelative", [POINTER(c_char), c_int], c_short)
+CC_RequestVelParams = bind(lib, "CC_RequestVelParams", [POINTER(c_char)], c_short)
+CC_GetVelParams = bind(lib, "CC_GetVelParams", [POINTER(c_char), POINTER(c_int), POINTER(c_int)], c_short)
+CC_SetVelParams = bind(lib, "CC_SetVelParams", [POINTER(c_char), c_int, c_int], c_short)
+CC_MoveAtVelocity = bind(lib, "CC_MoveAtVelocity", [POINTER(c_char), MOT_TravelDirection], c_short)
+CC_SetMoveAbsolutePosition = bind(lib, "CC_SetMoveAbsolutePosition", [POINTER(c_char), c_int], c_short)
+CC_RequestMoveAbsolutePosition = bind(lib, "CC_RequestMoveAbsolutePosition", [POINTER(c_char)], c_short)
+CC_GetMoveAbsolutePosition = bind(lib, "CC_GetMoveAbsolutePosition", [POINTER(c_char)], c_int)
+CC_MoveAbsolute = bind(lib, "CC_MoveAbsolute", [POINTER(c_char)], c_short)
+CC_SetMoveRelativeDistance = bind(lib, "CC_SetMoveRelativeDistance", [POINTER(c_char), c_int], c_short)
+CC_RequestMoveRelativeDistance = bind(lib, "CC_RequestMoveRelativeDistance", [POINTER(c_char)], c_short)
+CC_GetMoveRelativeDistance = bind(lib, "CC_GetMoveRelativeDistance", [POINTER(c_char)], c_int)
+CC_MoveRelativeDistance = bind(lib, "CC_MoveRelativeDistance", [POINTER(c_char)], c_short)
+CC_StartPolling = bind(lib, "CC_StartPolling", [POINTER(c_char), c_int], c_bool)
+CC_PollingDuration = bind(lib, "CC_PollingDuration", [POINTER(c_char)], c_long)
+CC_StopPolling = bind(lib, "CC_StopPolling", [POINTER(c_char)])
+CC_GetStageAxisMinPos = bind(lib, "CC_GetStageAxisMinPos", [POINTER(c_char)], c_int)
+CC_GetStageAxisMaxPos = bind(lib, "CC_GetStageAxisMaxPos", [POINTER(c_char)], c_int)
+CC_SetStageAxisLimits = bind(lib, "CC_SetStageAxisLimits", [POINTER(c_char), c_int, c_int], c_short)
+CC_SetMotorTravelMode = bind(lib, "CC_SetMotorTravelMode", [POINTER(c_char), MOT_TravelModes], c_short)
+CC_GetMotorTravelMode = bind(lib, "CC_GetMotorTravelMode", [POINTER(c_char)], MOT_TravelModes)