Merge branch 'master' into mergemaster

uc2rest/home.py

@@ -78,7 +78,7 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
                 {
                  "stepperid": axis,
                  "timeout":timeout*1000,
-                 "speed":speed,
+                 "speed":direction*abs(speed),
                  "direction":direction,
                  "endposrelease":endposrelease, 
                  "endstoppolarity":endstoppolarity

uc2rest/laser.py

@@ -46,7 +46,7 @@ def set_laser(self, channel=1, value=0, auto_filterswitch=False,
 
         }
         #self._parent.logger.debug("Setting Laser "+str(channel)+", value: "+str(value))
-        r = self._parent.post_json(path, payload, getReturn=is_blocking)
+        r = self._parent.post_json(path, payload, getReturn=is_blocking, timeout=.5)
         return r
 
     def set_laserpin(self, laserid=1, laserpin=0):
@@ -61,33 +61,3 @@ def set_laserpin(self, laserid=1, laserpin=0):
         r = self._parent.post_json(path, payload)
         return r
 
-    def get_laserpins(self):
-        path = '/laser_get'
-
-        r = self._parent.get_json(path)
-
-        if type(r) is dict:
-            # cast laser pins
-            if "LASER1pin" in r: r["LASER1pin"] = int(r["LASER1pin"])
-            else: r["LASER1pin"] = 0
-            if r.__contains__("LASER2pin"): r["LASER2pin"] = int(r["LASER2pin"])
-            else: r["LASER2pin"] = 0
-            if r.__contains__("LASER3pin"): r["LASER3pin"] = int(r["LASER3pin"])
-            else: r["LASER3pin"] = 0
-        else:
-            r={}
-            r["LASER1pin"] = 0
-            r["LASER2pin"] = 0
-            r["LASER3pin"] = 0
-
-        return r
-
-    def get_laserpin(self, laserid=1):
-        path = '/laser_get'
-
-        payload = {
-            "task": path,
-        }
-
-        r = self._parent.post_json(path, payload,timeout=2)
-        return r["LASER"+str(laserid)+"pin"]

uc2rest/motor.py

@@ -49,16 +49,16 @@ def __init__(self, parent=None):
         self.stepSizeA =  1
 
         self.DEFAULT_ACCELERATION = 10000
-        
+
         self.motorAxisOrder = [0,1,2,3] # motor axis is 1,2,3,0 => X,Y,Z,T # FIXME: Hardcoded
 
         # register a callback function for the motor status on the serial loop
         if hasattr(self._parent, "serial"):
             self._parent.serial.register_callback(self._callback_motor_status, pattern="steppers")
 
         # move motor to wake them up #FIXME: Should not be necessary!
-        #self.move_stepper(steps=(1,1,1,1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False), is_blocking=False)
-        #self.move_stepper(steps=(-1,-1,-1,-1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False), is_blocking=False)
+        #self.move_stepper(steps=(1,1,1,1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False))
+        #self.move_stepper(steps=(-1,-1,-1,-1), speed=(1000,1000,1000,1000), is_absolute=(False,False,False,False))
 
     def _callback_motor_status(self, data):
         ''' cast the json in the form:
@@ -98,7 +98,7 @@ def setTrigger(self, axis="X", pin=1, offset=0, period=1):
             }}
         r = self._parent.post_json(path, payload)
         return r
-    
+
     # {"task": "/motor_act", "stagescan": {"nStepsLine": 100, "dStepsLine": 1, "nTriggerLine": 1, "nStepsPixel": 100, "dStepsPixel": 1, "nTriggerPixel": 1, "delayTimeStep": 10, "stopped": 0, "nFrames": 5}}"}}
     def startStageScanning(self, nStepsLine=100, dStepsLine=1, nTriggerLine=1, nStepsPixel=100, dStepsPixel=1, nTriggerPixel=1, delayTimeStep=10, nFrames=5):
         path = "/motor_act"
@@ -117,17 +117,10 @@ def startStageScanning(self, nStepsLine=100, dStepsLine=1, nTriggerLine=1, nStep
             }}
         r = self._parent.post_json(path, payload)
         return r
-    
+
     def stopStageScanning(self):
-        path = "/motor_act"
-        payload = {
-            "task": path,
-            "stagescan":{
-                "stopped": 1
-            }}
-        r = self._parent.post_json(path, payload)
-        return r
-
+        self.startStageScanning(stopped=1)
+
     def setIsCoreXY(self, isCoreXY = False):
         self.isCoreXY = isCoreXY
 
@@ -529,7 +522,7 @@ def set_motor_enable(self, enable=None, enableauto=None):
         r = self._parent.post_json(path, payload)
         return r
 
-    def get_position(self, axis=None, timeout=1):
+    def get_position(self, axis=None, timeout=.2):
         # pulls all current positions from the stepper controller
         path = "/motor_get"
         payload = {
@@ -540,7 +533,7 @@ def get_position(self, axis=None, timeout=1):
         _physicalStepSizes = np.array((self.stepSizeA, self.stepSizeX, self.stepSizeY, self.stepSizeZ))
 
         # this may be an asynchronous call.. #FIXME!
-        r = self._parent.post_json(path, payload, getReturn = True, nResponses=1)
+        r = self._parent.post_json(path, payload, getReturn = True, nResponses=1, timeout=timeout)
         if "motor" in r:
             for index, istepper in enumerate(r["motor"]["steppers"]):
                 _position[istepper["stepperid"]]=istepper["position"]*_physicalStepSizes[self.motorAxisOrder[index]]

uc2rest/mserial.py

@@ -9,7 +9,7 @@ class Serial:
     def __init__(self, port, baudrate=115200, timeout=5,
                  identity="UC2_Feather", parent=None, DEBUG=False):
 
-        self.serialdevice= None
+        self.serialdevice = None
         self.serialport = port
         self.baudrate = baudrate
         self.timeout = timeout
@@ -179,7 +179,7 @@ def _process_commands(self):
             # Check if the last command went through successfully
             #if not self.command_queue.empty() and not reading_json:
             #    currentIdentifier, command = self.command_queue.get()
-                
+
             # device not ready yet
             if self.serialdevice is None:
                 self.is_connected = False
@@ -294,11 +294,9 @@ def sendMessage(self, command, nResponses=1, timeout = 20):
         try:
             json_command = json.dumps(command)+"\n"
             with self.lock:
-                t0 = time.time()
                 self.serialdevice.flush()
                 self._logger.debug("[SendMessage]: "+str(json_command))
                 self.serialdevice.write(json_command.encode('utf-8') )
-                #self._logger.debug("[SendMessage] took: "+str(time.time()-t0))
         except Exception as e:
             if self.DEBUG: self._logger.error(e)
             return "Failed to Send"
@@ -394,7 +392,7 @@ def __init__(self, port, baudrate, timeout=1):
 
     def flush(self):
         pass
-    
+
     def isOpen(self):
         return self.is_open
 

uc2rest/temperature.py

@@ -1,8 +1,8 @@
 class Temperature(object):
-    
+
     def __init__(self, parent):
         self._parent = parent
-        
+
     '''
     ##############################################################################################################################
     Temperature Controllers
@@ -12,8 +12,8 @@ def __init__(self, parent):
     def stop_heating(self):
         r = self.set_temperature(active=0)
         return r
-    
-    def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=60000000, updaterate=1000):
+
+    def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=600000000, updaterate=1000):
         # {"task": "/heat_act", "active":1, "Kp":1000, "Ki":0.1, "Kd":0.1, "target":37, "timeout":60000000, "updaterate":1000}
         path = "/heat_act"
         payload = {
@@ -28,7 +28,7 @@ def set_temperature(self, active=1, Kp=1000, Ki=0.1, Kd=0.1, target=37, timeout=
             }
         r = self._parent.post_json(path, payload, getReturn=False)
         return r
-    
+
     def get_temperature(self, timeout=0.5):
         path = "/heat_get"
         r = self._parent.get_json(path, timeout=timeout)
@@ -40,7 +40,7 @@ def get_temperature(self, timeout=0.5):
 
 
 if __name__ == "__main__":
-    
+
     #%%
     import uc2rest
     import time
@@ -52,5 +52,3 @@ def get_temperature(self, timeout=0.5):
         time.sleep(1)
     ESP32.temperature.stop_heating()
     ESP32.close()
-
-