openflexure_microscope_server.things.stage.sangaboard.SangaboardThing

class documentation

class SangaboardThing(BaseStage): (source)

Constructor: SangaboardThing(port, **kwargs)

A Thing to manage a Sangaboard motor controller.

Internally, this uses the pysangaboard package from PyPi. This imports as sangaboard. As pysangaboard does not support some features added to the Sangaboard firmware v1 (LED flashing, aborting moves, etc) this functionality is accessed by directly querying the serial interface.

Method	`__enter__`	Connect to the sangaboard when the Thing context manager is opened.
Method	`__exit__`	Close the sangaboard connection when the Thing context manager is closed.
Method	`__init__`	Initialise SangaboardThing.
Method	`flash_led`	Flash the LED to identify the board.
Method	`sangaboard`	Return the wrapped `sangaboard.Sangaboard` instance.
Method	`set_zero_position`	Make the current position zero in all axes.
Method	`update_position`	Read position from the stage and set the corresponding property.
Instance Variable	`axis_inverted`	Used to convert coordinates between the program frame and the hardware frame.
Instance Variable	`moving`	Whether the stage is in motion.
Instance Variable	`sangaboard_kwargs`	Undocumented
Method	`_hardware_move_absolute`	Make a absolute move in the coordinate system used by the sangaboard.
Method	`_hardware_move_relative`	Make a relative move in the coordinate system used by the sangaboard.
Instance Variable	`_hardware_position`	Undocumented
Instance Variable	`_sangaboard`	Undocumented
Instance Variable	`_sangaboard_lock`	Undocumented

Inherited from BaseStage:

Method	`get_xyz_position`	Return a tuple containing (x, y, z) position.
Method	`invert_axis_direction`	Invert the direction setting of the given axis.
Method	`move_absolute`	Make an absolute move. Keyword arguments should be axis names.
Method	`move_relative`	Make a relative move. Keyword arguments should be axis names.
Method	`move_to_xyz_position`	Move to the location specified by an (x, y, z) tuple.
Property	`axis_names`	The names of the stage's axes, in order.
Property	`position`	Current position of the stage.
Property	`thing_state`	Summary metadata describing the current state of the stage.
Method	`_apply_axis_direction`	Undocumented
Class Variable	`_axis_names`	Undocumented

def __enter__(self): (source) ¶

Connect to the sangaboard when the Thing context manager is opened.

def __exit__(self, _exc_type, _exc_value, _traceback): (source) ¶

Close the sangaboard connection when the Thing context manager is closed.

def __init__(self, port: str = None, **kwargs): (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage.__init__

Initialise SangaboardThing.

Initialise the "Thing", but do not initialise an underlying Sangaboard object from pysangaboard until the Thing context manager is started.

Parameters
port:`str`	The serial port for the Sangaboard. Optional, this is used to stop the Sangaboard object querying available devices.
**kwargs	Any other keyword arguments to be passed to the Sangaboard class

@lt.thing_action

def flash_led(self, number_of_flashes: int = 10, dt: float = 0.5, led_channel: Literal['cc'] = 'cc'): (source) ¶

Flash the LED to identify the board.

This is intended to be useful in situations where there are multiple Sangaboards in use, and it is necessary to identify which one is being addressed.

@contextmanager

def sangaboard(self) -> Iterator[sangaboard.Sangaboard]: (source) ¶

Return the wrapped sangaboard.Sangaboard instance.

This is protected by a threading.RLock, which may change in future.

@lt.thing_action

def set_zero_position(self): (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage.set_zero_position

Make the current position zero in all axes.

This action does not move the stage, but resets the position to zero. It is intended for use after manually or automatically recentring the stage.

def update_position(self): (source) ¶

Read position from the stage and set the corresponding property.

axis_inverted = (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage.axis_inverted

Used to convert coordinates between the program frame and the hardware frame.

moving: bool = (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage.moving

Whether the stage is in motion.

sangaboard_kwargs = (source) ¶

Undocumented

def _hardware_move_absolute(self, cancel: lt.deps.CancelHook, block_cancellation: bool = False, **kwargs: Mapping[str, int]): (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage._hardware_move_absolute

Make a absolute move in the coordinate system used by the sangaboard.

def _hardware_move_relative(self, cancel: lt.deps.CancelHook, block_cancellation: bool = False, **kwargs: Mapping[str, int]): (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage._hardware_move_relative

Make a relative move in the coordinate system used by the sangaboard.

_hardware_position = (source) ¶

overrides openflexure_microscope_server.things.stage.BaseStage._hardware_position

Undocumented

_sangaboard = (source) ¶

Undocumented

_sangaboard_lock = (source) ¶

Undocumented