int RAMPSXYStage::SetPositionSteps(long x, long y)
{
LogMessage("XYStage: SetPositionSteps");
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
std::string status = pHub->GetState();
if (status == "Running") {
return ERR_STAGE_MOVING;
}
double newPosX = x * stepSize_um_;
double newPosY = y * stepSize_um_;
double difX = newPosX - posX_um_;
double difY = newPosY - posY_um_;
double distance = sqrt( (difX * difX) + (difY * difY) );
posX_um_ = x * stepSize_um_;
posY_um_ = y * stepSize_um_;
// TODO(dek): if no position change, don't send new position.
char buff[100];
sprintf(buff, "G0 X%f Y%f", posX_um_/1000., posY_um_/1000.);
std::string buffAsStdStr = buff;
int ret = pHub->SendCommand(buffAsStdStr);
if (ret != DEVICE_OK)
return ret;
pHub->SetTargetXY(posX_um_, posY_um_);
ret = OnXYStagePositionChanged(posX_um_, posY_um_);
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
int ZStage::Initialize()
{
if(!g_device_connected)
return DEVICE_NOT_CONNECTED;
if(_init)
return DEVICE_OK;
// Name and description
CreateProperty(MM::g_Keyword_Name, g_devlist[MoticZ][0],
MM::String, true);
CreateProperty(MM::g_Keyword_Description, g_devlist[MoticZ][1],
MM::String, true);
double l(0), r(0);
z_SpeedRange(&l, &r);
CreateProperty(PROP_ZSPEED, CDeviceUtils::ConvertToString(r / 2), MM::Float, false, 0);
SetPropertyLimits(PROP_ZSPEED, l, r);
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->AddEventReceiver(this);
}
UpdateStatus();
_init = true;
return DEVICE_OK;
}
bool RAMPSXYStage::Busy()
{
LogMessage("XYStage: Busy called");
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
std::string status = pHub->GetState();
LogMessage("Status is:");
LogMessage(status);
status_ = status;
if (status_ == "Idle") {
LogMessage("idle, return false.");
return false;
}
else if (status_ == "Running") {
LogMessage("Running, return true.");
return true;
}
else {
LogMessage("Unexpected status.");
return false;
}
}
int Illumination::Shutdown()
{
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->RemoveEventReceiver(this);
}
_init = false;
return DEVICE_OK;
}
int XYStage::Shutdown()
{
_busy = false;
_init = false;
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->RemoveEventReceiver(this);
}
return DEVICE_OK;
}
void Objectives::EventHandler(int eventId, int /*data*/)
{
if(eventId == OBJECTIVE_CHANGED)
{
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOff();
}
_busy = false;
}
}
int Objectives::Initialize()
{
if(!g_device_connected)
return DEVICE_NOT_CONNECTED;
if(_init)
return DEVICE_OK;
// Name and description
CreateProperty(MM::g_Keyword_Name, g_devlist[MoticObjectives][0],
MM::String, true);
CreateProperty(MM::g_Keyword_Description, g_devlist[MoticObjectives][1],
MM::String, true);
_mag.clear();
if(obj_Available())
{
for(int i = 0; i < obj_GetCount(); i++)
{
double m = obj_GetObjectiveMagnification(i);
if(m > 0)
{
_mag[i] = m;
}
}
char buf[64];
for(map<int, double>::iterator i = _mag.begin(); i != _mag.end(); ++i)
{
sprintf(buf, "%dX", (int)i->second);
SetPositionLabel(i->first, buf);
}
_curpos = obj_GetCurrentObjective();
CPropertyAction* act = new CPropertyAction(this, &Objectives::OnState);
CreateProperty(MM::g_Keyword_State, CDeviceUtils::ConvertToString(_curpos), MM::Integer, false, act);
act = new CPropertyAction(this, &CStateBase::OnLabel);
CreateProperty(MM::g_Keyword_Label, "", MM::String, false, act);
}
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->AddEventReceiver(this);
}
UpdateStatus();
_init = true;
return DEVICE_OK;;
}
void ZStage::EventHandler(int eventId, int /*data*/)
{
if(eventId == Z_MOVED)
{
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOff();
}
_busy = false;
double z = z_CurrentPosition();
OnStagePositionChanged(z);
}
}
void XYStage::EventHandler(int eventId, int /*data*/)
{
if(eventId == XY_MOVED)
{
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOff();
}
_busy = false;
// Notify
double x(0), y(0);
xy_CurrentPosition(&x, &y);
OnXYStagePositionChanged(x, y);
}
}
int CArduinoNeoPixelShutter::OnMulti(MM::PropertyBase* pProp, MM::ActionType eAct)
{
CArduinoNeoPixelHub* hub = static_cast<CArduinoNeoPixelHub*>(GetParentHub());
if (eAct == MM::BeforeGet)
{
// use cached state
pProp->Set((long)hub->GetMulti());
}
else if (eAct == MM::AfterSet)
{
long pos;
pProp->Get(pos);
hub->SetMulti(pos);
}
return DEVICE_OK;
}
int RAMPSXYStage::Initialize()
{
LogMessage("XYStage: initialize");
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
if (pHub)
{
char hubLabel[MM::MaxStrLength];
pHub->GetLabel(hubLabel);
SetParentID(hubLabel); // for backward comp.
}
else
LogMessage(NoHubError);
if (initialized_)
return DEVICE_OK;
// set property list
// -----------------
// Name
int ret = CreateStringProperty(MM::g_Keyword_Name, g_XYStageDeviceName, true);
if (DEVICE_OK != ret)
return ret;
// Description
ret = CreateStringProperty(MM::g_Keyword_Description, "RAMPS XY stage driver", true);
if (DEVICE_OK != ret)
return ret;
CPropertyAction* pAct = new CPropertyAction (this, &RAMPSXYStage::OnStepSize);
CreateProperty(g_StepSizeProp, CDeviceUtils::ConvertToString(stepSize_um_), MM::Float, false, pAct);
// Update lower and upper limits. These values are cached, so if they change during a session, the adapter will need to be re-initialized
ret = UpdateStatus();
if (ret != DEVICE_OK)
return ret;
initialized_ = true;
return DEVICE_OK;
}
int CArduinoNeoPixelShutter::OnBlueBrightness(MM::PropertyBase* pProp, MM::ActionType eAct)
{
CArduinoNeoPixelHub* hub = static_cast<CArduinoNeoPixelHub*>(GetParentHub());
if (eAct == MM::BeforeGet)
{
// use cached state
pProp->Set((long)hub->GetBlueBrightness());
}
else if (eAct == MM::AfterSet)
{
long pos;
pProp->Get(pos);
std::string command = "B" + boost::lexical_cast<std::string>((long long)pos) + "\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
hub->SetBlueBrightness(pos);
}
return DEVICE_OK;
}
int XYStage::SetPositionSteps(long x, long y)
{
if(xy_Available())
{
double sx(0), sy(0);
xy_GetHardwareMotionScale(&sx, &sy);
double posx = x * sx;
double posy = y * sy;
double spd(0);
GetProperty(PROP_XYSPEED, spd);
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOn();
}
_busy = true;
if(xy_MoveAbsolutely(posx, posy, spd))
{
if(hub)
{
if(hub->Wait())
{
return DEVICE_OK;
}
else
{
xy_Stop();
return ERR_XY_TIMEOUT;
}
}
return DEVICE_OK;
}
else
{
_busy = false;
return ERR_XY_MOVE;
}
}
return ERR_XY_INVALID;
}
int ZStage::SetPositionUm(double pos)
{
if(z_Available())
{
double spd(0);
GetProperty(PROP_ZSPEED, spd);
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOn();
}
_busy = true;
if(z_MoveAbsolutely(pos, spd))
{
if(hub)
{
if(hub->Wait())
{
OnStagePositionChanged(pos);
return DEVICE_OK;
}
else
{
z_Stop();
return ERR_Z_TIMEOUT;
}
}
return DEVICE_OK;
}
else
{
_busy = false;
return ERR_Z_MOVE;
}
}
return ERR_Z_INVALID;
}
int Objectives::OnState(MM::PropertyBase* pProp, MM::ActionType eAct)
{
if(eAct == MM::AfterSet)
{
long pos;
pProp->Get(pos);
if(_mag.find(pos) == _mag.end())
{
pProp->Set(_curpos);
return ERR_OBJECTIVE_NOTFOUND;
}
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->SetOn();
}
_busy = true;
if(obj_SwitchObjective(pos))
{
if(hub->Wait())
{
_curpos = pos;
return DEVICE_OK;
}
else
{
return ERR_OBJECTIVE_TIMEOUT;
}
}
else
{
return DEVICE_OK;
}
}
return DEVICE_OK;
}
int Illumination::Initialize()
{
if(!g_device_connected)
return DEVICE_NOT_CONNECTED;
if(_init)
return DEVICE_OK;
// Name and description
CreateProperty(MM::g_Keyword_Name, g_devlist[MoticIllumination][0],
MM::String, true);
CreateProperty(MM::g_Keyword_Description, g_devlist[MoticIllumination][1],
MM::String, true);
if(illumination_Available())
{
int v = illumination_GetValue();
CPropertyAction* act = new CPropertyAction(this, &Illumination::OnIntensity);
CreateProperty(PROP_ILLUMINATION_INTENSITY, CDeviceUtils::ConvertToString(v), MM::Integer, false, act);
int l(0), r(0);
illumination_GetRange(&l, &r);
SetPropertyLimits(PROP_ILLUMINATION_INTENSITY, l, r);
}
Hub* hub = static_cast<Hub*>(GetParentHub());
if(hub)
{
hub->AddEventReceiver(this);
}
UpdateStatus();
_init = true;
return DEVICE_OK;
}
int CArduinoNeoPixelShutter::OnOnOff(MM::PropertyBase* pProp, MM::ActionType eAct)
{
CArduinoNeoPixelHub* hub = static_cast<CArduinoNeoPixelHub*>(GetParentHub());
if (eAct == MM::BeforeGet)
{
// use cached state
pProp->Set((long)hub->GetShutterState());
}
else if (eAct == MM::AfterSet)
{
long pos;
pProp->Get(pos);
int ret;
std::string command = "I" + boost::lexical_cast<std::string>((long long)hub->GetIntensity());
ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
if (pos == 0) {
std::string command = "P0\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
}
else {
std::string command = "P111111111111111111111111111111111111111\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
int multi = hub->GetMulti();
LogMessage("multi:");
if (multi & 0x1) {
std::string command = "R" + boost::lexical_cast<std::string>((long long)hub->GetRedBrightness()) + "\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
} else {
std::string command = "R0\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
}
if (multi & 0x2) {
std::string command = "G" + boost::lexical_cast<std::string>((long long)hub->GetGreenBrightness()) + "\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
} else {
std::string command = "G0\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
}
if (multi & 0x4) {
std::string command = "B" + boost::lexical_cast<std::string>((long long)hub->GetBlueBrightness()) + "\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
} else {
std::string command = "B0\r";
int ret = hub->WriteToComPortH((const unsigned char*) command.c_str(), command.length());
if (ret != DEVICE_OK)
return ret;
}
}
hub->SetShutterState(pos);
changedTime_ = GetCurrentMMTime();
}
return DEVICE_OK;
}
int CArduinoNeoPixelShutter::Initialize()
{
CArduinoNeoPixelHub* hub = static_cast<CArduinoNeoPixelHub*>(GetParentHub());
if (!hub || !hub->IsPortAvailable()) {
return ERR_NO_PORT_SET;
}
char hubLabel[MM::MaxStrLength];
hub->GetLabel(hubLabel);
SetParentID(hubLabel); // for backward comp.
// set property list
// -----------------
// OnOff
// ------
CPropertyAction* pAct = new CPropertyAction (this, &CArduinoNeoPixelShutter::OnOnOff);
int ret = CreateProperty("OnOff", "1", MM::Integer, false, pAct);
if (ret != DEVICE_OK)
return ret;
pAct = new CPropertyAction (this, &CArduinoNeoPixelShutter::OnIntensity);
ret = CreateProperty("Intensity", "255", MM::Integer, false, pAct);
SetPropertyLimits("Intensity", 0, 255);
if (ret != DEVICE_OK)
return ret;
pAct = new CPropertyAction(this, &CArduinoNeoPixelShutter::OnRedBrightness);
ret = CreateProperty("Red brightness", "255", MM::Integer, false, pAct);
SetPropertyLimits("Red brightness", 0, 255);
if (ret != DEVICE_OK)
return ret;
pAct = new CPropertyAction(this, &CArduinoNeoPixelShutter::OnGreenBrightness);
ret = CreateProperty("Green brightness", "255", MM::Integer, false, pAct);
SetPropertyLimits("Green brightness", 0, 255);
if (ret != DEVICE_OK)
return ret;
pAct = new CPropertyAction(this, &CArduinoNeoPixelShutter::OnBlueBrightness);
ret = CreateProperty("Blue brightness", "255", MM::Integer, false, pAct);
SetPropertyLimits("Blue brightness", 0, 255);
if (ret != DEVICE_OK)
return ret;
pAct = new CPropertyAction(this, &CArduinoNeoPixelShutter::OnMulti);
ret = CreateProperty("Multi", "8", MM::Integer, false, pAct);
SetPropertyLimits("Multi", 0, 1<<3);
if (ret != DEVICE_OK)
return ret;
// set shutter into the off state
//WriteToPort(0);
std::vector<std::string> vals;
vals.push_back("0");
vals.push_back("1");
ret = SetAllowedValues("OnOff", vals);
if (ret != DEVICE_OK)
return ret;
ret = UpdateStatus();
if (ret != DEVICE_OK)
return ret;
changedTime_ = GetCurrentMMTime();
initialized_ = true;
return DEVICE_OK;
}
VTiSIMHub* VTiSIMLasers::VTiHub()
{
return static_cast<VTiSIMHub*>(GetParentHub());
}
VTiSIMHub* VTiSIMScanner::VTiHub()
{
return static_cast<VTiSIMHub*>(GetParentHub());
}
VTiSIMHub* VTiSIMPinholeArray::VTiHub()
{
return static_cast<VTiSIMHub*>(GetParentHub());
}
