bool XYStage::Busy()
{
// TODO: figure out how to get a busy signal on MF firmware
if (firmware_ == "MF")
return false;
const char * commandX = "NPXm1";
const char * commandY = "NPYm1";
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), commandX);
if (ret != DEVICE_OK)
{
this->LogMessage("ExecuteCommand failed in XYStage::Busy");
return false; // error, so say we're not busy
}
// first two chars should read 'PN'
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
{
this->LogMessage("GetAnswer failed in XYStage::Busy");
return false; // error, so say we're not busy
}
// Note: if the controller reports that the motors are moving or settling, we'll consider the z-drive to be busy
if (response.substr(0,2) == "PN")
{
unsigned long status = strtol(response.substr(2,1).c_str(), NULL, 16);
status &= 0x01;
if (status != 0)
return true;
}
// Repeat for Y
ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), commandY);
if (ret != DEVICE_OK)
{
this->LogMessage("ExecuteCommand failed in XYStage::Busy");
return false; // error, so say we're not busy
}
// first two chars should read 'PN'
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
{
this->LogMessage("GetAnswer failed in XYStage::Busy");
return false; // error, so say we're not busy
}
// Note: if the controller reports that the motors are moving or settling, we'll consider the z-drive to be busy
if (response.substr(0,2) == "PN")
{
unsigned long status = strtol(response.substr(2,1).c_str(), NULL, 16);
status &= 0x01;
if (status != 0)
return true;
}
return false;
}
int XYStage::SetPositionSteps(long stepsX, long stepsY)
{
// the hard part is to get the formatting of the string right.
// it is a hex number from 800000 .. 7FFFFF, where everything larger than 800000 is a negative number!?
// We can speed up communication by skipping leading 0s, but that makes the following more complicated:
char tmp[98];
// convert the steps into a twos-complement 6bit number
if (stepsX < 0)
stepsX = stepsX + 0xffffff + 1;
snprintf(tmp, 9, "%08lX", stepsX);
string tmp2 = tmp;
ostringstream cmdX;
cmdX << "NPXT" << tmp2.substr(2,6).c_str();
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdX.str().c_str());
if (ret != DEVICE_OK)
return ret;
// do the same for YAxis
if (stepsY < 0)
stepsY = stepsY + 0xffffff + 1;
snprintf(tmp, 9, "%08lX", stepsY);
tmp2 = tmp;
ostringstream cmdY;
cmdY << "NPYT" << tmp2.substr(2,6).c_str();
ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdY.str().c_str());
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
/*
* Requests current z postion from the controller. This function does the actual communication
*/
int ZStage::GetPositionSteps(long& steps)
{
const char* cmd ="HPZp" ;
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd);
if (ret != DEVICE_OK)
return ret;
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2) == "PH")
{
steps = strtol(response.substr(2).c_str(), NULL, 16);
}
else
return ERR_UNEXPECTED_ANSWER;
// To 'translate' 'negative' numbers according to the Zeiss schema (there must be a more elegant way of doing this:
long sign = strtol(response.substr(2,1).c_str(), NULL, 16);
if (sign > 7) // negative numbers
{
steps = steps - 0xFFFFFF - 1;
}
return DEVICE_OK;
}
/*
* Requests current z postion from the controller. This function does the actual communication
*/
int XYStage::GetPositionSteps(long& stepsX, long& stepsY)
{
const char* cmdX ="NPXp" ;
const char* cmdY ="NPYp" ;
// retrieve x axis
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdX);
if (ret != DEVICE_OK)
return ret;
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2) == "PN")
{
stepsX = strtol(response.substr(2).c_str(), NULL, 16);
}
else
return ERR_UNEXPECTED_ANSWER;
// To 'translate' 'negative' numbers according to the Zeiss schema (there must be a more elegant way of doing this:
long sign = strtol(response.substr(2,1).c_str(), NULL, 16);
if (sign > 7) // negative numbers
{
stepsX = stepsX - 0xFFFFFF - 1;
}
// retrieve y axis
ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdY);
if (ret != DEVICE_OK)
return ret;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2) == "PN")
{
stepsY = strtol(response.substr(2).c_str(), NULL, 16);
}
else
return ERR_UNEXPECTED_ANSWER;
// To 'translate' 'negative' numbers according to the Zeiss schema (there must be a more elegant way of doing this:
sign = strtol(response.substr(2,1).c_str(), NULL, 16);
if (sign > 7) // negative numbers
{
stepsY = stepsY - 0xFFFFFF - 1;
}
return DEVICE_OK;
}
int XYStage::Stop()
{
const char* cmdX ="NPXS" ;
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdX);
if (ret != DEVICE_OK)
return ret;
const char* cmdY ="NPYS" ;
ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmdY);
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
int ZStage::SetOrigin()
{
const char* cmd ="HPZP0" ;
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd);
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
/*
* Set stage in load sample mode
*/
int ZStage::OnLoadSample(MM::PropertyBase* pProp, MM::ActionType eAct)
{
//1: up
//0: down. but can also return 4.
if (eAct == MM::BeforeGet)
{
const char* cmd = "HPZw";
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd);
if (ret != DEVICE_OK)
return ret;
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2) == "PH")
{
long state = strtol(response.substr(2).c_str(), NULL, 10);
state=state==0 || state==4;
pProp->Set(state);
}
else
return ERR_UNEXPECTED_ANSWER;
return DEVICE_OK;
}
else if (eAct == MM::AfterSet)
{
long state;
pProp->Get(state);
ostringstream cmd;
cmd << "HPZW" << (!state);
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd.str().c_str());
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
return DEVICE_OK;
}
int PhotoModule::SetUpperPrism(int position)
{
ostringstream cmd;
cmd << "EPPO" << position;
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd.str().c_str());
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
int PhotoModule::GetTurretPosition(int& /* position */)
{
string cmd = "EPPo";
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd.c_str());
if (ret != DEVICE_OK)
return ret;
string answer;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), answer);
if (ret != DEVICE_OK)
return ret;
// I have no idea how the answer will be formatted. For now, just log:
ostringstream log;
log << "Answer from scope: " << answer;
this->LogMessage(log.str().c_str());
return DEVICE_OK;
}
// TODO: this doesn't work for MCU28
int XYStage::GetXYFirmwareVersion()
{
// get firmware info
const char * command = "NPTv0";
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), command);
if (ret != DEVICE_OK)
return ret;
// first two chars should read 'PN'
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2).compare("PN") == 0)
{
xyFirmware_ = response.substr(2);
firmware_ = response.substr(2,2);
}
return DEVICE_OK;
}
int ZStage::GetLowerLimit()
{
const char* cmd = "HPZl";
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd);
if (ret != DEVICE_OK)
return ret;
string response;
ret = g_hub.GetAnswer(*this, *GetCoreCallback(), response);
if (ret != DEVICE_OK)
return ret;
if (response.substr(0,2) == "PH")
{
long steps = strtol(response.substr(2).c_str(), NULL, 16);
lowerLimit_ = steps * stepSize_um_;
}
else
return ERR_UNEXPECTED_ANSWER;
return DEVICE_OK;
}
/*
* Requests movement to new z postion from the controller. This function does the actual communication
*/
int ZStage::SetPositionSteps(long steps)
{
// the hard part is to get the formatting of the string right.
// it is a hex number from 800000 .. 7FFFFF, where everything larger than 800000 is a negative number!?
// We can speed up communication by skipping leading 0s, but that makes the following more complicated:
char tmp[98];
// convert the steps into a twos-complement 6bit number
if (steps<0)
steps = steps+0xffffff+1;
snprintf(tmp, 9, "%08lX", steps);
string tmp2 = tmp;
ostringstream cmd;
cmd << "HPZT" << tmp2.substr(2,6).c_str();
int ret = g_hub.ExecuteCommand(*this, *GetCoreCallback(), cmd.str().c_str());
if (ret != DEVICE_OK)
return ret;
CDeviceUtils::SleepMs(100);
return DEVICE_OK;
}
