Octopi: Moved autohome property to Hub so that Z stage is always home…

…d befopre XY Stage.
micro-manager · Oct 21, 2024 · 1b2b3a4 · 1b2b3a4
1 parent 2a6d573
commit 1b2b3a4
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Showing 4 changed files with 60 additions and 64 deletions.
diff --git a/DeviceAdapters/Octopi-Research/Squid.h b/DeviceAdapters/Octopi-Research/Squid.h
@@ -100,11 +100,13 @@ class SquidHub : public HubBase<SquidHub>
    int DetectInstalledDevices();
 
    int OnPort(MM::PropertyBase* pProp, MM::ActionType eAct);
+   int OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct);
 
    bool IsPortAvailable() { return (port_ != ""); };
    int SendCommand(unsigned char* cmd, unsigned cmdSize);
    int SendMoveCommand(const int cmd, long steps);
    int SetMaxVelocityAndAcceleration(unsigned char axis, double maxVelocity, double acceleration);
+   int Home();
    void GetPositionXYSteps(long& x, long& y);
    void GetPositionZSteps(long& z);
    void SetPositionXSteps(long x);
@@ -122,6 +124,7 @@ class SquidHub : public HubBase<SquidHub>
 
 private:
    bool initialized_;
+   bool autoHome_;
    SquidMonitoringThread* monitoringThread_;
    SquidXYStage* xyStageDevice_;
    SquidZStage* zStageDevice_;
@@ -238,7 +241,6 @@ class SquidXYStage : public CXYStageBase<SquidXYStage>
    // ----------------
    int OnAcceleration(MM::PropertyBase* pProp, MM::ActionType eAct);
    int OnMaxVelocity(MM::PropertyBase* pProp, MM::ActionType eAct);
-   int OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct);
 
    int Callback(long xSteps, long ySteps);
 
@@ -257,7 +259,6 @@ class SquidXYStage : public CXYStageBase<SquidXYStage>
    bool busy_;
    double maxVelocity_;
    double acceleration_;
-   bool autoHome_;
    bool initialized_;
    uint8_t cmdNr_;
 
@@ -305,7 +306,6 @@ class SquidZStage : public CStageBase<SquidZStage>
 
    int OnAcceleration(MM::PropertyBase* pProp, MM::ActionType eAct);
    int OnMaxVelocity(MM::PropertyBase* pProp, MM::ActionType eAct);
-   int OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct);
 
    int Callback(long zSteps);
 
@@ -317,7 +317,6 @@ class SquidZStage : public CStageBase<SquidZStage>
    double fullStepsPerRevZ_;
    double maxVelocity_;
    double acceleration_;
-   bool autoHome_;
    bool initialized_;
    uint8_t cmdNr_;
 };

diff --git a/DeviceAdapters/Octopi-Research/SquidHub.cpp b/DeviceAdapters/Octopi-Research/SquidHub.cpp
@@ -59,6 +59,7 @@ MODULE_API void DeleteDevice(MM::Device* pDevice)
 
 SquidHub::SquidHub() :
    initialized_(false),
+   autoHome_(false),
    monitoringThread_(0),
    xyStageDevice_(0),
    zStageDevice_(0),
@@ -77,6 +78,11 @@ SquidHub::SquidHub() :
    yStageBusy_ = false;
    zStageBusy_ = false;
    busy_ = false;
+
+   pAct = new CPropertyAction(this, &SquidHub::OnAutoHome);
+   CreateProperty(g_AutoHome, g_No, MM::String, false, pAct, true);
+   AddAllowedValue(g_AutoHome, g_Yes);
+   AddAllowedValue(g_AutoHome, g_No);
 }
 
 
@@ -117,6 +123,14 @@ int SquidHub::Initialize() {
       return ret;
    }
 
+   if (autoHome_)
+   {
+      ret = Home();
+      if (ret != DEVICE_OK) {
+         return ret;
+      }
+   }
+
    initialized_ = true;
 
    return DEVICE_OK;
@@ -369,3 +383,42 @@ bool SquidHub::ZStageBusy()
 {
    return busy_ || (status_ != COMPLETED_WITHOUT_ERRORS) || zStageBusy_;
 }
+
+
+int SquidHub::OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct)
+{
+   std::string response;
+   if (eAct == MM::BeforeGet)
+   {
+      response = autoHome_ ? g_Yes : g_No;
+      pProp->Set(response.c_str());
+   }
+   else if (eAct == MM::AfterSet)
+   {
+      pProp->Get(response);
+      autoHome_ = response == g_Yes;
+   }
+   return DEVICE_OK;
+}
+
+
+int SquidHub::Home()
+{
+   const unsigned cmdSize = 8;
+   unsigned char cmd[cmdSize];
+   for (unsigned i = 0; i < cmdSize; i++) {
+      cmd[i] = 0;
+   }
+   cmd[1] = CMD_HOME_OR_ZERO;
+   cmd[2] = AXIS_Z;
+   cmd[3] = int((STAGE_MOVEMENT_SIGN_Z + 1) / 2); // "move backward" if SIGN is 1, "move forward" if SIGN is - 1
+   int ret = SendCommand(cmd, cmdSize);
+   if (ret != DEVICE_OK)
+      return ret;
+
+   cmd[1] = CMD_HOME_OR_ZERO;
+   cmd[2] = AXIS_XY;
+   cmd[3] = int((STAGE_MOVEMENT_SIGN_X + 1) / 2); // "move backward" if SIGN is 1, "move forward" if SIGN is - 1
+   cmd[4] = int((STAGE_MOVEMENT_SIGN_Y + 1) / 2); // "move backward" if SIGN is 1, "move forward" if SIGN is - 1
+   return SendCommand(cmd, cmdSize);
+}
diff --git a/DeviceAdapters/Octopi-Research/SquidXYStage.cpp b/DeviceAdapters/Octopi-Research/SquidXYStage.cpp
@@ -85,16 +85,10 @@ SquidXYStage::SquidXYStage() :
    busy_(false),
    maxVelocity_(25.0),
    acceleration_(500.0),
-   autoHome_(false),
    initialized_(false),
    cmdNr_(0)
 {
    InitializeDefaultErrorMessages();
-
-   CPropertyAction* pAct = new CPropertyAction(this, &SquidXYStage::OnAutoHome);
-   CreateProperty(g_AutoHome, g_No, MM::String, false, pAct, true);
-   AddAllowedValue(g_AutoHome, g_Yes);
-   AddAllowedValue(g_AutoHome, g_No);
 }
 
 SquidXYStage::~SquidXYStage()
@@ -145,16 +139,9 @@ int SquidXYStage::Initialize()
    CreateFloatProperty(g_Max_Velocity, maxVelocity_, false, pAct);
    SetPropertyLimits(g_Max_Velocity, 1.0, 655.35);
 
-   if (autoHome_)
-   {
-      ret = Home();
-      if (ret != DEVICE_OK)
-         return ret;
-   }
-
    initialized_ = true;
 
-return DEVICE_OK;
+   return DEVICE_OK;
 }
 
 
@@ -217,23 +204,6 @@ int SquidXYStage::Callback(long xSteps, long ySteps)
 }
 
 
-int SquidXYStage::OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct)
-{
-   std::string response;
-   if (eAct == MM::BeforeGet)
-   {
-      response = autoHome_ ? g_Yes : g_No;
-      pProp->Set(response.c_str());
-   }
-   else if (eAct == MM::AfterSet)
-   {
-      pProp->Get(response);
-      autoHome_ = response == g_Yes;
-   }
-   return DEVICE_OK;
-}
-
-
 int SquidXYStage::OnAcceleration(MM::PropertyBase* pProp, MM::ActionType eAct)
 {
    if (eAct == MM::BeforeGet)

diff --git a/DeviceAdapters/Octopi-Research/SquidZStage.cpp b/DeviceAdapters/Octopi-Research/SquidZStage.cpp
@@ -13,14 +13,9 @@ SquidZStage::SquidZStage() :
    fullStepsPerRevZ_(200),
    maxVelocity_(5.0),
    acceleration_(100.0),
-   autoHome_(false),
    initialized_(false),
    cmdNr_(0)
 {
-   CPropertyAction* pAct = new CPropertyAction(this, &SquidZStage::OnAutoHome);
-   CreateProperty(g_AutoHome, g_No, MM::String, false, pAct, true);
-   AddAllowedValue(g_AutoHome, g_Yes);
-   AddAllowedValue(g_AutoHome, g_No);
 }
 
 
@@ -54,6 +49,9 @@ int SquidZStage::Initialize()
    }
    char hubLabel[MM::MaxStrLength];
    hub_->GetLabel(hubLabel);
+   int ret = hub_->assignZStageDevice(this);
+   if (ret != DEVICE_OK)
+      return ret;
 
    CPropertyAction* pAct = new CPropertyAction(this, &SquidZStage::OnAcceleration);
    CreateFloatProperty(g_Acceleration, acceleration_, false, pAct);
@@ -63,13 +61,6 @@ int SquidZStage::Initialize()
    CreateFloatProperty(g_Max_Velocity, maxVelocity_, false, pAct);
    SetPropertyLimits(g_Max_Velocity, 1.0, 655.35);
 
-   if (autoHome_)
-   {
-      int ret = Home();
-      if (ret != DEVICE_OK)
-         return ret;
-   }
-
    initialized_ = true;
 
    return DEVICE_OK;
@@ -155,23 +146,6 @@ int SquidZStage::Callback(long zSteps)
 }
 
 
-int SquidZStage::OnAutoHome(MM::PropertyBase* pProp, MM::ActionType eAct)
-{
-   std::string response;
-   if (eAct == MM::BeforeGet)
-   {
-      response = autoHome_ ? g_Yes : g_No;
-      pProp->Set(response.c_str());
-   }
-   else if (eAct == MM::AfterSet)
-   {
-      pProp->Get(response);
-      autoHome_ = response == g_Yes;
-   }
-   return DEVICE_OK;
-}
-
-
 int SquidZStage::OnAcceleration(MM::PropertyBase* pProp, MM::ActionType eAct)
 {
    if (eAct == MM::BeforeGet)