added buggy openflexure

DeviceAdapters/OpenFlexure/OpenFlexure.cpp

@@ -0,0 +1,375 @@
+//////////////////////////////////////////////////////////////////////////////
+// FILE:          OpenFlexure.cpp
+// PROJECT:       Micro-Manager
+// SUBSYSTEM:     DeviceAdapters
+//-----------------------------------------------------------------------------
+// DESCRIPTION:   Adapter for illuminate LED controller firmware
+//                Needs accompanying firmware to be installed on the LED Array:
+//                https://github.com/zfphil/illuminate
+//
+// COPYRIGHT:     Samdrea Hsu
+// LICENSE:       BSD3
+//
+// AUTHOR:        Samdrea Hsu, [email protected], 8/9/2023
+//
+//////////////////////////////////////////////////////////////////////////////
+
+#include "OpenFlexure.h"
+#include "ModuleInterface.h"
+#include <sstream>
+#include <cstdio>
+#include <cstring>
+#include <string>
+//#include "rapidjson/document.h"
+//#include "rapidjson/writer.h"
+//#include "rapidjson/stringbuffer.h"
+#include <algorithm>
+#include <math.h>
+
+#ifdef WIN32
+#define WIN32_LEAN_AND_MEAN
+#include <windows.h>
+#endif
+
+///////////////////////////////////////////////////////////////////////////////
+// Exported MMDevice API
+///////////////////////////////////////////////////////////////////////////////
+MODULE_API void InitializeModuleData()
+{
+	RegisterDevice(g_Keyword_DeviceName, MM::XYStageDevice, "OpenFlexure XYStage");
+}
+
+MODULE_API MM::Device* CreateDevice(const char* deviceName)
+{
+
+	return new OpenFlexure;
+
+}
+
+MODULE_API void DeleteDevice(MM::Device* pDevice)
+{
+	delete pDevice;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// OpenFlexure implementation
+// ~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+/*
+* Constructor, called when device is selected
+*/
+OpenFlexure::OpenFlexure() : initialized_(false), portAvailable_(false), stepSizeUm_(0.07)
+{
+
+	// Initialize default error messages
+	InitializeDefaultErrorMessages();
+
+	//pre initialization property: port name
+	CPropertyAction* pAct = new CPropertyAction(this, &OpenFlexure::OnPort);
+	CreateProperty(MM::g_Keyword_Port, "Undefined", MM::String, false, pAct, true);
+
+
+}
+
+/*
+* Destructor
+*/
+OpenFlexure::~OpenFlexure()
+{
+	Shutdown();
+}
+
+
+/*
+* Initialize the properties and attach the action pointers where needed
+*/
+int OpenFlexure::Initialize()
+{
+	if (initialized_) {
+		return DEVICE_OK;
+	}
+
+	// Manual Command Interface
+	CPropertyAction* pCommand = new CPropertyAction(this, &OpenFlexure::OnCommand);
+	int ret = CreateProperty(g_Keyword_Command, "", MM::String, false, pCommand);
+	assert(DEVICE_OK == ret);
+
+	// Most Recent Serial Response
+	ret = CreateProperty(g_Keyword_Response, "", MM::String, false);
+	assert(DEVICE_OK == ret);
+
+
+	// Check status to see if device is ready to start
+	int status = UpdateStatus();
+	if (status != DEVICE_OK) {
+		return status;
+	}
+
+	// Use non-blocking moves
+	ret = SendSerialCommand(port_.c_str(), "blocking_moves false", "\n");
+	GetSerialAnswer(port_.c_str(), "\r", _serial_answer);
+	if (_serial_answer.compare("done.") != 0) {
+		return DEVICE_ERR;
+	}
+
+
+
+	return DEVICE_OK; 
+}
+
+
+
+int OpenFlexure::GetPositionUm(double& x, double& y)
+{
+	long stepsY, stepsX;
+
+	// Get the steps
+	int ret = GetPositionSteps(stepsY, stepsX);
+
+	if (ret != DEVICE_OK) {
+		return ret;
+	}  
+
+	// Convert the steps into um 
+	x = stepsX * stepSizeUm_;
+	y = stepsY * stepSizeUm_;  
+
+	return DEVICE_OK;
+}
+
+int OpenFlexure::SetPositionSteps(long x, long y)
+{
+
+
+	return DEVICE_OK;
+}
+
+
+/**
+* Called when device is starting. 
+*/
+int OpenFlexure::GetPositionSteps(long& x, long& y)
+{
+	while (Busy()); // Don't show the steps until stage stops moving
+
+
+	// Query for the current position (x, y, z) of the stage
+	int ret = SendSerialCommand(port_.c_str(), "p", "\n");
+
+	if (ret != DEVICE_OK) {
+		return ret;
+	}
+
+	// Get Answer
+	GetSerialAnswer(port_.c_str(), "\r", _serial_answer);
+
+	std::istringstream iss(_serial_answer);
+
+	iss >> x;
+
+	iss >> y;
+
+	return DEVICE_OK;
+
+}
+
+
+int OpenFlexure::SetRelativePositionSteps(long x, long y)
+{
+
+	// sending two commands sequentially
+	std::ostringstream cmd;
+	cmd << "mrx " << x << "\nmry " << y; // move in x first then y (arbitrary choice)
+	int ret = SendSerialCommand(port_.c_str(), cmd.str().c_str(), "\n");
+
+
+	//std::ostringstream move_x;
+	//std::ostringstream move_y;
+
+	//move_x << "mrx " << x;
+	//move_y << "mry " << y;
+
+	//// move in x first (arbitrary choice)
+	//int ret = SendSerialCommand(port_.c_str(), move_x.str().c_str(), "\n");
+
+	//if (ret != DEVICE_OK) {
+	//	return ret;
+	//}
+
+	//// move in y second
+	//ret = SendSerialCommand(port_.c_str(), move_y.str().c_str(), "\n");
+
+	// Get Answer
+	std::string answer;
+	GetSerialAnswer(port_.c_str(), "\r", answer);
+
+	if (ret != DEVICE_OK) {
+		return ret;
+	}
+
+
+	return DEVICE_OK;
+}
+
+
+int OpenFlexure::SetOrigin()
+{
+	while (Busy()); // make sure stage is not busy
+
+	// Set current position as origin (all motor positions set to 0)
+	int ret = SendSerialCommand(port_.c_str(), "zero", "\n");
+
+	if (ret != DEVICE_OK) {
+		return ret;
+	}
+
+	return DEVICE_OK;
+}
+
+
+int OpenFlexure::SetAdapterOrigin()
+{
+	return DEVICE_OK;
+}
+
+
+int OpenFlexure::Home()
+{
+	//TODO: Query the position steps and set the number of steps to opposite that
+	return DEVICE_OK;
+}
+
+
+int OpenFlexure::Stop()
+{
+	// send the stop command to the stage
+	int ret = SendSerialCommand(port_.c_str(), "stop", "\n");
+
+	if (ret != DEVICE_OK) {
+		return ret;
+	}
+
+	// TODO: maybe check for a response?
+
+	return DEVICE_OK;
+
+}
+
+
+int OpenFlexure::GetStepLimits(long& xMin, long& xMax, long& yMin, long& yMax)
+{
+	return DEVICE_OK;
+}
+int OpenFlexure::GetLimitsUm(double& xMin, double& xMax, double& yMin, double& yMax)
+{
+	return DEVICE_OK;
+}
+
+//////////////// Action functions
+
+/*
+* Set the port to be used
+*/
+int OpenFlexure::OnPort(MM::PropertyBase* pProp, MM::ActionType pAct)
+{
+	if (pAct == MM::BeforeGet)
+	{
+		pProp->Set(port_.c_str());
+	}
+	else if (pAct == MM::AfterSet)
+	{
+		pProp->Get(port_);
+		portAvailable_ = true;
+	}
+
+	return DEVICE_OK;
+}
+
+/*
+Send a command directly to the stage
+*/
+int OpenFlexure::OnCommand(MM::PropertyBase* pProp, MM::ActionType pAct)
+{
+	if (pAct == MM::BeforeGet)
+	{
+		pProp->Set(_command.c_str());
+	}
+	else if (pAct == MM::AfterSet)
+	{
+		// Get command string
+		pProp->Get(_command);
+
+		// Append terminator
+		_command += "\n";
+
+		// Purge COM Port
+		PurgeComPort(port_.c_str());
+
+		// Send command
+		WriteToComPort(port_.c_str(), (unsigned char*)_command.c_str(), (unsigned int)_command.length());
+
+		// Get Answer
+		std::string answer;
+		GetSerialAnswer(port_.c_str(), "\r", answer);
+
+		// Set property
+		SetProperty(g_Keyword_Response, answer.c_str());
+		//SetProperty(g_Keyword_Response, std::to_string((long long)answer.length()).c_str());
+	}
+
+	// Return
+	// Search for error
+	std::string error_flag("ERROR");
+	if (_serial_answer.find(error_flag) != std::string::npos)
+		return DEVICE_ERR;
+	else
+		return DEVICE_OK;
+
+}
+
+
+
+//////////// Helper Functions
+
+
+/*
+* Make sure no moves are in progress
+*/
+bool OpenFlexure::Busy()
+{
+
+	MM::MMTime timeout(0, 1000000); // wait for 1sec
+
+	// Send a query to check if stage is moving
+	int ret = SendSerialCommand(port_.c_str(), "moving?", "\n");
+
+	// Check response
+	GetSerialAnswer(port_.c_str(), "\r", _serial_answer);
+
+	if (_serial_answer.compare("true") == 0) {
+		return true;
+	}
+	else {
+		return false;
+	}
+}
+
+/*
+* Pass a copy of the device name to the location given in the parameters
+*/
+void OpenFlexure::GetName(char* name) const
+{
+	CDeviceUtils::CopyLimitedString(name, "g_Keyword_DeviceName");
+}
+
+/*
+* Shutdown the OpenFlexure
+*/
+int OpenFlexure::Shutdown()
+{
+	initialized_ = false;
+	return DEVICE_OK;
+}
+
+
+