{
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    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
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      "outputs": [],
      "source": [
        "%matplotlib inline"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "# DummyMotor\n\nThis demo shows with the example of the ``DummyMotor``\nhow grabber and cameras are used in ``itom``.\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "import time\nfrom itom import actuator"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "Initialisation of an actuator (e.g: ``DummyMotor``).\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "stage = actuator(\"DummyMotor\", 3)\n\n# show the toolbox\nstage.showToolbox()\n\n# Access the DummyStage with variable-name stage\n\n# Set parameter e.g. speed of the stage to 1000 mm / s\nstage.setParam(\"speed\", 1000)\n\n# Get the current speed, should be 1000 mm/s\nspeed = stage.getParam(\"speed\")"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "**Synchronous movement**: \n   The script waits until the movement has been finished!\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "# Set pos of 1. axis (index 0) to the absolute value 10.2 mm\nstage.setPosAbs(0, 10.2)\n\n# Read the axis position of 1. axis, should be 10 (mm)\nstage.getPos(0)\n\n# Change the position of 1. axis by -6 mm relative to the current position\nstage.setPosRel(0, -6)\n\n# Read the axis position of 1. axis, should be 4 (mm)\nstage.getPos(0)\n\n# Address n-axis\n# Set the position of 1. and 3. axis to 5mm\nstage.setPosAbs(0, 5.0, 2, 5.0)\n\n# Read the axis position of 1./3. axis, should be 5 (mm) and 5 (mm)\n[x, z] = stage.getPos(0, 2)\nprint(\"x = \" + str(x) + \" z = \" + str(z))\n\n# Change the position of 1. axis and 2. by 2 mm relative to the current position\nstage.setPosRel(0, 2, 1, 2)\n\n# Read the axis position of 1./2./3. axis, should be 7 (mm), 2 (mm), 5 (mm)\n[x, y, z] = stage.getPos(0, 1, 2)\nprint(\"x = \" + str(x) + \" y = \" + str(y) + \" z = \" + str(z))"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "**Asynchronous movement**: \n   The script continuous its executing during the movement. However,\n   the actuator is **blocked** until the end of the movement, since the script\n   will wait before the next ``setParam``, ``setPosAbs``, ``setPosRel``,\n   ``getPos``, ``getParam``, ``getStatus`` methods until any previous movement is finished.\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "# now switch the motor to an asychronous movement\nstage.setParam(\"async\", 1)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "Control the state of the actuator by the properties:\n``currentStatus``, ``currentPositions``, ``targetPositions``.\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "# use the currentStatus, currentPositions or targetPositions properties to control the state of the device\ntargetReached = False\nstage.setPosAbs(0, 2500.0, 1, -2070.5)\nwhile not targetReached:\n    state = stage.currentStatus\n    if all([s & actuator.actuatorAtTarget for s in state]):\n        targetReached = True\n    else:\n        # print(\"Current state: %s, current positions: %s\" % (state, stage.currentPositions))\n        time.sleep(0.1)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "Control the state of the actuator by connecting to the\n``actuatorStatusChanged`` (or ``targetChanged``) signals of the actuator.\n\n<div class=\"alert alert-info\"><h4>Note</h4><p>The corresponding python methods can only be called if the current script\n   executing is finished. Therefore, this approach is better suited for GUI applications which are\n   mainly based on events.</p></div>\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "# use an event-driven approach to control the current status and position:\ndef statusChanged(state, currentPos):\n    print(\n        \"motor reported a status changed event. state: %s, current position: %s\"\n        % (str(state), str(currentPos))\n    )"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "The method ``statusChanged`` can only be called if the script is not executing any more.\nTherefore this approach is made for GUI applications\nsince the ``actuatorStatusChanged`` signal might be emitted very often, a minimum timeout of 100ms will\nbe added to the connection, such that the ``statusChanged slot`` is only called after 100ms again. All intermediate\ncalls are ignored (new in itom 3.2)\n\n"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "collapsed": false
      },
      "outputs": [],
      "source": [
        "stage.connect(\n    \"actuatorStatusChanged(QVector<int>,QVector<double>)\", statusChanged, 100,\n)\n\nstage.setPosAbs(0, 0.0, 1, 0.0)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {},
      "source": [
        "The DummyMotor Toolbox dockWidget will appear below the Plugins dockWidget.\n\n<img src=\"file://../../_static/demoDummyMotor_1.png\" width=\"100%\">\n"
      ]
    }
  ],
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