pymodaq.control_modules.daq_move.DAQ_Move([...])	Main PyMoDAQ class to drive actuators
pymodaq.control_modules.daq_move.ActuatorWorker(...)	Worker class mediating between DAQ_Move and the actuator plugin instance.
pymodaq.control_modules.move_utility_classes.params	Built-in mutable sequence.

8.1.5. The DAQ_Move Class

This documentation highlights the useful entry and output points that you may use in your applications.

class pymodaq.control_modules.daq_move.DAQ_Move(parent=None, title='DAQ Move', ui_identifier=None, **kwargs)

Main PyMoDAQ class to drive actuators

Qt object and generic UI to drive actuators.

Variables:

• move_done_signal (pyqtSignal, DataActuator]) – This signal is emitted when the chosen actuator finished its action. It gives the actuator’s name and current value

• bounds_signal (pyqtSignal) – This signal is emitted when the actuator reached defined limited boundaries.

See also

ControlModule, ParameterManager

Attributes:

actuator

str: the selected actuator’s type

move_done_bool

bool: status of the actuator’s status (done or not)

Methods

get_actuator_value([send_to_leco])	Get the current actuator value via the "get_actuator_value" command send to the hardware
get_continuous_actuator_value([get_value])	Start the continuous getting of the actuator's value
grab()
move(move_command)	Generic method to trigger the correct action on the actuator
move_abs(value[, send_to_leco])	Move the connected hardware to the absolute value
move_home([send_to_leco])	Move the connected actuator to its home value (if any)
move_rel(rel_value[, send_to_leco])	Move the connected hardware to the relative value
stop_motion()	Stop any motion
thread_status(status)	Get back info (using the ThreadCommand object) from the hardware

get_actuator_value(send_to_leco=False)

Get the current actuator value via the “get_actuator_value” command send to the hardware

Returns nothing but the move_done_signal will be send once the action is done :param send_to_leco: if True, this position is send through the LECO communication canal :type send_to_leco: bool

get_continuous_actuator_value(get_value=True)

Start the continuous getting of the actuator’s value

Parameters:

get_value (bool) – if True start the timer to periodically fetch the actuator’s value, else stop it

Notes

The current timer period is set by the refresh value ‘refresh_timeout’ in the actuator main settings.

init_hardware_ui(do_init=True)

Programmatic entry to simulate a click on the user interface init button

Parameters:

do_init (bool) – if True initialize the selected hardware else deinitialize it

Notes

This method should be preferred to init_hardware()

move(move_command)

Generic method to trigger the correct action on the actuator

Parameters:

move_command (MoveCommand) – MoveCommand with move_type attribute either: * ‘abs’: performs an absolute action * ‘rel’: performs a relative action * ‘home’: find the actuator’s home

See also

move_abs(), move_rel(), move_home(), utility_classes.MoveCommand

move_abs(value, send_to_leco=False)

Move the connected hardware to the absolute value

Returns nothing but the move_done_signal will be send once the action is done

Parameters:

• value (Union[DataActuator, Number]) – The value the actuator should reach

• send_to_leco (bool) – if True, this position is send through the LECO communication canal

move_home(send_to_leco=False)

Move the connected actuator to its home value (if any)

Parameters:

send_to_leco (bool) – if True, this position is send through the LECO communication canal

move_rel(rel_value, send_to_leco=False)

Move the connected hardware to the relative value

Returns nothing but the move_done_signal will be send once the action is done

Parameters:

• value (float) – The relative value the actuator should reach

• send_to_leco (bool) – if True, this position is send through the LECO communication canal

quit_fun()

Programmatic quitting: deinit hardware, emit quit signal, run cleanup hook, close UI.

stop_motion()

Stop any motion

thread_status(status)

Get back info (using the ThreadCommand object) from the hardware

And re-emit this ThreadCommand using the custom_sig signal if it should be used in a higher level module

Commands valid for all control modules are defined in the parent class, here are described only the specific ones

Parameters:

status (ThreadCommand) –

Possible values are:

• ini_stage: obtains info from the initialization

• get_actuator_value: update the UI current value

• move_done: update the UI current value and emits the move_done signal

• outofbounds: emits the bounds_signal signal with a True argument

• set_allowed_values: used to change the behaviour of the spinbox controlling absolute values (see DAQMoveUI.set_abs_spinbox_properties

• stop: stop the motion

property actuator

the selected actuator’s type

Type:

str

property initialized_state

Check if the module is initialized

Type:

bool

property move_done_bool

status of the actuator’s status (done or not)

Type:

bool

8.1.6. The DAQ_Move UI class

This object is the User Interface of the DAQ_Viewer, allowing easy access to all of the DAQ_Viewer functionnalities in a generic interface.

class pymodaq.control_modules.daq_move_ui.ui_base.DAQMoveUI(app, parent, title='DAQ_Move', controls_dock=None, settings_dock=None)

DAQ_Move user interface.

This class manages the UI and emit dedicated signals depending on actions from the user

Variables:

command_sig (pyqtSignal) –

This signal is emitted whenever some actions done by the user has to be applied on the main module. Possible commands are:

• init

• get_value

• loop_get_value

• find_home

• stop

• move_abs

• move_rel

• actuator_changed

• rel_value

• show_plugin_config

Methods:

• display_value(value (float)) – Update the display of the actuator’s value on the UI

• do_init() – Programmatic init

See also

pymodaq.utils.daq_utils.ThreadCommand

Attributes:

actuator

actuator_init

actuators

move_done

bool: True when the actuator is idle (not moving).

Methods

close()
connect_things()
do_init([do_init])	Programmatically press the Init button API entry :param do_init: will fire the Init button depending on the argument value and the button check state :type do_init: bool
quit_fun()
send_init(checked)
set_abs_spinbox_properties(**properties)	Change the Spinbox properties
set_error_state(in_error[, message])	Turn the status LED to ERROR (orange) with the error as tooltip, or back to idle/uninitialized
set_ui_type(ui_type)	Called after initialization to finalize the UI setup given the chosen UI type
set_unit_as_suffix(unit)	Will append the actuator units in the value display
set_unit_prefix([show])	Change the display status of the spinbox SI prefix
setup_actions([toolbar])
setup_docks_and_widgets()
setup_menus_and_toolbars([menubar])

cleanup_ui
connect_common_move_actions
connect_move_actions
display_value
emit_move_abs
emit_move_rel
enable_move_buttons
populate_control_ui
remove_absolute_actions
remove_absolute_spinbox_actions
remove_relative_actions
set_abs_value
set_abs_value_green
set_abs_value_red
set_rel_value
set_relative_value
set_settings_tree
setup_absolute_actions
setup_absolute_spinbox_actions
setup_relative_actions
show_controls
show_data
show_graph

do_init(do_init=True)

Programmatically press the Init button API entry :param do_init: will fire the Init button depending on the argument value and the button check state :type do_init: bool

set_abs_spinbox_properties(**properties)

Change the Spinbox properties

Parameters:

properties (dict or named parameters) –

possible keys are :

• decimals: to set the number of displayed decimals

• ’minimum’: to set the minimum value

• ’maximum’: to set the maximum value

• ’step’: to set the step value

set_error_state(in_error, message='')

Turn the status LED to ERROR (orange) with the error as tooltip, or back to idle/uninitialized

Return type:

None

set_ui_type(ui_type)

Called after initialization to finalize the UI setup given the chosen UI type

set_unit_as_suffix(unit)

Will append the actuator units in the value display

set_unit_prefix(show=True)

Change the display status of the spinbox SI prefix

property move_done

True when the actuator is idle (not moving).

Type:

bool

8.1.7. The ActuatorWorker class

The worker object living in the plugin thread and responsible for the communication between DAQ_Move and the plugin itself

class pymodaq.control_modules.daq_move.ActuatorWorker(actuator_type, position, title='actuator')

Worker class mediating between DAQ_Move and the actuator plugin instance.

Variables:

• status_sig (pyqtSignal) – inherited

• plugin (DAQ_Move_base) – actuator plugin instance

• plugin_name (str) – inherited property

• controller_address (int or None)

• axis_address (str)

• motion_stopped (bool)

Attributes:

actuator_type

hardware

hardware_adress

motion_stoped

Methods

Move_Stoped(pos)	Send a 'move_done' Thread Command with the given position as an attribute.
check_position()	Get the current position checking the hardware position (deprecated)
close()	Uninitialize the stage closing the hardware.
get_actuator_value()	Get the current position from the plugin.
ini_hardware([params_state, controller])	Init the actuator plugin and wire its signals.
ini_stage([params_state, controller])	Deprecated: use ini_hardware instead.
move_done(pos)	Send the move_done signal back to the main class
move_home()	Make the hardware move to the init position.
queue_command(command)	Interpret command sent by DAQ_Move class.
stop_motion()	Stop hardware motion.

move_abs
move_rel
reset_value

Move_Stoped(pos)

Send a ‘move_done’ Thread Command with the given position as an attribute.

check_position()

Get the current position checking the hardware position (deprecated)

close()

Uninitialize the stage closing the hardware.

get_actuator_value()

Get the current position from the plugin.

Return type:

Optional[DataActuator]

ini_hardware(params_state=None, controller=None)

Init the actuator plugin and wire its signals.

Return type:

EasyDict

ini_stage(params_state=None, controller=None)

Deprecated: use ini_hardware instead.

Return type:

EasyDict

move_done(pos)

Send the move_done signal back to the main class

move_home()

Make the hardware move to the init position.

queue_command(command)

Interpret command sent by DAQ_Move class.

Common commands (ini_hardware, close) are handled by the base class. Move-specific commands are handled here.

stop_motion()

Stop hardware motion.

8.1.8. The DAQ_Move Plugin Class

This object is the base class from which all actuator plugins should inherit. It exposes a few methods, attributes and signal that could be useful to understand.

class pymodaq.control_modules.move_utility_classes.DAQ_Move_base(parent=None, params_state=None, **kwargs)

The base class to be inherited by all actuator modules

This base class implements all necessary parameters and methods for the plugin to communicate with its parent (the DAQ_Move module)

Parameters:

• parent (Optional[ActuatorWorker])

• params_state (Optional[dict]) – pyqtgraph Parameter instance from which the module will get the initial settings (as defined in the experiment)

Variables:

• move_done_signal (pyqtSignal) – signal represented by a float. Is emitted each time the hardware reached the target position within the epsilon precision (see comon_parameters variable)

• controller (object) – the object representing the hardware in the plugin. Used to access hardware functionality

• settings (Parameter) – instance representing the hardware settings defined from the params attribute. Modifications on the GUI settings will be transferred to this attribute. It stores at all times the current state of the hardware/plugin settings

• params (List of dict used to create a Parameter object.) – Its definition on the class level enable the automatic update of the GUI settings when changing plugins (even in managers mode creation). To be populated on the plugin level as the base class does’t represents a real hardware

• is_multiaxes (bool) – class level attribute. Defines if the plugin controller controls multiple axes. If True, one has to define a Master instance of this plugin and slave instances of this plugin (all sharing the same controller_ID parameter)

• current_value (DataActuator) – stores the current position after each call to the get_actuator_value in the plugin

• target_value (DataActuator) – stores the target position the controller should reach within epsilon

Attributes:

axis_index_key

Get the current index or key correspondingto the current axis

axis_name

Get/Set the current axis using its string identifier

axis_names

Get/Set the names of all axes controlled by this instrument plugin

axis_unit

Get/set the unit of the currently chosen axis

axis_units

Get/Set the units for each axis of the controller

axis_value

Get the current value selected from the current axis

controller_units

Get/Set the units of the currently chosen axis of the controller

current_position

Deprecated, use current_value

current_value

Get/Set the last known value of the actuator

epsilon

Get/Set the epsilon of the currently chosen axis

epsilons

Get/Set the epsilon for each axis of the controller

is_master

Get the controller master/slave status

ispolling

Get/Set the polling status

supported_architectures

supported_platforms

target_position

Deprecated, use target_value

target_value

Get/Set the value the actuator should reach (within epsilon)

Methods

absolute_difference_condition_to_reach_target()	Implement the condition for exiting the polling mechanism and specifying that the target value has been reached
check_bound(position)	Check if the current position is within the software bounds
check_target_reached()	Slot of the polling timer: read the actuator value and check if the target has been reached
close()	Terminate the communication with the hardware (to be implemented in the plugin)
commit_settings(param)	to subclass to transfer parameters to hardware
emit_value(pos)	Convenience method to emit the current actuator value back to the UI
get_actuator_value()	Read the current value of the actuator from the hardware (to be implemented in the plugin)
get_class_axis_names([axis_names, ...])	Convenience method to access the declared axis in a given plugin
get_position_with_scaling(pos)	Get the current position from the hardware with scaling conversion.
ini_attributes()	To be subclassed, in order to init specific attributes needed by the real implementation.
ini_stage([controller])	Actuator communication initialization
ini_stage_init([old_controller, ...])	Deprecated — use ini_controller_init instead.
move_abs(value)	Move the actuator to the absolute position value (to be implemented in the plugin)
move_done([position])	Emit a move done signal transmitting the actuator's value to the GUI
move_home(*args, **kwargs)	Let the actuator look for its reference, so that this position becomes the home (zero) position
move_rel(value)	Move the actuator by value relative to its position (to be implemented in the plugin)
poll_moving()	Poll the current moving.
set_default_values([red, green, relative])	Set from the plugin the values of the red, green and relative spinboxes of the UI
set_position_relative_with_scaling(pos)	Set the scaled positions in case of relative moves
set_position_with_scaling(pos)	Set the current position from the parameter and hardware with scaling conversion.
stop_motion(*args, **kwargs)	Stop the actuator and emit move_done signal.
update_settings(settings_parameter_dict)	Apply settings-tree change and handle actuator-specific axis/epsilon side-effects.
user_condition_to_reach_target()	Implement a user defined condition for exiting the polling mechanism and specifying that the target value has been reached (on top of the existing epsilon mechanism)

move_done_signal

classmethod get_class_axis_names(axis_names=None, deprecated_names=None)

Convenience method to access the declared axis in a given plugin

Handles some old declaration style and eventual attribute as None or empty string

Parameters:

• axis_names (Union[List[str], Dict[str, int], None]) – The names to use instead of the class attribute _axis_names (default).

• deprecated_names (Optional[List[str]]) – The names to use instead of the deprecated class attribute stage_names (default).

Returns:

The axis names, [''] if none is declared.

Return type:

Union[List[str], Dict[str, int]]

absolute_difference_condition_to_reach_target()

Implement the condition for exiting the polling mechanism and specifying that the target value has been reached

Returns:

bool

Return type:

bool

See also

user_condition_to_reach_target

check_bound(position)

Check if the current position is within the software bounds

Return the new position eventually coerced within the bounds

Return type:

DataActuator

check_target_reached()

Slot of the polling timer: read the actuator value and check if the target has been reached

If it has, stop the timer and call move_done(). Otherwise emit the new value, and stop and emit a timeout command if the timeout setting is exceeded.

Return type:

None

abstractmethod close()

Terminate the communication with the hardware (to be implemented in the plugin)

Return type:

None

commit_settings(param)

to subclass to transfer parameters to hardware

emit_value(pos)

Convenience method to emit the current actuator value back to the UI

abstractmethod get_actuator_value()

Read the current value of the actuator from the hardware (to be implemented in the plugin)

Returns:

the value in the axis unit (a float is still accepted for deprecated old style plugins, see data_actuator_type).

Return type:

DataActuator

get_position_with_scaling(pos)

Get the current position from the hardware with scaling conversion.

Return type:

DataActuator

ini_attributes()

To be subclassed, in order to init specific attributes needed by the real implementation.

abstractmethod ini_stage(controller=None)

Actuator communication initialization

Parameters:

controller (Optional[HardwareController]) – custom object of a PyMoDAQ plugin (Slave case). None if only one actuator by controller (Master case)

Return type:

tuple[str, bool]

Returns:

• info (str)

• initialized (bool) – False if initialization failed otherwise True

ini_stage_init(old_controller=None, new_controller=None, slave_controller=None)

Deprecated — use ini_controller_init instead.

move_abs(value)

Move the actuator to the absolute position value (to be implemented in the plugin)

Call move_done() when the move is finished if polling is not used (see ispolling).

Return type:

None

move_done(position=None)

Emit a move done signal transmitting the actuator’s value to the GUI

The position argument is just there to match some signature of child classes.

move_home(*args, **kwargs)

Let the actuator look for its reference, so that this position becomes the home (zero) position

To be implemented in the plugin. PyMoDAQ does not poll the position after this call: the plugin must call move_done() (that reads get_actuator_value() and emits the move_done_signal) when the homing is finished, right after a blocking homing or from the callback of an asynchronous one. See https://pymodaq.cnrs.fr/en/latest/developer_folder/instrument_plugins.html#moving-to-the-home-position

move_rel(value)

Move the actuator by value relative to its position (to be implemented in the plugin)

Call move_done() when the move is finished if polling is not used (see ispolling).

Return type:

None

poll_moving()

Poll the current moving. In case of timeout emit the raise timeout Thread command.

See also

DAQ_utils.ThreadCommand, move_done

set_default_values(red=None, green=None, relative=None)

Set from the plugin the values of the red, green and relative spinboxes of the UI

Those are the Value Red, Value Green and Value Relative entries of the main settings of the module, and the values are expressed in the units of the actuator. Only the values that are not None are updated.

Parameters:

• red (Optional[float])

• green (Optional[float])

• relative (Optional[float])

set_position_relative_with_scaling(pos)

Set the scaled positions in case of relative moves

Return type:

DataActuator

set_position_with_scaling(pos)

Set the current position from the parameter and hardware with scaling conversion.

Return type:

DataActuator

abstractmethod stop_motion(*args, **kwargs)

Stop the actuator and emit move_done signal.

Return type:

None

update_settings(settings_parameter_dict)

Apply settings-tree change and handle actuator-specific axis/epsilon side-effects.

user_condition_to_reach_target()

Implement a user defined condition for exiting the polling mechanism and specifying that the target value has been reached (on top of the existing epsilon mechanism)

Should be reimplemented in plugins to implement other conditions

Returns:

bool

Return type:

bool

property axis_index_key: int | str

Get the current index or key correspondingto the current axis

In case axis_names is a list, return the index wihtin the list In case axis_names is a dict, return the key of the dict self.axis_name

property axis_name: str

Get/Set the current axis using its string identifier

property axis_names: List | Dict

Get/Set the names of all axes controlled by this instrument plugin

Return type:

List of string or dictionary mapping names to integers

property axis_unit: str

Get/set the unit of the currently chosen axis

Will update the printed controller unit in the UI

New in 4.4.0

property axis_units: List[str] | Dict[str, str]

Get/Set the units for each axis of the controller

New in 4.4.0

Setter accepts:

Union[str, List[str], Dict[str, str]]

property axis_value: Any

Get the current value selected from the current axis

In case axis_names is a list, return the element of the list: self.axis_name (a str) In case axis_names is a dict, return the value of the dict self.axis_names[self.axis_name] (an int)

property controller_units

Get/Set the units of the currently chosen axis of the controller

Deprecated with pymodaq >= 4.4.0

The property controller_units is deprecated please use the axis_unit property

Setter accepts:

str

property current_position: DataActuator

Deprecated, use current_value

property current_value: DataActuator

Get/Set the last known value of the actuator

A DataActuator. For deprecated old style plugins (data_actuator_type is DataActuatorType.float) a float is returned instead. When set with a number or an array, it is converted into a DataActuator using the current axis unit; a DataActuator without units gets the axis unit.

Setter accepts:

Union[int, float, ndarray, DataActuator]

property epsilon: float

Get/Set the epsilon of the currently chosen axis

New in 4.4.0

property epsilons: List[float] | Dict[str, float]

Get/Set the epsilon for each axis of the controller

New in 4.4.0

Setter accepts:

Union[float, List[float], Dict[str, float]]

property is_master: bool

Get the controller master/slave status

new in version 4.3.0

property ispolling: bool

Get/Set the polling status

If True (default), after a move the actuator value is polled until the target is reached (see check_target_reached()), otherwise the plugin has to call move_done() itself.

property target_position: DataActuator

Deprecated, use target_value

property target_value: DataActuator

Get/Set the value the actuator should reach (within epsilon)

A DataActuator. For deprecated old style plugins (data_actuator_type is DataActuatorType.float) a float is returned instead. Same conversions as current_value when set.

Setter accepts:

Union[int, float, DataActuator]