""" Inscoper API Example Script: Stage Control ========================================== This script demonstrates how to control a motorized stage (X, Y axis and movement). Configuration Prerequisites: --------------------------- 1. Environment Variable: Ensure 'InscoperConfigsPath' is defined in your environment and points to your Inscoper configurations folder. 2. Configuration Name: This script assumes a hardware configuration named "camera_and_microscope". Change it below if your configuration is named differently. 3. Device/Channel Names: Customize device and axis sub-device names below. """ import sys import os from typing import Dict from dataclasses import dataclass import inscoper_api @dataclass class SubDevice: name: str = None # a descriptive string for the sub-device tag: int = None # a unique identifier within the device for this sub-device inscoper_type: int = None # a "purpose" type for the sub-device (what it does, e.g., CUBE, OBJECTIVE, SHUTTER...) @dataclass class Device: name: str # the name given to the device during the configuration step hardware_id: int # an identifier for this device model sub_device_map: Dict[int, SubDevice] # the collection of chosen sub-devices for this particular device instance # Macro to all Inscoper configurations CONFIG_PATH = os.environ['InscoperConfigsPath'] my_bridge = inscoper_api.Bridge() config = my_bridge.readConfigFile(os.sep.join([CONFIG_PATH, "camera_and_microscope"])) my_bridge.loadConfigFile(os.sep.join([CONFIG_PATH, "camera_and_microscope"])) my_bridge.initDevices() # Dictionary to store the mapping of hardware IDs to our Device objects. device_map = {} # Step 1: Iterate over the "Device List" from the configuration. # This tells us what specific devices have been added to this system's configuration. for device in config.getDeviceList(): driver_config = device.getDriverConfig() # In this example, we only keep devices controlled by the Inscoper Device Controller. if isinstance(driver_config, inscoper_api.InscoperBoxDriverConfig): device_name = device.getId() # e.g., "My Microscope" or "My Stage" device_id = driver_config.getHardwareId() # The internal hardware identifier sub_device_map = {} # Iterate over all sub-devices configured for this device. for sub_device_config in device.getSubDeviceConfigList(): sub_device_tag = sub_device_config.getTag() # The unique tag will allow us to connect config and description sub_device_id = sub_device_config.getId() # Descriptive name of the sub-device # Create our SubDevice instance and map it by its tag. sub_device_map[sub_device_tag] = SubDevice(name=sub_device_id, tag=sub_device_tag) # Store the complete Device object (with its sub-devices) in our global map. device_map[device_id] = Device(name=device_name, hardware_id=device_id, sub_device_map=sub_device_map) # At this point, device_map contains our devices, but we are missing the "purpose" of each sub-device. print(device_map) # Step 2: Iterate over the "Device Description List". # This information acts as the "class definitions" (descriptions.xml) for all possible hardware supported by Inscoper, # providing metadata like the generic type (purpose) of the sub-devices. for device_desc in my_bridge.getDeviceDescriptionList(): driver_desc = device_desc.getDriverDescription() # Again, we only keep devices controlled by the Inscoper Device Controller. if isinstance(driver_desc, inscoper_api.InscoperBoxDriverDescription): device_id = driver_desc.getHardwareId() # If this hardware_id matches one of the devices we found in our configuration... if device_id in device_map: current_device = device_map[device_id] sub_device_map = current_device.sub_device_map # Look at all possible sub-devices described for this hardware model. for sub_device_desc in device_desc.getSubDeviceDescriptionList(): sub_device_tag = sub_device_desc.getTag() sub_device_type = sub_device_desc.getType() # The general purpose of the sub-device (e.g., CUBE, SHUTTER, etc.) # If this configured device actually uses this specific sub-device... if sub_device_tag in sub_device_map: current_sub_device = sub_device_map[sub_device_tag] # Store the human-readable string of the sub-device type current_sub_device.inscoper_type = inscoper_api.Utils.subDeviceTypeToString(sub_device_type) # --8<-- [start:main_logic] # To move the stage we need to interact with the X_AXIS, Y_AXIS, and MOVE_XY sub-devices. x_axis_sub_device_id = None y_axis_sub_device_id = None move_xy_sub_device_id = None for device_id, device in device_map.items(): for sub_device_tag, sub_device in device.sub_device_map.items(): if sub_device.inscoper_type == "X_AXIS": x_axis_sub_device_id = inscoper_api.SubDeviceId(device.name, sub_device.name) elif sub_device.inscoper_type == "Y_AXIS": y_axis_sub_device_id = inscoper_api.SubDeviceId(device.name, sub_device.name) elif sub_device.inscoper_type == "MOVE_AXIS": move_xy_sub_device_id = inscoper_api.SubDeviceId(device.name, sub_device.name) # Check that stage control sub-devices were found in your config. assert x_axis_sub_device_id is not None,"No X axis position sub-device was found. Check your configuration." assert y_axis_sub_device_id is not None,"No Y axis position sub-device was found. Check your configuration." assert move_xy_sub_device_id is not None,"No move action sub_device was found. Check your configuration." # Read the current values for the x/y positions. current_x = my_bridge.getIntValue(x_axis_sub_device_id) current_y = my_bridge.getIntValue(y_axis_sub_device_id) print(f"X axis position sub-device: {x_axis_sub_device_id.getName()}. Current value: {current_x} nm") print(f"Y axis position sub-device: {y_axis_sub_device_id.getName()}. Current value: {current_y} nm") print(f"Move action sub-device: {move_xy_sub_device_id.getName()}") # Set a new x position and order the stage to move new_x_value = current_x - 1_000_000 # offset x position by 1 mm my_bridge.setValue(x_axis_sub_device_id, new_x_value) my_bridge.setValue(move_xy_sub_device_id) # Did you see your stage move? # --8<-- [end:main_logic] my_bridge.close()