Added support for SENTIO 25.2 generic stage commands

sentio_prober_control/Sentio/CommandGroups/StageCommandGroup.py

@@ -0,0 +1,260 @@
+from typing import Tuple
+
+from sentio_prober_control.Sentio.Enumerations import XyReference, ZReference, Stage, ChuckSite
+from sentio_prober_control.Sentio.Response import Response
+from sentio_prober_control.Sentio.CommandGroups.CommandGroupBase import CommandGroupBase
+
+from typing import Optional
+
+class StageCommandGroup(CommandGroupBase):
+    """This command group contains functions for working with motorized scopes.
+    You are not meant to instantiate this class directly. Access it via the probe attribute
+    of the [SentioProber](SentioProber.md) class.
+
+    Example:
+
+    ```py
+    from sentio_prober_control.Sentio.ProberSentio import SentioProber
+
+    prober = SentioProber.create_prober("tcpip", "127.0.0.1:35555")
+    prober.scope.move_probe_xy(XyReference.Current, 1000, 2000)
+    ```
+    """
+
+    def __init__(self, prober: 'SentioProber', stage : Stage, has_subgroups = False) -> None: # type: ignore
+        super().__init__(prober)
+
+        self.__stage_selector: str = ""
+        self.__stage = stage
+
+        if stage==Stage.Scope:
+            self.__stage_selector = "scope:top"
+        elif stage==Stage.BottomScope:
+            self.__stage_selector = "scope:bottom"
+        elif stage==Stage.AuxiliaryScope:
+            self.__stage_selector = "scope:aux"
+        elif stage==Stage.Chuck:
+            self.__stage_selector = "chuck"
+        else:
+            raise ValueError(f"Invalid stage {stage} for ScopeCommandGroup")
+
+        if stage==Stage.Scope and has_subgroups:
+            self.top: StageCommandGroup = StageCommandGroup(prober, Stage.Scope, False)
+            self.bottom: StageCommandGroup = StageCommandGroup(prober, Stage.BottomScope, False)
+            self.aux: StageCommandGroup = StageCommandGroup(prober, Stage.AuxiliaryScope, False)
+
+
+    def get_home(self, chuck_site : ChuckSite = ChuckSite.Wafer) -> Tuple[float, float, ChuckSite]:
+        """Retrieves index coordinates of the home die.
+
+        Returns:
+            Row and column index of the home die.
+        """
+        self.comm.send(f"{self.__stage_selector}:get_home {chuck_site.to_string()}")
+        resp = Response.check_resp(self.comm.read_line())
+
+        tok = resp.message().split(",")
+        return float(tok[0]), float(tok[1]), ChuckSite.from_string(tok[2])
+
+
+    def get_site(self, site_idx : int) -> Tuple[str, float, float, XyReference, bool]:
+        """Returns the number of stage specific site position.
+
+        Returns:
+            id (str): The site identifier.
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+            ref (XyReference): The position reference for the returned values.
+            enabled (bool): True if the site is enabled, False otherwise.
+        """
+        self.comm.send(f"{self.__stage_selector}:get_site {site_idx}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return tok[0],float(tok[1]), float(tok[2]), XyReference.from_string(tok[3]), bool(tok[4])
+
+
+    def get_site_num(self) -> int:
+        """Returns the number of stage specific site position.
+
+        Returns:
+            site_num (int): An integer number of sites for the stage.
+        """
+        self.comm.send(f"{self.__stage_selector}:get_site_num")
+        resp = Response.check_resp(self.comm.read_line())
+        return int(resp.message())
+
+
+    def get_xy(self, ref_xy : XyReference) -> Tuple[float, float, XyReference]:
+        """ Returns the stage position for a given reference.
+
+        Returns:
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+            ref (XyReference): The position reference for the returned values.
+        """
+        self.comm.send(f"{self.__stage_selector}:get_xy {ref_xy.to_string()}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return float(tok[0]), float(tok[1]), XyReference.from_string(tok[2])
+
+
+    def get_z(self, ref_z : ZReference) -> Tuple[float, ZReference]:
+        """Returns stage z-position.
+
+        Returns:
+            z (float): The x position in micrometer.
+            ref (XyReference): The position reference for the returned values.
+        """
+        self.comm.send(f"{self.__stage_selector}:get_z {ref_z.to_string()}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return float(tok[0]), ZReference.from_string(tok[1])
+
+
+    def has_xy(self) -> bool:
+        """Returns true if stage has an xy drive.
+
+        Returns:
+            has_xy_drive (bool): True is the stage has a motorized xy drive.
+        """
+        self.comm.send(f"{self.__stage_selector}:has_xy")
+        resp = Response.check_resp(self.comm.read_line())
+        return bool(resp.message())
+
+
+    def has_z(self) -> bool:
+        """Returns true if stage has an z drive.
+
+        Returns:
+            has_z_drive (bool): True is the stage has a motorized z drive.
+        """
+        self.comm.send(f"{self.__stage_selector}:has_z")
+        resp = Response.check_resp(self.comm.read_line())
+        return bool(resp.message())
+
+
+    def lift(self, lift : bool) -> None:
+        """Move stage to lift position.
+
+        Returns:
+            None
+        """
+        self.comm.send(f"{self.__stage_selector}:lift {lift}")
+        Response.check_resp(self.comm.read_line())
+
+
+    def move_xy(self, ref: XyReference, x: float, y: float) -> Tuple[float, float, XyReference]:
+        """Move stage to a given position.
+
+        Args:
+            ref: The position reference for the submitted values.
+            x: The x position in micrometer.
+            y: The y position in micrometer.
+
+        Returns:
+            xpos (float): The x-position
+            ypos (float): The y-position
+            ref (XyReference): The position reference for the returned values.
+        """
+
+        self.comm.send(f"{self.__stage_selector}:move_xy {ref.to_string()},{x},{y}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return float(tok[0]), float(tok[1]), XyReference.from_string(tok[2])
+
+
+    def move_z(self, ref: ZReference, z: float) -> Tuple[float, ZReference]:
+        """Move stage to a given z position.
+
+        Args:
+            ref: The position reference for the submitted values.
+            z: The z position in micrometer.
+
+        Returns:
+            zpos (float): The z-position 
+            ref (ZReference): The position reference for the returned values.
+        """
+
+        self.comm.send(f"{self.__stage_selector}:move_z {ref.to_string()},{z}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return float(tok[0]), ZReference.from_string(tok[1])
+
+
+    def set_home(self, x: Optional[float] = None, y: Optional[float] = None, site: Optional[ChuckSite] = None) -> Tuple[float, float, ChuckSite]:
+        """ Set the stage home position.
+
+        Args:
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+            site (ChuckSite): The chuck site to set the home position for.
+
+        Returns:
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+            site (ChuckSite): The chuck site the home position was set for.
+        """
+        if (x is None and y is not None) or (y is None and x is not None):
+            raise ValueError("If y is specified, x must also be specified (and vice versa).")
+
+        args : str = f"{x},{y}" if x is not None and y is not None else ""
+        args += f" {site.to_string()}" if site is not None else ""
+        self.comm.send(f"{self.__stage_selector}:set_home {args}")
+
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return float(tok[0]),float(tok[1]),ChuckSite.from_string(tok[2])
+
+
+    def step_site(self, site: str | int) -> Tuple[str, float, float]:
+        """Step to a specific site.
+
+        Args:
+            site_idx (str|int): The index or identifier of the site to step to.
+
+        Returns:
+            id (str): The site identifier.
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+        """
+
+        self.comm.send(f"{self.__stage_selector}:step_site {site}")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return tok[0],float(tok[1]),float(tok[2])
+
+
+    def step_site_first(self) -> Tuple[str, float, float]:
+        """Step to the first site.
+
+        Returns:
+            id (str): The site identifier.
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+        """
+
+        self.comm.send(f"{self.__stage_selector}:step_site_first")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return tok[0],float(tok[1]),float(tok[2])
+
+
+    def step_site_next(self) -> Tuple[str, float, float]:
+        """Step to the first site.
+
+        Returns:
+            id (str): The site identifier.
+            x (float): The x position in micrometer.
+            y (float): The y position in micrometer.
+        """
+
+        self.comm.send(f"{self.__stage_selector}:step_site_next")
+        resp = Response.check_resp(self.comm.read_line())
+        tok = resp.message().split(",")
+        return tok[0],float(tok[1]),float(tok[2])
+
+
+    @property
+    def stage(self) -> Stage:
+        """The stage this command group is for."""
+        return self.__stage