MotionGroupConfig

class bapsf_motion.actors.motion_group_.MotionGroupConfig(config: str | Dict[str, Any], logger: Logger = None)

Bases: UserDict

A dictionary containing the full configuration for a motion group.

At instantiation the class will take either a TOML-like string or dictionary defining a motion group configuration. The class will validate this input configuration, convert it to a viable dictionary configuration, and poses it as self.

Parameters:

config (str or dict) – A TOML like string or dictionary defining the motion group configuration. See examples section below for additional details.

Examples

The following example shows how a typical XY probe drive on an East port of the LaPD could be configured using either a TOML-like string or a dictionary. Note, values used are not necessarily appropriate for a real world setup.

[motion_group]
name = "P32 XY-drive"  # unique name of motion group

[motion_group.drive]
# define the makeup of the probe drive
name = "XY-drive"  # name of probe drive
#
# setup first axis
axes.0.name = "X"  # name of axis
axes.0.ip = "192.168.6.103"  # ip address of motor
axes.0.units = "cm"  # unit type used for axis
axes.0.units_per_rev = 0.254  # thread pitch of rod
#
# setup second axis
axes.1.name = "Y"
axes.1.ip = "192.168.6.104"
axes.1.units = "cm"
axes.1.units_per_rev = 0.254

[motion_group.motion_builder]
# configuration for the motion builder
#
# 'space' defines the motion space
# - motion space is the "volume" in which the motion will
#   occur in
# - these axes correspond to the same 0 and 1 axes of the
#   motion_group.drive.axes configuration
space.0.label = "X"
space.0.range = [-55, 55]
space.0.num = 221
space.1.label = "Y"
space.1.range = [-55, 55]
space.1.num = 221
#
# exclusion defines regions in space where a probe can NOT go
# - exclusion entries should be numbered starting with 0 since
#   complex exclusions can be construction from multiple
#   exclusion layers
# - an exclusion always requires the 'type' parameter, but
#   the subsequent required parameters depend on that type
# - See online documentation for available exclusion layers.
exclusions.0.type = "lapd_xy"
exclusions.0.port_location = "E"
exclusions.0.cone_full_angle = 60
#
# layers define the points where a probe should move to
# - the example given defines a grid of points with 11
#   locations along the 1st axis from 0 to 30, and 21
#   locations along the 2nd axis from -30 to 30
# - layer entries should be numbered starting with 0 since
#   complex point layers can be construction from multiple
#   point layers
# - a layer always requires the 'type' parameter, but
#   the subsequent required parameters depend on that type
# - See online documentation for available point layers.
layers.0.type = "grid"
layers.0.limits = [[0, 30], [-30, 30]]
layers.0.steps = [11, 21]

[motion_group.transform]
# define the coordinate transformation between the physical
# coordinate system, a.k.a. motion space, (e.g. the LaPD) and
# the probe drive axes
# - a transform always requires the 'type' parameter, but
#   the subsequent required parameters depend on that type
# - See online documentation for available point layers.
type = "lapd_xy"
pivot_to_center = 57.7
pivot_to_drive = 125
porbe_axis_offset = 6

Attributes Summary

as_toml_string

data

A real dictionary used to store the contents of MotionGroupConfig.

Methods Summary

clear()

copy()

fromkeys(iterable[, value])

get(k[,d])

items()

keys()

link_drive(drive)

Link the 'drive' configuration component to an instance of Drive.

link_motion_builder(mb)

Link the 'motion_builder' configuration component to an instance of MotionBuilder.

link_transform(tr)

Link the 'transform' configuration component to an instance of a subclass of BaseTransform.

pop(k[,d])

value.

popitem()

as a 2-tuple; but raise KeyError if D is empty.

setdefault(k[,d])

unlink_drive()

Unlink the 'drive' configuration component from the linked instance of Drive.

unlink_motion_builder()

unlink_transform()

update([E, ]**F)

If E present and has a .keys() method, does:

values()

Attributes Documentation

as_toml_string
data

A real dictionary used to store the contents of MotionGroupConfig.

Methods Documentation

clear() → None.  Remove all items from D.
copy()
classmethod fromkeys(iterable, value=None)
get(k[, d]) → D[k] if k in D, else d.  d defaults to None.
items() → a set-like object providing a view on D's items
keys() → a set-like object providing a view on D's keys

Link the ‘drive’ configuration component to an instance of Drive. The ‘drive’ configuration component will now be pulled from the config property of Drive.

Link the ‘motion_builder’ configuration component to an instance of MotionBuilder. The ‘motion_builder’ configuration component will now be pulled from the config property of MotionBuilder.

Link the ‘transform’ configuration component to an instance of a subclass of BaseTransform. The ‘transform’ configuration component will now be pulled from the config property of that transform instance.

pop(k[, d]) → v, remove specified key and return the corresponding

value. If key is not found, d is returned if given, otherwise KeyError is raised.

popitem() → (k, v), remove and return some (key, value) pair

as a 2-tuple; but raise KeyError if D is empty.

setdefault(k[, d]) → D.get(k,d), also set D[k]=d if k not in D

Unlink the ‘drive’ configuration component from the linked instance of Drive. The configuration component is now an empty dict.

update([E, ]**F) → None.  Update D from mapping/iterable E and F.
If E present and has a .keys() method, does:

for k in E.keys(): D[k] = E[k]

If E present and lacks .keys() method, does:

for (k, v) in E: D[k] = v

In either case, this is followed by:

for k, v in F.items(): D[k] = v

values() → an object providing a view on D's values