63 lines
2.0 KiB
Python
63 lines
2.0 KiB
Python
###
|
|
# Copyright 2008-2011 Diamond Light Source Ltd.
|
|
# This file is part of Diffcalc.
|
|
#
|
|
# Diffcalc is free software: you can redistribute it and/or modify
|
|
# it under the terms of the GNU General Public License as published by
|
|
# the Free Software Foundation, either version 3 of the License, or
|
|
# (at your option) any later version.
|
|
#
|
|
# Diffcalc is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License
|
|
# along with Diffcalc. If not, see <http://www.gnu.org/licenses/>.
|
|
###
|
|
|
|
try:
|
|
from gda.device.scannable import PseudoDevice
|
|
except ImportError:
|
|
from diffcalc.gdasupport.minigda.scannable import \
|
|
ScannableBase as PseudoDevice
|
|
|
|
|
|
class ScannableGroup(PseudoDevice):
|
|
|
|
def __init__(self, name, motorList):
|
|
|
|
self.setName(name)
|
|
# Set input format
|
|
motorNames = []
|
|
for scn in motorList:
|
|
motorNames.append(scn.getName())
|
|
self.setInputNames(motorNames)
|
|
# Set output format
|
|
format = []
|
|
for motor in motorList:
|
|
format.append(motor.getOutputFormat()[0])
|
|
self.setOutputFormat(format)
|
|
self.__motors = motorList
|
|
|
|
def asynchronousMoveTo(self, position):
|
|
# if input has any Nones, then replace these with the current positions
|
|
if None in position:
|
|
position = list(position)
|
|
current = self.getPosition()
|
|
for idx, val in enumerate(position):
|
|
if val is None:
|
|
position[idx] = current[idx]
|
|
|
|
for scn, pos in zip(self.__motors, position):
|
|
scn.asynchronousMoveTo(pos)
|
|
|
|
def getPosition(self):
|
|
return [scn.getPosition() for scn in self.__motors]
|
|
|
|
def isBusy(self):
|
|
for scn in self.__motors:
|
|
if scn.isBusy():
|
|
return True
|
|
return False
|