Merge pull request #72 from AllenNeuralDynamics/bc/add-zaber-axis-set…

…tings

Add operators to directly interface with Axis `Settings`

src/AllenNeuralDynamics.Zaber/AllenNeuralDynamics.Zaber.csproj

@@ -9,7 +9,7 @@
     <PackageTags>Bonsai Rx Zaber AllenNeuralDynamics</PackageTags>
     <TargetFramework>net472</TargetFramework>
     <Features>strict</Features>
-    <Version>0.5.0</Version>
+    <Version>0.5.1</Version>
   </PropertyGroup>
 
   <ItemGroup>

src/AllenNeuralDynamics.Zaber/GetSetting.cs

@@ -0,0 +1,64 @@
+using System;
+using System.ComponentModel;
+using System.Reactive.Linq;
+using Bonsai;
+using Zaber.Motion;
+using Zaber.Motion.Ascii;
+
+namespace AllenNeuralDynamics.Zaber
+{
+    /// <summary>
+    /// Represents an operator that sends reads a setting from a given axis..
+    /// </summary>
+    [Description("Gets the value of a setting from an axis.")]
+    public class GetSetting : Combinator<double>
+    {
+        /// <summary>
+        /// Gets or sets the COM port or alias of the target <see cref="ZaberDevice"/>
+        /// </summary>
+        [TypeConverter(typeof(PortNameConverter))]
+        [Description("The name of the serial port used to communicate with the manipulator.")]
+        public string PortName { get; set; }
+
+        /// <summary>
+        /// Gets or sets the device to be controlled. Defaults to 0.
+        /// </summary>
+        [Description("The axis index to be actuated.")]
+        public int? Device { get; set; }
+
+        /// <summary>
+        /// Gets or sets the axis of the manipulator to be controlled.
+        /// </summary>
+        [Description("The axis index to be actuated.")]
+        public int Axis { get; set; }
+
+        /// <summary>
+        /// Gets or sets the axis setting to be queried.
+        /// </summary>
+        [Description("The setting to get.")]
+        public string Setting { get; set; }
+
+
+        /// <summary>
+        /// Gets or sets the Units of the transaction.
+        /// </summary>
+        [Description("The setting to get.")]
+        public Units Units { get; set; } = Units.Native;
+
+        /// <summary>
+        /// Sends a request to get a specific setting for an axis.
+        /// </summary>
+        /// <returns>
+        /// On each event, it will emit the response of the device.
+        /// </returns>
+        public override IObservable<double> Process<T>(IObservable<T> source)
+        {
+            return Observable.Using(
+                async token => await ZaberDeviceManager.ReserveConnectionAsync(PortName),
+                async (connection, cancellationToken) => source.Select(_ =>
+                    Observable.FromAsync( async token =>
+                        await connection.Device.GetSetting(Device, Axis, Setting, Units)
+                    )).Concat());
+        }
+    }
+}

src/AllenNeuralDynamics.Zaber/SetSetting.cs

@@ -0,0 +1,77 @@
+using System;
+using System.ComponentModel;
+using System.Reactive.Linq;
+using System.Threading.Tasks;
+using Bonsai;
+using Zaber.Motion;
+
+
+namespace AllenNeuralDynamics.Zaber
+{
+    /// <summary>
+    /// Represents an operator that sets a setting for a specified axis.
+    /// </summary>
+    [Description("Sets an axis setting.")]
+    public class SetSetting : Sink<double>
+    {
+        /// <summary>
+        /// Gets or sets the COM port or alias of the target <see cref="ZaberDevice"/>
+        /// </summary>
+        [TypeConverter(typeof(PortNameConverter))]
+        [Description("The name of the serial port used to communicate with the manipulator.")]
+        public string PortName { get; set; }
+
+        /// <summary>
+        /// Gets or sets the device to be controlled. Defaults to 0.
+        /// </summary>
+        [Description("The axis index to be actuated.")]
+        public int? Device { get; set; }
+
+        /// <summary>
+        /// Gets or sets the axis of the manipulator to be controlled.
+        /// </summary>
+        [Description("The axis index to be actuated.")]
+        public int Axis { get; set; }
+
+        /// <summary>
+        /// Gets or sets the axis setting to be set.
+        /// </summary>
+        [Description("The setting to get.")]
+        public string Setting { get; set; }
+
+
+        /// <summary>
+        /// Gets or sets the Units of the transaction.
+        /// </summary>
+        [Description("The setting to get.")]
+        public Units Units { get; set; } = Units.Native;
+
+        /// <summary>
+        /// Moves to the target absolute position when a valid value is received.
+        /// </summary>
+        /// <returns>
+        /// Returns the original input sequence.
+        /// </returns>
+        public override IObservable<double> Process(IObservable<double> source)
+        {
+            return Observable.Using(
+                cancellationToken => ZaberDeviceManager.ReserveConnectionAsync(PortName),
+                (connection, cancellationToken) =>
+                {
+                    return Task.FromResult(source.Do(value =>
+                    {
+                        lock (connection.Device)
+                        {
+                            connection.Device.SetSetting(
+                                Device,
+                                Axis,
+                                Setting,
+                                value,
+                                Units
+                                );
+                        }
+                    }));
+                });
+        }
+    }
+}

src/AllenNeuralDynamics.Zaber/ZaberDevice.cs

@@ -87,13 +87,25 @@ public void Home(int? deviceIndex, int? axis)
             _ = axis.HasValue ? device.GetAxis(axis.Value).HomeAsync(false) : device.AllAxes.HomeAsync(false);
         }
 
+        public void SetSetting(int? deviceIndex, int axis, string setting, double value, Units units = Units.Native)
+        {
+            Axis thisAxis = devices[deviceIndex.HasValue ? deviceIndex.Value : 0].GetAxis(axis);
+            thisAxis.Settings.SetAsync(setting, value, units);
+        }
+
         public void GenericCommandNoResponse(int? deviceIndex, int? axis, string command)
         {
             comm.GenericCommandNoResponseAsync(command,
                 deviceIndex.HasValue ? deviceIndex.Value : 0,
                 axis.HasValue? axis.Value : 0);
         }
 
+        public async Task<double> GetSetting(int? deviceIndex, int axis, string setting, Units unit)
+        {
+            Axis thisAxis = devices[deviceIndex.HasValue ? deviceIndex.Value : 0].GetAxis(axis);
+            return await thisAxis.Settings.GetAsync(setting, unit);
+        }
+
         public async Task<double> GetPosition(int? deviceIndex, int axis, Units unit)
         {
             Axis thisAxis = devices[deviceIndex.HasValue ? deviceIndex.Value : 0].GetAxis(axis);