Add TANGO server

1 files changed, 121 insertions, 0 deletions

diff --git a/tango/Uca b/tango/Uca
new file mode 100755
index 0000000..47f4021
--- /dev/null
+++ b/tango/Uca
@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+
+import sys
+import time
+import numpy as np
+import PyTango
+from gi.repository import Uca, GObject
+from PyTango import Attr, AttrWriteType, DevState
+from PyTango.server import Device, DeviceMeta, device_property, command, server_run
+
+try:
+    import tifffile
+    HAVE_TIFFFILE = True
+except ImportError:
+    print("Could not import tifffile, consider to install it")
+    HAVE_TIFFFILE = False
+
+
+def get_tango_type(prop):
+    mapping = {
+        GObject.TYPE_BOOLEAN: PyTango.CmdArgType.DevBoolean,
+        GObject.TYPE_CHAR: PyTango.CmdArgType.DevUChar,
+        GObject.TYPE_UCHAR: PyTango.CmdArgType.DevUChar,
+        GObject.TYPE_FLOAT: PyTango.CmdArgType.DevFloat,
+        GObject.TYPE_INT: PyTango.CmdArgType.DevShort,      # DevInt is invalid?
+        GObject.TYPE_UINT: PyTango.CmdArgType.DevUShort,    # check
+        GObject.TYPE_LONG: PyTango.CmdArgType.DevLong,
+        GObject.TYPE_DOUBLE: PyTango.CmdArgType.DevDouble,
+        GObject.TYPE_STRING: PyTango.CmdArgType.DevString,
+    }
+
+    return mapping.get(prop, None)
+
+
+def get_tango_write_type(prop):
+    if prop.flags & GObject.ParamFlags.WRITABLE:
+        if prop.flags & GObject.ParamFlags.READABLE:
+            return AttrWriteType.READ_WRITE
+
+        return AttrWriteType.WRITE
+
+    if prop.flags & GObject.ParamFlags.READABLE:
+        return AttrWriteType.READ
+
+    raise RuntimeError("{} has no valid param flag".format(prop.name))
+
+
+def prop_to_attr_name(name):
+    return name.replace('-', '_')
+
+
+def attr_to_prop_name(name):
+    return name.replace('_', '-')
+
+
+class Camera(Device):
+    __metaclass__ = DeviceMeta
+
+    camera = device_property(dtype=str, default_value='mock')
+
+    def init_device(self):
+        Device.init_device(self)
+        self.set_state(DevState.ON)
+        self.pm = Uca.PluginManager()
+        self.device = self.pm.get_camerah(self.camera, None)
+        self.attrs = {}
+
+        for prop in self.device.props:
+            tango_type = get_tango_type(prop.value_type)
+            write_type = get_tango_write_type(prop)
+
+            if tango_type:
+                name = prop_to_attr_name(prop.name)
+                attr = Attr(name, tango_type, write_type)
+                attr_props = PyTango.UserDefaultAttrProp()
+                attr_props.set_description(prop.blurb)
+                attr.set_default_properties(attr_props)
+
+                write_func = None
+
+                if write_type in (AttrWriteType.WRITE, AttrWriteType.READ_WRITE):
+                    write_func = self.do_write
+
+                self.attrs[prop.name] = self.add_attribute(attr, self.do_read, write_func)
+
+    def grab(self):
+        array = np.empty(self.shape, dtype=self.dtype)
+        data = array.__array_interface__['data'][0]
+        self.device.grab(data)
+        return array
+
+    def do_read(self, attr):
+        name = attr_to_prop_name(attr.get_name())
+        attr.set_value(self.device.get_property(name))
+
+    def do_write(self, attr):
+        name = attr_to_prop_name(attr.get_name())
+        self.device.set_property(name, attr.get_write_value())
+
+    @command
+    def Start(self):
+        self.shape = (self.device.props.roi_height, self.device.props.roi_width)
+        self.dtype = np.uint16 if self.device.props.sensor_bitdepth > 8 else np.uint8
+        self.device.start_recording()
+
+    @command
+    def Stop(self):
+        self.device.stop_recording()
+
+    @command(dtype_in=str, doc_in="Path and filename to store frame")
+    def Store(self, path):
+        frame = self.grab()
+
+        if HAVE_TIFFFILE:
+            tifffile.imsave(path, frame)
+        else:
+            np.savez(open(path, 'wb'), frame)
+
+
+if __name__ == '__main__':
+    server_run((Camera,))