Merge branch 'dantrim_remove_obsolete_libs' into 'devel'

Remove ImageRec, Zaber, WaferProbe, WaveFormGen

See merge request !235

.gitmodules

@@ -13,6 +13,3 @@
 [submodule "src/exts/json-schema-validator"]
 	path = src/exts/json-schema-validator
 	url = https://github.com/pboettch/json-schema-validator.git
-[submodule "src/exts/zaber"]
-	path = src/exts/zaber
-	url = https://gitlab.com/zaber-core-libs/core-c.git

README.md

@@ -78,9 +78,6 @@ that the user is responsible for installing them on their system if required.
 | [libmpsse](https://github.com/l29ah/libmpsse) | Library that implements common communication protocols (I2C, SPI) using the MPSSE framework on FTDI chips | FTDICom | **NO** |
 | [linux-gpib](https://linux-gpib.sourceforge.io/) | Support for GPIB hardware | [libPS](src/libPS) | **NO** |
 | [Qt 5.9.2](https://www.qt.io/download-qt-for-application-development) | GUI fun in C++ | [Probe Station](src/libWaferProb) | **NO** |
-| [OpenCV 3.3.1](https://docs.opencv.org/3.3.1/d7/d9f/tutorial_linux_install.html) | | [Probe Station](src/libWaferProb) | **NO** |
-| [gclib](http://galilmc.com/sw/pub/all/doc/gclib/html/osx.html) ([Galil](https://www.galil.com/sw/pub/all/doc/gclib/html/rhel7.html)) | Installation instructions found [here](https://www.galil.com/sw/pub/all/doc/gclib/html/rhel7.html) | [Probe Station](src/libWaferProb) | **NO** |
-| [zaber](https://gitlab.com/zaber-core-libs/core-c) | This is a deprecated library, with more up-to-date C++ library located [here](https://www.zaber.com/software/docs/motion-library/ascii/tutorials/install/cpp/) |  | **NO** |
 | [graphviz](https://graphviz.org/) | Requirement for `doxygen`, provides `dot` utility | | **NO** |
 
 One can also refer to the [.gitlab-ci.yml](.gitlab-ci.yml) file for a complete listing

src/CMakeLists.txt

@@ -72,14 +72,11 @@ add_subdirectory(libMeter)
 add_subdirectory(libLoad)
 add_subdirectory(libCom)
 add_subdirectory(libDevCom)
-add_subdirectory(libImageRec)
 add_subdirectory(libScope)
-add_subdirectory(libWaveFormGen)
 add_subdirectory(libUtils)
 add_subdirectory(libEquipConf)
 add_subdirectory(libDataSink)
 add_subdirectory(libChiller)
-add_subdirectory(libWaferProb)
 
 #
 # Add binaries

src/exts/CMakeLists.txt

@@ -105,22 +105,3 @@ if (USE_PYTHON)
     endif()
     set(PYBIND_OK TRUE PARENT_SCOPE)
 endif()
-
-##
-## Zaber
-##
-set(zaber_ok TRUE)
-DIR_NOT_EMPTY(zaber zaber_ok)
-if(${zaber_ok})
-    add_library(Zaber SHARED)
-    target_include_directories(Zaber PUBLIC zaber)
-    target_sources(Zaber
-        PRIVATE
-        zaber/za_serial.c
-    )
-    set(ZABER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/zaber PARENT_SCOPE)
-    set(ZABER_FOUND TRUE PARENT_SCOPE)
-else()
-    message(STATUS "zaber directory is empty")
-    set(ZABER_FOUND FALSE PARENT_SCOPE)
-endif()

zaber @ e2e71cdc

-Subproject commit e2e71cdc11fb5e2fb6e9147a7b9196944a18ef1b

src/libImageRec/CMakeLists.txt

-# Check for OpenCV
-find_package( OpenCV QUIET )
-
-if ( ${OpenCV_FOUND} )
-  list(FIND OpenCV_LIB_COMPONENTS "opencv_xfeatures2d" OpenCV_xfeatures2d_FOUND)
-  if( ${OpenCV_xfeatures2d_FOUND} EQUAL -1 )
-    set(OpenCV_xfeatures2d_FOUND FALSE)
-  else()
-    set(OpenCV_xfeatures2d_FOUND TRUE)
-  endif()
-else()
-  set(OpenCV_xfeatures2d_FOUND FALSE)
-endif()
-
-if ( ${OpenCV_FOUND} AND ${OpenCV_xfeatures2d_FOUND} )
-  add_library(ImageRec SHARED)
-  target_sources(ImageRec PRIVATE OpenCVHelper.cpp)
-  target_link_libraries(ImageRec ${OpenCV_LIBS})
-
-  # Tell rest of labRemote that the library exists
-  set(libImageRec_FOUND TRUE)
-else()
-  message(STATUS "Disabling libImageRec due to missing dependencies:")
-  message(STATUS "  OpenCV_FOUND = ${OpenCV_FOUND}")
-  message(STATUS "  OpenCV-xfeatures2d = ${OpenCV_xfeatures2d_FOUND}")
-  set(libImageRec_FOUND FALSE)
-endif()

src/libImageRec/OpenCVHelper.cpp

-#include "OpenCVHelper.h"
-
-#include <iostream>
-#include <vector>
-
-#include "opencv2/calib3d/calib3d.hpp"  // for findHomography
-#include "opencv2/core/core.hpp"
-#include "opencv2/features2d/features2d.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/xfeatures2d.hpp"
-#include "opencv2/xfeatures2d/nonfree.hpp"
-
-using namespace cv;
-using namespace cv::xfeatures2d;
-
-using namespace std;
-
-void OpenCVHelper::SIFT_obj_identify(const Mat& img1, const Mat& img2,
-                                     vector<Point2f>& matchedCorners) {
-    bool debug = false;
-    Ptr<SIFT> detector = SIFT::create();
-    //	const int minHessian = 400;
-    //	Ptr<SURF> detector = SURF::create(minHessian);
-    // Ptr<ORB> detector = ORB::create();
-
-    vector<KeyPoint> kp1, kp2;
-    Mat des1, des2;
-    detector->detectAndCompute(img1, noArray(), kp1, des1);
-    detector->detectAndCompute(img2, noArray(), kp2, des2);
-    if (debug) cout << "computed features" << endl;
-
-    const int checks = 50;
-    Ptr<flann::SearchParams> searchParams = new flann::SearchParams(checks);
-    Ptr<flann::KDTreeIndexParams> indexParams = new flann::KDTreeIndexParams(5);
-
-    auto flann = FlannBasedMatcher(indexParams, searchParams);
-    if (debug) cout << "created FLANN Matcher" << endl;
-
-    vector<vector<DMatch> > matches;
-    flann.knnMatch(des1, des2, matches, 2);
-
-    vector<DMatch> good_matches;
-    // perform a ratio test.
-    const float minRatio = 1. / 1.5;
-
-    for (int i = 0; i < (int)matches.size(); i++) {
-        const DMatch& bestMatch = matches[i][0];
-        const DMatch& betterMatch = matches[i][1];
-        float distanceRatio = bestMatch.distance / betterMatch.distance;
-        if (distanceRatio < minRatio) {
-            good_matches.push_back(bestMatch);
-        }
-    }
-
-    if (debug) cout << "found good matches" << endl;
-
-    const int min_match_count = 10;
-    if (good_matches.size() > min_match_count) {
-        vector<Point2f> src_pts;
-        vector<Point2f> dst_pts;
-
-        for (int i = 0; i < (int)good_matches.size(); i++) {
-            src_pts.push_back(kp1[good_matches[i].queryIdx].pt);
-            dst_pts.push_back(kp2[good_matches[i].trainIdx].pt);
-        }
-        if (debug) cout << "created source and destination points" << endl;
-
-        Mat H = findHomography(src_pts, dst_pts, cv::RANSAC, 5.0);
-
-        //-- Get the corners from the img1 (the object to be "detected")
-        vector<Point2f> obj_corners(4);
-        obj_corners[0] = cvPoint(0, 0);
-        obj_corners[1] = cvPoint(img1.cols, 0);
-        obj_corners[2] = cvPoint(img1.cols, img1.rows);
-        obj_corners[3] = cvPoint(0, img1.rows);
-        // vector<Point2f> scene_corners(4);
-        if (debug) cout << "before the transformation" << endl;
-
-        try {
-            perspectiveTransform(obj_corners, matchedCorners, H);
-        } catch (cv::Exception e) {
-            ;
-        }
-    } else {
-        cout << "Found less than " << min_match_count << " matches" << endl;
-    }
-    if (debug) cout << "Finished" << endl;
-    return;
-}

src/libImageRec/OpenCVHelper.h

-#ifndef __OpenCVHelper_H__
-#define __OpenCVHelper_H__
-
-#include "opencv2/core/core.hpp"
-
-namespace OpenCVHelper {
-void SIFT_obj_identify(const cv::Mat& img1, const cv::Mat& img2,
-                       std::vector<cv::Point2f>& matchedCorners);
-};
-
-#endif

src/libWaferProb/CMakeLists.txt

-if(NOT ${ZABER_FOUND})
-  message(STATUS "Disabling libWaferProb due to missing dependency (ZABER_FOUND = ${ZABER_FOUND})")
-  set(libWaferProb_FOUND FALSE PARENT_SCOPE)
-  return()
-endif()
-
-if ( NOT "${LIBGCLIB_FOUND}") # OR NOT ${ZABER_FOUND})
-  message(STATUS "Disabling libWaferProb due to missing dependencies (LIBGCLIB_FOUND = ${LIBGCLIB_FOUND})")
-  set(libWaferProb_FOUND FALSE PARENT_SCOPE)
-  return()
-endif()
-
-add_library(WaferProb SHARED)
-target_sources(WaferProb
-  PRIVATE
-  ControllerBase.cpp
-  ControllerGalil.cpp
-  ControllerZaber.cpp
-  Handler.cpp    
-  Helper.cpp
-  MotionController.cpp
-  )
-
-target_link_libraries(WaferProb Zaber ${LIBGCLIB_LIBRARIES})
-
-# Tell rest of labRemote that the library exists
-set(libWaferProb_FOUND TRUE PARENT_SCOPE)

src/libWaferProb/ControllerBase.cpp

-#include "ControllerBase.h"
-
-#include <stdio.h>
-
-#include <sstream>
-
-#include "Helper.h"
-
-ControllerBase::ControllerBase() {
-    status = -1;
-    m_is_connected = false;
-    m_z_calibrated = true;
-}
-
-ControllerBase::~ControllerBase() {}
-
-void ControllerBase::print_cmd() {
-    printf(
-        "MA X 10  --> move X-axis w.r.t home position 10 millimeter\n"
-        "MR X 10 --> move X-axis w.r.t current position 10 millimeter\n"
-        "SP X 10  --> set speed in x-axis direction by 10 millimeter/s\n"
-        "SH --> move to HOME\n"
-        "SM --> move to center\n"
-        "FZRANGE --> find maximum and minimum of Z-axis\n"
-        "FZMIN --> find minimum of Z-axis\n"
-        "CHECKZMIN --> check the minimum position of Z-axis\n"
-        "XY_PARK --> park the xy controller \n"
-        "XY_UNPARK --> unpark the xy controller \n"
-        "POLL_POS --> poll positions of controllers\n"
-        "----------------------------------------------------------\n");
-}
-
-int ControllerBase::run_cmd(const string& cmd) {
-    printf("HELLO??? %s\n", cmd.c_str());
-    int axis = -1;
-
-    if (cmd.empty()) {
-        return axis;
-    }
-    vector<string> raw_items;
-    WaferProb::tokenizeString(cmd, ' ', raw_items);
-
-    vector<string> items;
-    // convert commands to upper case.
-    for (auto& item : raw_items) {
-        items.push_back(WaferProb::toUpper(item));
-    }
-
-    const string& action(items[0]);
-
-    // Check each case..
-    if (action == "MA") {
-        if (items.size() != 3) {
-            printf(
-                "argument of MA is wrong\n"
-                "MA X/Y/Z 10\n");
-            return axis;
-        }
-        axis = WaferProb::axis_number(items[1]);
-        this->mv_abs(axis, atof(items[2].c_str()));
-    } else if (action == "MR") {
-        if (items.size() != 3) {
-            printf(
-                "argument of MR is wrong\n"
-                "MR X/Y/Z 10\n");
-            return axis;
-        }
-        axis = WaferProb::axis_number(items[1]);
-        this->mv_rel(axis, atof(items[2].c_str()));
-
-    } else if (action == "SH") {
-        this->set_home();
-        axis = 3;
-    } else if (action == "SM") {
-        this->set_center();
-        axis = 3;
-    } else if (action == "SP") {
-        if (items.size() != 3) {
-            printf(
-                "argument of SP is wrong\n"
-                "SP X/Y/Z 10000\n");
-            return axis;
-        }
-        axis = WaferProb::axis_number(items[1]);
-        this->set_speed(axis, atof(items[2].c_str()));
-    } else if (action == "FZRANGE") {
-        this->find_max_min();
-    } else if (action == "FZMIN") {
-        this->find_z_min();
-    } else if (action == "CHECKZMIN") {
-        this->check_z_min();
-    } else if (action == "XY_PARK") {
-        this->xy_park();
-    } else if (action == "XY_UNPARK") {
-        this->xy_unpark();
-    } else {
-        printf("%s not supported yet!\n", action.c_str());
-        print_cmd();
-    }
-    this->get_position();
-    return axis;
-}

src/libWaferProb/ControllerBase.h

-#ifndef __WaferProb_ControllerBase_H__
-#define __WaferProb_ControllerBase_H__
-
-/*
- * Define a general interface for a controller.
- * All length unit is in millimeter
- */
-#include <string>
-
-using namespace std;
-class ControllerBase {
- protected:
-    int status;  // 0 is ok, non-zero indicates problems
-    bool m_is_connected;
-
-    // put it public so it's easy to access...
- public:
-    float m_position[3];
-    bool m_z_calibrated;
-
- public:
-    ControllerBase();
-    virtual ~ControllerBase();
-
-    int get_status() { return status; }
-    bool is_connected() { return m_is_connected; }
-
-    // command lines are interpreted by this function.
-    int run_cmd(const string& cmd);
-    void print_cmd();
-
-    virtual int connect() = 0;
-    virtual int disconnect() = 0;
-
-    virtual int write(const string& cmd) = 0;  // send command to device
-
-    // unit of length: millimeter
-    virtual int set_speed(int axis, float value) = 0;
-
-    // move w.r.t home-position
-    virtual int mv_abs(int axis, float value) = 0;
-    // move w.r.t current-position
-    virtual int mv_rel(int axis, float value) = 0;
-
-    virtual int stop() = 0;  // stop motion immediately
-
-    virtual int get_position() = 0;
-
-    virtual int set_home() = 0;
-    virtual int set_center() = 0;
-
-    virtual void find_max_min() { return; }
-    virtual void find_z_min() { return; }
-    virtual void check_z_min() { return; }
-    virtual bool is_z_calibrated() { return m_z_calibrated; }
-    virtual int xy_park() { return -1; }
-    virtual int xy_unpark() { return -1; }
-};
-#endif

src/libWaferProb/ControllerGalil.cpp

-#include "ControllerGalil.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-#include <vector>
-
-#include "Helper.h"
-
-ControllerGalil::ControllerGalil(const char* device_name) {
-    char device[256];
-    sprintf(device, "%s --subscribe ALL", device_name);
-    dn = string(device);
-    port = 0;
-    m_position[0] = m_position[1] = m_position[2] = DEFAULT_GALIL_POS;
-    m_raw_position[0] = m_raw_position[1] = m_raw_position[2] =
-        DEFAULT_GALIL_POS;
-    // TO DO: to read in from the text file "z_range.txt"
-    m_ymax = 600000;   // 765253;
-    m_ymin = -100000;  //-364475;
-}
-
-ControllerGalil::~ControllerGalil() { disconnect(); }
-
-int ControllerGalil::connect() {
-    if (m_is_connected) return 0;
-
-    printf("%s: connecting to device %s\n", __FUNCTION__, dn.c_str());
-    if (check(GOpen(dn.c_str(), &port))) {
-        printf("%s connected\n", dn.c_str());
-        get_position();
-        status = 0;
-        m_is_connected = true;
-    } else {
-        printf("%s not connected\n", dn.c_str());
-        status = 1;
-    }
-    return status;
-}
-
-int ControllerGalil::disconnect() {
-    if (port != 0) {
-        GClose(port);
-        port = 0;
-    }
-    return 0;
-}
-
-int ControllerGalil::write(const string& cmd) {
-    if (port == 0) {
-        printf("%s is not open\n", dn.c_str());
-        return -1;
-    }
-    char* trimmed;
-    if (!check(GCmdT(port, cmd.c_str(), buf, sizeof(buf), &trimmed))) {
-        printf("%s is not recognized\n", cmd.c_str());
-        return -2;
-    }
-    printf("Galil: %s --> %s\n", cmd.c_str(), buf);
-
-    poll_position();
-    return 0;
-}
-
-string* ControllerGalil::write_with_reply(const string& cmd) {
-    if (port == 0) {
-        printf("%s is not open\n", dn.c_str());
-        return NULL;
-    }
-    char* trimmed;
-    if (!check(GCmdT(port, cmd.c_str(), buf, sizeof(buf), &trimmed))) {
-        printf("%s is not recognized\n", cmd.c_str());
-        return NULL;
-    }
-    printf("Galil: %s --> %s\n", cmd.c_str(), buf);
-    string* result = new string(buf);
-
-    poll_position();
-    return result;
-}
-
-int ControllerGalil::stop() {
-    int status = write("AB");
-    get_position();
-    return status;
-}
-
-int ControllerGalil::set_speed(int axis, float sp) {
-    int steps = convert_mm_to_turns(sp);
-
-    string cmd = generate_cmd("SP", axis, steps);
-    return write(cmd);
-}
-
-int ControllerGalil::mv_abs(int axis, float value) {
-    int steps = convert_mm_to_turns(value - m_position[axis]);
-    string cmd = generate_cmd("PR", axis, steps);
-    write(cmd);
-    make_a_move(axis);
-    return 0;
-}
-
-int ControllerGalil::mv_rel(int axis, float value) {
-    int steps = convert_mm_to_turns(value);
-    string cmd = generate_cmd("PR", axis, steps);
-    printf("%s\n", cmd.c_str());
-    write(cmd);
-    make_a_move(axis);
-    return 0;
-}
-
-int ControllerGalil::get_position() {
-    if (port == 0) return -1;
-
-    char* trimmed;
-    GCmdT(port, "RP", buf, sizeof(buf), &trimmed);
-    string data(trimmed);
-    printf("Galic: RP --> %s\n", trimmed);
-
-    vector<string> raw_items;
-    WaferProb::tokenizeString(data, ',', raw_items);
-    for (int i = 0; i < 3; i++) {
-        float raw_pos = atof(raw_items.at(i).c_str());
-        m_raw_position[i] = raw_pos;
-        m_position[i] = convert_turns_to_mm(raw_pos);
-    }
-    return 0;
-}
-
-int ControllerGalil::set_home() { return 0; }
-
-int ControllerGalil::set_center() { return 0; }
-
-string ControllerGalil::generate_cmd(const char* cmd, int axis, int steps) {
-    char val_str[256];
-    sprintf(val_str, "%d", steps);
-    string cmd_val(",,");
-    cmd_val.insert(axis, val_str);
-
-    char res_str[256];
-    sprintf(res_str, "%s %s", cmd, cmd_val.c_str());
-    return string(res_str);
-}
-
-void ControllerGalil::make_a_move(int axis) {
-    if (axis == 2 && !m_z_calibrated) {
-        printf("ERROR, Z-axis is not calibrated!");
-        return;
-    }
-    char mv[256];
-    char axis_name = axis_index_to_name(axis);
-    sprintf(mv, "BG %c", axis_name);
-
-    write(mv);
-    // block until motion is complete.
-    GMotionComplete(port, string(1, axis_name).c_str());
-
-    get_position();
-}
-
-void ControllerGalil::find_max_min() {
-    m_z_calibrated = true;
-
-    int axis = 2;
-    set_speed(axis, 1);  // second argument: mm per s
-    string cmd = generate_cmd("PA", axis, 1000000);
-    write(cmd);
-    make_a_move(axis);
-
-    get_position();
-    m_ymax = m_raw_position[2];
-    printf("HELLO: %.2f\n", m_ymax);
-
-    string cmd2 = generate_cmd("PA", axis, -1000000);
-    write(cmd2);
-    make_a_move(axis);
-    get_position();
-    m_ymin = m_raw_position[2];
-
-    printf("range of z-axis in turns: [%.2f, %.2f]\n", m_ymin, m_ymax);
-
-    // float quarter =  (m_ymax - m_ymin)/4;
-    // if (quarter<0) quarter = -quarter;
-    // float quarter_up = m_ymin +  quarter;
-
-    // Move quarter of the range up from the minimum
-    // string cmd3 = generate_cmd("PA", axis, quarter_up);
-    // write(cmd3);
-    // make_a_move(axis);
-    // get_position();
-}
-
-void ControllerGalil::find_z_min() {
-    m_z_calibrated = true;
-
-    int axis = 2;
-    set_speed(axis, 1);
-
-    string cmd = generate_cmd("PA", axis, -1000000);
-    write(cmd);
-    make_a_move(axis);
-    get_position();
-    m_ymin = m_raw_position[2];
-    printf("HELLO: %.2f\n", m_ymin);
-}
-
-void ControllerGalil::check_z_min() {
-    int axis = 2;
-    string cmd2 = generate_cmd("PA", axis, -1000000);
-    write(cmd2);
-    make_a_move(axis);
-    get_position();
-    if (m_position[2] != 0) m_z_calibrated = false;
-}
-
-void ControllerGalil::poll_position() {
-    string *reply, *last_reply;
-    reply = write_with_reply("TP");
-    sleep(1);
-    last_reply = write_with_reply("TP");
-    while (*last_reply != *reply) {
-        reply = write_with_reply("TP");
-        sleep(1);
-        last_reply = write_with_reply("TP");
-    }
-}

src/libWaferProb/ControllerGalil.h

-#ifndef __WaferProb_ControllerGalil_H__
-#define __WaferProb_ControllerGalil_H__
-
-#ifndef I_7B02A40E_869B_4650_A5A8_859F0A6E3325
-#define I_7B02A40E_869B_4650_A5A8_859F0A6E3325
-#endif
-
-#include "gclib.h"
-#include "gclibo.h"
-
-#define GALIL_EXAMPLE_OK G_NO_ERROR  // return code for correct code execution
-#define GALIL_EXAMPLE_ERROR -100     // return code for error in example code
-
-#define DEFAULT_GALIL_POS -2
-
-#include <string>
-
-#include "ControllerBase.h"
-
-using namespace std;
-class ControllerGalil : public ControllerBase {
- private:
-    GCon port;  // port connected to Galil
-    string dn;  // device name
-
- public:
-    ControllerGalil(const char* device_name);
-    ~ControllerGalil();
-
-    int connect();
-    int disconnect();
-
-    int write(const string& cmd);
-    string* write_with_reply(const string& cmd);
-
-    int set_speed(int axis, float sp);
-
-    int mv_abs(int axis, float value);
-    int mv_rel(int axis, float value);
-    int stop();
-
-    int get_position();
-    int get_speed();
-
-    int set_home();
-    int set_center();
-
-    void find_max_min();
-    void find_z_min();
-    void check_z_min();
-    void poll_position();
-
- public:
-    // 14.2 mili-meter is the total distance the Z-axis can travel.
-    // project the absolute turns (or position) to the 14.2 mm length
-    // lowest position would be zero, while highest position is 14.2 mm.
-    float m_raw_position[3];
-    float m_ymax;  // turns at the top, --> 14.2mm
-    float m_ymin;  // turns at the bottom, --> 0
- private:
-    inline bool check(GReturn rc) { return (rc == G_NO_ERROR); }
-    int convert_mm_to_turns(float value) {
-        // value is the relative distance.
-        return value * (m_ymax - m_ymin) / 14.2;
-    }
-    float convert_turns_to_mm(float turns) {
-        float res = 14.2 * (turns - m_ymin) / (m_ymax - m_ymin);
-        res = (int)(res * 1000) / 1000.;
-        return res;
-    }
-    char axis_index_to_name(int axis) {
-        // ABC is for XYZ!
-        // axis starts from 0 to 2;
-        return 'A' + axis;
-    }
-    string generate_cmd(const char* cmd, int axis, int steps);
-    void make_a_move(int axis);
-    char buf[1024];
-};
-
-#endif

src/libWaferProb/ControllerZaber.cpp

-#include "ControllerZaber.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <vector>
-
-#include "Helper.h"
-
-using namespace std;
-
-ControllerZaber::ControllerZaber(const char* device_name)
-    : ControllerBase(), dn(device_name) {
-    port = -1;
-    m_position[0] = m_position[1] = DEFAULT_ZABER_POS;
-}
-
-int ControllerZaber::connect() {
-    if (m_is_connected) return 0;
-
-    printf("%s:connecting to device %s\n", __FUNCTION__, dn.c_str());
-
-    if (check(za_connect(&port, dn.c_str()))) {
-        printf("%s connected\n", dn.c_str());
-        status = 0;
-        m_is_connected = true;
-        unpark();
-    } else {
-        printf("%s not connected\n", dn.c_str());
-        status = 1;
-    }
-    return status;
-}
-
-ControllerZaber::~ControllerZaber() { disconnect(); }
-
-int ControllerZaber::disconnect() {
-    if (port > 0) {
-        park();
-        za_disconnect(port);
-        port = -1;
-    }
-    return 0;
-}
-
-int ControllerZaber::write(const string& cmd) {
-    if (port < 0) {
-        printf("%s is not open!\n", dn.c_str());
-        return -1;
-    }
-    za_send(port, cmd.c_str());
-    char reply[256] = {0};
-    za_receive(port, reply, sizeof(reply));
-    printf("%s -> %s\n", cmd.c_str(), reply);
-
-    poll_until_idle();
-    return 0;
-}
-
-string* ControllerZaber::write_with_reply(const string& cmd) {
-    if (port < 0) {
-        printf("%s is not open!", dn.c_str());
-        return NULL;
-    }
-    char reply[256] = {0};
-    za_send(port, cmd.c_str());
-    za_receive(port, reply, sizeof(reply));
-    printf("%s -> %s\n", cmd.c_str(), reply);
-    string* result = new string(reply);
-
-    poll_until_idle();
-    return result;
-}
-
-int ControllerZaber::set_speed(int axis, float value) {
-    int steps = convert_mm_to_turns(value);
-    char cmd[256];
-    sprintf(cmd, "/1 %d set maxspeed %d\n", axis, steps);
-    return write(cmd);
-}
-
-int ControllerZaber::mv_abs(int axis, float value) {
-    int steps = convert_mm_to_turns(value);
-    char cmd[256];
-    sprintf(cmd, "/1 %d move abs %d\n", axis, steps);
-    return write(cmd);
-}
-
-int ControllerZaber::mv_rel(int axis, float value) {
-    int steps = convert_mm_to_turns(value);
-    char cmd[256];
-    sprintf(cmd, "/1 %d move rel %d\n", axis, steps);
-    return write(cmd);
-}
-
-int ControllerZaber::get_position() {
-    if (port < 0) {
-        return 1;
-    }
-    char cmd[256];
-    sprintf(cmd, "/1 get pos\n");
-
-    string* rpy = write_with_reply(cmd);
-    if (rpy == NULL) return 2;
-
-    // analyze the reply.
-    struct za_reply decoded_reply;
-    za_decode(&decoded_reply, const_cast<char*>(rpy->c_str()));
-    //  analyze response data.
-    string data(decoded_reply.response_data);
-    if (strncmp(decoded_reply.response_data, "BADDATA", 7) == 0) {
-        m_position[0] = m_position[1] = DEFAULT_ZABER_POS;
-    } else {
-        vector<string> raw_items;
-        WaferProb::tokenizeString(data, ' ', raw_items);
-        for (int i = 0; i < (int)raw_items.size(); i++) {
-            m_position[i] =
-                (int)(convert_turns_to_mm(atof(raw_items.at(i).c_str())) *
-                      1000) /
-                1000.;
-        }
-    }
-    return 0;
-}
-
-int ControllerZaber::set_home() { return write("/home\n"); }
-
-int ControllerZaber::set_center() {
-    // 1952000/2. = 976000
-    return write("/move abs 976000\n");
-}
-
-int ControllerZaber::park() {
-    int status = write("/tools parking park\n");
-    if (status == 0) {
-        printf("%s is parked\n", dn.c_str());
-    }
-    return status;
-}
-
-int ControllerZaber::unpark() {
-    int status = write("/tools parking unpark\n");
-    if (status == 0) {
-        printf("%s is unparked\n", dn.c_str());
-    } else {
-        printf("%s cannot unparked\n", dn.c_str());
-    }
-    return status;
-}
-
-int ControllerZaber::stop() {
-    int status = write("/estop\n");
-    get_position();
-    return status;
-}
-
-int ControllerZaber::convert_mm_to_turns(float value) {
-    // value should be in millimeter.
-    // turns: 1952000 turns
-    // length: 305 millimeter
-    return value * 6400;
-}
-
-float ControllerZaber::convert_turns_to_mm(float turns) {
-    return turns * 305. / 1952000.;
-}
-
-void ControllerZaber::poll_until_idle() {
-    char reply[256] = {0};
-    char pos_reply[256] = {0};
-    struct za_reply decoded_reply;
-    const struct timespec ts = {0, 100000000}; /* 100mil nanosec = 100ms */
-
-    /* We use za_decode() to decode this string into more manageable parts,
-     * sorting them into the fields of a za_reply struct, then we test
-     * the device_status field. Possible values for device_status are "IDLE"
-     * and "BUSY". */
-    int count = 0;
-    for (;;) {
-        za_send(port, "/\n");
-        za_receive(port, reply, sizeof(reply));
-        za_decode(&decoded_reply, reply);
-
-        if (strncmp(decoded_reply.device_status, "BUSY", 4) == 0) {
-            nanosleep(&ts, NULL); /* If we're busy, wait then try again */
-        } else {
-            break;
-        }
-
-        za_send(port, "/get pos\n");
-        za_receive(port, pos_reply, sizeof(pos_reply));
-        printf(pos_reply);
-        printf("\n");
-        if (count > 1000) {
-            break;
-        } else {
-            count++;
-        }
-    }
-}
-
-const char* ControllerZaber::device_name() { return dn.c_str(); }

src/libWaferProb/ControllerZaber.h

-#ifndef __WaferProb_ControllerZaber_H__
-#define __WaferProb_ControllerZaber_H__
-
-#ifndef _POSIX_C_SOURCE
-#define _POSIX_C_SOURCE 199309L
-#endif
-
-#include <string>
-
-#include "ControllerBase.h"
-#include "za_serial.h"  // Driver of Zaber
-
-using namespace std;
-class ControllerZaber : public ControllerBase {
- private:
-    z_port port;  // port connected to Zaber
-    string dn;    // device name
-
- public:  // implement controller's interface
-    ControllerZaber(const char* device_name);
-    ~ControllerZaber();
-
-    int connect();
-    int disconnect();
-
-    string* write_with_reply(const string& cmd);
-
-    int write(const string& cmd);
-
-    int set_speed(int axis, float sp);
-
-    int mv_abs(int axis, float value);  // move w.r.t home-position
-    int mv_rel(int axis, float value);  // move w.r.t current-position
-    int stop();
-
-    // get current position
-    int get_position();
-    int get_speed();
-
-    int set_home();
-    int set_center();
-
-    const char* device_name();
-
- public:
-    // park the device: lock it so that when powered up,
-    // don't need to homed.
-    int park();
-    int unpark();
-
- private:
-    // convert mili-meter to number of turns/steps
-    int convert_mm_to_turns(float value);
-    float convert_turns_to_mm(float turns);
-
-    inline bool check(int rc) {
-        // if(rc != Z_SUCCESS) throw rc;
-        return (rc == Z_SUCCESS);
-    }
-    void poll_until_idle();
-};
-#endif

src/libWaferProb/Handler.cpp

-#include "Handler.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>  // for sleep()
-
-#include <vector>
-
-#include "Helper.h"
-
-Handler::Handler() {
-    ctrl = new MotionController("/dev/ttyACM0");
-    ctrl->connect();
-}
-
-Handler::~Handler() {
-    ctrl->disconnect();
-    delete ctrl;
-}
-
-void Handler::print_cmd() {
-    printf(
-        "MA X 10  --> move X-axis w.r.t home position 10 millimeter\n"
-        "MR X 10 --> move X-axis w.r.t current position 10 millimeter\n"
-        "SP X 10  --> set speed in x-axis direction by 10 millimeter/s\n"
-        "SH --> move to HOME\n"
-        "SM --> move to center\n"
-        "SZC --> set needles contact with chip\n"
-        "SZS --> set needles separate from chip\n"
-        "SZD 10 --> set distance in z-axis in order to separate needle and "
-        "chip.\n"
-        "TESTX --> move x from 0 to 305 with pre-defined steps\n"
-        "----------------------------------------------------------\n"
-        // "MVC X P --> move to positive x-axis direction, continuously\n"
-        // "MVC X N --> move to negative x-axis direction, continuously\n"
-    );
-}
-
-void Handler::write(const string& cmd) {
-    float unit_scale = 1000.;
-    if (cmd.empty()) {
-        return;
-    }
-    vector<string> raw_items;
-    WaferProb::tokenizeString(cmd, ' ', raw_items);
-
-    vector<string> items;
-    // convert commands to uppercase
-    for (auto& item : raw_items) {
-        items.push_back(WaferProb::toUpper(item));
-    }
-
-    const string& action(items[0]);
-    // Check each case..
-    if (action == "MA") {
-        if (items.size() != 3) {
-            printf(
-                "argument of MA is wrong\n"
-                "MA X/Y/Z 10\n");
-            return;
-        }
-        int axis = WaferProb::axis_number(items[1]);
-        ctrl->mv_abs(axis, unit_scale * atof(items[2].c_str()));
-    } else if (action == "MR") {
-        if (items.size() != 3) {
-            printf(
-                "argument of MR is wrong\n"
-                "MR X/Y/Z 10\n");
-            return;
-        }
-        int axis = WaferProb::axis_number(items[1]);
-        ctrl->mv_rel(axis, unit_scale * atof(items[2].c_str()));
-    } else if (action == "SH") {
-        ctrl->set_home();
-    } else if (action == "SM") {
-        ctrl->set_center();
-    } else if (action == "SP") {
-        if (items.size() != 3) {
-            printf(
-                "argument of SP is wrong\n"
-                "SP X/Y/Z 10000\n");
-            return;
-        }
-        int axis = WaferProb::axis_number(items[1]);
-        ctrl->set_speed(axis, unit_scale * atof(items[2].c_str()));
-    } else if (action == "TEST") {
-        vector<int> steps{20, 46, 73, 100, 126, 152, 179, 206, 226};
-        if (items.size() != 2) {
-            printf(
-                "argument of TEST is wrong\n"
-                "TEST X/Y \n");
-            return;
-        }
-        int axis = WaferProb::axis_number(items[1]);
-        for (int step : steps) {
-            ctrl->mv_abs(axis, unit_scale * step);
-            sleep(10);
-        }
-    } else {
-        printf("%s not supported yet!\n", action.c_str());
-        // print_cmd();
-    }
-}

src/libWaferProb/Handler.h

-#ifndef __WaferProb_Handler_H_
-#define __WaferProb_Handler_H_
-
-/*
- * A wrapper of all controls.
- * define our own commands to control the station.
- * Underlying implementations are taken care by MotionController
- * example commands:
- * MA X 10  // move X-axis w.r.t home position 10 micro-meter
- * MR X 10  // move X-axis w.r.t current position 10 micro-meter
- * SP X 10  // set speed in x-axis direction by 10 micro-meter/s
- * SH // set current position as HOME
- * SC // set needles contact with chip
- * SS // set needles separate from chip
- * SDZ 10 // set distance in z-axis in order to separate needle and chip.
- */
-#include <string>
-#include <vector>
-
-#include "MotionController.h"
-
-using namespace std;
-
-class Handler {
- private:
-    MotionController* ctrl;
-    // vector<string>* supported_actions;
-
- public:
-    Handler();
-    ~Handler();
-    void write(const string& cmd);
-    void print_cmd();
-};
-
-#endif

src/libWaferProb/Helper.cpp

-#include "Helper.h"
-
-#include <locale>
-#include <sstream>
-
-namespace WaferProb {
-
-void tokenizeString(const string& str, char delim, vector<string>& tokens) {
-    tokens.clear();
-    istringstream iss(str);
-    string token;
-    while (getline(iss, token, delim)) {
-        // boost::algorithm::trim(token);
-        tokens.push_back(token);
-    }
-}
-
-string toUpper(const string& str) {
-    std::locale loc;
-    string new_str(str);
-    for (string::size_type i = 0; i < str.length(); ++i) {
-        new_str[i] = std::toupper(str[i], loc);
-    }
-    return new_str;
-}
-
-int axis_number(const string& axis_str) {
-    // need to do better than this!
-    int axis = -1;
-    if (axis_str == "X" or axis_str == "x") {
-        axis = 0;
-    }
-    if (axis_str == "Y" or axis_str == "y") {
-        axis = 1;
-    }
-    if (axis_str == "Z" or axis_str == "z") {
-        axis = 2;
-    }
-    if (axis < 0) {
-        printf("Axis is wrong. Use X instead.");
-        axis = 0;
-    }
-    return axis;
-}
-
-}  // namespace WaferProb

src/libWaferProb/Helper.h

-#ifndef _WaferProbe_helper_H_
-#define _WaferProbe_helper_H_
-
-#include <string>
-#include <vector>
-
-using namespace std;
-
-// define some global code.
-#define DEFAULT_ZABER_POS -3
-
-namespace WaferProb {
-void tokenizeString(const string& str, char delim, vector<string>& tokens);
-string toUpper(const string& str);
-int axis_number(const string& axis_str);
-}  // namespace WaferProb
-
-#endif

src/libWaferProb/MotionController.cpp

-#include "MotionController.h"
-
-#include <stdio.h>
-#include <unistd.h>  // for sleep()
-
-#include <sstream>
-#include <string>
-#include <vector>
-
-#include "Helper.h"
-
-using namespace std;
-MotionController::MotionController(const char* dn_1) : ControllerBase() {
-    xy_ctrl = new ControllerZaber(dn_1);
-    z_ctrl = new ControllerGalil("192.168.1.30");
-    m_position[0] = m_position[1] = m_position[2] = -1;
-}
-
-MotionController::~MotionController() { disconnect(); }
-
-int MotionController::connect() {
-    if (xy_ctrl->connect() != 0) {
-        return 1;
-    }
-
-    // connect z station
-    if (z_ctrl->connect() != 0) {
-        return 2;
-    }
-    this->get_position();
-
-    return 0;
-}
-
-int MotionController::disconnect() {
-    xy_ctrl->disconnect();
-    z_ctrl->disconnect();
-    return 0;
-}
-
-int MotionController::set_speed(int axis, float sp) {
-    if (axis == 0 || axis == 1) {  // x-y-axis
-        xy_ctrl->set_speed(axis + 1, sp);
-    } else if (axis == 2) {
-        z_ctrl->set_speed(axis, sp);
-    } else {
-        ;
-    }
-    return 0;
-}
-
-int MotionController::mv_abs(int axis, float value) {
-    if (axis == 0 || axis == 1) {
-        xy_ctrl->mv_abs(axis + 1, value);
-    } else if (axis == 2) {
-        z_ctrl->mv_abs(axis, value);
-    } else {
-        ;
-    }
-    return 0;
-}
-
-int MotionController::mv_rel(int axis, float value) {
-    if (axis == 0 || axis == 1) {
-        xy_ctrl->mv_rel(axis + 1, value);
-    } else if (axis == 2) {
-        z_ctrl->mv_rel(axis, value);
-    } else {
-    }
-    return 0;
-}
-
-int MotionController::stop() {
-    xy_ctrl->stop();
-    z_ctrl->stop();
-    return 0;
-}
-
-int MotionController::get_position() {
-    get_pos_xy();
-    get_pos_z();
-    return 0;
-}
-
-int MotionController::get_pos_xy() {
-    xy_ctrl->get_position();
-    m_position[0] = xy_ctrl->m_position[0];
-    m_position[1] = xy_ctrl->m_position[1];
-    printf("xy position: %.2f, %.2f\n", m_position[0], m_position[1]);
-    return 0;
-}
-
-int MotionController::get_pos_z() {
-    z_ctrl->get_position();
-    m_position[2] = z_ctrl->m_position[2];
-    return 0;
-}
-
-int MotionController::get_position(int axis) {
-    get_position();
-    return m_position[axis];
-}
-
-int MotionController::write(int axis, const string& cmd) {
-    if (axis == 0 || axis == 1) {
-        xy_ctrl->write(cmd);
-    } else if (axis == 2) {
-        z_ctrl->write(cmd);
-    } else {
-    }
-    return 0;
-}
-
-int MotionController::set_home() { return xy_ctrl->set_home(); }
-
-int MotionController::set_center() { return xy_ctrl->set_center(); }
-
-void MotionController::find_max_min() { z_ctrl->find_max_min(); }
-
-void MotionController::find_z_min() { z_ctrl->find_z_min(); }
-
-void MotionController::check_z_min() { z_ctrl->check_z_min(); }
-
-int MotionController::xy_park() { return xy_ctrl->park(); }
-
-int MotionController::xy_unpark() { return xy_ctrl->unpark(); }