Source code for dlab.hardware.wrappers.thorlabs_controller

from __future__ import annotations
from typing import Optional
import thorlabs_apt as apt




class ThorlabsNotActivatedError(RuntimeError):
    """Raised when an operation requires an activated motor."""





class ThorlabsController:

    def __init__(self, motor_id: int) -> None:
        self.motor_id: int = motor_id
        self.motor: Optional[apt.Motor] = None



    def activate(self, homing: bool = True) -> None:
        """Instantiate the motor handle and optionally home."""
        self.motor = apt.Motor(self.motor_id)
        if homing:
            self.home()


    def _ensure(self) -> apt.Motor:
        """Return the motor handle or raise if not activated."""
        if self.motor is None:
            raise ThorlabsNotActivatedError("Motor not activated. Call activate() first.")
        return self.motor



    def home(self, blocking: bool = True) -> None:
        """Send the motor to its home position."""
        self._ensure().move_home(blocking=blocking)




    def move_to(self, position: float, blocking: bool = True) -> None:
        """Move the motor to an absolute position (device units)."""
        self._ensure().move_to(position, blocking=blocking)




    def get_position(self) -> Optional[float]:
        """Return the current position, or None if not activated."""
        return self.motor.position if self.motor is not None else None




    def identify(self) -> None:
        """Flash the device LED to identify the unit."""
        self._ensure().identify()




    def disable(self) -> None:
        """Disable the motor and drop the handle."""
        if self.motor is not None:
            try:
                if hasattr(self.motor, "disable"):
                    self.motor.disable()
            finally:
                self.motor = None