From 97b3d7e92085c97bd35af3a6ef0034f250e8843c Mon Sep 17 00:00:00 2001
From: Hongquan Li <hqlisu@gmail.com>
Date: Fri, 7 Feb 2025 18:32:02 -0800
Subject: [PATCH] objective switcher init bug fix

---
 software/control/gui_hcs.py                   | 28 ++++++++----
 .../objective_changer_2_pos_controller.py     | 43 ++++++++++++++++++-
 2 files changed, 60 insertions(+), 11 deletions(-)

diff --git a/software/control/gui_hcs.py b/software/control/gui_hcs.py
index dcce7aaa2..43924a97e 100644
--- a/software/control/gui_hcs.py
+++ b/software/control/gui_hcs.py
@@ -83,7 +83,7 @@
     import control.camera as camera_fc
 
 if USE_XERYON:
-    from control.objective_changer_2_pos_controller import ObjectiveChanger2PosController
+    from control.objective_changer_2_pos_controller import ObjectiveChanger2PosController, ObjectiveChanger2PosController_Simulation
 
 import control.core.core as core
 import control.microcontroller as microcontroller
@@ -219,14 +219,6 @@ def loadObjects(self, is_simulation):
             self.camera, self.microcontroller, self.configurationManager, self.illuminationController, parent=self
         )
 
-        if USE_PRIOR_STAGE:
-            self.stage: squid.abc.AbstractStage = squid.stage.prior.PriorStage(sn=PRIOR_STAGE_SN, stage_config=squid.config.get_stage_config())
-
-        else:
-            self.stage: squid.abc.AbstractStage = squid.stage.cephla.CephlaStage(
-                microcontroller=self.microcontroller, stage_config=squid.config.get_stage_config()
-            )
-
         self.slidePositionController = core.SlidePositionController(
             self.stage, self.liveController, is_for_wellplate=True
         )
@@ -314,6 +306,13 @@ def loadSimulationObjects(self):
         self.microcontroller = microcontroller.Microcontroller(
             serial_device=microcontroller.get_microcontroller_serial_device(simulated=True)
         )
+        if USE_PRIOR_STAGE:
+            self.stage: squid.abc.AbstractStage = squid.stage.prior.PriorStage(sn=PRIOR_STAGE_SN, stage_config=squid.config.get_stage_config())
+
+        else:
+            self.stage: squid.abc.AbstractStage = squid.stage.cephla.CephlaStage(
+                microcontroller=self.microcontroller, stage_config=squid.config.get_stage_config()
+            )
         # Initialize simulation objects
         if ENABLE_SPINNING_DISK_CONFOCAL:
             self.xlight = serial_peripherals.XLight_Simulation()
@@ -340,6 +339,9 @@ def loadSimulationObjects(self):
             self.emission_filter_wheel = serial_peripherals.Optospin_Simulation(SN=None)
         if USE_SQUID_FILTERWHEEL:
             self.squid_filter_wheel = filterwheel.SquidFilterWheelWrapper_Simulation(None)
+        if USE_XERYON:
+            self.objective_changer = ObjectiveChanger2PosController_Simulation(sn=XERYON_SERIAL_NUMBER,stage=self.stage)
+
 
     def loadHardwareObjects(self):
         # Initialize hardware objects
@@ -353,6 +355,14 @@ def loadHardwareObjects(self):
             self.log.error(f"Error initializing Microcontroller")
             raise
 
+        if USE_PRIOR_STAGE:
+            self.stage: squid.abc.AbstractStage = squid.stage.prior.PriorStage(sn=PRIOR_STAGE_SN, stage_config=squid.config.get_stage_config())
+
+        else:
+            self.stage: squid.abc.AbstractStage = squid.stage.cephla.CephlaStage(
+                microcontroller=self.microcontroller, stage_config=squid.config.get_stage_config()
+            )
+
         if ENABLE_SPINNING_DISK_CONFOCAL:
             try:
                 self.xlight = serial_peripherals.XLight(XLIGHT_SERIAL_NUMBER, XLIGHT_SLEEP_TIME_FOR_WHEEL)
diff --git a/software/control/objective_changer_2_pos_controller.py b/software/control/objective_changer_2_pos_controller.py
index 5a83d1af5..0a7f19e88 100644
--- a/software/control/objective_changer_2_pos_controller.py
+++ b/software/control/objective_changer_2_pos_controller.py
@@ -3,9 +3,10 @@
 import time
 import serial
 
-from control.Xeryon import Xeryon
+from control.Xeryon import Xeryon, Stage
 from control._def import * # to remove once we create ObjectiveChangerConfig
 import squid.abc
+from typing import Optional
 
 class ObjectiveChanger2PosController:
     def __init__(self, sn: str, stage: Optional[squid.abc.AbstractStage] = None):
@@ -49,4 +50,42 @@ def currentPosition(self) -> int:
         return self.current_position
 
     def setSpeed(self, value: float):
-        self.axisX.setSpeed(value)
\ No newline at end of file
+        self.axisX.setSpeed(value)
+
+
+class ObjectiveChanger2PosController_Simulation:
+    def __init__(self, sn: str, stage: Optional[squid.abc.AbstractStage] = None):
+        super().__init__()
+
+        self.stage = stage
+
+        self.position1 = -19
+        self.position2 = 19
+
+        self.current_position = None
+        self.retracted = False # moved down by self.position2_offset for position 2
+
+        self.position2_offset = XERYON_OBJECTIVE_SWITCHER_POS_2_OFFSET_MM
+
+    def home(self):
+        pass
+
+    def moveToPosition1(self):
+        if self.stage is not None and self.current_position == 2 and self.retracted:
+            # revert retracting z by self.position2_offset
+            self.stage.move_z(self.position2_offset)
+            self.retracted = False
+        self.current_position = 1
+
+    def moveToPosition2(self):
+        if self.stage is not None and self.current_position == 1:
+            # retract z by self.position2_offset
+            self.stage.move_z(-self.position2_offset)
+            self.retracted = True
+        self.current_position = 2
+
+    def currentPosition(self) -> int:
+        return self.current_position
+
+    def setSpeed(self, value: float):
+        pass
\ No newline at end of file