.. highlight:: rst

.. _latrt_xy_stage:

=====================
LATRt XY Stage Agent
=====================

This agent is used to communicate with the XY Stages used in the LATRt lab.
These stages are run off a Raspberry Pi connected to some custom electronics
boards for communicating with the stages.

Since control of these stages need to be accessible inside and outside OCS,
their drivers are shared `here
<https://github.com/kmharrington/xy_stage_control>`_.

.. argparse::
    :filename: ../socs/agents/xy_stage/agent.py
    :func: make_parser
    :prog: python3 agent.py

.. _latrt_xy_stage_deps:

Dependencies
------------

The LATRt XY Stage agent requires the `xy_stage_control
<https://github.com/kmharrington/xy_stage_control>`_ module. This can be
installed via pip:

.. code-block:: bash

    $ python -m pip install 'xy_stage_control @ git+https://github.com/kmharrington/xy_stage_control.git@main'

Configuration File Examples
---------------------------
Below are configuration examples for the ocs config file.

OCS Site Config
```````````````

To configure the LATRt XY Stage Agent we need to add a block to our ocs
configuration file. Here is an example configuration block using all of
the available arguments::

      {'agent-class': 'LATRtXYStageAgent',
        'instance-id': 'XYWing',
        'arguments': [
          ['--ip-address', '192.168.10.15'],
          ['--port', 3010],
          ['--mode', 'acq'],
          ['--sampling_freqency', '2'],
          ]},

Agent API
---------

.. autoclass:: socs.agents.xy_stage.agent.LATRtXYStageAgent
    :members:

Example Clients
---------------

Below is an example client demonstrating full agent functionality.
Note that all tasks can be run even while the data acquisition process
is running.::

    from ocs.ocs_client import OCSClient

    # Initialize the Stages
    xy_agent = OCSClient('XYWing', args=[])
    xy_agent.init.start()
    xy_agent.init.wait()

    # Move in X
    xy_agent.move_x_cm.start( distance=6, velocity=1)
    xy_agent.move_x_cm.wait()

    # Move in Y
    xy_agent.move_y_cm.start( distance=6, velocity=1)
    xy_agent.move_y_cm.wait()

    # Get instantaneous position
    status, message, session = xy_stage.acq.status()
    print(session['data']['data'])