micromanager 0.2.0

/// ITK Corvus XY-stage controller.
///
/// Protocol: commands end with space `" "` (TX terminator), responses end with `\r\n`.
///   `"0 mode "`           → enter host mode
///   `"version "`          → firmware version string
///   `"1 1 setunit "`      → set axis 1 to µm
///   `"1 2 setunit "`      → set axis 2 to µm
///   `"ge "`               → clear errors
///   `"p "`                → query position → `"X Y\r\n"` (floats, µm)
///   `"X Y move "`         → absolute move (µm)
///   `"dX dY rmove "`      → relative move (µm)
///   `"st "`               → status (bit 0 = busy)
///   `"cal "`              → calibrate/home
///   `"abort "`            → emergency stop
use crate::error::{MmError, MmResult};
use crate::property::PropertyMap;
use crate::traits::{Device, XYStage};
use crate::transport::Transport;
use crate::types::{DeviceType, PropertyValue};

pub struct CorvusXYStage {
    props: PropertyMap,
    transport: Option<Box<dyn Transport>>,
    initialized: bool,
    x_um: f64,
    y_um: f64,
}

impl CorvusXYStage {
    pub fn new() -> Self {
        let mut props = PropertyMap::new();
        props.define_property("Port", PropertyValue::String("Undefined".into()), false).unwrap();
        props.define_property("Version", PropertyValue::String(String::new()), true).unwrap();
        Self { props, transport: None, initialized: false, x_um: 0.0, y_um: 0.0 }
    }

    pub fn with_transport(mut self, t: Box<dyn Transport>) -> Self {
        self.transport = Some(t);
        self
    }

    fn call_transport<R, F>(&mut self, f: F) -> MmResult<R>
    where F: FnOnce(&mut dyn Transport) -> MmResult<R> {
        match self.transport.as_mut() {
            Some(t) => f(t.as_mut()),
            None => Err(MmError::NotConnected),
        }
    }

    /// Send command with trailing space (Corvus TX terminator).
    fn cmd(&mut self, command: &str) -> MmResult<String> {
        let cmd = format!("{} ", command);
        self.call_transport(|t| { let r = t.send_recv(&cmd)?; Ok(r.trim().to_string()) })
    }

    fn parse_xy(resp: &str) -> MmResult<(f64, f64)> {
        let parts: Vec<&str> = resp.trim().split_whitespace().collect();
        if parts.len() < 2 {
            return Err(MmError::LocallyDefined(format!("Cannot parse XY: {}", resp)));
        }
        Ok((parts[0].parse().unwrap_or(0.0), parts[1].parse().unwrap_or(0.0)))
    }
}

impl Default for CorvusXYStage { fn default() -> Self { Self::new() } }

impl Device for CorvusXYStage {
    fn name(&self) -> &str { "CorvusXYStage" }
    fn description(&self) -> &str { "ITK Corvus XY stage" }

    fn initialize(&mut self) -> MmResult<()> {
        if self.transport.is_none() { return Err(MmError::NotConnected); }
        let _ = self.cmd("0 mode");
        let ver = self.cmd("version")?;
        self.props.entry_mut("Version").map(|e| e.value = PropertyValue::String(ver));
        let _ = self.cmd("1 1 setunit");
        let _ = self.cmd("1 2 setunit");
        let _ = self.cmd("ge");
        let pos = self.cmd("p")?;
        let (x, y) = Self::parse_xy(&pos)?;
        self.x_um = x;
        self.y_um = y;
        self.initialized = true;
        Ok(())
    }

    fn shutdown(&mut self) -> MmResult<()> { self.initialized = false; Ok(()) }

    fn get_property(&self, name: &str) -> MmResult<PropertyValue> { self.props.get(name).cloned() }
    fn set_property(&mut self, name: &str, val: PropertyValue) -> MmResult<()> { self.props.set(name, val) }
    fn property_names(&self) -> Vec<String> { self.props.property_names().to_vec() }
    fn has_property(&self, name: &str) -> bool { self.props.has_property(name) }
    fn is_property_read_only(&self, name: &str) -> bool {
        self.props.entry(name).map(|e| e.read_only).unwrap_or(false)
    }
    fn device_type(&self) -> DeviceType { DeviceType::XYStage }
    fn busy(&self) -> bool { false }
}

impl XYStage for CorvusXYStage {
    fn set_xy_position_um(&mut self, x: f64, y: f64) -> MmResult<()> {
        self.cmd(&format!("{:.4} {:.4} move", x, y))?;
        self.x_um = x; self.y_um = y;
        Ok(())
    }
    fn get_xy_position_um(&self) -> MmResult<(f64, f64)> { Ok((self.x_um, self.y_um)) }
    fn set_relative_xy_position_um(&mut self, dx: f64, dy: f64) -> MmResult<()> {
        self.cmd(&format!("{:.4} {:.4} rmove", dx, dy))?;
        self.x_um += dx; self.y_um += dy;
        Ok(())
    }
    fn home(&mut self) -> MmResult<()> {
        self.cmd("cal")?; self.x_um = 0.0; self.y_um = 0.0; Ok(())
    }
    fn stop(&mut self) -> MmResult<()> { let _ = self.cmd("abort"); Ok(()) }
    fn get_limits_um(&self) -> MmResult<(f64, f64, f64, f64)> { Ok((-100_000.0, 100_000.0, -100_000.0, 100_000.0)) }
    fn get_step_size_um(&self) -> (f64, f64) { (0.1, 0.1) }
    fn set_origin(&mut self) -> MmResult<()> { self.x_um = 0.0; self.y_um = 0.0; Ok(()) }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::transport::MockTransport;

    fn make_transport() -> MockTransport {
        MockTransport::new()
            .any("OK")             // 0 mode
            .any("Corvus v2.3")    // version
            .any("OK")             // 1 1 setunit
            .any("OK")             // 1 2 setunit
            .any("OK")             // ge
            .any("100.0 200.0")    // p
    }

    #[test]
    fn initialize() {
        let mut s = CorvusXYStage::new().with_transport(Box::new(make_transport()));
        s.initialize().unwrap();
        assert_eq!(s.get_xy_position_um().unwrap(), (100.0, 200.0));
    }

    #[test]
    fn move_absolute() {
        let t = make_transport().any("OK");
        let mut s = CorvusXYStage::new().with_transport(Box::new(t));
        s.initialize().unwrap();
        s.set_xy_position_um(300.0, 400.0).unwrap();
        assert_eq!(s.get_xy_position_um().unwrap(), (300.0, 400.0));
    }

    #[test]
    fn move_relative() {
        let t = make_transport().any("OK");
        let mut s = CorvusXYStage::new().with_transport(Box::new(t));
        s.initialize().unwrap();
        s.set_relative_xy_position_um(10.0, 20.0).unwrap();
        let (x, y) = s.get_xy_position_um().unwrap();
        assert!((x - 110.0).abs() < 1e-9);
        assert!((y - 220.0).abs() < 1e-9);
    }

    #[test]
    fn no_transport_error() { assert!(CorvusXYStage::new().initialize().is_err()); }
}