Enum Action 

pub enum Action {
    ReadSignal {
        signal: Signal,
        wait_for_newest: bool,
    },
    ReadSignals {
        signals: Vec<Signal>,
        wait_for_newest: bool,
    },
    ReadSignalNames,
    ReadBias,
    SetBias {
        voltage: f32,
    },
    ReadOsci {
        signal: Signal,
        trigger: Option<TriggerConfig>,
        data_to_get: DataToGet,
        is_stable: Option<fn(&[f64]) -> bool>,
    },
    ReadPiezoPosition {
        wait_for_newest_data: bool,
    },
    SetPiezoPosition {
        position: Position,
        wait_until_finished: bool,
    },
    MovePiezoRelative {
        delta: Position,
    },
    MoveMotorAxis {
        direction: MotorDirection,
        steps: u16,
        blocking: bool,
    },
    MoveMotor3D {
        displacement: MotorDisplacement,
        blocking: bool,
    },
    MoveMotorClosedLoop {
        target: Position3D,
        mode: MovementMode,
    },
    StopMotor,
    AutoApproach {
        wait_until_finished: bool,
        timeout: Duration,
        center_freq_shift: bool,
    },
    Withdraw {
        wait_until_finished: bool,
        timeout: Duration,
    },
    SafeReposition {
        x_steps: i16,
        y_steps: i16,
    },
    SetZSetpoint {
        setpoint: f32,
    },
    ScanControl {
        action: ScanAction,
    },
    ReadScanStatus,
    BiasPulse {
        wait_until_done: bool,
        pulse_width: Duration,
        bias_value_v: f32,
        z_controller_hold: u16,
        pulse_mode: u16,
    },
    TipShaper {
        config: TipShaperConfig,
        wait_until_finished: bool,
        timeout: Duration,
    },
    PulseRetract {
        pulse_width: Duration,
        pulse_height_v: f32,
    },
    Wait {
        duration: Duration,
    },
    Store {
        key: String,
        action: Box<Action>,
    },
    Retrieve {
        key: String,
    },
    StartTCPLogger,
    StopTCPLogger,
    GetTCPLoggerStatus,
    ConfigureTCPLogger {
        channels: Vec<i32>,
        oversampling: i32,
    },
    CheckTipState {
        method: TipCheckMethod,
    },
    CheckTipStability {
        method: TipStabilityMethod,
        max_duration: Duration,
    },
    ReadStableSignal {
        signal: Signal,
        data_points: Option<usize>,
        use_new_data: bool,
        stability_method: SignalStabilityMethod,
        timeout: Duration,
        retry_count: Option<u32>,
    },
    ReachedTargedAmplitude,
}

Enhanced Action enum representing all possible SPM operations Properly separates motor (step-based) and piezo (continuous) movements

Variants

ReadSignal

Read single signal value

Fields

signal: Signal

wait_for_newest: bool

ReadSignals

Read multiple signal values

Fields

signals: Vec<Signal>

wait_for_newest: bool

ReadSignalNames

Read all available signal names

ReadBias

Read current bias voltage

SetBias

Set bias voltage to specific value

Fields

voltage: f32

ReadOsci

Fields

signal: Signal

trigger: Option<TriggerConfig>

data_to_get: DataToGet

is_stable: Option<fn(&[f64]) -> bool>

ReadPiezoPosition

Read current piezo position (continuous coordinates)

Fields

wait_for_newest_data: bool

SetPiezoPosition

Set piezo position (absolute)

Fields

position: Position

wait_until_finished: bool

MovePiezoRelative

Move piezo position (relative to current)

Fields

delta: Position

MoveMotorAxis

Move motor along a single axis (discrete positioning)

Fields

direction: MotorDirection

steps: u16

blocking: bool

MoveMotor3D

Move motor in 3D space with single displacement vector

Fields

displacement: MotorDisplacement

blocking: bool

MoveMotorClosedLoop

Move motor using closed-loop to target position

Fields

target: Position3D

mode: MovementMode

StopMotor

Stop all motor movement

AutoApproach

Perform auto-approach with timeout

Fields

wait_until_finished: bool

timeout: Duration

center_freq_shift: bool

If true, center the frequency shift before starting auto-approach

Withdraw

Withdraw tip with timeout

Fields

wait_until_finished: bool

timeout: Duration

SafeReposition

Safely reposition tip: withdraw → move → approach → stabilize

Fields

x_steps: i16

y_steps: i16

SetZSetpoint

Set Z-controller setpoint

Fields

setpoint: f32

ScanControl

Control scan operations

Fields

action: ScanAction

ReadScanStatus

Read scan status

BiasPulse

Execute bias pulse with parameters

Fields

wait_until_done: bool

pulse_width: Duration

bias_value_v: f32

z_controller_hold: u16

pulse_mode: u16

TipShaper

Full tip shaper control with all parameters

Fields

config: TipShaperConfig

wait_until_finished: bool

timeout: Duration

PulseRetract

Simple pulse-retract with predefined safe values

Fields

pulse_width: Duration

pulse_height_v: f32

Wait

Wait for a specific duration

Fields

duration: Duration

Store

Store result value with key for later retrieval

Fields

key: String

action: Box<Action>

Retrieve

Retrieve previously stored value

Fields

key: String

StartTCPLogger

Start TCP logger (must be configured first)

StopTCPLogger

Stop TCP logger

GetTCPLoggerStatus

Get TCP logger status and configuration

ConfigureTCPLogger

Configure TCP logger channels and oversampling

Fields

channels: Vec<i32>

oversampling: i32

CheckTipState

Check tip state using specified method (non-invasive)

Fields

method: TipCheckMethod

CheckTipStability

Check tip stability using potentially invasive methods WARNING: This action may damage the tip through bias sweeps or extended testing

Fields

method: TipStabilityMethod

max_duration: Duration

ReadStableSignal

Get a stable signal value using TCP logger data and stability analysis

Fields

signal: Signal

data_points: Option<usize>

use_new_data: bool

stability_method: SignalStabilityMethod

timeout: Duration

retry_count: Option<u32>

ReachedTargedAmplitude

Check if oscillation amplitude is reached

Implementations

impl Action

pub fn is_positioning_action(&self) -> bool

Check if this is a positioning action

pub fn is_read_action(&self) -> bool

Check if this is a read-only action

pub fn is_control_action(&self) -> bool

Check if this is a control action

pub fn modifies_bias(&self) -> bool

Check if this action modifies bias voltage

pub fn involves_motor(&self) -> bool

Check if this action involves motor movement

pub fn involves_piezo(&self) -> bool

Check if this action involves piezo movement

pub fn description(&self) -> String

Get a human-readable description of the action

Trait Implementations

impl Clone for Action

fn clone(&self) -> Action

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Action

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl From<Action> for ActionRequest

fn from(action: Action) -> Self

Converts to this type from the input type.

impl FromIterator<Action> for ActionChain

fn from_iter<T: IntoIterator<Item = Action>>(iter: T) -> Self

Creates a value from an iterator.