Use DataActuator objects and better stepper position/step control

src/pymodaq_plugins_smaract/daq_move_plugins/daq_move_SmarActSCUINSA.py

@@ -1,15 +1,17 @@
 
 from typing import Union, List, Dict
 
-from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, main, comon_parameters_fun
+from pymodaq.control_modules.move_utility_classes import DAQ_Move_base, main, comon_parameters_fun, DataActuatorType
 from pymodaq.utils.daq_utils import ThreadCommand
 from easydict import EasyDict as edict
 
 from pymodaq_plugins_smaract.hardware.smaract.scu.scu_wrapper import (get_devices, SCUType, SCUWrapper,
                                                                       SCULinear, SCURotation)
 
+from pymodaq.utils.data import DataActuator
+
 psets: list[SCUType] = get_devices()
-psets_str = [f"Dev. Id{pset.device_id} channel {pset.channel}" for pset in psets]
+psets_str = [f"Dev. Id{pset.device_id} channel {pset.channel} ({pset.scu_type.__name__})" for pset in psets]
 
 
 class DAQ_Move_SmarActSCUINSA(DAQ_Move_base):
@@ -23,6 +25,8 @@ class DAQ_Move_SmarActSCUINSA(DAQ_Move_base):
     is_multiaxes = True
     _axis_names = ['1']
 
+    data_actuator_type = DataActuatorType.DataActuator
+
     params = [
                  {'title': 'Device', 'name': 'device', 'type': 'list','limits': psets_str},
                  {'title': 'Frequency (Hz)', 'name': 'frequency', 'type': 'int', 'value': 1000, 'limits': SCUWrapper.frequency_limits},
@@ -75,7 +79,7 @@ def get_actuator_value(self):
         -------
         float: The position obtained after scaling conversion.
         """
-        position = self.controller.get_position()
+        position = DataActuator(data=self.controller.get_position(), units=self.axis_unit)
         # convert position if scaling options have been used, mandatory here
         position = self.get_position_with_scaling(position)
         #position = self.target_position
@@ -98,7 +102,7 @@ def move_abs(self, position):
         # has been activated by user
         position = self.set_position_with_scaling(position)
 
-        self.controller.move_abs(position)
+        self.controller.move_abs(position.value())
 
     def move_rel(self, position):
         """
@@ -112,7 +116,7 @@ def move_rel(self, position):
         self.target_position = position + self.current_position
         position = self.set_position_relative_with_scaling(position)
 
-        self.controller.move_rel(position)
+        self.controller.move_rel(position.value())
 
     def move_home(self):
         """

src/pymodaq_plugins_smaract/hardware/smaract/scu/scu_wrapper.py

@@ -15,7 +15,7 @@ def __init__(self, id: int, scu_type, channel: int):
         self.channel = channel
 
     def __repr__(self):
-        return f'SN: {self.device_id}, type:{self.scu_type}, channel: {self.channel}'
+        return f'SN: {self.device_id}, type:{self.scu_type.__name__}, channel: {self.channel}'
 
 
 def get_devices():
@@ -82,8 +82,7 @@ def __init__(self):
         self.hold_time = 0
         self._amplitude = 100    #between 15 and 100
         self._frequency = 440  #between 1 and 18500
-        self._steps = 0      #between -30000 and 30000
-
+        self._position = 0 #between -30000 and 30000
 
 
     @property
@@ -167,8 +166,8 @@ def move_rel(self, n_steps : int):
                         so the value will be converted accordingly
              - frequency: Frequency in Hz that the steps are performed with
         """
-        self.steps += n_steps
         bindings.MoveStep_S(self.device_index, self.channel_index, int(n_steps), self.amplitude*10, self.frequency)
+        self._position += int(n_steps)
 
     def move_abs(self, steps):
         """
@@ -185,8 +184,9 @@ def move_abs(self, steps):
              - frequency: Frequency in Hz that the steps are performed with
         """
 
-        self.steps = steps - self.steps
-        bindings.MoveStep_S(self.device_index, self.channel_index, int(self.steps), self.amplitude*10, self.frequency)
+        n_steps = int(steps - self._position)
+        bindings.MoveStep_S(self.device_index, self.channel_index, n_steps, self.amplitude*10, self.frequency)
+        self._position = steps
 
 
     def get_position(self) -> float:
@@ -202,7 +202,7 @@ def get_position(self) -> float:
              - position: Buffer for the current position given in steps
             meters
         """
-        return self._steps
+        return self._position
 
 
     def stop(self):