Add home() function for stages

pystages/corvus.py

@@ -123,6 +123,14 @@ def calibrate(self):
             while int(self.send_receive("{0} getcaldone".format(i + 1))) != 3:
                 time.sleep(0.1)
 
+    def home(self):
+        """
+        Execute limit-switch move.
+        Take caution for collisions before calling this method !
+        """
+        # Call for calibration
+        self.send("cal")
+
     def move_relative(self, x, y, z):
         """
         Move stage relative to current position.

pystages/gui/gui.py

@@ -92,6 +92,9 @@ def __init__(self):
         w = QPushButton("Z-")
         w.clicked.connect(self.bouton_moved)
         grid.addWidget(w, 2, 3)
+        w = QPushButton("Home")
+        w.clicked.connect(self.home)
+        grid.addWidget(w, 2, 2)
         vbox.addLayout(grid)
 
         box = QHBoxLayout()
@@ -135,3 +138,7 @@ def bouton_moved(self):
             pos[2] -= float(self.z_offset_sel.currentText())
             self.stage.move_to(pos)
         self.in_motion = False
+
+    def home(self):
+        if self.stage is None:
+            return

pystages/m3fs.py

@@ -170,3 +170,7 @@ def position(self, value: Vector):
     @property
     def is_moving(self) -> bool:
         return bool(self.__get_closed_loop_status()[0] & 4)
+
+    def home(self):
+        """Nothing specific for the M3FS for homing."""
+        pass

pystages/smc100.py

@@ -278,6 +278,12 @@ def position(self, value: Vector):
             commands.append(f"{addr}PA{position:.5f}")
         self.link.send(None, "\r\n".join(commands))
 
+    def home(self):
+        """
+        Perform home search.
+        """
+        self.home_search()
+
     def home_search(self):
         """
         Perform home search.

pystages/stage.py

@@ -168,3 +168,9 @@ def maximums(self, value: Optional[Vector]):
         if value is not None:
             self.check_dimension(value)
         self._maximums = value
+
+    @property
+    @abstractmethod
+    def home(self):
+        """Triggers a non-blocking homing command."""
+        ...

pystages/tic.py

@@ -187,6 +187,10 @@ def reset(self):
     def exit_safe_start(self):
         self.quick(TicCommand.EXIT_SAFE_START)
 
+    def home(self):
+        """Triggers a Home command without blocking."""
+        self.go_home(TicDirection.REVERSE, False)
+
     def go_home(self, direction: TicDirection, wait: bool = True):
         """
         Run the homing procedure.