From 6734cb1b23375a28c8182acfd6f74de05feca68b Mon Sep 17 00:00:00 2001
From: Iva Laginja <iva.laginja@obspm.fr>
Date: Thu, 16 May 2024 15:14:12 +0200
Subject: [PATCH] Add proxy

---
 catkit2/testbed/proxies/__init__.py           |  2 ++
 .../proxies/thorlabs_cube_motor_kinesis.py    | 27 +++++++++++++++++++
 2 files changed, 29 insertions(+)
 create mode 100644 catkit2/testbed/proxies/thorlabs_cube_motor_kinesis.py

diff --git a/catkit2/testbed/proxies/__init__.py b/catkit2/testbed/proxies/__init__.py
index 97c45bb4d..718c02132 100644
--- a/catkit2/testbed/proxies/__init__.py
+++ b/catkit2/testbed/proxies/__init__.py
@@ -6,6 +6,7 @@
     'NewportPicomotorProxy',
     'NiDaqProxy',
     'NktSuperkProxy',
+    'ThorlabsCubeMotorKinesisProxy',
     'WebPowerSwitchProxy'
 ]
 
@@ -16,4 +17,5 @@
 from .newport_picomotor import *
 from .ni_daq import *
 from .nkt_superk import *
+from .thorlabs_cube_motor_kinesis import *
 from .web_power_switch import *
diff --git a/catkit2/testbed/proxies/thorlabs_cube_motor_kinesis.py b/catkit2/testbed/proxies/thorlabs_cube_motor_kinesis.py
new file mode 100644
index 000000000..3a373e0fb
--- /dev/null
+++ b/catkit2/testbed/proxies/thorlabs_cube_motor_kinesis.py
@@ -0,0 +1,27 @@
+from ..service_proxy import ServiceProxy
+
+import numpy as np
+
+
+@ServiceProxy.register_service_interface('thorlabs_cube_motor_kinesis')
+class ThorlabsCubeMotorKinesisProxy(ServiceProxy):
+    def move_absolute(self, position):
+        position = self.resolve_position(position)
+        self.command.submit_data(np.array([position], dtype='float64'))
+
+    def move_relative(self, distance):
+        current_position = self.current_position.get()[0]
+        new_position = current_position + distance
+        self.move_absolute(new_position)
+
+    def resolve_position(self, position_name):
+        if type(position_name) == str:
+            # The position is a named position.
+            position = self.positions[position_name]
+            # The position may still be a named position, so try to resolve deeper.
+            return self.resolve_position(position)
+        else:
+            return position_name
+
+    def positions(self):
+        return self.config['positions']