Add shutter support to camera and update schema

config_schema/camera.schema.json

@@ -31,6 +31,16 @@
         "objective": {
             "type": "number",
             "description": "If there is a optical magnifier, specify the zooming factor of the objective."
+        },
+        "shutter": {
+            "allOf": [
+                {
+                    "$ref": "instrument.schema.json"
+                },
+                {
+                    "description": "A shutter from https://github.com/Ledger-Donjon/shutter-controller."
+                }
+            ]
         }
     },
     "oneOf": [

laserstudio/instruments/camera.py

@@ -4,6 +4,7 @@
 from typing import Optional, Literal, cast
 from ..utils.util import yaml_to_qtransform, qtransform_to_yaml
 from .instrument import Instrument
+from .shutter import ShutterInstrument
 
 
 class CameraInstrument(Instrument):
@@ -39,6 +40,11 @@ def __init__(self, config: dict):
         # Correction matrix
         self.correction_matrix: Optional[QTransform] = None
 
+        # Shutter
+        shutter = config.get("shutter")
+        if shutter is not None:
+            self.shutter = ShutterInstrument(shutter)
+
     def select_objective(self, factor: float):
         """Select an objective with a magnifying factor.
 

laserstudio/instruments/shutter.py

@@ -0,0 +1,23 @@
+from pystages import Tic, TicDirection, Vector
+from .instrument import Instrument
+
+
+class ShutterInstrument(Instrument):
+    def __init__(self, config: dict):
+        super().__init__(config=config)
+        self.tic = Tic()
+        self.tic.exit_safe_start()
+        self.tic.go_home(TicDirection.FORWARD)
+        self.__open = True  # Open after homing
+
+    @property
+    def open(self) -> bool:
+        return self.__open
+
+    @open.setter
+    def open(self, value: bool):
+        if type(value) is not bool:
+            raise ValueError("Expected bool")
+        if value != self.__open:
+            self.tic.position = Vector({False: -106, True: 0}[value])
+            self.__open = value