error acquiring z-stack without "f" axis

[SJShep]

Bug Description

We are using an ASI MS2000 xyz stage without defining an "f" or "theta" axis. The single acquisition and continuous scan acquisition modes both worked without issues. However, when attempting to acquire a z-stack, we encountered a traceback indicating that there were no active channels selected when programming the DAQ ao waveform. The model debug log further indicated a KeyError related to the microscope configuration.

Steps to Reproduce

1. Set up microscope configuration without an "f" axis mapping.
2. Select at least 1 channel and set at least 2 z positions.
3. Start z-stack acquisition.
4. Observe error.

Expected Behavior
The error should be handled gracefully if no "f" axis exists in the microscope configuration.

**Traceback**
Traceback (most recent call last):
  File "C:\Users\qi2lab\Documents\github\asi_navigate\navigate\src\navigate\model\devices\lasers\laser_ni.py", line 147, in set_power
    self.laser_ao_task.write(scaled_laser_voltage, auto_start=True)
  File "C:\Users\qi2lab\miniconda3\envs\ASInavigate\lib\site-packages\nidaqmx\task.py", line 1169, in write
    channels_to_write = self.channels
  File "C:\Users\qi2lab\miniconda3\envs\ASInavigate\lib\site-packages\nidaqmx\task.py", line 167, in channels
    return Channel._factory(
  File "C:\Users\qi2lab\miniconda3\envs\ASInavigate\lib\site-packages\nidaqmx\_task_modules\channels\channel.py", line 118, in _factory
    check_for_error(error_code)
  File "C:\Users\qi2lab\miniconda3\envs\ASInavigate\lib\site-packages\nidaqmx\errors.py", line 127, in check_for_error
    raise DaqError(error_buffer.value.decode("utf-8"), error_code)
nidaqmx.errors.DaqError: Specified operation cannot be performed when there are no channels in the task.
Task Name: _unnamedTask<4>

Status Code: -200478

Logs and Configurations
model_error.log
model_info.log
model_performance.log
performance.log
view_controller_debug.log
view_controller_info.log
model_debug.log

Microscope configuration (cannot drag and drop)
microscopes:
Nanoscale:
daq:
hardware:
name: Dev2
type: NI

  sample_rate: 100000
  sweep_time: 0.2

  # triggers
  master_trigger_out_line: Dev2/port0/line8
  camera_trigger_out_line: /Dev2/ctr0 # PFI12
  trigger_source: /Dev2/PFI5

  # Digital Laser Outputs
  # TODO We have not added the lasers yet
  laser_port_switcher: Dev2/port0/line0
  laser_switch_state: False

camera:
  hardware:
    name: camera
    type: Photometrics
    serial_number: A17K631096
  x_pixels: 5056.0
  y_pixels: 2960.0
  pixel_size_in_microns: 4.25
  subsampling: [1, 2, 4]
  sensor_mode: Normal
  readout_direction: Bottom-to-Top
  lightsheet_rolling_shutter_width: 608
  defect_correct_mode: 2.0
  binning: 1x1
  readout_speed: 0x7FFFFFFF
  readout_port: 0
  gain: 1
  speed_table_index: 0
  trigger_active: 1.0
  trigger_mode: 1.0
  trigger_polarity: 2.0
  trigger_source: 2.0
  exposure_time: 20
  delay_percent: 25
  pulse_percent: 1
  line_interval: 0.000075
  display_acquisition_subsampling: 4
  average_frame_rate: 4.969
  frames_to_average: 1
  exposure_time_range:
    min: 1
    max: 1000
    step: 1
  unitforlinedelay: 10.26

remote_focus_device:
  hardware:
    name: daq
    type: NI
    channel: Dev2/ao2
    min: 0
    max: 5
  # FIXME: What is this? 
  # Optotune EL-16-40-TC-VIS-5D-1-C
  delay_percent: 0 #1.5 #7.5
  ramp_rising_percent: 85
  ramp_falling_percent: 1.5 #2.5
  amplitude: 0.7
  offset: 2.3
galvo:
  -
    hardware:
      name: daq
      type: NI
      channel: Dev2/ao0
      min: 0
      max: 5
    frequency: 200
    amplitude: 1.5
    offset: 0
    duty_cycle: 50
    phase: 1.57079 # pi/2
filter_wheel:
  hardware:
    name: filter_wheel
    type: NI  #SyntheticFilterWheel
    wheel_number: 1
  filter_wheel_delay: 0.050 # in seconds
  available_filters:
    473nm: Dev2/port0/line1
    561nm: Dev2/port0/line3
    638nm: Dev2/port0/line5
    Empty: Dev2/port0/line7
stage:
  hardware:
    -
      name: stage
      type: MS2000
      serial_number: 1906420147517051597
      axes: [x, y, z] # Software
      axes_mapping: [X, Y, Z] 
      feedback_alignment: [90, 90, 90, 90]
    -
      name: synthetic
      type: SyntheticStage
      serial_number: 123
      axes: [f, theta]
      axes_mapping: [cucumber, xylophone]
      volts_per_micron: None
      axes_channels: None
      max: None
      min: None

  startfocus: -16000
  x_max: 10000 # Swapped from Z
  x_min: -10000 # Swapped from Z
  y_max: 10000
  y_min: -10000
  z_max: 10000 # Swapped from X
  z_min: -10000 # Swapped from X
  f_max: 0.0 #=m
  f_min: -0.0 #=m
  theta_max: 0
  theta_min: 0
  external_trigger: /Dev2/PFI0
  # joystick_axes: [x, y, z, f]

  x_rot_position: 0
  y_rot_position: 0
  z_rot_position: 0

  x_step: 50
  y_step: 50
  z_step: 50
  theta_step: 30
  f_step: 50

  position:
    x_pos: 5 # Swapped from Z initial stage position
    y_pos: 1
    z_pos: 1 # Swapped from X
    f_pos: 0
    theta_pos: 0
  velocity: 1000

  x_offset: 0
  y_offset: 0
  z_offset: 0
  f_offset: 0
  theta_offset: 0
zoom:
  hardware:
    name: zoom
    type: SyntheticZoom
    servo_id: 1
  position:
    N/A: 0
  pixel_size:
    N/A: 0.168
shutter: # we can do this using the DAQ
  hardware:
    name: daq
    type: NI
    channel: Dev2/port0/line9 # 98 slot
    min: 0
    max: 5
lasers:
  # Laser 473 wavelength
  - wavelength: 473
    onoff:
      hardware:
        name: daq
        type: NI
        channel: Dev2/port0/line0
        min: 0
        max: 5
    power:
      hardware:
        name: daq
        type: NI
        channel: Dev2/ao1 
        min: 0
        max: 5
    type: LuxX
    index: 0
    delay_percent: 10
    pulse_percent: 87

  # Laser 561 wavelength
  - wavelength: 561
    onoff:
      hardware:
        name: daq
        type: NI
        channel: Dev2/port0/line4 
        min: 0
        max: 5
    power:
      hardware:
        name: daq
        type: NI
        channel: Dev2/port0/line13
        min: 0
        max: 5
    type: Obis
    index: 1
    delay_percent: 10
    pulse_percent: 87

  # Laser 638 wavelength 
  - wavelength: 638
    onoff:
      hardware:
        name: daq
        type: NI
        channel: Dev2/port0/line6
        min: 0
        max: 5
    power:
      hardware:
        name: daq
        type: NI
        channel: Dev2/ao3
        min: 0
        max: 5
    type: Obis
    index: 1
    delay_percent: 10
    pulse_percent: 87

Resolution
Kevin helped us modified the stage configuration to include a synthetic stage with "f" and "theta" axis.