cgse 2023.38.0__py3-none-any.whl → 2024.1.4__py3-none-any.whl

egse/hexapod/symetrie/puna_ui.py

@@ -1,434 +0,0 @@
-"""
-A Graphical User Interface for monitoring and commanding the Symétrie Hexapod.
-
-Start the GUI from your terminal as follows:
-
-    puna_ui [--type proxy|direct|simulator]
-
-This GUI is based on the SYM_positioning application from Symétrie. The intent
-is to provide operators a user interface which is platform independent, but
-familiar.
-
-The application is completely written in Python/Qt5 and can therefore run on any
-platform that supports Python and Qt5.
-
-"""
-import argparse
-import logging
-import multiprocessing
-import sys
-import threading
-from enum import IntEnum
-from pathlib import Path
-
-from PyQt5.QtCore import QLockFile
-
-from egse.hexapod.symetrie import ControllerFactory
-from egse.hexapod.symetrie import ProxyFactory
-from egse.hexapod.symetrie import get_hexapod_controller_pars
-from egse.hexapod.symetrie.punaplus import PunaPlusController
-from egse.hexapod.symetrie.punaplus import PunaPlusProxy
-
-multiprocessing.current_process().name = "puna_ui"
-
-from PyQt5.QtGui import QIcon
-from PyQt5.QtWidgets import QApplication, QMessageBox
-from PyQt5.QtWidgets import QFrame
-from PyQt5.QtWidgets import QHBoxLayout
-from PyQt5.QtWidgets import QVBoxLayout
-from prometheus_client import start_http_server
-
-from egse.gui import show_warning_message
-from egse.gui.led import Indic
-from egse.gui.states import States
-from egse.hexapod.symetrie.hexapod_ui import ActuatorStates
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIController
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIModel
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIView
-from egse.hexapod.symetrie.puna import PunaProxy
-from egse.hexapod.symetrie.puna import PunaSimulator
-from egse.process import ProcessStatus
-from egse.resource import get_resource
-from egse.settings import Settings
-from egse.system import do_every
-
-MODULE_LOGGER = logging.getLogger(__name__)
-
-
-class DeviceControllerType(IntEnum):
-    ALPHA = 0
-    ALPHA_PLUS = 1
-
-
-DCT = DeviceControllerType
-
-
-# Status LEDs define the number of status leds (length of the list), the description and the
-# default color when the LED is on.
-
-STATUS_LEDS_ALPHA = [
-    ["Error", Indic.RED],  # bit 0
-    ["System Initialized", Indic.GREEN],  # bit 1
-    ["In position", Indic.GREEN],  # bit 2
-    ["Amplifier enabled", Indic.GREEN],  # bit 3
-    ["Homing done", Indic.GREEN],  # bit 4
-    ["Brake on", Indic.GREEN],  # bit 5
-    ["Emergency stop", Indic.ORANGE],  # bit 6
-    ["Warning FE", Indic.ORANGE],  # bit 7
-    ["Fatal FE", Indic.RED],  # bit 8
-    ["Actuator Limit Error", Indic.RED],  # bit 9
-    ["Amplifier Error", Indic.RED],  # bit 10
-    ["Encoder error", Indic.RED],  # bit 11
-    ["Phasing error", Indic.RED],  # bit 12
-    ["Homing error", Indic.RED],  # bit 13
-    ["Kinematic error", Indic.RED],  # bit 14
-    ["Abort input error", Indic.RED],  # bit 15
-    ["R/W memory error", Indic.RED],  # bit 16
-    ["Temperature error", Indic.RED],  # bit 17
-    ["Homing done (virtual)", Indic.ORANGE],  # bit 18
-    ["Encoders power off", Indic.ORANGE],  # bit 19
-    ["Limit switches power off", Indic.ORANGE],  # bit 20
-    ["Reserved", Indic.BLACK],  # bit 21
-    ["Reserved", Indic.BLACK],  # bit 22
-    ["Reserved", Indic.BLACK],  # bit 23
-]
-
-STATUS_LEDS_ALPHA_PLUS = [
-    ["Error", Indic.RED],  # bit 0
-    ["System Initialized", Indic.GREEN],  # bit 1
-    ["Control On", Indic.GREEN],  # bit 2
-    ["In Position", Indic.GREEN],  # bit 3
-    ["Motion Task Running", Indic.GREEN],  # bit 4
-    ["Home Task Running", Indic.GREEN],  # bit 5
-    ["Home Complete", Indic.GREEN],  # bit 6
-    ["Home Virtual", Indic.GREEN],  # bit 7
-    ["Phase Found", Indic.GREEN],  # bit 8
-    ["Brake on", Indic.GREEN],  # bit 9
-    ["Motion Restricted", Indic.RED],  # bit 10
-    ["Power on Encoders", Indic.GREEN],  # bit 11
-    ["Power on Limit switches", Indic.GREEN],  # bit 12
-    ["Power on Drives", Indic.GREEN],  # bit 13
-    ["Emergency Stop", Indic.RED],  # bit 14
-]
-
-STATUS_LEDS = {
-    DCT.ALPHA: STATUS_LEDS_ALPHA,
-    DCT.ALPHA_PLUS: STATUS_LEDS_ALPHA_PLUS
-}
-
-# The index of the Control LED
-
-CONTROL_ONOFF = {
-    DCT.ALPHA: 3,
-    DCT.ALPHA_PLUS: 2
-}
-
-ACTUATOR_STATE_LABELS_ALPHA = [
-    "In position",
-    "Control loop on servo motors active",
-    "Homing done",
-    "Input “Home switch”",
-    "Input “Positive limit switch”",
-    "Input “Negative limit switch”",
-    "Brake control output",
-    "Following error (warning)",
-    "Following error",
-    "Actuator out of bounds error",
-    "Amplifier error",
-    "Encoder error",
-    "Phasing error (brushless engine only)",
-]
-
-ACTUATOR_STATE_LABELS_ALPHA_PLUS = [
-    "Error: ",
-    "Control On: ",
-    "In Position: ",
-    "Motion Task Running: ",
-    "Home task running: ",
-    "Home complete: ",
-    "Phase found: ",
-    "Brake on: ",
-    "Home HW input: ",
-    "Negative HW limit switch: ",
-    "Positive HW limit switch: ",
-    "SW limit reached: ",
-    "Following Error: ",
-    "Drive fault: ",
-    "Encoder error: ",
-]
-
-ACTUATOR_STATE_LABELS = {
-    DCT.ALPHA: ACTUATOR_STATE_LABELS_ALPHA,
-    DCT.ALPHA_PLUS: ACTUATOR_STATE_LABELS_ALPHA_PLUS
-}
-
-GUI_SETTINGS = Settings.load("PUNA GUI")
-
-
-class PunaUIView(HexapodUIView):
-    def __init__(self, device_controller_type: DCT, device_id: str):
-        super().__init__()
-
-        self.dct = device_controller_type
-
-        if self.dct == DCT.ALPHA:
-            title = f"Hexapod PUNA Controller (Alpha) – {device_id}"
-        else:
-            title = f"Hexapod PUNA Controller (Alpha+) – {device_id}"
-
-        self.setWindowTitle(title)
-        self.actuator_states = ActuatorStates(labels=ACTUATOR_STATE_LABELS[self.dct])
-
-        self.init_gui()
-
-    def init_gui(self):
-
-        # The main frame in which all the other frames are located, the outer Application frame
-
-        app_frame = QFrame()
-        app_frame.setObjectName("AppFrame")
-
-        # The left part which shows the states and positions
-
-        status_frame = QFrame()
-        status_frame.setObjectName("StatusFrame")
-
-        # The right part which has tabs that allow settings, movements, maintenance etc.
-
-        tabs_frame = QFrame()
-        tabs_frame.setObjectName("TabsFrame")
-
-        # The states of the Hexapod (contains all the leds)
-
-        states_frame = QFrame()
-        states_frame.setObjectName("StatesFrame")
-
-        # The user, machine positions and actuator lengths
-
-        positions_frame = QFrame()
-        positions_frame.setObjectName("PositionsFrame")
-
-        hbox = QHBoxLayout()
-        vbox_left = QVBoxLayout()
-        vbox_right = QVBoxLayout()
-
-        self.createToolbar()
-        self.createStatusBar()
-
-        self.states = States(STATUS_LEDS[self.dct])
-
-        user_positions_widget = self.createUserPositionWidget()
-        mach_positions_widget = self.createMachinePositionWidget()
-        actuator_length_widget = self.createActuatorLengthWidget()
-
-        vbox_right.addWidget(user_positions_widget)
-        vbox_right.addWidget(mach_positions_widget)
-        vbox_right.addWidget(actuator_length_widget)
-
-        positions_frame.setLayout(vbox_right)
-
-        vbox_left.addWidget(self.states)
-
-        states_frame.setLayout(vbox_left)
-
-        hbox.addWidget(states_frame)
-        hbox.addWidget(positions_frame)
-
-        status_frame.setLayout(hbox)
-
-        tabbed_widget = self.create_tabbed_widget()
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(tabbed_widget)
-        tabs_frame.setLayout(hbox)
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(status_frame)
-        hbox.addWidget(tabs_frame)
-
-        app_frame.setLayout(hbox)
-
-        self.setCentralWidget(app_frame)
-
-    def update_status_bar(self, message=None, mode=None, timeout=2000):
-        if message:
-            self.statusBar().showMessage(message, msecs=timeout)
-        if mode:
-            self.mode_label.setStyleSheet(
-                f"border: 0; " f"color: {'red' if 'Simulator' in mode else 'black'};"
-            )
-            self.mode_label.setText(f"mode: {mode}")
-        self.statusBar().repaint()
-
-    def updatePositions(self, userPositions, machinePositions, actuatorLengths):
-
-        if userPositions is None:
-            MODULE_LOGGER.warning("no userPositions passed into updatePositions(), returning.")
-            return
-
-        for upos in range(len(self.user_positions)):
-            try:
-                self.user_positions[upos][1].setText(f"{userPositions[upos]:10.4f}")
-            except IndexError:
-                MODULE_LOGGER.error(f"IndexError in user_positions, upos = {upos}")
-
-        if machinePositions is None:
-            MODULE_LOGGER.warning("no machinePositions passed into updatePositions(), returning.")
-            return
-
-        for mpos in range(len(self.mach_positions)):
-            self.mach_positions[mpos][1].setText(f"{machinePositions[mpos]:10.4f}")
-
-        if actuatorLengths is None:
-            MODULE_LOGGER.warning("no actuatorLengths passed into updatePositions(), returning.")
-            return
-
-        for idx, alen in enumerate(self.actuator_lengths):
-            alen[1].setText(f"{actuatorLengths[idx]:10.4f}")
-
-    def updateStates(self, states):
-
-        if states is None:
-            return
-
-        self.updateControlButton(states[CONTROL_ONOFF[self.dct]])
-        self.states.set_states(states)
-
-    def updateControlButton(self, flag):
-
-        self.control.set_selected(on=flag)
-
-
-class PunaUIModel(HexapodUIModel):
-    def __init__(self, connection_type):
-
-        hostname, port, dev_id, dev_name, _ = get_hexapod_controller_pars()
-        if connection_type == "proxy":
-            device = ProxyFactory().create(dev_name, device_id=dev_id)
-        elif connection_type == "direct":
-            device = ControllerFactory().create(dev_name, device_id=dev_id)
-            device.connect()
-        elif connection_type == "simulator":
-            device = PunaSimulator()
-        else:
-            raise ValueError(
-                f"Unknown type of Hexapod implementation passed into the model: {connection_type}"
-            )
-
-        super().__init__(connection_type, device)
-
-        self._device_id = dev_id
-
-        if device is not None:
-            MODULE_LOGGER.debug(f"Hexapod initialized as {device.__class__.__name__}")
-
-    @property
-    def device_id(self):
-        return self._device_id
-
-    def get_device_controller_type(self) -> DCT:
-        return DCT.ALPHA_PLUS if isinstance(self.device, (PunaPlusProxy, PunaPlusController)) else DCT.ALPHA
-
-    def get_speed(self):
-        vt, vr, vt_min, vr_min, vt_max, vr_max = self.device.get_speed()
-        return vt, vr
-
-
-class PunaUIController(HexapodUIController):
-    def __init__(self, model: PunaUIModel, view: PunaUIView):
-        super().__init__(model, view)
-        self.set_help_topic_home("puna_ui")
-
-    def update_values(self):
-
-        super().update_values()
-
-        # Add here any updates to PUNA specific widgets
-
-
-def parse_arguments():
-    """
-    Prepare the arguments that are specific for this application.
-    """
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "--type",
-        dest="type",
-        action="store",
-        choices={"proxy", "simulator", "direct"},
-        help="Specify Hexapod implementation you want to connect to.",
-        default="proxy",
-    )
-    parser.add_argument(
-        "--profile",
-        default=False,
-        action="store_true",
-        help="Enable info logging messages with method profile information.",
-    )
-    return parser.parse_args()
-
-
-def main():
-    lock_file = QLockFile(str(Path("~/puna_ui.app.lock").expanduser()))
-
-    styles_location = get_resource(":/styles/default.qss")
-    app_logo = get_resource(":/icons/logo-puna.svg")
-
-    args = list(sys.argv)
-    args[1:1] = ["-stylesheet", str(styles_location)]
-    app = QApplication(args)
-    app.setWindowIcon(QIcon(str(app_logo)))
-
-    if lock_file.tryLock(100):
-
-        process_status = ProcessStatus()
-
-        timer_thread = threading.Thread(target=do_every, args=(10, process_status.update))
-        timer_thread.daemon = True
-        timer_thread.start()
-
-        start_http_server(GUI_SETTINGS.METRICS_PORT)
-
-        args = parse_arguments()
-
-        if args.profile:
-            Settings.set_profiling(True)
-
-        if args.type == "proxy":
-            *_, device_id, device_name, _ = get_hexapod_controller_pars()
-            factory = ProxyFactory()
-            proxy = factory.create(device_name, device_id=device_id)
-            if not proxy.ping():
-                description = "Could not connect to Hexapod Control Server"
-                info_text = (
-                    "The GUI will start, but the connection button will show a disconnected state. "
-                    "Please check if the Control Server is running and start the server if needed. "
-                    "Otherwise, check if the correct HOSTNAME for the control server is set in the "
-                    "Settings.yaml "
-                    "configuration file."
-                )
-
-                show_warning_message(description, info_text)
-
-        model = PunaUIModel(args.type)
-        view = PunaUIView(model.get_device_controller_type(), model.device_id)
-        PunaUIController(model, view)
-
-        view.show()
-
-        return app.exec_()
-    else:
-        error_message = QMessageBox()
-        error_message.setIcon(QMessageBox.Warning)
-        error_message.setWindowTitle("Error")
-        error_message.setText("The Puna GUI application is already running!")
-        error_message.setStandardButtons(QMessageBox.Ok)
-
-        return error_message.exec()
-
-
-if __name__ == "__main__":
-
-    logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
-
-    sys.exit(main())

egse/hexapod/symetrie/punaplus.py

@@ -1,107 +0,0 @@
-from egse.hexapod.symetrie import ControllerFactory
-from egse.hexapod.symetrie import ProxyFactory
-from egse.hexapod.symetrie import get_hexapod_controller_pars
-from egse.hexapod.symetrie.dynalpha import AlphaPlusControllerInterface
-from egse.hexapod.symetrie.dynalpha import AlphaPlusTelnetInterface
-from egse.mixin import DynamicCommandMixin
-from egse.proxy import DynamicProxy
-from egse.settings import Settings
-from egse.zmq_ser import connect_address
-
-CTRL_SETTINGS = Settings.load("Hexapod PUNA Control Server")
-
-
-class PunaPlusInterface(AlphaPlusControllerInterface):
-    """
-    Interface definition for the PunaPlusController and the PunaPlusProxy.
-    """
-
-
-class PunaPlusController(PunaPlusInterface, DynamicCommandMixin):
-    def __init__(self, hostname: str = "127.0.0.1", port: int = 23):
-        self.transport = self.device = AlphaPlusTelnetInterface(hostname, port)
-        self.hostname = hostname
-        self.port = port
-
-        super().__init__()
-
-    def get_controller_type(self):
-        return "ALPHA+"
-
-    def is_simulator(self):
-        return False
-
-    def is_connected(self):
-        return self.device.is_connected()
-
-    def connect(self):
-        self.device.connect()
-
-    def disconnect(self):
-        self.device.disconnect()
-
-    def reconnect(self):
-        if self.is_connected():
-            self.disconnect()
-        self.connect()
-
-
-class PunaPlusProxy(DynamicProxy, PunaPlusInterface):
-    """
-    The PunaPlusProxy class is used to connect to the control server and send commands to the
-    Hexapod PUNA remotely. The devce controller for that PUNA hexapod is a Alpha+ controller.
-    """
-
-    def __init__(
-        self,
-        protocol=CTRL_SETTINGS.PROTOCOL,
-        hostname=CTRL_SETTINGS.HOSTNAME,
-        port=CTRL_SETTINGS.COMMANDING_PORT,
-    ):
-        """
-        Args:
-            protocol: the transport protocol [default is taken from settings file]
-            hostname: location of the control server (IP address) [default is taken from settings
-            file]
-            port: TCP port on which the control server is listening for commands [default is
-            taken from settings file]
-        """
-        super().__init__(connect_address(protocol, hostname, port))
-
-
-if __name__ == "__main__":
-
-    from egse.hexapod.symetrie.puna import PunaProxy
-
-    # The following imports are needed for the isinstance() to work
-    from egse.hexapod.symetrie.punaplus import PunaPlusProxy
-    from egse.hexapod.symetrie.punaplus import PunaPlusController
-
-    print()
-
-    *_, device_id, device_name, _ = get_hexapod_controller_pars()
-    print(f"{device_name = }, {device_id = }")
-
-    factory = ProxyFactory()
-    proxy = factory.create(device_name, device_id="1A")
-    assert isinstance(proxy, PunaProxy)
-
-    proxy = factory.create(device_name, device_id="2B")
-    assert isinstance(proxy, PunaPlusProxy)
-
-    print(proxy.info())
-
-    factory = ControllerFactory()
-
-    device = factory.create("PUNA", device_id="H_2B")
-    device.connect()
-    assert isinstance(device, PunaPlusController)
-
-    print(device.info())
-
-    device = factory.create("ZONDA")
-    device.connect()
-
-    print(device.info())
-
-    device.disconnect()