cgse 2024.7.0__py3-none-any.whl → 2025.0.2__py3-none-any.whl

egse/gimbal/__init__.py

@@ -1,32 +0,0 @@
-"""
-The Gimbal package provides the components to interact with the gimbal of
-Symétrie, i.e.
-
-* The Gimbal commanding concept with Command, and CommandProtocol
-* The client server access through Proxy and ControlServer
-* The interface to the hardware controller: HexapodController and its simulator
-
-This package also contains the Gimbal GUI which can be used to monitor the
-gimbal positions in different reference frames and apply simple movements.
-
-"""
-
-
-class GimbalError(Exception):
-    """A Gimbal specific error."""
-    pass
-
-
-# These are the classes and function that we would like to export. This is mainly
-# to simplify import statements in scripts. The user can now use the following:
-#
-#    >>> from egse.gimbal import GimbalProxy
-#
-# while she previously had to import the class as follows:
-#
-#    >>> from egse.gimbal.gimbalProxy import GimbalProxy
-#
-
-__all__ = [
-    'GimbalError',
-]

egse/gimbal/symetrie/__init__.py

@@ -1,26 +0,0 @@
-"""
-Device control for the Symétrie's Gimbal
-
-This package contains the modules and classes to work with the gimbal from [Symétrie](www.symetrie.fr).
-
-The main entry point for the user of this package is through the terminal commands to start the
-control server for the gimbal, along with the corresponding interactive GUI.
-
-The following command starts the control server for the Gimbal in the background:
-
-    $ gimbal_cs start-bg
-
-The GUI can be started with the following command:
-
-    $ gimbal_ui
-
-For developers, the `GimbalProxy` class is the main interface to command the
-hardware.
-
-    >>> from egse.gimbal.symetrie.gimbal import GimbalProxy
-    >>> gimbal = GimbalProxy()
-
-This class will connect to its control server and provide all commands to
-control the gimbal and monitor its position and status.
-
-"""

egse/gimbal/symetrie/alpha.py

@@ -1,586 +0,0 @@
-from egse.decorators import dynamic_interface
-
-
-class AlphaControllerInterface:
-    @dynamic_interface
-    def info(self):
-        """Returns basic information about the gimbal and the controller.
-
-        Returns:
-            a multiline response message containing the device info.
-        Raises:
-            GimbalError: when information can not be retrieved.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def reset(self, wait=True):
-        """Completely resets the Gimbal hardware controller with the standard boot cycle.
-
-        Args:
-            wait (bool): after the reset command has been sent to the controller, wait
-                for 30 seconds which should complete the cycle, i.e. this command will
-                only return after 30 seconds.
-
-        .. Note::
-           This command is equivalent to power cycling the controller manually.
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def homing(self):
-        """Start the homing cycle for the Gimbal.
-
-        Homing is required before performing a control movement. Without absolute encoders,
-        the homing is performed with a gimbal movement until detecting the reference sensor
-        on each of the actuators. The Gimbal will go to a position were the sensors are
-        reached that signal a known calibrated position and then returns to the zero position.
-
-        Whenever a homing is performed, the method will return before the actual movement
-        is finished.
-
-        The homing cycle takes about two minutes to complete, but the ``homing()`` method
-        returns almost immediately. Therefore, to check if the homing is finished, use
-        the is_homing_done() method.
-
-        Returns:
-            0 on success.
-        Raises:
-            GimbalError: when there is a time out or when there is a communication error with
-            the gimbal.
-        """
-        raise NotImplementedError
-
-    #
-    # Gimbal does not support virtual homing
-    #
-    # @dynamic_interface
-    # def set_virtual_homing(self, tx, ty, tz, rx, ry, rz):
-
-
-    @dynamic_interface
-    def stop(self):
-        """Stop the current motion. This command can be send during a motion of the Gimbal.
-
-        Returns:
-            0 on success.
-        Raises:
-            GimbalError: when there is a time out or when there is a communication error with
-            the gimbal.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def clear_error(self):
-        """Clear all errors in the controller software.
-
-        Returns:
-            0 on success.
-        Raises:
-            GimbalError: when there is Time-Out or when there is a communication error with the
-            gimbal.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def activate_control_loop(self):
-        """Activates the control loop on motors.
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-        Raises:
-            GimbalError: when there is a time out or when there is a communication error with
-            the gimbal
-                hardware controller.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def deactivate_control_loop(self):
-        """Disables the control loop on the servo motors.
-
-        Returns:
-            0 on success.
-        Raises:
-            GimbalError: when there is a time out or when there is a communication error with
-            the gimbal.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def jog(self, axis: int, inc: float) -> int:
-        """Perform a JOG-type movement on the specified actuator.
-
-        .. note::
-            This is a maintenance feature.
-
-        Args:
-            axis (int): number of the actuator (1 to 2)
-            inc (float): increment to achieve in [deg]
-        Returns:
-            0 on success, -1 if command was ignored due to non-compliance.
-        Raises:
-            GimbalError: when there is a time out or when there is a communication error with
-            the gimbal.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_debug_info(self):
-        """
-        Request debug information from the Gimbal Controller.
-
-        The method returns four values that represent the following status:
-
-        1. ``Homing``: state of the homing
-        2. ``PosRef``: state of the Position Reference command
-        3. ``KinError``: error in kinematic calculation
-        4. ``Panel``: Panel state
-
-        Note many of these codes overlap PUNA's debug codes. These have been
-        thoroughly reviewed before defining the interface.
-
-        The Homing can take the following values:
-
-            =====     ==================
-            Value     Meaning
-            =====     ==================
-            0         Undefined
-            1         Homing in progress
-            2         Homing done
-            3         Error
-            =====     ==================
-
-        The PosRef can take the following values:
-
-            =======     =====================
-             Value       Meaning
-            =======     =====================
-               0         Undefined
-               1         Abort input error
-               2         Movement in progress
-               3         Position reached
-               4         Error
-            =======     =====================
-
-        The KinError can take the following values:
-
-            =======     ===============================================
-             Value       Meaning
-            =======     ===============================================
-               0         none
-               1         Homing not done
-               2         Inverse kinematic model (MGI) – workspace
-               3         Inverse kinematic model (MGI) – joint angle
-               4         Forward kinematic model (MGD) – workspace
-               5         Forward kinematic model (MGD) – max iteration
-               6         Position calculation (PLCC) – workspace
-               7         Position calculation (PLCC) – max iteration.
-            =======     ===============================================
-
-        The Panel status can take the following values:
-
-            ======   ===============
-            Index       Command
-            ======   ===============
-            -2       Command error
-            -1       Ignored / Command not allowed
-            **0**       **None**
-            1        Homing
-            2        Stop
-            3        Control ON
-            4        Control OFF
-            10       Valid POS
-            11       Move
-            12       Sequence
-            13       Specific POS
-            15       Clear Error
-              **Family “Set config”**
-            ------------------------
-            21       Config CS
-            22       Config Limits_mTn
-            23       Config Limits_uTo
-            24       Config Limits_Enabled
-            25       Config Speed
-            26       Config Current
-            27       Config Backlash
-              **Family “Get config”**
-            ------------------------
-            31       Config CS
-            32       Config Limits_mTn
-            33       Config Limits_uTo
-            34       Config Limits_Enabled
-            35       Config Speed
-            36       Config Current
-            37       Config Backlash
-              **Family “Maintenance”**
-            ------------------------
-            41       Jog
-            50       Config Save
-            51       Config Default
-            52       Config Saved?
-            55       Version
-            ======   ===============
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def configure_offsets(self, grx, gry):
-        """
-        Changes the definition of offsets. This is the Gimbal's equivalent of changing the
-        PUNA's coordinate system.
-
-        The parameters grx and gry are used to define axes offsets. The position with
-        offset is named Position or User position. The position without offset is named
-        Machine position.
-
-        Args:
-            grx (float): offset on the Rx axis [deg]
-            gry (float): offset on the Ry axis [deg]
-
-        Returns:
-            0 on success and -1 when the configuration is ignored, e.g. when password protection
-            is enabled.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_offsets(self):
-        """Retrieve the definition of the gimbal offsets.
-
-        Returns:
-            grx and gry in [deg].
-        Raises:
-            GimbalError: when an error occurred while trying to retrieve the information.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def move_absolute(self, grx, gry):
-        """Rotates the gimbal in both axes, absolute coordinates.
-
-        Args:
-            grx (float): rotation around the X-axis [deg]
-            gry (float): rotation around the Y-axis [deg]
-
-        Returns:
-            return_code: 0 on success, -1 when ignored, -2 on error
-
-        Raises:
-            GimbalError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        .. note::
-           When the command was not successful, this method will query the
-           POSVALID? using the checkAbsolutePosition() and print a summary
-           of the error messages to the log file.
-
-        .. todo::
-           do we want to check if the movement is valid before actually performing
-           the movement?
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def move_relative(self, grx, gry):
-        """Move the gimbal relative to its current position.
-
-        Args:
-            grx (float): rotation around the X-axis [deg]
-            gry (float): rotation around the Y-axis [deg]
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-
-        Raises:
-            GimbalError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        .. todo:: do we want to check if the movement is valid before actually performing
-                  the movement?
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def check_absolute_movement(self, grx, gry):
-        """Check if the requested gimbal movement is valid.
-
-        Args:
-            grx (float): rotation around the X-axis [deg]
-            gry (float): rotation around the Y-axis [deg]
-
-        Returns:
-            tuple: where the first element is an integer that represents the
-                bitfield encoding the errors. The second element is a dictionary
-                with the bit numbers that were (on) and the corresponding error
-                description.
-
-        .. todo:: either provide a more user friendly return value or a method/function
-                  to process the information into a human readable form. Also update
-                  the documentation of this method with more information about the
-                  bitfields etc.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def check_relative_movement(self, grx, gry):
-        """Check if the requested object movement is valid.
-
-        The relative motion is expressed in the object coordinate system.
-
-        Args:
-            grx (float): rotation around the X-axis [deg]
-            gry (float): rotation around the Y-axis [deg]
-
-        Returns:
-            tuple: where the first element is an integer that represents the
-                bitfield encoding the errors. The second element is a dictionary
-                with the bit numbers that were (on) and the corresponding error
-                description.
-
-        .. todo:: either provide a more user friendly return value or a method/function
-                  to process the information into a human readable form. Also update
-                  the documentation of this method with more information about the
-                  bitfields etc.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_user_positions(self):
-        """Retreive the current position of the gimbal.
-
-        Asks the current position of the gimbal. Position returned corresponds to the
-        user position (position with offsets).
-
-        Returns:
-            array: an array of two float values for grx, gry
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the POSUSER? command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_machine_positions(self):
-        """Retreive the current position of the gimbal.
-
-        Asks the current position of the gimbal. Position returned corresponds to the
-        machine position (position without offsets).
-
-        Returns:
-            array: an array of two float values for grx, gry
-            None: when a PMACError was raised and logs the error message.
-
-        .. note:: This is equivalent to the POSMACH? command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_motor_temperatures(self):
-        """Retreive the current temperatures of the Gimbal motors.
-
-        Asks the current temperatures of the motors as measured by their
-        corresponding thermocouples. Results are in Celsius.
-
-        Returns:
-            array: an array of two float values for grx, gry
-            None: when a PMACError was raised and logs the error message.
-
-        .. note:: This is equivalent to the STATE#AI? command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_actuator_length(self):
-        """Retrieve the current length of the gimbal actuators.
-
-        Returns:
-            array: an array of 2 float values for actuator length L1 to L2 in [mm], and \
-            None: when an Exception was raised and logs the error message.
-        """
-
-        raise NotImplementedError
-
-    @dynamic_interface
-    def set_speed(self, sr):
-        """Set the speed of the gimbal movements.
-
-        Args:
-            sr (float): The angular speed, expressed in deg per second [deg/s].
-
-        The argument sr is automatically limited by the controller between the
-        minimum and maximum speeds allowed for the gimbal.
-
-        Returns:
-            0 on success and -1 when the configuration is ignored, e.g. when password protection
-            is enabled.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_speed(self):
-        """Retrieve the configuration of the movement speed.
-
-        Returns:
-            sr, sr_min, sr_max
-
-        Where:
-            * ``sr`` is the angular speed of the gimbal in deg per second [deg/s]
-            * ``sr_min``, ``sr_max`` are the limits for the rotation speed [deg/s]
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_general_state(self):
-        """Retrieve general state information of the gimbal.
-
-        Returns:
-            tuple: where the first element is an integer where the bits represent each state, and
-                the second element is an array of True/False flags for each state described in
-                Gimbal
-                Controller API, section 2.5.6.
-
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the STATE#GIMBAL? Command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_actuator_state(self):
-        """Retreive general state information of the actuators.
-
-        For each of the two actuators, an integer value is returned that should be interpreted as a
-        bit field containing status bits for that actuator.
-
-            ======   ========================
-             Bit      Function
-            ======   ========================
-              0       In position
-              1       Control loop on servo motors active
-              2       Homing done
-              3       Input "Home Switch"
-              4       Input "Positive limit switch"
-              5       Input "Negative limit switch"
-              6       Brake control output
-              7       Following error (warning)
-              8       Following error (Fatal)
-              9       Actuator out of bounds error
-             10       Amplifier error
-             11       Encoder error
-             12       Phasing error (brushless engine only)
-             13-23    Reserved
-            ======   ========================
-
-        Returns:
-            array: an array of two (2) dictionaries with True/False flags for each actuator state
-            as described in
-                Gimbal Controller API, section 2.5.5.
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the STATE#ACTUATOR? Command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def goto_specific_position(self, pos):
-        """Ask to go to a specific position.
-
-        * pos=0 Machine zero position (jog & maintenance only!)
-        * pos=1 Unused (not valid for the Gimbal)
-        * pos=2 User zero position (with offsets)
-
-        Returns:
-            0 on success, -1 when ignored, -2 for an invalid movement command
-
-        Raises:
-            GimbalError: when there is Time-Out or when there is a communication error with the
-            gimbal controller.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def goto_zero_position(self):
-        """Ask the gimbal to go to the user zero position.
-
-        Returns:
-            0 on success, -1 when ignored, -2 for an invalid movement command
-
-        Raises:
-            GimbalError: when there is Time-Out or when there is a socket communication error.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def is_homing_done(self):
-        """
-        Check if Homing is done. This method checks the ``Q26`` variable.
-        When this variable indicates 'Homing is done' it means the command has properly been
-        executed,
-        but it doesn't mean the Gimbal is in position. The gimbal might still be moving to its
-        zero position.
-
-        Returns:
-            True when the homing is done, False otherwise.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def is_in_position(self):
-        """
-        Checks if the actuators are in position.
-
-        This method queries the Q36 variable and examines the third bit which is the 'Is
-        Position' bit.
-        This method does **not** query the actuator state variables Q30 till Q36.
-
-        Returns:
-            True when in position, False otherwise.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def perform_maintenance(self, axis):
-        """Perform a maintenance cycle which consists to travel the full range
-        on one axis corresponding to the Gimbal machine limits. The movement is
-        also in machine coordinate system.
-
-        Undocumented. Ask Symetrie.
-
-        Args:
-            axis (int): on which axis the full range movement is executed
-        Returns:
-            0 on success, -1 when ignored for non-compliance.
-        Raises:
-            GimbalError: when there is Time-Out or when there is a socket communication error.
-        """
-        raise NotImplementedError
-
-    def log_positions(self):
-        """
-        Log the current position of the gimbal (level=INFO). The positions correspond to
-
-          * the position of the object in the User Coordinate System, and
-          * the position of the gimbal in the Machine Coordinate System.
-
-        """
-
-        pos = self.get_user_positions()
-        logger.info(
-            f"Object [in User]     : "
-            f"{pos[0]:2.5f}, {pos[1]:2.5f}"
-        )
-
-        pos = self.get_machine_positions()
-        logger.info(
-            f"Platform [in Machine]: "
-            f"{pos[0]:2.5f}, {pos[1]:2.5f}"
-        )
-