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

egse/hexapod/symetrie/zonda.yaml

@@ -1,337 +0,0 @@
-BaseClass:
-    egse.hexapod.symetrie.zonda.AlphaPlusControllerInterface
-
-ProxyClass:
-    egse.hexapod.symetrie.zonda.ZondaProxy
-
-ControlServerClass:
-    egse.hexapod.symetrie.zonda_cs.ZondaControlServer
-
-ControlServer:
-    egse.hexapod.symetrie.zonda_cs
-
-UserInterface:
-    egse.hexapod.symetrie.zonda_ui
-
-Commands:
-
-    # Each of these groups is parsed and used on both the server and the client side.
-    #
-    # The group name (e.g. is_simulator) will be monkey patched in the Proxy class for the device
-    # or service.
-    #
-    # The other field are:
-    #   description:   Used by the doc_string method to generate a help string
-    #   cmd:           Command string that will eventually be send to the hardware controller for
-    #                  the device. This cmd string is also used at the client side to parse and
-    #                  validate the arguments.
-    #   device_method: The name of the method to be called on the device class.
-    #                  These should all be defined by the interface class for the device, i.e.
-    #                  PunaInterface in this case.
-    #                  When the device_method is the same as the group name, it can be omitted.
-    #   response:      The name of the method to be called from the device protocol.
-    #                  This method should exist in the subclass of the CommandProtocol base class,
-    #                  i.e. in this case it will be the PunaProtocol class.
-    #                  The default (when no response is given) is 'handle_device_method'.
-
-    # Definition of the the DeviceInterface
-
-    is_simulator:
-        description:    Ask if the connected class is a simulator instead of the real device Controller class.
-        returns:        bool | True if the far end is a simulator instead of the real hardware
-
-    is_connected:
-        description:    Check if the Hexapod hardware controller is connected.
-
-    connect:
-        description:    Connect the Hexapod hardware controller
-
-    reconnect:
-        description:    Reconnect the Hexapod hardware controller.
-
-                        This command will force a disconnect and then try to re-connect to the controller.
-
-    disconnect:
-        description:    Disconnect from the hexapod controller.
-
-                        This command will be send to the Hexapod Control Server which will then
-                        disconnect from the hardware controller.
-
-                        This command does not affect the ZeroMQ connection of the Proxy to the
-                        control server. Use the service command `disconnect_cs()` to disconnect
-                        from the control server.
-
-    info:
-      description:    Retrieve basic information about the Hexapod and the Controller.
-
-    get_general_state:
-      description:    Retreive general state information of the hexapod.
-
-    reset:
-      description:    Reboot the controller. This command reboot the controller and the Ethernet communication is
-        closed. The controller takes about 2 minutes to initialize. The configuration changes (commands
-        of “CFG” family) will be lost if no CFG_SAVE command were sent since last configuration
-        modifications The system reboot command is interpreted directly by the operating system of the
-        controller. STOP and CONTROLOFF the hexapod before sending the command.
-
-    homing:
-        description:    Start the homing cycle for the Hexapod PUNA. Homing is required before performing a control
-                        movement. Without absolute encoders, the homing is performed with a hexapod movement until
-                        detecting the reference sensor on each of the actuators. The Hexapod 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.
-
-    stop:
-        description:    Stop the current motion.
-
-    clear_error:
-        description:    Clear all errors in the controller software.
-
-    activate_control_loop:
-        description:    Activates the control loop on motors. It activates the power on the motors and release the
-                        brakes if present. The hexapod status Control on switches to true when the command is successful.
-
-    deactivate_control_loop:
-        description:    Disables the control loop on the servo motors.
-
-    jog:
-        description:    Starts a JOG-type movement on the actuator defined by the arguments. A JOG type movement is a
-                        movement done without using the kinematic of the hexapod. It's a relative movement along a
-                        defined actuator. The actuator number is defined by the "axis" variable. The increment "inc"
-                        can be positive to extend the actuator or negative to retract the actuator.
-
-                        Arguments
-
-                          axis(int)  number of the actuator (1 to 6)
-                          inc(float) increment to achieve in mm
-
-                        * Note this is a maintenance feature.
-                        * Note for this command the home do not necessary has to be completed. It is important to
-                        realize that moving the actuator XX mm doesn't correspond to move XX mm in the hexapod workspace
-
-    set_speed:
-        description:    Set the speed of the hexapod movements according to vt and vr arguments.
-
-                        vt is the translation speed of the hexapod in mm per second [mm/s]
-                        vr is the angular speed of the hexapod in deg per second [deg/s]
-
-                        The parameters vt and vr are automatically limited by the controller between the factory
-                        configured minimum and maximum speed
-        cmd:            "{vt} {vr}"
-
-        sequence:
-          description:  Execute a sequence of several points.
-                        First, it checks if limits are enabled (get_limit_state) and if not it enables them (user_limit_enable?? or machine_limit_enable??).
-                        Secondly, it checks if all points of the sequence are reachable (not outside the limits/workspace).
-                        Eventually, it moves hexapod following the sequence step by step (and reads the step n+1 after that the step n is complete).
-                        After a step it waits for "time_sleep" seconds before reading the next step.
-          cmd:          "{file_path} {time_sleep}"
-
-    get_speed:
-      description:      Retrieve the configuration of the movement speed.
-
-                        vt is the translation speed of the hexapod in mm per second [mm/s]
-                        vr is the angular speed of the hexapod in deg per second [deg/s]
-                        vt_min, vt_max are the limits for the translation speed [mm/s]
-                        vr_min, vr_max are the limits for the angular speed [mm/s]
-
-    get_temperature:
-      description:      Retrieves the value of the 6 PT100 temperature sensors in C.
-                        The security temperature limit has been factory set to 60 C.
-                        The controller will be in error state and thus the hexapod movement will stop if the
-                        temperature limit is exceeded. In that case, clear the error before using the Hexapod again.
-      returns:          list | list of floats with the temperature values
-
-    perform_maintenance:
-        description:    Starts a maintenance cycle. The mode selects the type of movement.
-
-                        Arguments
-                          mode = 1 Jog to zero, no other parameter is required for this mode. The Machine zero position
-                          is reached by moving each actuatorin JOG mode without inter-axis interpolation (kinematic
-                          disabled). Backlash compensation is not performed with this mode. This is a maintenance
-                          command that should be used only in case of kinematic error or failure of one/several
-                          actuators.
-                          mode = 2 Move along a single operational axis, the parameter axis is needed to define the
-                          operational axis. The movements are executed in the machine coordinate system. The sequence
-                          is (1) movement to machine zero (2) movement to axis operational negative limit (3) movement
-                          to axis operational positive limit (4) movement to machine zero). The operational limits are
-                          factory defined.
-                          mode = 3 Move allong all the operational axis one after the other, No other parameter is
-                          required for this mode. Movements are executed in the machine coordinate system. The sequence
-                          execute the sequence alon a single operational axis, one axis after another. The axis order is
-                          Tx, Ty, Tz, Rx, Ry, Rz.
-
-                          axis(int) defines the movement around the selected axis
-        cmd:              "{axis}"
-
-    goto_specific_position:
-        description:    Ask to go to a specific position.
-                            * pos=1 User zero
-                            * pos=2 Retracted position
-                            * pos=3 Machine zero
-        cmd:            "{pos}"
-
-    goto_retracted_position:
-        description:    Ask the hexapod to go to the retracted position.
-
-    goto_zero_position:
-        description: Ask the hexapod to go to the user zero position.
-
-    is_homing_done:
-        description:    Check if homing is done.
-
-    is_in_position:
-        description:    Check if the actuators are in position.
-
-    move_absolute:
-        description:    Starts the movement defined by the arguments.
-
-                          tx(float) position on the X-axis [mm]
-                          ty(float) position on the Y-axis [mm]
-                          tz(float) position on the Z-axis [mm]
-                          rx(float) rotation around the X-axis [deg]
-                          ry(float) rotation around the Y-axis [deg]
-                          rz(float) rotation around the Z-axis [deg]
-
-                        Move/define the Object Coordinate System position and orientation expressed in the invariant
-                        user coordinate system.
-
-                        The rotation centre coincides with the Object Coordinates System origin and
-                        the movements are controlled with translation components at first (Tx, Ty, tZ)
-                        and then the rotation components (Rx, Ry, Rz).
-
-                        Will raise an error code if the following conditions are not met
-                          * there is no motion task tunning (motion task running)
-                          * home is completed (home complete),
-                          * the control loop on servo motors is activated (control on),
-                          * the hexapod is not stopping
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    move_relative_object:
-        description:    Starts the movement defined by the arguments.
-
-                          tx(float) position on the X-axis [mm]
-                          ty(float) position on the Y-axis [mm]
-                          tz(float) position on the Z-axis [mm]
-                          rx(float) rotation around the X-axis [deg]
-                          ry(float) rotation around the Y-axis [deg]
-                          rz(float) rotation around the Z-axis [deg]
-
-                         Move the object relative to its current object position and orientation. The relative movement
-                         is expressed in the object coordinate system.
-
-                        Will raise an error code if the following conditions are not met
-                          * there is no motion task tunning (motion task running)
-                          * home is completed (home complete),
-                          * the control loop on servo motors is activated (control on),
-                          * the hexapod is not stopping
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    move_relative_user:
-        description:    Starts the movement defined by the arguments.
-
-                          tx(float) position on the X-axis [mm]
-                          ty(float) position on the Y-axis [mm]
-                          tz(float) position on the Z-axis [mm]
-                          rx(float) rotation around the X-axis [deg]
-                          ry(float) rotation around the Y-axis [deg]
-                          rz(float) rotation around the Z-axis [deg]
-
-                        The object is moved relative to its current object position and orientation. The relative
-                        movement is expressed in the (invariant) user coordinate system.
-
-                        Will raise an error code if the following conditions are not met
-                          * there is no motion task tunning (motion task running)
-                          * home is completed (home complete),
-                          * the control loop on servo motors is activated (control on),
-                          * the hexapod is not stopping
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    check_absolute_movement:
-        description:    Verifies if the movement defined by the arguments is feasible in absolute coordinate system.
-                        After command execution, when the command execution has been successful, the result of the vali-
-                        dation returns
-                            0 when target position is valid
-                            Positive value when the validation shows limitations
-                            Negative value when the validation fails
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    check_relative_object_movement:
-        description:    Verifies if the movement defined by the arguments is feasible in user coordinate system.
-                        After command execution, when the command execution has been successful, the result of the vali-
-                        dation returns
-                            0 when target position is valid
-                            Positive value when the validation shows limitations
-                            Negative value when the validation fails
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    check_relative_user_movement:
-        description:    Verifies if the movement defined by the arguments is feasible in user coordinate system.
-                        After command execution, when the command execution has been successful, the result of the vali-
-                        dation returns
-                            0 when target position is valid
-                            Positive value when the validation shows limitations
-                            Negative value when the validation fails
-        cmd:            "{tx} {ty} {tz} {rx} {ry} {rz}"
-
-    get_coordinates_systems:
-        description:    Retrieve the definition of the User Coordinate System and the Object Coordinate System.
-                        Returns tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o where the
-                        translation parameters are in [mm] and the rotation parameters are in [deg].
-
-    get_actuator_length:
-        description:    Retreive the current length of the hexapod actuators in mm.
-
-
-    get_user_positions:
-        description:    Retreive the position of the Object Coordinate System in the User Coordinate System.
-
-    get_machine_positions:
-        description:    Retreive the position of the Platform Coordinate System in the Machine Coordinate System.
-
-    get_actuator_state:
-        description:    Retreive general state information of the actuators. For each of the six actuators, an integer
-                        value is returned that should be interpreted as a bit field containing status bits for that
-                        actuator.
-
-    get_limits_value:
-        description:    Retreive the current limits that have been set to the hexapod. The argument "lim" determines
-                        the workspace in which the limits wants to be retrieved.
-        args:
-          lim:          int  | 0 = Factory, 1 = machine cs limits, 2 = user cs limits
-        cmd:           "{lim}"
-        returns:        list | list of floats with the limits set to the selected workspace (factory, machine, user)
-
-    get_limits_state:
-      description:      Return workspace limits enable state
-      returns:          dict | Limit states of the different work spaces (factory, machine and user)
-
-    machine_limit_enable:
-        description:    Enables (1) or disables (0) the machine workspace limits of the hexapod.
-
-    machine_limit_set:
-        description:    Sets the machine workspace limits of the hexapod.
-
-    user_limit_enable:
-        description:    Enables (1) or disables (0) the user workspace limits of the hexapod.
-
-    user_limit_set:
-        description:    Sets the machine workspace limits of the hexapod.
-
-    set_default:
-        description:    Restores the default configuration parameters. The command can be used to restore factory
-                        default parameters. The restored configuration is not automatically saved. refer to the command
-                        CFG_SAVE to save the parameters in order to keep them after a controller power off. The
-                        calculation of the hexapod position is suspended during the command execution.
-
-    configure_coordinates_systems:
-        description:    Change the definition of the User Coordinate System and the Object Coordinate System.
-                        The parameters tx_u, ty_u, tz_u, rx_u, ry_u, rz_u are used to define the user coordinate system
-                        relative to the Machine Coordinate System and the parameters tx_o, ty_o, tz_o, rx_o, ry_o, rz_o
-                        are used to define the Object Coordinate System relative to the Platform Coordinate System.
-
-                        No motion task shall be running when executing this parameter.
-        cmd:            "{tx_u} {ty_u} {tz_u} {rx_u} {ry_u} {rz_u} {tx_o} {ty_o} {tz_o} {rx_o} {ry_o} {rz_o}"

egse/hexapod/symetrie/zonda_cs.py

@@ -1,172 +0,0 @@
-"""
-The Control Server that connects to the Hexapod ZONDA Hardware Controller.
-
-Start the control server from the terminal as follows:
-
-    $ zonda_cs start-bg
-
-or when you don't have the device available, start the control server in simulator mode. That
-will make the control server connect to a device software simulator:
-
-    $ zonda_cs start --sim
-
-Please note that software simulators are intended for simple test purposes and will not simulate
-all device behavior correctly, e.g. timing, error conditions, etc.
-
-"""
-import logging
-
-if __name__ != "__main__":
-    import multiprocessing
-    multiprocessing.current_process().name = "zonda_cs"
-
-import sys
-
-import click
-import invoke
-import rich
-import zmq
-
-from egse.control import ControlServer
-from egse.control import is_control_server_active
-from egse.hexapod.symetrie.zonda import ZondaProxy
-from egse.hexapod.symetrie.zonda_protocol import ZondaProtocol
-from egse.settings import Settings
-from egse.zmq_ser import connect_address
-from prometheus_client import start_http_server
-
-logger = logging.getLogger(__name__)
-
-CTRL_SETTINGS = Settings.load("Hexapod ZONDA Control Server")
-
-
-class ZondaControlServer(ControlServer):
-    """ZondaControlServer - Command and monitor the Hexapod ZONDA hardware.
-
-    This class works as a command and monitoring server to control the Symétrie Hexapod PUNA.
-    This control server shall be used as the single point access for controlling the hardware
-    device. Monitoring access should be done preferably through this control server also,
-    but can be done with a direct connection through the PunaController if needed.
-
-    The sever binds to the following ZeroMQ sockets:
-
-    * a REQ-REP socket that can be used as a command server. Any client can connect and
-      send a command to the Hexapod.
-
-    * a PUB-SUP socket that serves as a monitoring server. It will send out Hexapod status
-      information to all the connected clients every five seconds.
-
-    """
-
-    def __init__(self):
-        super().__init__()
-
-        self.device_protocol = ZondaProtocol(self)
-
-        self.logger.debug(f"Binding ZeroMQ socket to {self.device_protocol.get_bind_address()}")
-
-        self.device_protocol.bind(self.dev_ctrl_cmd_sock)
-
-        self.poller.register(self.dev_ctrl_cmd_sock, zmq.POLLIN)
-
-    def get_communication_protocol(self):
-        return CTRL_SETTINGS.PROTOCOL
-
-    def get_commanding_port(self):
-        return CTRL_SETTINGS.COMMANDING_PORT
-
-    def get_service_port(self):
-        return CTRL_SETTINGS.SERVICE_PORT
-
-    def get_monitoring_port(self):
-        return CTRL_SETTINGS.MONITORING_PORT
-
-    def get_storage_mnemonic(self):
-        try:
-            return CTRL_SETTINGS.STORAGE_MNEMONIC
-        except AttributeError:
-            return "ZONDA"
-
-    def before_serve(self):
-        start_http_server(CTRL_SETTINGS.METRICS_PORT)
-
-@click.group()
-def cli():
-    pass
-
-
-@cli.command()
-@click.option("--simulator", "--sim", is_flag=True, help="Start the Hexapod Zonda Simulator as the backend.")
-def start(simulator):
-    """Start the Hexapod Zonda Control Server."""
-
-    if simulator:
-
-        Settings.set_simulation_mode(True)
-
-    try:
-
-        controller = ZondaControlServer()
-        controller.serve()
-
-    except KeyboardInterrupt:
-
-        print("Shutdown requested...exiting")
-
-    except SystemExit as exit_code:
-
-        print("System Exit with code {}.".format(exit_code))
-        sys.exit(exit_code)
-
-    except Exception:
-
-        logger.exception("Cannot start the Hexapod Zonda Control Server")
-
-        # The above line does exactly the same as the traceback, but on the logger
-        # import traceback
-        # traceback.print_exc(file=sys.stdout)
-
-    return 0
-
-
-@cli.command()
-def start_bg():
-    """Start the ZONDA Control Server in the background."""
-    invoke.run("zonda_cs start", disown=True)
-
-
-@cli.command()
-def stop():
-    """Send a 'quit_server' command to the Hexapod Zonda Control Server."""
-
-    try:
-        with ZondaProxy() as proxy:
-            sp = proxy.get_service_proxy()
-            sp.quit_server()
-    except ConnectionError:
-        rich.print("[red]Couldn't connect to 'zonda_cs', process probably not running. ")
-
-
-@cli.command()
-def status():
-    """Request status information from the Control Server."""
-
-    protocol = CTRL_SETTINGS.PROTOCOL
-    hostname = CTRL_SETTINGS.HOSTNAME
-    port = CTRL_SETTINGS.COMMANDING_PORT
-
-    endpoint = connect_address(protocol, hostname, port)
-
-    if is_control_server_active(endpoint):
-        status = "[green]active"
-    else:
-        status = "[red]not active"
-
-    rich.print(f"ZONDA Hexapod: {status}")
-
-
-if __name__ == "__main__":
-
-    logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
-
-    sys.exit(cli())