moons-motor 0.0.11__tar.gz → 0.1.3__tar.gz

{moons_motor-0.0.11 → moons_motor-0.1.3}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: moons_motor
-Version: 0.0.11
+Version: 0.1.3
 Summary: This is a python library for controlling the Moons' motor through the serial port.
 Author-email: miroc <mike8503111@gmail.com>
 Project-URL: Repository, https://github.com/miroc99/moons_motor.git
@@ -16,6 +16,7 @@ Requires-Dist: pyserial
 Requires-Dist: rich
 Requires-Dist: python-socketio
 Requires-Dist: requests
+Dynamic: license-file
 
 # Moons Motor
 

moons_motor-0.1.3/moons_motor/motor.py

@@ -0,0 +1,398 @@
+import serial
+import serial.rs485
+from serial.tools import list_ports
+import re
+import threading
+from rich import print
+from rich.console import Console
+from rich.panel import Panel
+import queue
+from moons_motor.subject import Subject
+import time
+import threading
+
+from dataclasses import dataclass
+
+
+class StepperModules:
+    STM17S_3RN = "STM17S-3RN"
+
+
+@dataclass(frozen=True)
+class StepperCommand:
+    JOG: str = "CJ"  # Start jogging
+    JOG_SPEED: str = "JS"  # Jogging speed (Need to set before start jogging)
+    CHANGE_JOG_SPEED: str = "CS"  # Change jogging speed while jogging
+    STOP_JOG: str = "SJ"  # Stop jogging with deceleration
+    STOP: str = "ST"  # Stop immediately (No deceleration)
+    STOP_DECEL: str = "STD"  # Stop with deceleration
+    STOP_KILL: str = (
+        "SK"  # Stop with deceleration(Control by AM) and kill all unexecuted commands
+    )
+    STOP_KILL_DECEL: str = (
+        "SKD"  # Stop and kill all unexecuted commands with deceleration(Control by DE)
+    )
+    ENABLE: str = "ME"  # Enable motor
+    DISABLE: str = "MD"  # Disable motor
+    MOVE_ABSOLUTE: str = "FP"  # Move to absolute position
+    MOVE_FIXED_DISTANCE: str = "FL"  # Move to fixed distance
+    POSITION: str = "IP"  # Motor absolute position(Calculated trajectory position)
+    TEMPERATURE: str = "IT"  # Motor temperature
+    VOLTAGE: str = "IU"  # Motor voltage
+
+    ENCODER_POSITION: str = "EP"  # Encoder position
+    SET_POSITION: str = "SP"  # Set encoder position
+
+    HOME: str = "SH"  # Home position
+    VELOCITY: str = "VE"  # Set velocity
+
+    ALARM_RESET: str = "AR"  # Reset alarm
+
+    SET_RETURN_FORMAT_DECIMAL: str = "IFD"  # Set return format to decimal
+    SET_RETURN_FORMAT_HEXADECIMAL: str = "IFH"  # Set return format to hexadecimal
+
+    SET_TRANSMIT_DELAY: str = "TD"  # Set transmit delay
+
+
+class MoonsStepper(Subject):
+    motorAdress = [
+        "0",
+        "1",
+        "2",
+        "3",
+        "4",
+        "5",
+        "6",
+        "7",
+        "8",
+        "9",
+        "!",
+        '"',
+        "#",
+        "$",
+        "%",
+        "&",
+        "'",
+        "(",
+        ")",
+        "*",
+        "+",
+        ",",
+        "-",
+        ".",
+        "/",
+        ":",
+        ";",
+        "<",
+        "=",
+        ">",
+        "?",
+        "@",
+    ]
+
+    def __init__(
+        self,
+        model: StepperModules,
+        VID,
+        PID,
+        SERIAL_NUM,
+        only_simlate=False,
+        universe=0,
+    ):
+        super().__init__()
+        self.universe = universe
+        self.model = model  # Motor model
+        self.only_simulate = only_simlate
+        self.device = ""  # COM port description
+        self.VID = VID
+        self.PID = PID
+        self.SERIAL_NUM = SERIAL_NUM  # ID for determent the deivice had same VID and PID, can be config using chips manufacturer tool
+        self.ser = None
+        self.Opened = False
+        self.recvQueue = queue.Queue()
+        self.sendQueue = queue.Queue()
+        self.pending_callbacks = queue.Queue()
+        self.update_thread = None
+        self.is_updating = False
+        self.readBuffer = ""
+
+        self.console = Console()
+
+        self.is_log_message = True
+
+        self.microstep = {
+            0: 200,
+            1: 400,
+            3: 2000,
+            4: 5000,
+            5: 10000,
+            6: 12800,
+            7: 18000,
+            8: 20000,
+            9: 21600,
+            10: 25000,
+            11: 25400,
+            12: 25600,
+            13: 36000,
+            14: 50000,
+            15: 50800,
+        }
+
+    # region connection & main functions
+    @staticmethod
+    def list_all_ports():
+        ports = list(list_ports.comports())
+        simple_ports = []
+        port_info = ""
+        for p in ports:
+            port_info += f"■ {p.device} {p.description} [blue]{p.usb_info()}[/blue]"
+            if p != ports[-1]:
+                port_info += "\n"
+            simple_ports.append(p.description)
+        print(Panel(port_info, title="All COMPorts"))
+        return simple_ports
+
+    @staticmethod
+    def process_response(response):
+        equal_sign_index = response.index("=")
+        address = response[0]
+        command = response[1:equal_sign_index]
+        value = response[equal_sign_index + 1 :]
+
+        if command == "IT" or command == "IU":
+            # Handle temperature response
+            value = int(value) / 10.0
+        return {
+            "address": address,
+            "command": command,
+            "value": value,
+        }
+
+    def __start_update_thread(self):
+        self.update_thread = threading.Thread(target=self.update, daemon=True)
+        self.is_updating = True
+        self.update_thread.start()
+
+    def connect(self, COM=None, baudrate=9600, callback=None):
+        # Simulate mode
+        if self.only_simulate:
+            self.Opened = True
+            self.device = f"Simulate-{self.universe}"
+            print(f"{self.device} connected")
+            if callback:
+                callback(self.device, self.Opened)
+            return
+
+        def attempt_connect(COM, baudrate):
+            try:
+                # self.ser = serial.Serial(
+                #     port=COM,
+                #     baudrate=baudrate,
+                #     bytesize=serial.EIGHTBITS,
+                #     parity=serial.PARITY_NONE,
+                #     stopbits=serial.STOPBITS_ONE,
+                #     timeout=0.5,
+                # )
+                self.ser = serial.rs485.RS485(port=COM, baudrate=baudrate)
+                self.ser.rs485_mode = serial.rs485.RS485Settings(
+                    rts_level_for_tx=True,
+                    rts_level_for_rx=False,
+                    loopback=False,
+                    delay_before_tx=0.02,
+                    delay_before_rx=0.02,
+                )
+                if self.ser is None:
+                    self.Opened = False
+                if self.ser.is_open:
+                    self.Opened = True
+                    print(f"[bold green]Device connected[/bold green]: {self.device}")
+
+            except Exception as e:
+                print(f"[bold red]Device error:[/bold red] {e} ")
+                self.Opened = False
+
+        ports = list(list_ports.comports())
+        if COM is not None and not self.only_simulate:
+            attempt_connect(COM, baudrate)
+            if callback:
+                callback(self.device, self.Opened)
+        else:
+            for p in ports:
+                m = re.match(
+                    r"USB\s*VID:PID=(\w+):(\w+)\s*SER=([A-Za-z0-9]*)", p.usb_info()
+                )
+                print(p.usb_info())
+                if (
+                    m
+                    and m.group(1) == self.VID
+                    and m.group(2) == self.PID
+                    # and m.group(3) == self.SERIAL_NUM
+                ):
+                    if m.group(3) == self.SERIAL_NUM or self.SERIAL_NUM == "":
+                        print(
+                            f"[bold yellow]Device founded:[/bold yellow] {p.description} | VID: {m.group(1)} | PID: {m.group(2)} | SER: {m.group(3)}"
+                        )
+
+                        self.device = p.description
+
+                        attempt_connect(p.device, baudrate)
+
+                        break
+
+                if self.only_simulate:
+                    self.device = "Simulate"
+                    self.Opened = True
+        time.sleep(0.5)
+        self.__start_update_thread()
+        if callback:
+            callback(self.device, self.Opened)
+
+        if not self.Opened:
+            print(f"[bold red]Device not found[/bold red]")
+            if callback:
+                callback(self.device, self.Opened)
+
+    def disconnect(self):
+        self.send_command(command=StepperCommand.STOP_KILL)
+        time.sleep(0.5)
+        self.sendQueue.queue.clear()
+        self.recvQueue.queue.clear()
+        self.is_updating = False
+        self.update_thread = None
+        if self.only_simulate:
+            self.listen = False
+            self.is_sending = False
+            self.Opened = False
+            print(f"Simulate-{self.universe} disconnected")
+            return
+        if self.ser is not None and self.ser.is_open:
+            self.listen = False
+            self.is_sending = False
+            self.Opened = False
+            self.ser.flush()
+            self.ser.close()
+            print(f"[bold red]Device disconnected[/bold red]: {self.device}")
+
+    def send(self, command, eol=b"\r"):
+        if (self.ser != None and self.ser.is_open) or self.only_simulate:
+            self.temp_cmd = command + "\r"
+
+            if self.ser is not None or not self.only_simulate:
+                self.ser.write(self.temp_cmd.encode("ascii"))
+            if self.is_log_message:
+                print(
+                    f"[bold green]Send to {self.device}:[/bold green] {self.temp_cmd}"
+                )
+            super().notify_observers(f"{self.universe}-{self.temp_cmd}")
+        else:
+            print(f"Target device is not opened. Command: {command}")
+
+    def send_command(self, address="", command="", value=None):
+        if command == "":
+            print("Command can't be empty")
+            return
+        if value is not None:
+            command = self.addressed_cmd(address, command + str(value))
+        else:
+            command = self.addressed_cmd(address, command)
+
+        self.sendQueue.put_nowait(command)
+
+    def update(self):
+
+        while self.is_updating:
+            if self.ser is not None:
+                if self.ser.in_waiting > 0:
+                    response = self.ser.read(self.ser.in_waiting)
+                    response = response.decode("ascii", errors="ignore").strip()
+                    response = response.split("\r")
+
+                    for r in response:
+                        if r != "":
+                            self.readBuffer += r
+                            self.handle_recv(r)
+
+            if self.sendQueue.empty() != True:
+                # time.sleep(
+                #     0.02
+                # )  # Time for RS485 converter to switch between Transmit and Receive mode
+                while not self.sendQueue.empty():
+                    # time.sleep(
+                    #     0.05
+                    # )  # Time for RS485 converter to switch between Transmit and Receive mode
+                    cmd = self.sendQueue.get_nowait()
+                    self.send(cmd)
+                    self.sendQueue.task_done()
+
+    def handle_recv(self, response):
+        if "*" in response:
+            print(f"[bold green](o)buffered_ack[/bold green]")
+        elif "%" in response:
+            print(f"[bold green](v)success_ack[/bold green]")
+        elif "?" in response:
+            print(f"[bold red](x)fail_ack[/bold red]")
+        else:
+            print(f"[bold blue]Received from {self.device}: [/bold blue]", response)
+            self.recvQueue.put_nowait(response)
+
+            if "=" in response:
+                callback = self.pending_callbacks.get_nowait()
+                if callback:
+                    callback(response)
+            # for command, callback in list(self.pending_callbacks.items()):
+            #     if command in response:
+            #         if callback:
+            #             callback(response)
+            #         del self.pending_callbacks[command]
+            #         break
+
+    # endregion
+
+    # region motor motion functions
+
+    # def setup_motor(self, motor_address="", kill=False):
+    #     if kill:
+    #         self.stop_and_kill(motor_address)
+    #     self.set_transmit_delay(motor_address, 25)
+    #     self.set_return_format_dexcimal(motor_address)
+
+    def home(self, motor_address="", speed=0.3, onComplete=None):
+        self.send_command(
+            address=motor_address, command=StepperCommand.VELOCITY, value=speed
+        )
+        self.send_command(
+            address=motor_address, command=StepperCommand.HOME, value="3F"
+        )
+        self.send_command(
+            address=motor_address, command=StepperCommand.ENCODER_POSITION
+        )
+        self.send_command(
+            address=motor_address, command=StepperCommand.SET_POSITION, value=0
+        )
+        if onComplete:
+            self.get_status(
+                motor_address, StepperCommand.SET_POSITION, callback=onComplete
+            )
+
+    # endregion
+    def get_status(self, motor_address, command: StepperCommand, callback=None):
+        command = self.addressed_cmd(motor_address, command)
+        if callback:
+            self.pending_callbacks.put_nowait(callback)
+        self.sendQueue.put_nowait(command)
+
+    # endregion
+
+    # region utility functions
+
+    def addressed_cmd(self, motor_address, command):
+        return f"{motor_address}{command}"
+
+
+# endregion
+
+# SERIAL => 上次已知父系(尾巴+A) 或是事件分頁
+# reg USB\s*VID:PID=(\w+):(\w+)\s*SER=([A-Za-z0-9]+)
+
+# serial_num  裝置例項路徑
+# TD(Tramsmit Delay) = 15

{moons_motor-0.0.11 → moons_motor-0.1.3}/moons_motor.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: moons_motor
-Version: 0.0.11
+Version: 0.1.3
 Summary: This is a python library for controlling the Moons' motor through the serial port.
 Author-email: miroc <mike8503111@gmail.com>
 Project-URL: Repository, https://github.com/miroc99/moons_motor.git
@@ -16,6 +16,7 @@ Requires-Dist: pyserial
 Requires-Dist: rich
 Requires-Dist: python-socketio
 Requires-Dist: requests
+Dynamic: license-file
 
 # Moons Motor
 

{moons_motor-0.0.11 → moons_motor-0.1.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "moons_motor"
-version = "0.0.11"
+version = "0.1.3"
 authors = [{ name = "miroc", email = "mike8503111@gmail.com" }]
 description = "This is a python library for controlling the Moons' motor through the serial port."
 readme = "README.md"

moons_motor-0.0.11/moons_motor/motor.py

@@ -1,466 +0,0 @@
-import serial
-from serial.tools import list_ports
-import re
-import threading
-from rich import print
-from rich.console import Console
-from rich.panel import Panel
-import queue
-from moons_motor.subject import Subject
-import time
-
-
-class StepperModules:
-    STM17S_3RN = "STM17S-3RN"
-
-
-class MoonsStepper(Subject):
-    motorAdress = [
-        "0",
-        "1",
-        "2",
-        "3",
-        "4",
-        "5",
-        "6",
-        "7",
-        "8",
-        "9",
-        "!",
-        '"',
-        "#",
-        "$",
-        "%",
-        "&",
-        "'",
-        "(",
-        ")",
-        "*",
-        "+",
-        ",",
-        "-",
-        ".",
-        "/",
-        ":",
-        ";",
-        "<",
-        "=",
-        ">",
-        "?",
-        "@",
-    ]
-
-    def __init__(
-        self,
-        model: StepperModules,
-        VID,
-        PID,
-        SERIAL_NUM,
-        only_simlate=False,
-        universe=0,
-    ):
-        super().__init__()
-        self.universe = universe
-        self.model = model
-        self.only_simulate = only_simlate
-        self.device = ""
-        self.VID = VID
-        self.PID = PID
-        self.SERIAL_NUM = SERIAL_NUM
-        self.ser = None
-        self.listeningBuffer = ""
-        self.listeningBufferPre = ""
-        self.transmitDelay = 0.010
-        self.lock = False
-        self.Opened = False
-        self.new_data_event = threading.Event()
-        self.new_value_event = threading.Event()
-        self.on_send_event = threading.Event()
-        self.recvQueue = queue.Queue()
-        self.sendQueue = queue.Queue()
-        self.command_cache = queue.Queue()
-        self.usedSendQueue = queue.Queue()
-
-        self.console = Console()
-
-        self.is_log_message = True
-
-        self.microstep = {
-            0: 200,
-            1: 400,
-            3: 2000,
-            4: 5000,
-            5: 10000,
-            6: 12800,
-            7: 18000,
-            8: 20000,
-            9: 21600,
-            10: 25000,
-            11: 25400,
-            12: 25600,
-            13: 36000,
-            14: 50000,
-            15: 50800,
-        }
-
-    # region connection & main functions
-    @staticmethod
-    def list_all_ports():
-        ports = list(list_ports.comports())
-        simple_ports = []
-        port_info = ""
-        for p in ports:
-            port_info += f"■ {p.device} {p.description} [blue]{p.usb_info()}[/blue]"
-            if p != ports[-1]:
-                port_info += "\n"
-            simple_ports.append(p.description)
-        print(Panel(port_info, title="All COMPorts"))
-        return simple_ports
-
-    def connect(self, COM=None, baudrate=9600, callback=None):
-        if self.only_simulate:
-            self.Opened = True
-            self.device = f"Simulate-{self.universe}"
-            print(f"{self.device} connected")
-            if callback:
-                callback(self.device, self.Opened)
-            return
-
-        def attempt_connect(COM, baudrate):
-            try:
-                self.ser = serial.Serial(COM, baudrate)
-                if self.ser is None:
-                    # print("> Device not found")
-                    self.Opened = False
-                if self.ser.is_open:
-                    # print(f"Device: {self.device} | COM: {COM} connected")
-                    self.Opened = True
-            except:
-                print("> Device error")
-                self.Opened = False
-
-        if COM is not None and not self.only_simulate:
-            attempt_connect(COM, baudrate)
-            if callback:
-                callback(self.device, self.Opened)
-            return
-        ports = list(list_ports.comports())
-        for p in ports:
-            m = re.match(
-                r"USB\s*VID:PID=(\w+):(\w+)\s*SER=([A-Za-z0-9]*)", p.usb_info()
-            )
-            print(m, p.usb_info())
-            if (
-                m
-                and m.group(1) == self.VID
-                and m.group(2) == self.PID
-                # and m.group(3) == self.SERIAL_NUM
-            ):
-                print("find vid pid match")
-                if m.group(3) == self.SERIAL_NUM or self.SERIAL_NUM == "":
-                    print(
-                        f"Device: {p.description} | VID: {m.group(1)} | PID: {m.group(2)} | SER: {m.group(3)} connected"
-                    )
-
-                    self.device = p.description
-
-                    attempt_connect(p.device, baudrate)
-                    if callback:
-                        callback(self.device, self.Opened)
-                        break
-                    break
-
-            if self.only_simulate:
-                self.device = "Simulate"
-                self.Opened = True
-        if not self.Opened:
-            print("> Device not found")
-            if callback:
-                callback(self.device, self.Opened)
-
-    def disconnect(self):
-        if self.only_simulate:
-            self.listen = False
-            self.is_sending = False
-            self.Opened = False
-            print(f"Simulate-{self.universe} disconnected")
-            return
-        if self.ser is not None and self.ser.is_open:
-            self.listen = False
-            self.is_sending = False
-            self.Opened = False
-            self.ser.flush()
-            self.ser.close()
-            print(f"{self.device} Disconnected")
-
-    def send(self, command, eol=b"\r"):
-        if (self.ser != None and self.ser.is_open) or self.only_simulate:
-            self.temp_cmd = command + "\r"
-
-            if "~" in self.temp_cmd:
-                # remove ~ in self.temp_cmd
-                self.temp_cmd = self.temp_cmd[1:]
-            else:
-                self.usedSendQueue.put(self.temp_cmd)
-            if self.ser is not None or not self.only_simulate:
-                self.temp_cmd += "\r"
-                self.ser.write(self.temp_cmd.encode("ascii"))
-            if self.is_log_message:
-                print(
-                    f"[bold green]Send to {self.device}:[/bold green] {self.temp_cmd}"
-                )
-            super().notify_observers(f"{self.universe}-{self.temp_cmd}")
-        else:
-            print(f"Target device is not opened. Command: {command}")
-
-    def read(self, timeout=1):
-        if self.ser is not None and self.ser.is_open:
-            print("reading...")
-            try:
-                start_time = time.time()
-                while time.time() - start_time < timeout:
-                    if self.ser.in_waiting > 0:
-                        response = self.ser.read(self.ser.in_waiting)
-                        response = response.decode("utf-8").strip()
-                        if self.is_log_message:
-                            print(
-                                f"[bold blue]Recv from {self.device} :[/bold blue] {response}"
-                            )
-                        return response
-                    time.sleep(0.01)
-                print("reading timeout")
-                return None
-            except Exception as e:
-                print(f"Error when reading serial port: {str(e)}")
-                return None
-        elif self.only_simulate:
-            simulated_response = "simulate response"
-            if self.is_log_message:
-                print(
-                    f"[bold blue]Recv from simulate device:[/bold blue] {simulated_response}"
-                )
-            return simulated_response
-        else:
-            print("Device not open, read fail.")
-            return None
-
-    # endregion
-
-    # region motor motion functions
-    def enable(self, motor_address="", enable=True):
-        cmd = "ME" if enable else "MD"
-        self.send(self.addressed_cmd(motor_address, cmd))
-
-    def move_absolute(self, motor_address="", position=0, speed=0.15):
-        self.send(self.addressed_cmd(motor_address, f"VE{speed}"))
-        self.send(self.addressed_cmd(motor_address, f"FP{position}"))
-
-    def move_fixed_distance(self, motor_address="", distance=100, speed=0.15):
-        self.send(self.addressed_cmd(motor_address, "VE{}".format(speed)))
-        self.send(self.addressed_cmd(motor_address, "FL{}".format(int(distance))))
-
-    def start_jog(self, motor_address="", speed=0.15, direction="CW"):
-        self.send(self.addressed_cmd(motor_address, "JS{}".format(speed)))
-        time.sleep(0.01)
-        self.send(self.addressed_cmd(motor_address, "CJ"))
-        # self.send(self.addressed_cmd(motor_address, "CS{}".format(speed)))
-
-    def change_jog_speed(self, motor_address="", speed=0.15):
-        self.send(self.addressed_cmd(motor_address, "CS{}".format(speed)))
-
-    def stop_jog(self, motor_address=""):
-        self.send(self.addressed_cmd(motor_address, "SJ"))
-
-    def stop(self, motor_address=""):
-        self.send(self.addressed_cmd(motor_address, "ST"))
-
-    def stop_with_deceleration(self, motor_address=""):
-        self.send(self.addressed_cmd(motor_address, "STD"))
-
-    def stop_and_kill(self, motor_address="", with_deceleration=True):
-        if with_deceleration:
-            self.send(self.addressed_cmd(motor_address, "SKD"))
-        else:
-            self.send(self.addressed_cmd(motor_address, "SK"))
-
-    def setup_motor(self, motor_address="", kill=False):
-        if kill:
-            self.stop_and_kill(motor_address)
-        self.set_transmit_delay(motor_address, 25)
-        self.set_return_format_dexcimal(motor_address)
-
-    def calibrate(self, motor_address="", speed=0.3, onStart=None, onComplete=None):
-        self.send(self.addressed_cmd(motor_address, "VE{}".format(speed)))
-        # time.sleep(0.01)
-        # self.send(self.addressed_cmd(motor_address, "DI10"))
-        # time.sleep(0.01)
-        self.send(self.addressed_cmd(motor_address, "SH3F"))
-        # time.sleep(0.01)
-        self.send(self.addressed_cmd(motor_address, "EP0"))
-        # time.sleep(0.01)
-        self.send(self.addressed_cmd(motor_address, "SP0"))
-
-    def alarm_reset(self, motor_address=""):
-        self.send(self.addressed_cmd(motor_address, "AR"))
-
-    # speed slow= 0.25, medium=1, fast=5
-    def set_transmit_delay(self, motor_address="", delay=15):
-        self.send(self.addressed_cmd(motor_address, "TD{}".format(delay)))
-
-    # endregion
-
-    # region motor status functions
-    def get_position(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IP"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_temperature(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IT"))
-        # self.new_value_event.wait(timeout=0.5)
-        return self.read()
-        # return int(self.get_value()) / 10
-
-    def get_sensor_status(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IS"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_votalge(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IU"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_acceleration(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "AC"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_deceleration(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "DE"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_velocity(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "VE"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_distance(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "DI"))
-        return self.read()
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-
-    def get_jog_speed(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "JS"))
-        # self.new_value_event.wait(timeout=0.5)
-        # return self.get_value()
-        return self.read()
-
-    def get_info(self, motor_address, progress=None):
-        self.set_return_format_dexcimal(motor_address)
-        self.motor_wait(motor_address, 0.1)
-        totalInfoCount = 7
-        pos = self.extractValueFromResponse(self.get_position(motor_address))
-        if progress:
-            progress(round(1 / totalInfoCount, 1))
-        temp = (
-            int(self.extractValueFromResponse(self.get_temperature(motor_address))) / 10
-        )
-        if progress:
-            progress(round(2 / totalInfoCount, 1))
-        vol = int(self.extractValueFromResponse(self.get_votalge(motor_address))) / 10
-        if progress:
-            progress(round(3 / totalInfoCount, 1))
-        accel = self.extractValueFromResponse(self.get_acceleration(motor_address))
-        if progress:
-            progress(round(4 / totalInfoCount, 1))
-        decel = self.extractValueFromResponse(self.get_deceleration(motor_address))
-        if progress:
-            progress(round(5 / totalInfoCount, 1))
-        jogsp = self.extractValueFromResponse(self.get_jog_speed(motor_address))
-        if progress:
-            progress(round(6 / totalInfoCount, 1))
-        info = {
-            "pos": pos,
-            "temp": temp,
-            "vol": vol,
-            "accel": accel,
-            "decel": decel,
-            "jogsp": jogsp,
-        }
-        if progress:
-            progress(round(7 / totalInfoCount))
-
-        return info
-
-    def get_status(self, motor_address) -> str:
-        self.set_return_format_dexcimal(motor_address)
-        self.send(self.addressed_cmd(motor_address, "RS"))
-        self.new_value_event.wait(timeout=0.5)
-        return str(self.get_value())
-
-    def set_return_format_dexcimal(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IFD"))
-
-    def set_return_format_hexdecimal(self, motor_address):
-        self.send(self.addressed_cmd(motor_address, "IFH"))
-
-    # endregion
-
-    # region utility functions
-    def motor_wait(self, motor_address, wait_time):
-        self.send(self.addressed_cmd(motor_address, "WT{}".format(wait_time)))
-
-    def addressed_cmd(self, motor_address, command):
-        if motor_address == "":
-            return f"~{command}"
-        return f"{motor_address}{command}"
-
-    def extractValueFromResponse(self, response):
-        pattern = r"=(.*)"
-        if response == None:
-            return None
-        result = re.search(pattern, response)
-        if result:
-            return result.group(1)
-        else:
-            return None
-
-    def get_value(self):
-        print("Waiting for value")
-        self.new_data_event.wait(timeout=0.5)
-        print("Recv:" + self.listeningBufferPre)
-        self.new_data_event.clear()
-        return self.listeningBufferPre
-        # if "%" in self.listeningBufferPre:
-        #     return "success_ack"
-        # if "?" in self.listeningBufferPre:
-        #     return "fail_ack"
-        # if "*" in self.listeningBufferPre:
-        #     return "buffered_ack"
-        # self.new_value_event.set()
-        # pattern = r"=(\w+(?:\.\w+)?|\d+(?:\.\d+)?)"
-        # result = re.search(pattern, self.listeningBufferPre)
-        # self.listeningBufferPre = ""
-        # self.new_value_event.clear()
-        # if result:
-        #     return result.group(1)
-        # else:
-        #     return "No_value_found"
-
-
-# endregion
-
-# SERIAL => 上次已知父系(尾巴+A) 或是事件分頁
-# reg USB\s*VID:PID=(\w+):(\w+)\s*SER=([A-Za-z0-9]+)
-
-# serial_num  裝置例項路徑
-# TD(Tramsmit Delay) = 15