moons-motor 0.1.3__py3-none-any.whl → 0.1.5__py3-none-any.whl

moons_motor/motor.py

@@ -13,6 +13,66 @@ import threading
 
 from dataclasses import dataclass
 
+import logging
+
+
+class ColoredFormatter(logging.Formatter):
+    # Define ANSI escape codes for colors and reset
+    grey = "\x1b[38;21m"
+    yellow = "\x1b[33;21m"
+    red = "\x1b[31;21m"
+    bold_red = "\x1b[31;1m"
+    bold_yellow = "\x1b[33;1m"
+    bold_green = "\x1b[32;1m"
+    bold_blue = "\x1b[34;1m"
+    bold_cyan = "\x1b[36;1m"
+    bold_magenta = "\x1b[35;1m"
+    reset = "\x1b[0m"
+
+    # Define the base format string
+    format_time = "%(asctime)s"
+    format_header = " [%(levelname)s]"
+    format_base = " %(message)s"
+
+    # Map log levels to colored format strings
+    FORMATS = {
+        logging.DEBUG: format_time
+        + bold_cyan
+        + format_header
+        + reset
+        + format_base
+        + reset,
+        logging.INFO: format_time
+        + bold_green
+        + format_header
+        + reset
+        + format_base
+        + reset,
+        logging.WARNING: format_time
+        + bold_yellow
+        + format_header
+        + reset
+        + format_base
+        + reset,
+        logging.ERROR: format_time
+        + bold_red
+        + format_header
+        + reset
+        + format_base
+        + reset,
+        logging.CRITICAL: format_time
+        + bold_magenta
+        + format_header
+        + reset
+        + format_base
+        + reset,
+    }
+
+    def format(self, record):
+        log_fmt = self.FORMATS.get(record.levelno)
+        formatter = logging.Formatter(log_fmt)
+        return formatter.format(record)
+
 
 class StepperModules:
     STM17S_3RN = "STM17S-3RN"
@@ -22,6 +82,9 @@ class StepperModules:
 class StepperCommand:
     JOG: str = "CJ"  # Start jogging
     JOG_SPEED: str = "JS"  # Jogging speed (Need to set before start jogging)
+    JOG_ACCELERATION: str = (
+        "JA"  # Jogging acceleration (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)
@@ -52,6 +115,7 @@ class StepperCommand:
     SET_RETURN_FORMAT_HEXADECIMAL: str = "IFH"  # Set return format to hexadecimal
 
     SET_TRANSMIT_DELAY: str = "TD"  # Set transmit delay
+    REQUEST_STATUS: str = "RS"  # Request status
 
 
 class MoonsStepper(Subject):
@@ -89,6 +153,13 @@ class MoonsStepper(Subject):
         "?",
         "@",
     ]
+    # Configure logging
+    logger = logging.getLogger(__name__)
+    logger.setLevel(logging.INFO)
+
+    ch = logging.StreamHandler()
+    ch.setFormatter(ColoredFormatter())
+    logger.addHandler(ch)
 
     def __init__(
         self,
@@ -178,7 +249,7 @@ class MoonsStepper(Subject):
         if self.only_simulate:
             self.Opened = True
             self.device = f"Simulate-{self.universe}"
-            print(f"{self.device} connected")
+            MoonsStepper.logger.info(f"{self.device} connected")
             if callback:
                 callback(self.device, self.Opened)
             return
@@ -205,10 +276,10 @@ class MoonsStepper(Subject):
                     self.Opened = False
                 if self.ser.is_open:
                     self.Opened = True
-                    print(f"[bold green]Device connected[/bold green]: {self.device}")
+                    MoonsStepper.logger.info(f"Device connected: {self.device}")
 
             except Exception as e:
-                print(f"[bold red]Device error:[/bold red] {e} ")
+                MoonsStepper.logger.error(f"Device error: {e} ")
                 self.Opened = False
 
         ports = list(list_ports.comports())
@@ -221,7 +292,7 @@ class MoonsStepper(Subject):
                 m = re.match(
                     r"USB\s*VID:PID=(\w+):(\w+)\s*SER=([A-Za-z0-9]*)", p.usb_info()
                 )
-                print(p.usb_info())
+                MoonsStepper.logger.info(p.usb_info())
                 if (
                     m
                     and m.group(1) == self.VID
@@ -229,8 +300,8 @@ class MoonsStepper(Subject):
                     # 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)}"
+                        MoonsStepper.logger.info(
+                            f"Device founded: {p.description} | VID: {m.group(1)} | PID: {m.group(2)} | SER: {m.group(3)}"
                         )
 
                         self.device = p.description
@@ -248,7 +319,7 @@ class MoonsStepper(Subject):
             callback(self.device, self.Opened)
 
         if not self.Opened:
-            print(f"[bold red]Device not found[/bold red]")
+            MoonsStepper.logger.error(f"Device not found")
             if callback:
                 callback(self.device, self.Opened)
 
@@ -263,7 +334,7 @@ class MoonsStepper(Subject):
             self.listen = False
             self.is_sending = False
             self.Opened = False
-            print(f"Simulate-{self.universe} disconnected")
+            MoonsStepper.logger.info(f"Simulate-{self.universe} disconnected")
             return
         if self.ser is not None and self.ser.is_open:
             self.listen = False
@@ -271,7 +342,7 @@ class MoonsStepper(Subject):
             self.Opened = False
             self.ser.flush()
             self.ser.close()
-            print(f"[bold red]Device disconnected[/bold red]: {self.device}")
+            MoonsStepper.logger.info(f"Device disconnected: {self.device}")
 
     def send(self, command, eol=b"\r"):
         if (self.ser != None and self.ser.is_open) or self.only_simulate:
@@ -280,16 +351,16 @@ class MoonsStepper(Subject):
             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}"
-                )
+                MoonsStepper.logger.debug(f"Send to {self.device}: {self.temp_cmd}")
             super().notify_observers(f"{self.universe}-{self.temp_cmd}")
         else:
-            print(f"Target device is not opened. Command: {command}")
+            MoonsStepper.logger.debug(
+                f"Target device is not opened. Command: {command}"
+            )
 
     def send_command(self, address="", command="", value=None):
         if command == "":
-            print("Command can't be empty")
+            MoonsStepper.logger.warning("Command can't be empty")
             return
         if value is not None:
             command = self.addressed_cmd(address, command + str(value))
@@ -326,13 +397,13 @@ class MoonsStepper(Subject):
 
     def handle_recv(self, response):
         if "*" in response:
-            print(f"[bold green](o)buffered_ack[/bold green]")
+            MoonsStepper.logger.info(f"(o)buffered_ack")
         elif "%" in response:
-            print(f"[bold green](v)success_ack[/bold green]")
+            MoonsStepper.logger.info(f"(v)success_ack")
         elif "?" in response:
-            print(f"[bold red](x)fail_ack[/bold red]")
+            MoonsStepper.logger.info(f"(x)fail_ack")
         else:
-            print(f"[bold blue]Received from {self.device}: [/bold blue]", response)
+            MoonsStepper.logger.info(f"Received from {self.device}: ", response)
             self.recvQueue.put_nowait(response)
 
             if "=" in response:
@@ -357,6 +428,32 @@ class MoonsStepper(Subject):
     #     self.set_return_format_dexcimal(motor_address)
 
     def home(self, motor_address="", speed=0.3, onComplete=None):
+        homing_complete = threading.Event()  # Shared event to signal completion
+
+        def check_status(response):
+            result = MoonsStepper.process_response(response)
+            MoonsStepper.logger.info(f"Status check result: {result}")
+            if "H" not in result["value"]:
+                MoonsStepper.logger.info("Motor is homed.")
+                if onComplete:  # Call the onComplete callback if provided
+                    onComplete(result)
+                homing_complete.set()  # Signal that homing is complete
+            else:
+                MoonsStepper.logger.info("Motor is not homed yet.")
+
+        def check_homing_complete():
+            while not homing_complete.is_set():  # Loop until homing is complete
+                self.get_status(
+                    motor_address=motor_address,
+                    command=StepperCommand.REQUEST_STATUS,
+                    callback=check_status,
+                )
+                time.sleep(0.3)
+
+        home_thread = threading.Thread(
+            target=check_homing_complete,
+            daemon=True,
+        )
         self.send_command(
             address=motor_address, command=StepperCommand.VELOCITY, value=speed
         )
@@ -364,15 +461,12 @@ class MoonsStepper(Subject):
             address=motor_address, command=StepperCommand.HOME, value="3F"
         )
         self.send_command(
-            address=motor_address, command=StepperCommand.ENCODER_POSITION
+            address=motor_address, command=StepperCommand.ENCODER_POSITION, value=0
         )
         self.send_command(
             address=motor_address, command=StepperCommand.SET_POSITION, value=0
         )
-        if onComplete:
-            self.get_status(
-                motor_address, StepperCommand.SET_POSITION, callback=onComplete
-            )
+        home_thread.start()
 
     # endregion
     def get_status(self, motor_address, command: StepperCommand, callback=None):
@@ -381,6 +475,33 @@ class MoonsStepper(Subject):
             self.pending_callbacks.put_nowait(callback)
         self.sendQueue.put_nowait(command)
 
+    def decode_status(status_code):
+        """
+        Decode the status code from the motor.
+        """
+        status = {
+            "A": "An Alarm code is present (use AL command to see code, AR command to clear code)",
+            "D": "Disabled (the drive is disabled)",
+            "E": "Drive Fault (drive must be reset by AR command to clear this fault)",
+            "F": "Motor moving",
+            "H": "Homing (SH in progress)",
+            "J": "Jogging (CJ in progress)",
+            "M": "Motion in progress (Feed & Jog Commands)",
+            "P": "In position",
+            "R": "Ready (Drive is enabled and ready)",
+            "S": "Stopping a motion (ST or SK command executing)",
+            "T": "Wait Time (WT command executing)",
+            "W": "Wait Input (WI command executing)",
+        }
+        status_string = ""
+        for char in status_code:
+            if char in status:
+                status_string += status[char]
+                status_string += "\n"
+            else:
+                status_string += f"Unknown status code: {char}"
+        return status_string
+
     # endregion
 
     # region utility functions
@@ -394,5 +515,6 @@ class MoonsStepper(Subject):
 # 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-0.1.3.dist-info → moons_motor-0.1.5.dist-info}/METADATA

@@ -1,10 +1,10 @@
 Metadata-Version: 2.4
 Name: moons_motor
-Version: 0.1.3
+Version: 0.1.5
 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
-Classifier: Development Status :: 3 - Alpha
+Classifier: Development Status :: 4 - Beta
 Classifier: Intended Audience :: Developers
 Classifier: Topic :: Terminals :: Serial
 Classifier: License :: OSI Approved :: MIT License
@@ -38,7 +38,7 @@ python -m pip install moons_motor
 ## Usage
 
 ```python
-from motor import MoonsStepper, StepperModules
+from motor import MoonsStepper, StepperModules, StepperCommand
 import simulate
 from time import sleep
 
@@ -47,9 +47,9 @@ motor = MoonsStepper(StepperModules.STM17S_3RN, "0403", "6001", "TESTA")
 MoonsStepper.list_all_ports()
 motor.connect()
 
-motor.start_jog("", 10)
+motor.send_command(address="@", command=StepperCommand.JOG)
 sleep(5)
-motor.stop_jog()
+motor.send_command(address="@", command=StepperCommand.STOP_JOG)
 
 ```
 

{moons_motor-0.1.3.dist-info → moons_motor-0.1.5.dist-info}/RECORD

@@ -1,11 +1,11 @@
 moons_motor/__init__.py,sha256=qOpsRwizV-DpKSvNzyvj8ju3cs6vwgIICur1Oe6sxOA,27
-moons_motor/motor.py,sha256=rpunJXViqvSpMW9uRJDctBPyfSJnZh5WZtBtci16-Ck,13308
+moons_motor/motor.py,sha256=LujQRwyndbeowiGcjvfPt_L8j3B2582hDJLYMD-8suM,17381
 moons_motor/observer.py,sha256=PXzuPYKRb2HpjArJcD8HakYIPfFGAs1uBDIL8PSizgA,124
 moons_motor/simulate.py,sha256=J0y1fZhoOim9i-BAkprxnPern1SAdkDfKPqT2MWyDwU,2561
 moons_motor/status.py,sha256=jXQZFZTt9ugHktkWKLII8MpEQQaeO-UjlwTrrP4LJNE,2872
 moons_motor/subject.py,sha256=L_GS6fvJTeX7X23o3T92oiZ4rtLVKA2OEd9GpHn_Dz4,445
-moons_motor-0.1.3.dist-info/licenses/LICENSE,sha256=nsYjO800SjIjI85y2kVHR5mC3tca2vs4kK_BhNe89bM,1074
-moons_motor-0.1.3.dist-info/METADATA,sha256=Zaj25TLKPvBv0qJWRInaALURr8bcOtDLNWfxQymFdtY,1304
-moons_motor-0.1.3.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-moons_motor-0.1.3.dist-info/top_level.txt,sha256=0dE-CR5_NYBw34jHIDGQNWpMllzO6mtUIuKyRv_rJLg,12
-moons_motor-0.1.3.dist-info/RECORD,,
+moons_motor-0.1.5.dist-info/licenses/LICENSE,sha256=nsYjO800SjIjI85y2kVHR5mC3tca2vs4kK_BhNe89bM,1074
+moons_motor-0.1.5.dist-info/METADATA,sha256=enjd1RbUxi1c2mzwIAXenUEu-KegcywTe70SoIXiwQs,1403
+moons_motor-0.1.5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+moons_motor-0.1.5.dist-info/top_level.txt,sha256=0dE-CR5_NYBw34jHIDGQNWpMllzO6mtUIuKyRv_rJLg,12
+moons_motor-0.1.5.dist-info/RECORD,,