puda-drivers 0.0.11__py3-none-any.whl → 0.0.12__py3-none-any.whl

puda_drivers/machines/first.py

@@ -9,7 +9,9 @@ This class demonstrates the integration of:
 
 import logging
 import time
+from pathlib import Path
 from typing import Optional, Dict, Tuple, Type, Union
+import numpy as np
 from puda_drivers.move import GCodeController, Deck
 from puda_drivers.core import Position
 from puda_drivers.transfer.liquid.sartorius import SartoriusController
@@ -118,21 +120,44 @@ class First:
             camera_index if camera_index is not None else self.DEFAULT_CAMERA_INDEX,
         )
         
-    def connect(self):
-        """Connect all controllers."""
-        self._logger.info("Connecting all controllers")
+    def startup(self):
+        """
+        Start up the machine by connecting all controllers and initializing subsystems.
+        
+        This method:
+        - Connects to all controllers (gantry, pipette, camera)
+        - Homes the gantry to establish a known position
+        - Initializes the pipette to reset it to a known state
+        
+        The machine is ready for operations after this method completes.
+        """
+        self._logger.info("Starting up machine and connecting all controllers")
         self.qubot.connect()
         self.pipette.connect()
         self.camera.connect()
         self._logger.info("All controllers connected successfully")
         
-    def disconnect(self):
-        """Disconnect all controllers."""
-        self._logger.info("Disconnecting all controllers")
+        # Home the gantry to establish known position
+        self._logger.info("Homing gantry...")
+        self.qubot.home()
+        
+        # Initialize the pipette (all pipette operations need to wait 5 seconds for completion)
+        self._logger.info("Initializing pipette...")
+        self.pipette.initialize()
+        time.sleep(5)
+        self._logger.info("Machine startup complete - ready for operations")
+        
+    def shutdown(self):
+        """
+        Gracefully shut down the machine by disconnecting all controllers.
+        
+        This method ensures all connections are properly closed and resources are released.
+        """
+        self._logger.info("Shutting down machine and disconnecting all controllers")
         self.qubot.disconnect()
         self.pipette.disconnect()
         self.camera.disconnect()
-        self._logger.info("All controllers disconnected successfully")
+        self._logger.info("Machine shutdown complete")
         
     def load_labware(self, slot: str, labware_name: str):
         """Load a labware object into a slot."""
@@ -350,3 +375,86 @@ class First:
         else:
             self._logger.debug("Absolute A position for slot '%s': %s", slot, pos)
         return pos
+    
+    def start_video_recording(
+        self,
+        filename: Optional[Union[str, Path]] = None,
+        fps: Optional[float] = None
+    ) -> Path:
+        """
+        Start recording a video.
+        
+        Args:
+            filename: Optional filename for the video. If not provided, a timestamped
+                    filename will be generated. If provided without extension, .mp4 will be added.
+            fps: Optional frames per second for the video. Defaults to 30.0 if not specified.
+        
+        Returns:
+            Path to the video file where recording is being saved
+            
+        Raises:
+            IOError: If camera is not connected or recording fails to start
+            ValueError: If already recording
+        """
+        return self.camera.start_video_recording(filename=filename, fps=fps)
+    
+    def stop_video_recording(self) -> Optional[Path]:
+        """
+        Stop recording a video.
+        
+        Returns:
+            Path to the saved video file, or None if no recording was in progress
+            
+        Raises:
+            IOError: If video writer fails to release
+        """
+        return self.camera.stop_video_recording()
+    
+    def record_video(
+        self,
+        duration_seconds: float,
+        filename: Optional[Union[str, Path]] = None,
+        fps: Optional[float] = None
+    ) -> Path:
+        """
+        Record a video for a specified duration.
+        
+        Args:
+            duration_seconds: Duration of the video in seconds
+            filename: Optional filename for the video. If not provided, a timestamped
+                    filename will be generated. If provided without extension, .mp4 will be added.
+            fps: Optional frames per second for the video. Defaults to 30.0 if not specified.
+        
+        Returns:
+            Path to the saved video file
+            
+        Raises:
+            IOError: If camera is not connected or recording fails
+        """
+        return self.camera.record_video(
+            duration_seconds=duration_seconds,
+            filename=filename,
+            fps=fps
+        )
+    
+    def capture_image(
+        self, 
+        save: bool = False, 
+        filename: Optional[Union[str, Path]] = None
+    ) -> np.ndarray:
+        """
+        Capture a single image from the camera.
+        
+        Args:
+            save: If True, save the image to the captures folder
+            filename: Optional filename for the saved image. If not provided and save=True,
+                     a timestamped filename will be generated. If provided without extension,
+                     .jpg will be added.
+        
+        Returns:
+            Captured image as a numpy array (BGR format)
+            
+        Raises:
+            IOError: If camera is not connected or capture fails
+        """
+        return self.camera.capture_image(save=save, filename=filename)

{puda_drivers-0.0.11.dist-info → puda_drivers-0.0.12.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: puda-drivers
-Version: 0.0.11
+Version: 0.0.12
 Summary: Hardware drivers for the PUDA platform.
 Project-URL: Homepage, https://github.com/zhao-bears/puda-drivers
 Project-URL: Issues, https://github.com/zhao-bears/puda-drivers/issues
@@ -85,6 +85,7 @@ When file logging is enabled, logs are saved to timestamped files (unless a cust
 The `First` machine integrates motion control, deck management, liquid handling, and camera capabilities:
 
 ```python
+import time
 import logging
 from puda_drivers.machines import First
 from puda_drivers.core.logging import setup_logging
@@ -102,14 +103,8 @@ machine = First(
     camera_index=0,
 )
 
-# Connect all devices
-machine.connect()
-
-# Home the gantry
-machine.qubot.home()
-
-# Initialize the pipette
-machine.pipette.initialize()
+# Start up the machine (connects all controllers, homes gantry, and initializes pipette)
+machine.startup()
 
 # Load labware onto the deck
 machine.load_deck({
@@ -119,19 +114,19 @@ machine.load_deck({
 })
 
 # Start video recording
-machine.camera.start_video_recording()
+machine.start_video_recording()
 
 # Perform liquid handling operations
 machine.attach_tip(slot="A3", well="G8")
 machine.aspirate_from(slot="C2", well="A1", amount=100, height_from_bottom=10.0)
 machine.dispense_to(slot="C2", well="B4", amount=100, height_from_bottom=30.0)
-machine.drop_tip(slot="C1", well="A1")
+machine.drop_tip(slot="C1", well="A1", height_from_bottom=10)
 
 # Stop video recording
-machine.camera.stop_video_recording()
+machine.stop_video_recording()
 
-# Disconnect all devices
-machine.disconnect()
+# Shutdown the machine (gracefully disconnects all controllers)
+machine.shutdown()
 ```
 
 **Discovering Available Methods**: To explore what methods are available on any class instance, you can use Python's built-in `help()` function:

{puda_drivers-0.0.11.dist-info → puda_drivers-0.0.12.dist-info}/RECORD

@@ -12,7 +12,7 @@ puda_drivers/labware/opentrons_96_tiprack_300ul.json,sha256=jmNaworu688GEgFdxMxN
 puda_drivers/labware/polyelectric_8_wellplate_30000ul.json,sha256=esu2tej0ORs7Pfd4HwoQVUpU5mPvp2AYzE3zsCC2FDk,3104
 puda_drivers/labware/trash_bin.json,sha256=Hk4MXO48P28jG7F87DUd9Ja4c_P7kAy3karPQ965i9Y,580
 puda_drivers/machines/__init__.py,sha256=zmIk_r2T8nbPA68h3Cko8N6oL7ncoBpmvhNcAqzHmc4,45
-puda_drivers/machines/first.py,sha256=F1D-Te25cUJamE-FG_BEcY2PgN0_6S81ImdhNDeupCk,14415
+puda_drivers/machines/first.py,sha256=yk_Kh9f_yjSlRHjYEOzvrMxADBvlTH0AIV1VLvm2sp8,18339
 puda_drivers/move/__init__.py,sha256=NKIKckcqgyviPM0EGFcmIoaqkJM4qekR4babfdddRzM,96
 puda_drivers/move/deck.py,sha256=yq2B4WMqj0hQvHt8HoJskP10u1DUyKwUnjP2c9gJ174,1397
 puda_drivers/move/gcode.py,sha256=Aw7la4RkPw737hW5sKl6WiPCmmTnsjLvG4mOb-RwVSc,22592
@@ -23,7 +23,7 @@ puda_drivers/transfer/liquid/sartorius/__init__.py,sha256=QGpKz5YUwa8xCdSMXeZ0iR
 puda_drivers/transfer/liquid/sartorius/api.py,sha256=jxwIJmY2k1K2ts6NC2ZgFTe4MOiH8TGnJeqYOqNa3rE,28250
 puda_drivers/transfer/liquid/sartorius/constants.py,sha256=mcsjLrVBH-RSodH-pszstwcEL9wwbV0vOgHbGNxZz9w,2770
 puda_drivers/transfer/liquid/sartorius/sartorius.py,sha256=bW838jYOAfLlbUqtsKRipZ-RLjrNTcZ7riYV6I4w8G8,13728
-puda_drivers-0.0.11.dist-info/METADATA,sha256=b6LZSNkAD3RG4cjghtm2DcNwFEbK1nIgDJazlUfhYRQ,7041
-puda_drivers-0.0.11.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
-puda_drivers-0.0.11.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
-puda_drivers-0.0.11.dist-info/RECORD,,
+puda_drivers-0.0.12.dist-info/METADATA,sha256=saXg221vJnpqzC4t6Cn7Kcc1ZX0WPBLQkclr_vFaRgQ,7071
+puda_drivers-0.0.12.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+puda_drivers-0.0.12.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
+puda_drivers-0.0.12.dist-info/RECORD,,