puda-drivers 0.0.13__py3-none-any.whl → 0.0.15__py3-none-any.whl

puda_drivers/core/__init__.py

@@ -1,6 +1,5 @@
 from .serialcontroller import SerialController, list_serial_ports
 from .logging import setup_logging
 from .position import Position
-from .nats_machine_client import NATSMachineClient, ExecutionState
 
-__all__ = ["SerialController", "list_serial_ports", "setup_logging", "Position", "NATSMachineClient", "ExecutionState"]
+__all__ = ["SerialController", "list_serial_ports", "setup_logging", "Position"]

puda_drivers/machines/first.py

@@ -159,7 +159,7 @@ class First:
         self.camera.disconnect()
         self._logger.info("Machine shutdown complete")
         
-    def get_position(self) -> Dict[str, float]:
+    async def get_position(self) -> Dict[str, float]:
         """
         Get the current position of the machine. Both QuBot and Sartorius are queried.
         
@@ -168,8 +168,8 @@ class First:
         Returns:
             Dictionary containing the current position of the machine and it's components.
         """
-        qubot_position = self.qubot.get_position()
-        sartorius_position = self.pipette.get_position()
+        qubot_position = await self.qubot.get_position()
+        sartorius_position = await self.pipette.get_position()
 
         return {
             "qubot": qubot_position.to_dict(),

puda_drivers/move/gcode.py

@@ -7,9 +7,9 @@ absolute coordinates, with relative moves converted to absolute internally.
 Supports homing and position synchronization.
 """
 
-import time
 import re
 import logging
+import asyncio
 from dataclasses import dataclass
 from typing import Optional, Dict, Tuple, Union
 
@@ -508,9 +508,12 @@ class GCodeController(SerialController):
         
         return self._current_position
 
-    def get_position(self) -> Position:
+    async def get_position(self) -> Position:
         """
-        Get the current machine position (M114 command).
+        Get the current machine position (M114 command) asynchronously.
+
+        This method can be called even when the machine is moving from other commands,
+        as it runs the blocking serial communication in a separate thread.
 
         Returns:
             Position containing X, Y, Z, and A positions
@@ -519,7 +522,8 @@ class GCodeController(SerialController):
             Returns an empty Position if the query fails or no positions are found.
         """
         self._logger.info("Querying current machine position (M114).")
-        res: str = self.execute("M114")
+        # Run the blocking execute call in a thread pool to allow concurrent operations
+        res: str = await asyncio.to_thread(self.execute, "M114")
 
         # Extract position values using regex
         pattern = re.compile(r"([XYZA]):(-?\d+\.\d+)")
@@ -556,11 +560,13 @@ class GCodeController(SerialController):
 
         Note:
             This method may recursively call itself if a correction move is made.
+            Since this method calls move_absolute (which is blocking), it remains
+            synchronous. The async get_position() is called using asyncio.run().
         """
         self._logger.info("Starting position synchronization check (M114).")
 
-        # Query the actual machine position
-        queried_position = self.get_position()
+        # Query the actual machine position (async method called from sync context)
+        queried_position = asyncio.run(self.get_position())
 
         if not queried_position.get_axes():
             self._logger.error("Query position failed. Cannot synchronize.")

puda_drivers/transfer/liquid/sartorius/rLine.py

@@ -9,14 +9,13 @@ Reference: https://api.sartorius.com/document-hub/dam/download/34901/Sartorius-r
 
 import json
 import logging
+import asyncio
 from typing import Optional
 from puda_drivers.core.serialcontroller import SerialController
 from .constants import STATUS_CODES
 
 class SartoriusDeviceError(Exception):
     """Custom exception raised when the Sartorius device reports an error."""
-    
-    pass
 
 class SartoriusController(SerialController):
     """
@@ -372,15 +371,19 @@ class SartoriusController(SerialController):
 
         return json.dumps(status_data)
     
-    def get_position(self) -> int:
+    async def get_position(self) -> int:
         """
-        Query the current position of the pipette (DP command).
+        Query the current position of the pipette (DP command) asynchronously.
+
+        This method can be called even when the pipette is performing other operations,
+        as it runs the blocking serial communication in a separate thread.
 
         Returns:
             Current position in steps
         """
         self._logger.info("** Querying Position (DP) **")
-        response = self.execute(command="DP")
+        # Run the blocking execute call in a thread pool to allow concurrent operations
+        response = await asyncio.to_thread(self.execute, command="DP")
         self._logger.info("** Position: %s steps **\n", response)
         return response
     

{puda_drivers-0.0.13.dist-info → puda_drivers-0.0.15.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: puda-drivers
-Version: 0.0.13
+Version: 0.0.15
 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

{puda_drivers-0.0.13.dist-info → puda_drivers-0.0.15.dist-info}/RECORD

@@ -1,6 +1,6 @@
 puda_drivers/__init__.py,sha256=rcF5xCkMgyLlJLN3gWwJnUoW0ShPyISeyENvaqwg4Ik,503
 puda_drivers/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-puda_drivers/core/__init__.py,sha256=1T5jL8SXz_4jz1TGa3tSupwF5vg-wuN2efhulVClHaI,320
+puda_drivers/core/__init__.py,sha256=XbCdXsU6NMDsmEAtavAGiSZZPla5d7zc2L7Qx9qKHdY,214
 puda_drivers/core/logging.py,sha256=prOeJ3CGEbm37TtMRyAOTQQiMU5_ImZTRXmcUJxkenc,2892
 puda_drivers/core/position.py,sha256=f4efmDSrKKCtqrR-GUJxVitPG20MiuGSDOWt-9TVISk,12628
 puda_drivers/core/serialcontroller.py,sha256=38mKas1iJaOkAE0_V4tmqgZz7RxMMEWfGqA0Ma_Dt2A,8604
@@ -12,18 +12,18 @@ 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=kpxn8__u2mVt0MROj8Tuqs9-guBAsjW8lDTDVuQL9XE,19683
+puda_drivers/machines/first.py,sha256=cqK8Gwk89nTweVTImhHU1RimtvDn4En36qV_ZanMGIU,19701
 puda_drivers/move/__init__.py,sha256=NKIKckcqgyviPM0EGFcmIoaqkJM4qekR4babfdddRzM,96
 puda_drivers/move/deck.py,sha256=yq2B4WMqj0hQvHt8HoJskP10u1DUyKwUnjP2c9gJ174,1397
-puda_drivers/move/gcode.py,sha256=NAUBwhCI24NJlcZSQyKO6K7nP6ADcIybb4rrmYusKq0,22586
+puda_drivers/move/gcode.py,sha256=GNbFkGgXcr0vBXXWbM96aRkkdQsTiqLCA56V-z3ebYs,23102
 puda_drivers/move/grbl/__init__.py,sha256=vBeeti8DVN2dACi1rLmHN_UGIOdo0s-HZX6mIepLV5I,98
 puda_drivers/move/grbl/api.py,sha256=loj8_Vap7S9qaD0ReHhgxr9Vkl6Wp7DGzyLkZyZ6v_k,16995
 puda_drivers/move/grbl/constants.py,sha256=4736CRDzLGWVqGscLajMlrIQMyubsHfthXi4RF1CHNg,9585
 puda_drivers/transfer/liquid/sartorius/__init__.py,sha256=7fljIbu0KkumsI3NI3O64dl6JkMAQDG5-uGqPefDI7M,97
 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/rLine.py,sha256=Lzcxt-oHFHa2a-q1WFFrpHTeQrKQihRJrPcf29J5Rb0,14232
-puda_drivers-0.0.13.dist-info/METADATA,sha256=6shREZadMDvMjcZTBlKd9SDfd0-IZOutmMtg5kOpspY,7102
-puda_drivers-0.0.13.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
-puda_drivers-0.0.13.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
-puda_drivers-0.0.13.dist-info/RECORD,,
+puda_drivers/transfer/liquid/sartorius/rLine.py,sha256=FWEFO9tZN3cbneiozXRs77O-47Jg_8vYzWJvUrWpYxA,14531
+puda_drivers-0.0.15.dist-info/METADATA,sha256=CBB25oLMTKaHkRqnPsrr80dDLenQxKa_OQoZo0GTSno,7102
+puda_drivers-0.0.15.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+puda_drivers-0.0.15.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
+puda_drivers-0.0.15.dist-info/RECORD,,