puda-drivers 0.0.16__tar.gz → 0.0.17__tar.gz

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/PKG-INFO

@@ -1,9 +1,9 @@
 Metadata-Version: 2.4
 Name: puda-drivers
-Version: 0.0.16
+Version: 0.0.17
 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
+Project-URL: Homepage, https://github.com/PUDAP/puda-drivers
+Project-URL: Issues, https://github.com/PUDAP/puda-drivers/issues
 Author-email: zhao <20024592+agentzhao@users.noreply.github.com>
 License-Expression: MIT
 License-File: LICENSE
@@ -18,6 +18,7 @@ Requires-Python: >=3.10
 Requires-Dist: nats-py>=2.12.0
 Requires-Dist: opencv-python>=4.12.0.88
 Requires-Dist: pyserial~=3.5
+Requires-Dist: pytest>=9.0.2
 Description-Content-Type: text/markdown
 
 # puda-drivers
@@ -40,14 +41,6 @@ Hardware drivers for the PUDA (Physical Unified Device Architecture) platform. T
 pip install puda-drivers
 ```
 
-### From Source
-
-```bash
-git clone https://github.com/zhao-bears/puda-drivers.git
-cd puda-drivers
-pip install -e .
-```
-
 ## Quick Start
 
 ### Logging Configuration
@@ -197,22 +190,70 @@ sartorius_ports = list_serial_ports(filter_desc="Sartorius")
 
 ### Setup Development Environment
 
-First, install `uv` if you haven't already. See the [uv installation guide](https://docs.astral.sh/uv/getting-started/installation/) for platform-specific instructions.
+This package is part of a UV workspace monorepo. First, install `uv` if you haven't already. See the [uv installation guide](https://docs.astral.sh/uv/getting-started/installation/) for platform-specific instructions.
+
+**From the repository root:**
 
 ```bash
-# Create virtual environment
-uv venv
+# Or install dependencies for all workspace packages
+uv sync --all-packages
+```
+
+This will:
+- Create a virtual environment at the repository root (`.venv/`)
+- Install all dependencies for all workspace packages
+- Install `puda-drivers` and other workspace packages in editable mode automatically
 
-# Activate virtual environment
+**Using the package:**
+
+```bash
+# Run Python scripts with workspace context (recommended, works from anywhere in the workspace)
+uv run python your_script.py
+
+# Or activate the virtual environment (from repository root where .venv is located)
 source .venv/bin/activate  # On Windows: .venv\Scripts\activate
+python your_script.py
+```
+
+**Adding dependencies:**
 
-# Install dependencies
-uv sync
+```bash
+# From the package directory
+cd libs/drivers
+uv add some-package
 
-# Install package in editable mode
-pip install -e .
+# Or from repository root
+uv add --package puda-drivers some-package
 ```
 
+**Note:** Workspace packages are automatically installed in editable mode, so code changes are immediately available without reinstalling.
+
+### Testing
+
+Run tests using pytest with `uv run`:
+
+```bash
+# Run all tests
+uv run pytest tests/
+
+# Run a specific test file
+uv run pytest tests/test_deck.py
+
+# Run a specific test class
+uv run pytest tests/test_deck.py::TestDeckToDict
+
+# Run a specific test function
+uv run pytest tests/test_deck.py::TestDeckToDict::test_to_dict_empty_deck
+
+# Run with verbose output
+uv run pytest tests/ -v
+
+# Run with coverage report
+uv run pytest tests/ --cov=puda_drivers --cov-report=html
+```
+
+**Note:** Make sure you're in the `libs/drivers` directory or use the full path to the tests directory when running pytest commands.
+
 ### Building and Publishing
 
 ```bash

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/README.md

@@ -18,14 +18,6 @@ Hardware drivers for the PUDA (Physical Unified Device Architecture) platform. T
 pip install puda-drivers
 ```
 
-### From Source
-
-```bash
-git clone https://github.com/zhao-bears/puda-drivers.git
-cd puda-drivers
-pip install -e .
-```
-
 ## Quick Start
 
 ### Logging Configuration
@@ -175,22 +167,70 @@ sartorius_ports = list_serial_ports(filter_desc="Sartorius")
 
 ### Setup Development Environment
 
-First, install `uv` if you haven't already. See the [uv installation guide](https://docs.astral.sh/uv/getting-started/installation/) for platform-specific instructions.
+This package is part of a UV workspace monorepo. First, install `uv` if you haven't already. See the [uv installation guide](https://docs.astral.sh/uv/getting-started/installation/) for platform-specific instructions.
+
+**From the repository root:**
 
 ```bash
-# Create virtual environment
-uv venv
+# Or install dependencies for all workspace packages
+uv sync --all-packages
+```
+
+This will:
+- Create a virtual environment at the repository root (`.venv/`)
+- Install all dependencies for all workspace packages
+- Install `puda-drivers` and other workspace packages in editable mode automatically
 
-# Activate virtual environment
+**Using the package:**
+
+```bash
+# Run Python scripts with workspace context (recommended, works from anywhere in the workspace)
+uv run python your_script.py
+
+# Or activate the virtual environment (from repository root where .venv is located)
 source .venv/bin/activate  # On Windows: .venv\Scripts\activate
+python your_script.py
+```
+
+**Adding dependencies:**
 
-# Install dependencies
-uv sync
+```bash
+# From the package directory
+cd libs/drivers
+uv add some-package
 
-# Install package in editable mode
-pip install -e .
+# Or from repository root
+uv add --package puda-drivers some-package
 ```
 
+**Note:** Workspace packages are automatically installed in editable mode, so code changes are immediately available without reinstalling.
+
+### Testing
+
+Run tests using pytest with `uv run`:
+
+```bash
+# Run all tests
+uv run pytest tests/
+
+# Run a specific test file
+uv run pytest tests/test_deck.py
+
+# Run a specific test class
+uv run pytest tests/test_deck.py::TestDeckToDict
+
+# Run a specific test function
+uv run pytest tests/test_deck.py::TestDeckToDict::test_to_dict_empty_deck
+
+# Run with verbose output
+uv run pytest tests/ -v
+
+# Run with coverage report
+uv run pytest tests/ --cov=puda_drivers --cov-report=html
+```
+
+**Note:** Make sure you're in the `libs/drivers` directory or use the full path to the tests directory when running pytest commands.
+
 ### Building and Publishing
 
 ```bash

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "puda-drivers"
-version = "0.0.16"
+version = "0.0.17"
 description = "Hardware drivers for the PUDA platform."
 readme = "README.md"
 authors = [
@@ -22,6 +22,7 @@ dependencies = [
     "nats-py>=2.12.0",
     "opencv-python>=4.12.0.88",
     "pyserial~=3.5",
+    "pytest>=9.0.2",
 ]
 
 [build-system]
@@ -29,5 +30,5 @@ requires = ["hatchling >= 1.26"]
 build-backend = "hatchling.build"
 
 [project.urls]
-Homepage = "https://github.com/zhao-bears/puda-drivers"
-Issues = "https://github.com/zhao-bears/puda-drivers/issues"
+Homepage = "https://github.com/PUDAP/puda-drivers"
+Issues = "https://github.com/PUDAP/puda-drivers/issues"

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/src/puda_drivers/core/serialcontroller.py

@@ -48,7 +48,7 @@ class SerialController(ABC):
         self._serial = None
         self.port_name = port_name
         self.baudrate = baudrate
-        self.timeout = timeout
+        self._timeout = timeout
         self._logger = logger
         
         # lock to prevent concurrent access to the serial port
@@ -75,7 +75,7 @@ class SerialController(ABC):
             self._serial = serial.Serial(
                 port=self.port_name,
                 baudrate=self.baudrate,
-                timeout=self.timeout,
+                timeout=self._timeout,
             )
             self._serial.flush()
             self._logger.info("Successfully connected to %s.", self.port_name)
@@ -107,19 +107,19 @@ class SerialController(ABC):
 
     def _send_command(self, command: str) -> None:
         """
-        Sends a custom protocol command.
+        Sends a command to the device.
         Note: This method should be called while holding self._lock to ensure
         atomic command/response pairing.
         """
+        self._logger.info("-> Sending: %r", command)
+
         if not self.is_connected or not self._serial:
             self._logger.error(
                 "Attempt to send command '%s' failed: Device not connected.",
                 command,
             )
             # Retain raising an error for being disconnected, as that's a connection state issue
-            raise serial.SerialException("Device not connected. Call connect() first.")
-
-        self._logger.info("-> Sending: %r", command)
+            raise serial.SerialException("Device disconnected. Call connect() first.")
 
         try:
             self._serial.reset_input_buffer()  # clear input buffer
@@ -140,7 +140,7 @@ class SerialController(ABC):
             )
             return None
 
-    def _read_response(self) -> str:
+    def _read_response(self, timeout: int = None) -> str:
         """
         Generic, blocking read that respects timeout and returns
         all data that arrived within the timeout period.
@@ -148,10 +148,13 @@ class SerialController(ABC):
         if not self.is_connected or not self._serial:
             raise serial.SerialException("Device not connected.")
 
+        if timeout is None:
+            timeout = self._timeout
+
         start_time = time.time()
         response = b""
 
-        while time.time() - start_time < self.timeout:
+        while time.time() - start_time < timeout:
             if self._serial.in_waiting > 0:
                 # Read all available bytes
                 response += self._serial.read(self._serial.in_waiting)
@@ -168,14 +171,12 @@ class SerialController(ABC):
 
         # Timeout reached - check what we got
         if not response:
-            self._logger.error("No response within %s seconds.", self.timeout)
+            self._logger.error("No response within %s seconds.", timeout)
             raise serial.SerialTimeoutException(
-                f"No response received within {self.timeout} seconds."
+                f"No response received within {timeout} seconds."
             )
 
-        # Decode once and check the decoded string
         decoded_response = response.decode("utf-8", errors="ignore").strip()
-        
         if "ok" in decoded_response.lower():
             self._logger.debug("<- Received response: %r", decoded_response)
         elif "err" in decoded_response.lower():
@@ -193,10 +194,12 @@ class SerialController(ABC):
     def _build_command(self, command: str, value: Optional[str] = None) -> str:
         """
         Build a command string according to the device protocol.
+        
+        There might be special starting and ending characters for devices
         """
-        pass
+        raise NotImplementedError
 
-    def execute(self, command: str, value: Optional[str] = None) -> str:
+    def execute(self, command: str, value: Optional[str] = None, timeout: int = None) -> str:
         """
         Send a command and read the response atomically.
         
@@ -218,22 +221,10 @@ class SerialController(ABC):
             serial.SerialException: If device is not connected or communication fails
             serial.SerialTimeoutException: If no response is received within timeout
         """
+        if timeout is None:
+            timeout = self._timeout
         # Hold the lock for the entire send+read operation to ensure atomicity
         # This prevents concurrent commands from mixing up responses
         with self._lock:
-            # Increase timeout by 60 seconds for G28 (homing) command
-            original_timeout = self.timeout
-            if "G28" in command.upper():
-                self.timeout = original_timeout + 60
-                # Also update the serial connection's timeout if connected
-                if self.is_connected and self._serial:
-                    self._serial.timeout = self.timeout
-            
-            try:
-                self._send_command(self._build_command(command, value))
-                return self._read_response()
-            finally:
-                # Restore original timeout
-                self.timeout = original_timeout
-                if self.is_connected and self._serial:
-                    self._serial.timeout = original_timeout
+            self._send_command(self._build_command(command, value))
+            return self._read_response(timeout=timeout)

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/src/puda_drivers/labware/trash_bin.json

@@ -20,7 +20,8 @@
       "width": 10.0,
       "height": 10.0,
       "x": 60.0,
-      "y": 42.0
+      "y": 42.0,
+      "z": 0.0
     }
   },
   "groups": [

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/src/puda_drivers/machines/first.py

@@ -176,6 +176,8 @@ class First:
             "pipette": sartorius_position,
         }
         
+    ### Labware management ###
+        
     def load_labware(self, slot: str, labware_name: str):
         """
         Load a labware object into a slot.
@@ -190,7 +192,33 @@ class First:
         self._logger.info("Loading labware '%s' into slot '%s'", labware_name, slot)
         self.deck.load_labware(slot=slot, labware_name=labware_name)
         self._logger.debug("Labware '%s' loaded into slot '%s'", labware_name, slot)
+
+    def remove_labware(self, slot: str):
+        """
+        Remove labware from a slot.
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+        
+        Raises:
+            KeyError: If slot is not found in deck
+        """
+        self.deck.empty_slot(slot=slot)
+        self._logger.debug("Slot '%s' emptied", slot)
     
+    def get_deck(self):
+        """
+        Get the current deck layout.
+        
+        Returns:
+            Dictionary mapping slot names (e.g., "A1") to labware classes.
+        
+        Raises:
+            None
+        """
+        return self.deck.to_dict()
+
+        
     def load_deck(self, deck_layout: Dict[str, Type[StandardLabware]]):
         """
         Load multiple labware into the deck at once.
@@ -211,6 +239,8 @@ class First:
             self.load_labware(slot=slot, labware_name=labware_name)
         self._logger.info("Deck layout loaded successfully")
         
+    ### Liquid handling ###
+        
     def attach_tip(self, slot: str, well: Optional[str] = None):
         """
         Attach a tip from a slot.

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/src/puda_drivers/move/deck.py

@@ -1,5 +1,6 @@
 # src/puda_drivers/move/deck.py
 
+import json
 from puda_drivers.labware import StandardLabware
 
 
@@ -29,6 +30,20 @@ class Deck:
         if slot.upper() not in self.slots:
             raise KeyError(f"Slot {slot} not found in deck")
         self.slots[slot.upper()] = StandardLabware(labware_name=labware_name)
+    
+    def empty_slot(self, slot: str):
+        """
+        Empty a slot (remove labware from it).
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+        
+        Raises:
+            KeyError: If slot is not found in deck
+        """
+        if slot.upper() not in self.slots:
+            raise KeyError(f"Slot {slot} not found in deck")
+        self.slots[slot.upper()] = None
         
     def __str__(self):
         """
@@ -44,4 +59,23 @@ class Deck:
 
     def __getitem__(self, key):
         """Allows syntax for: my_deck['B4']"""
-        return self.slots[key.upper()]
+        return self.slots[key.upper()]
+ 
+    def to_dict(self) -> dict:
+        """
+        Return the deck layout as a dictionary.
+        """
+        deck_data = {}
+        for slot, labware in self.slots.items():
+            if labware is None:
+                deck_data[slot] = None
+            else:
+                deck_data[slot] = labware.name
+        return deck_data
+
+    def to_json(self) -> str:
+        """
+        Return the deck layout as a JSON string.
+        """
+        # Re-use the logic from to_dict() so you don't have to update it in two places
+        return json.dumps(self.to_dict(), indent=2)

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/src/puda_drivers/move/gcode.py

@@ -296,7 +296,7 @@ class GCodeController(SerialController):
             home_target = "All"
 
         self._logger.info("[%s] homing axis/axes: %s **", cmd, home_target)
-        self.execute(cmd)
+        self.execute(command=cmd, timeout=90) # 90 seconds timeout for homing
         self._logger.info("Homing of %s completed.\n", home_target)
 
         # Update internal position (optimistic zeroing)
@@ -554,7 +554,7 @@ class GCodeController(SerialController):
             self._logger.info("Query position complete. Retrieved positions: %s", position)
             return position
         except asyncio.TimeoutError:
-            self._logger.warning(
+            self._logger.info(
                 "M114 command timed out after 1 second. Falling back to internal position."
             )
             return self.get_internal_position()

puda_drivers-0.0.17/tests/poll_position.py

@@ -0,0 +1,126 @@
+"""Test script to poll get_position every second while movement commands are running."""
+
+import asyncio
+import logging
+import time
+from datetime import datetime
+from puda_drivers.machines import First
+from puda_drivers.core import Position, setup_logging
+
+setup_logging(
+    enable_file_logging=False,
+    log_level=logging.INFO,
+)
+
+
+async def poll_position(machine: First, stop_event: asyncio.Event):
+    """
+    Poll get_position every second and print the results.
+    
+    Args:
+        machine: First machine instance
+        stop_event: Event to signal when to stop polling
+    """
+    poll_count = 0
+    while not stop_event.is_set():
+        try:
+            position = await machine.get_position()
+            poll_count += 1
+            timestamp = datetime.now().strftime("%H:%M:%S.%f")[:-3]
+            
+            qubot_pos = position["qubot"]
+            pipette_pos = position["pipette"]
+            
+            print(f"[{timestamp}] Poll #{poll_count}")
+            print(f"  QuBot: X={qubot_pos.get('x', 0):.2f}, "
+                  f"Y={qubot_pos.get('y', 0):.2f}, "
+                  f"Z={qubot_pos.get('z', 0):.2f}, "
+                  f"A={qubot_pos.get('a', 0):.2f}")
+            print(f"  Pipette: {pipette_pos} steps")
+            print()
+            
+        except Exception as e:
+            print(f"Error polling position: {e}")
+        
+        # Wait 1 second before next poll
+        await asyncio.sleep(1.0)
+
+
+def run_movements(machine: First):
+    """
+    Run a sequence of movement commands.
+    
+    Args:
+        machine: First machine instance
+    """
+    print("Starting movement sequence...")
+    
+    # Example movement sequence
+    positions = [
+        Position(x=50, y=-100, z=-50),
+        Position(x=150, y=-200, z=-50),
+        Position(x=250, y=-300, z=-50),
+        Position(x=150, y=-200, z=-50),
+        Position(x=50, y=-100, z=-50),
+    ]
+    
+    for i, pos in enumerate(positions, 1):
+        print(f"Moving to position {i}/{len(positions)}: {pos}")
+        machine.qubot.move_absolute(position=pos)
+        time.sleep(0.5)  # Small delay between movements
+    
+    print("Movement sequence complete!")
+
+
+async def main():
+    """Main function to run position polling and movements concurrently."""
+    # Initialize machine
+    machine = First(
+        qubot_port="/dev/ttyACM0",
+        sartorius_port="/dev/ttyUSB0",
+        camera_index=0,
+    )
+    
+    try:
+        # Startup machine
+        print("Starting up machine...")
+        machine.startup()
+        print("Machine ready!\n")
+        
+        # Create stop event for polling
+        stop_event = asyncio.Event()
+        
+        # Start position polling task
+        polling_task = asyncio.create_task(poll_position(machine, stop_event))
+        
+        # Run movements in a thread pool (since they're blocking)
+        print("Running movements in background...\n")
+        await asyncio.to_thread(run_movements, machine)
+        
+        # Wait a bit more to see final position
+        await asyncio.sleep(2)
+        
+        # Stop polling
+        stop_event.set()
+        await polling_task
+        
+        print("\nTest complete!")
+        
+    except KeyboardInterrupt:
+        print("\nInterrupted by user")
+        stop_event.set()
+        await polling_task
+    except Exception as e:
+        print(f"\nError: {e}")
+        stop_event.set()
+        if not polling_task.done():
+            await polling_task
+    finally:
+        # Shutdown machine
+        print("\nShutting down machine...")
+        machine.shutdown()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())
+

puda_drivers-0.0.17/tests/test_deck.py

@@ -0,0 +1,172 @@
+"""Tests for Deck class to_dict() and to_json() methods."""
+
+import json
+from puda_drivers.move.deck import Deck
+
+
+class TestDeckToDict:
+    """Test cases for Deck.to_dict() method."""
+
+    def test_to_dict_empty_deck(self):
+        """Test to_dict() on an empty deck (all slots are None)."""
+        deck = Deck(rows=2, cols=2)
+        result = deck.to_dict()
+        
+        # Should have all slots
+        assert len(result) == 4
+        assert result["A1"] is None
+        assert result["A2"] is None
+        assert result["B1"] is None
+        assert result["B2"] is None
+
+    def test_to_dict_with_labware(self):
+        """Test to_dict() on a deck with labware loaded."""
+        deck = Deck(rows=2, cols=2)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("B2", "trash_bin")
+        
+        result = deck.to_dict()
+        
+        # Check that loaded labware have their names
+        assert result["A1"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        assert result["B2"] == "Trash Bin"
+        
+        # Check that unloaded slots are None
+        assert result["A2"] is None
+        assert result["B1"] is None
+
+    def test_to_dict_mixed_slots(self):
+        """Test to_dict() with a mix of loaded and empty slots."""
+        deck = Deck(rows=3, cols=3)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("C3", "polyelectric_8_wellplate_30000ul")
+        
+        result = deck.to_dict()
+        
+        # Should have all 9 slots
+        assert len(result) == 9
+        
+        # Check loaded slots
+        assert result["A1"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        assert result["C3"] == "Polyelectric 8 Well Plate 30000 µL"
+        
+        # Check some empty slots
+        assert result["A2"] is None
+        assert result["B1"] is None
+        assert result["B2"] is None
+        assert result["C1"] is None
+
+    def test_to_dict_all_slots_filled(self):
+        """Test to_dict() when all slots are filled."""
+        deck = Deck(rows=2, cols=2)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("A2", "trash_bin")
+        deck.load_labware("B1", "polyelectric_8_wellplate_30000ul")
+        deck.load_labware("B2", "opentrons_96_tiprack_300ul")
+        
+        result = deck.to_dict()
+        
+        # All slots should have labware names
+        assert result["A1"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        assert result["A2"] == "Trash Bin"
+        assert result["B1"] == "Polyelectric 8 Well Plate 30000 µL"
+        assert result["B2"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        
+        # No None values
+        assert None not in result.values()
+
+
+class TestDeckToJson:
+    """Test cases for Deck.to_json() method."""
+
+    def test_to_json_empty_deck(self):
+        """Test to_json() on an empty deck."""
+        deck = Deck(rows=2, cols=2)
+        json_str = deck.to_json()
+        
+        # Should be valid JSON
+        parsed = json.loads(json_str)
+        assert isinstance(parsed, dict)
+        
+        # Should match to_dict() output
+        assert parsed == deck.to_dict()
+        
+        # Should have proper indentation (check for newlines)
+        assert "\n" in json_str
+
+    def test_to_json_with_labware(self):
+        """Test to_json() on a deck with labware loaded."""
+        deck = Deck(rows=2, cols=2)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("B2", "trash_bin")
+        
+        json_str = deck.to_json()
+        
+        # Should be valid JSON
+        parsed = json.loads(json_str)
+        assert isinstance(parsed, dict)
+        
+        # Should match to_dict() output exactly
+        assert parsed == deck.to_dict()
+        
+        # Should contain labware names in the parsed JSON (checking parsed values
+        # instead of raw string since JSON serialization may escape Unicode characters)
+        assert parsed["A1"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        assert parsed["B2"] == "Trash Bin"
+
+    def test_to_json_matches_to_dict(self):
+        """Test that to_json() when parsed matches to_dict() output."""
+        deck = Deck(rows=3, cols=3)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("B2", "trash_bin")
+        deck.load_labware("C3", "polyelectric_8_wellplate_30000ul")
+        
+        dict_result = deck.to_dict()
+        json_str = deck.to_json()
+        json_result = json.loads(json_str)
+        
+        # Should be identical
+        assert dict_result == json_result
+        
+        # Verify structure
+        assert json_result["A1"] == "Opentrons OT-2 96 Tip Rack 300 µL"
+        assert json_result["B2"] == "Trash Bin"
+        assert json_result["C3"] == "Polyelectric 8 Well Plate 30000 µL"
+        assert json_result["A2"] is None
+
+    def test_to_json_indentation(self):
+        """Test that to_json() has proper indentation (indent=2)."""
+        deck = Deck(rows=2, cols=2)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        
+        json_str = deck.to_json()
+        
+        # Check that it has indentation (2 spaces per level)
+        lines = json_str.split("\n")
+        # First line should be "{"
+        assert lines[0].strip() == "{"
+        # Second line should have 2 spaces of indentation
+        assert lines[1].startswith("  ")
+        
+        # Verify it's still valid JSON
+        parsed = json.loads(json_str)
+        assert isinstance(parsed, dict)
+
+    def test_to_json_round_trip(self):
+        """Test that to_json() output can be loaded and matches original."""
+        deck = Deck(rows=2, cols=2)
+        deck.load_labware("A1", "opentrons_96_tiprack_300ul")
+        deck.load_labware("B2", "trash_bin")
+        
+        original_dict = deck.to_dict()
+        json_str = deck.to_json()
+        loaded_dict = json.loads(json_str)
+        
+        # Round trip should preserve all data
+        assert loaded_dict == original_dict
+        
+        # Verify all keys and values match
+        for key in original_dict:
+            assert key in loaded_dict
+            assert loaded_dict[key] == original_dict[key]
+

{puda_drivers-0.0.16 → puda_drivers-0.0.17}/tests/test_position_polling.py

@@ -3,7 +3,7 @@
 import asyncio
 import json
 import logging
-from datetime import datetime
+from datetime import datetime, timezone
 from puda_drivers.machines import First
 from puda_drivers.labware import get_available_labware
 from puda_drivers.core import setup_logging
@@ -25,7 +25,7 @@ async def poll_position(machine: First, stop_event: asyncio.Event):
     while not stop_event.is_set():
         try:
             position = await machine.get_position()
-            timestamp = datetime.utcnow().isoformat() + "Z"
+            timestamp = datetime.now(timezone.utc).isoformat()
             result = {
                 "timestamp": timestamp,
                 "qubot": position.get("qubot", {}),
@@ -33,7 +33,7 @@ async def poll_position(machine: First, stop_event: asyncio.Event):
             }
             print(json.dumps(result))
         except (ValueError, IOError, RuntimeError) as e:
-            timestamp = datetime.utcnow().isoformat() + "Z"
+            timestamp = datetime.now(timezone.utc).isoformat()
             result = {
                 "timestamp": timestamp,
                 "qubot": {},

puda_drivers-0.0.17/tests/webcam.py

@@ -0,0 +1,59 @@
+"""Tests for camera controller functionality."""
+
+import time
+import pytest
+from puda_drivers.cv import list_cameras, CameraController
+
+
+@pytest.fixture
+def camera_controller():
+    """Fixture to create and connect a camera controller."""
+    cam = CameraController(camera_index=4)
+    cam.connect()
+    yield cam
+    if cam.is_connected:
+        cam.disconnect()
+
+
+def test_list_cameras():
+    """Test listing available cameras."""
+    cameras = list_cameras()
+    assert isinstance(cameras, list)
+    print(f"Found {len(cameras)} cameras")
+
+
+# pylint: disable=redefined-outer-name
+def test_camera_connection(camera_controller):
+    """Test camera connection."""
+    assert camera_controller.is_connected, "Camera should be connected"
+    print("Camera is connected")
+
+
+# pylint: disable=redefined-outer-name
+def test_capture_image(camera_controller):
+    """Test image capture functionality."""
+    if camera_controller.is_connected:
+        image = camera_controller.capture_image()
+        assert image is not None
+        print("Image captured successfully")
+
+
+# pylint: disable=redefined-outer-name
+def test_record_video_duration(camera_controller):
+    """Test recording video for a specific duration."""
+    if camera_controller.is_connected:
+        video_path = camera_controller.record_video(duration_seconds=10)
+        assert video_path is not None
+        print(f"Video recorded: {video_path}")
+
+
+# pylint: disable=redefined-outer-name
+def test_start_stop_video_recording(camera_controller):
+    """Test starting and stopping video recording manually."""
+    if camera_controller.is_connected:
+        print("Camera is connected")
+        video_path = camera_controller.start_video_recording()
+        time.sleep(3)
+        stop_path = camera_controller.stop_video_recording()
+        assert stop_path is not None or video_path is not None
+        print("Video recording started and stopped successfully")

puda_drivers-0.0.16/tests/webcam.py

@@ -1,28 +0,0 @@
-import time
-from puda_drivers.cv import list_cameras, CameraController
-
-
-# print(list_cameras())
-
-camera = CameraController(camera_index=4)
-camera.connect()
-
-# Image capture
-# if camera.is_connected:
-#     print("Camera is connected")
-#     camera.capture_image()
-#     camera.disconnect()
-
-# Video recording
-# if camera.is_connected:
-#     print("Camera is connected")
-#     camera.record_video(duration_seconds=10)
-#     camera.disconnect()
-    
-# video recording
-if camera.is_connected:
-    print("Camera is connected")
-    camera.start_video_recording()
-    time.sleep(3)
-    camera.stop_video_recording()
-    camera.disconnect()

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-
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-version = "2.2.6"
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