puda-drivers 0.0.6__py3-none-any.whl → 0.0.7__py3-none-any.whl

puda_drivers/core/serialcontroller.py

@@ -5,7 +5,7 @@ Generic Serial Controller for communicating with devices over serial ports.
 import time
 import logging
 from typing import Optional, List, Tuple
-from abc import ABC
+from abc import ABC, abstractmethod
 import serial
 import serial.tools.list_ports
 
@@ -191,8 +191,15 @@ class SerialController(ABC):
             )
         
         return decoded_response
+    
+    @abstractmethod
+    def _build_command(self, command: str, value: Optional[str] = None) -> str:
+        """
+        Build a command string according to the device protocol.
+        """
+        pass
 
-    def execute(self, command: str) -> str:
+    def execute(self, command: str, value: Optional[str] = None) -> str:
         """
         Send a command and read the response atomically.
         
@@ -211,5 +218,5 @@ class SerialController(ABC):
             serial.SerialException: If device is not connected or communication fails
             serial.SerialTimeoutException: If no response is received within timeout
         """
-        self._send_command(command)
+        self._send_command(self._build_command(command, value))
         return self._read_response()

puda_drivers/move/gcode.py

@@ -143,7 +143,7 @@ class GCodeController(SerialController):
             self._feed = new_feed
             self._logger.debug("Feed rate set to: %s mm/min.", self._feed)
 
-    def _build_command(self, command: str) -> str:
+    def _build_command(self, command: str, value: Optional[str] = None) -> str:
         """
         Build a G-code command with terminator.
 
@@ -155,14 +155,14 @@ class GCodeController(SerialController):
         """
         return f"{command}{self.PROTOCOL_TERMINATOR}"
 
-    def wait_for_move(self) -> None:
+    def _wait_for_move(self) -> None:
         """
         Wait for the current move to complete (M400 command).
         
         This sends the M400 command which waits for all moves in the queue to complete
         before continuing. This ensures that position updates are accurate.
         """
-        self.execute(self._build_command("M400"))
+        self.execute("M400")
 
     def _validate_axis(self, axis: str) -> str:
         """
@@ -305,8 +305,8 @@ class GCodeController(SerialController):
             home_target = "All"
 
         self._logger.info("[%s] homing axis/axes: %s **", cmd, home_target)
-        self.execute(self._build_command(cmd))
-        self._logger.info("Homing of %s completed.", home_target)
+        self.execute(cmd)
+        self._logger.info("Homing of %s completed.\n", home_target)
 
         # Update internal position (optimistic zeroing)
         if axis:
@@ -447,17 +447,17 @@ class GCodeController(SerialController):
             raise ValueError("Move command issued with both Z and A movement. This is not supported.")
 
         # Step 0: Ensure absolute mode is active
-        self.execute(self._build_command("G90"))
+        self.execute("G90")
         needs_xy_move = needs_x_move or needs_y_move
 
         # Step 1: Move Z and A to SAFE_MOVE_HEIGHT if XY movement is needed
         if needs_xy_move:
-            self._logger.info(
+            self._logger.debug(
                 "Safe move: Raising Z and A to safe height (%s) before XY movement", self.SAFE_MOVE_HEIGHT
             )
             move_cmd = f"G1 Z-5 A-5 F{self._z_feed}"
-            self.execute(self._build_command(move_cmd))
-            self.wait_for_move()
+            self.execute(move_cmd)
+            self._wait_for_move()
             self._current_position["Z"] = self.SAFE_MOVE_HEIGHT
             self._current_position["A"] = self.SAFE_MOVE_HEIGHT
             self._logger.debug("Z and A moved to safe height (%s)", self.SAFE_MOVE_HEIGHT)
@@ -471,9 +471,9 @@ class GCodeController(SerialController):
                 move_cmd += f" Y{position['Y']}"
             move_cmd += f" F{feed}"
 
-            self._logger.info("Executing XY move command: %s", move_cmd)
-            self.execute(self._build_command(move_cmd))
-            self.wait_for_move()
+            self._logger.debug("Executing XY move command: %s", move_cmd)
+            self.execute(move_cmd)
+            self._wait_for_move()
 
             # Update position for moved axes
             if needs_x_move:
@@ -484,21 +484,20 @@ class GCodeController(SerialController):
         # Step 3: Move Z and A back to original position (or target if specified)
         if needs_z_move:
             move_cmd = f"G1 Z{position['Z']} F{self._z_feed}"
-            self.execute(self._build_command(move_cmd))
+            self.execute(move_cmd)
             self._current_position["Z"] = position['Z']
         elif needs_a_move:
             move_cmd = f"G1 A{position['A']} F{self._z_feed}"
-            self.execute(self._build_command(move_cmd))
+            self.execute(move_cmd)
             self._current_position["A"] = position['A']
-        self.wait_for_move()
-
-        self._logger.info(
-            "Move complete. Final position: %s", self._current_position
-        )
+        self._wait_for_move()
         self._logger.debug("New internal position: %s", self._current_position)
 
         # Step 4: Post-move position synchronization check
-        self.sync_position()
+        self._sync_position()
+        self._logger.info(
+            "Move complete. Final position: %s\n", self._current_position
+        )
         
         return self._current_position
 
@@ -513,7 +512,7 @@ class GCodeController(SerialController):
             Returns an empty dictionary if the query fails or no positions are found.
         """
         self._logger.info("Querying current machine position (M114).")
-        res: str = self.execute(self._build_command("M114"))
+        res: str = self.execute("M114")
 
         # Extract position values using regex
         pattern = re.compile(r"([XYZA]):(-?\d+\.\d+)")
@@ -532,9 +531,10 @@ class GCodeController(SerialController):
                 )
                 continue
 
+        self._logger.info("Query position complete. Retrieved positions: %s", position_data)
         return position_data
 
-    def sync_position(self) -> Tuple[bool, Dict[str, float]]:
+    def _sync_position(self) -> Tuple[bool, Dict[str, float]]:
         """
         Synchronize internal position with actual machine position.
 
@@ -592,7 +592,7 @@ class GCodeController(SerialController):
                 self._logger.info("Synchronization move successfully completed.")
 
                 # Recursive call to verify position after move
-                return self.sync_position()
+                return self._sync_position()
             except (ValueError, RuntimeError, OSError) as e:
                 self._logger.error("Synchronization move failed: %s", e)
                 adjustment_needed = False
@@ -614,7 +614,7 @@ class GCodeController(SerialController):
             Machine information string from the device
         """
         self._logger.info("Querying machine information (M115).")
-        return self.execute(self._build_command("M115"))
+        return self.execute("M115")
 
     def get_internal_position(self) -> Dict[str, float]:
         """

puda_drivers/transfer/liquid/sartorius/sartorius.py

@@ -72,7 +72,7 @@ class SartoriusController(SerialController):
             timeout,
         )
 
-    def _build_command(self, command_code: str, value: str = "") -> str:
+    def _build_command(self, command: str, value: Optional[str] = None) -> str:
         """
         Build a command string according to the Sartorius protocol.
 
@@ -88,28 +88,11 @@ class SartoriusController(SerialController):
         return (
             self.PROTOCOL_SOH
             + self.SLAVE_ADDRESS
-            + "R"
-            + command_code
-            + value
+            + command
+            + (f"{value}" if value else "")
             + self.PROTOCOL_TERMINATOR
         )
 
-    def _check_response_error(self, response: str, operation: str) -> None:
-        """
-        Check if a response contains an error and raise an exception if so.
-
-        Args:
-            response: Response string from the device
-            operation: Description of the operation being performed (for error message)
-
-        Raises:
-            SartoriusDeviceError: If the response contains an error
-        """
-        if self.ERROR_RESPONSE in response.lower():
-            raise SartoriusDeviceError(
-                f"{operation} failed. Device returned error: {response}"
-            )
-
     def _validate_speed(self, speed: int, direction: str = "speed") -> None:
         """
         Validate that a speed value is within the allowed range.
@@ -149,29 +132,6 @@ class SartoriusController(SerialController):
             )
         return value_str
 
-    def _execute_command(
-        self, command_code: str, value: str = "", operation: str = ""
-    ) -> str:
-        """
-        Execute a command and return the response.
-
-        Args:
-            command_code: Command code to execute
-            value: Optional value for the command
-            operation: Description of the operation (for logging and error messages)
-
-        Returns:
-            Response string from the device
-
-        Raises:
-            SartoriusDeviceError: If the device returns an error
-        """
-        command = self._build_command(command_code, value)
-        self._send_command(command)
-        response = self._read_response()
-        self._check_response_error(response, operation or f"Command {command_code}")
-        return response
-
     def initialize(self) -> None:
         """
         Initialize the pipette unit (RZ command).
@@ -183,8 +143,8 @@ class SartoriusController(SerialController):
             SartoriusDeviceError: If initialization fails
         """
         self._logger.info("** Initializing Pipette Head (RZ) **")
-        self._execute_command("Z", operation="Pipette initialization")
-        self._logger.info("** Pipette Initialization Complete **")
+        self.execute(command="RZ")
+        self._logger.info("** Pipette Initialization Complete **\n")
 
     def get_inward_speed(self) -> int:
         """
@@ -197,7 +157,7 @@ class SartoriusController(SerialController):
             SartoriusDeviceError: If the query fails
         """
         self._logger.info("** Querying Inward Speed (DI) **")
-        response = self._execute_command("DI", operation="Inward speed query")
+        response = self.execute(command="DI")
 
         if len(response) < 2:
             raise SartoriusDeviceError(
@@ -205,7 +165,7 @@ class SartoriusController(SerialController):
             )
 
         speed = int(response[1])
-        self._logger.info("** Current Inward Speed: %s **", speed)
+        self._logger.info("** Current Inward Speed: %s **\n", speed)
         return speed
 
     def set_inward_speed(self, speed: int) -> None:
@@ -221,8 +181,8 @@ class SartoriusController(SerialController):
         """
         self._validate_speed(speed, "Inward")
         self._logger.info("** Setting Inward Speed (SI, Speed: %s) **", speed)
-        self._execute_command("I", value=str(speed), operation="Setting inward speed")
-        self._logger.info("** Inward Speed Set to %s Successfully **", speed)
+        self.execute(command="SI", value=str(speed))
+        self._logger.info("** Inward Speed Set to %s Successfully **\n", speed)
 
     def get_outward_speed(self) -> int:
         """
@@ -235,7 +195,7 @@ class SartoriusController(SerialController):
             SartoriusDeviceError: If the query fails
         """
         self._logger.info("** Querying Outward Speed (DO) **")
-        response = self._execute_command("DO", operation="Outward speed query")
+        response = self.execute(command="DO")
 
         if len(response) < 2:
             raise SartoriusDeviceError(
@@ -243,7 +203,7 @@ class SartoriusController(SerialController):
             )
 
         speed = int(response[1])
-        self._logger.info("** Current Outward Speed: %s **", speed)
+        self._logger.info("** Current Outward Speed: %s **\n", speed)
         return speed
 
     def set_outward_speed(self, speed: int) -> None:
@@ -259,8 +219,8 @@ class SartoriusController(SerialController):
         """
         self._validate_speed(speed, "Outward")
         self._logger.info("** Setting Outward Speed (SO, Speed: %s) **", speed)
-        self._execute_command("O", value=str(speed), operation="Setting outward speed")
-        self._logger.info("** Outward Speed Set to %s Successfully **", speed)
+        self.execute(command="SO", value=str(speed))
+        self._logger.info("** Outward Speed Set to %s Successfully **\n", speed)
 
     def run_to_position(self, position: int) -> None:
         """
@@ -275,9 +235,10 @@ class SartoriusController(SerialController):
         """
         position_str = self._validate_no_leading_zeros(position, "RP")
         self._logger.info("** Run to absolute Position (RP, Position: %s) **", position)
-        self._execute_command("P", value=position_str, operation="Run to position")
-        self._logger.info("** Reached Position %s Successfully **", position)
-
+        self.execute(command="RP", value=position_str)
+        self._logger.info("** Reached Position %s Successfully **\n", position)
+        
+    # instead of run_inward, use aspirate
     def aspirate(self, amount: float) -> None:
         """
         Aspirate fluid from the current location.
@@ -294,9 +255,10 @@ class SartoriusController(SerialController):
 
         steps = int(amount / self.MICROLITER_PER_STEP)
         self._logger.info("** Aspirating %s uL (RI%s steps) **", amount, steps)
-        self._execute_command("I", value=str(steps), operation="Aspirate")
-        self._logger.info("** Aspirated %s uL Successfully **", amount)
+        self.execute(command="RI", value=str(steps))
+        self._logger.info("** Aspirated %s uL Successfully **\n", amount)
 
+    # instead of run_outward, use dispense
     def dispense(self, amount: float) -> None:
         """
         Dispense fluid at the current location.
@@ -313,8 +275,8 @@ class SartoriusController(SerialController):
 
         steps = int(amount / self.MICROLITER_PER_STEP)
         self._logger.info("** Dispensing %s uL (RO%s steps) **", amount, steps)
-        self._execute_command("O", value=str(steps), operation="Dispense")
-        self._logger.info("** Dispensed %s uL Successfully **", amount)
+        self.execute(command="RO", value=str(steps))
+        self._logger.info("** Dispensed %s uL Successfully **\n", amount)
 
     def eject_tip(self, return_position: int = 30) -> None:
         """
@@ -333,10 +295,8 @@ class SartoriusController(SerialController):
             return_position,
             return_position,
         )
-        self._execute_command(
-            "E", value=position_str, operation="Eject tip with return position"
-        )
-        self._logger.info("** Tip Ejection Complete **")
+        self.execute(command="RE", value=position_str)
+        self._logger.info("** Tip Ejection Complete **\n")
 
     def run_blowout(self, return_position: Optional[int] = None) -> None:
         """
@@ -359,14 +319,12 @@ class SartoriusController(SerialController):
                 return_position,
                 return_position,
             )
-            self._execute_command(
-                "B", value=position_str, operation="Blowout with return position"
-            )
+            self.execute(command="RB", value=position_str)
         else:
             self._logger.info("** Running Blowout (RB) **")
-            self._execute_command("B", operation="Blowout")
+            self.execute(command="RB")
 
-        self._logger.info("** Blowout Complete **")
+        self._logger.info("** Blowout Complete **\n")
 
     def get_status(self) -> str:
         """
@@ -379,7 +337,7 @@ class SartoriusController(SerialController):
             SartoriusDeviceError: If the status query fails
         """
         self._logger.info("** Querying Pipette Status (DS) **")
-        response = self._execute_command("DS", operation="Status query")
+        response = self.execute(command="DS")
 
         if len(response) < 2:
             raise SartoriusDeviceError(
@@ -389,10 +347,37 @@ class SartoriusController(SerialController):
         status_code = response[1]
         if status_code in STATUS_CODES:
             status_message = STATUS_CODES[status_code]
-            self._logger.info("Pipette Status Code [%s]: %s", status_code, status_message)
+            self._logger.info("Pipette Status Code [%s]: %s\n", status_code, status_message)
         else:
             self._logger.warning(
-                "Pipette Status Code [%s]: Unknown Status Code", status_code
+                "Pipette Status Code [%s]: Unknown Status Code\n", status_code
             )
 
         return status_code
+    
+    def get_position(self) -> int:
+        """
+        Query the current position of the pipette (DP command).
+
+        Returns:
+            Current position in steps
+        """
+        self._logger.info("** Querying Position (DP) **")
+        response = self.execute(command="DP")
+        self._logger.info("** Position: %s steps **\n", response)
+        return response
+    
+    def get_liquid_level(self) -> int:
+        """
+        Query the current liquid level of the pipette (DN command).
+
+        Returns:
+            Current liquid level in microliters (µL)
+        """
+        # without tip 240 - 300
+        # incrase with tip attached and liquid
+        # 160 - 400
+        self._logger.info("** Querying Liquid Level (DN) **")
+        response = self.execute(command="DN")
+        self._logger.info("** Liquid Level: %s uL **\n", response)
+        return response

{puda_drivers-0.0.6.dist-info → puda_drivers-0.0.7.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: puda-drivers
-Version: 0.0.6
+Version: 0.0.7
 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-0.0.6.dist-info → puda_drivers-0.0.7.dist-info}/RECORD

@@ -2,17 +2,17 @@ puda_drivers/__init__.py,sha256=rcF5xCkMgyLlJLN3gWwJnUoW0ShPyISeyENvaqwg4Ik,503
 puda_drivers/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 puda_drivers/core/__init__.py,sha256=yYsOLXl32msFNRGrXLqhNVl_OfNPFR4ED7pmgn7rPU0,171
 puda_drivers/core/logging.py,sha256=prOeJ3CGEbm37TtMRyAOTQQiMU5_ImZTRXmcUJxkenc,2892
-puda_drivers/core/serialcontroller.py,sha256=9Vgz884MWmq4Z7rQzIQ7DtPzygMuzBeNWj0JiUpAhGA,7996
+puda_drivers/core/serialcontroller.py,sha256=X8LZSda1LGUk7E3RpAb1G8Ox1F6k5sutU82bsUffSHA,8276
 puda_drivers/move/__init__.py,sha256=i7G5VKD5FgnmC21TLxoASVtC88IrPUTLDJrTnp99u-0,35
-puda_drivers/move/gcode.py,sha256=egZw3D5m9d1R8P32L1wd3lDwiWcFMDGPHsFMFIYXkRA,22069
+puda_drivers/move/gcode.py,sha256=KBag8-lENIOZm54koCamP9BfgDEj1yV5Vchr3NcfC6w,22014
 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=QGpKz5YUwa8xCdSMXeZ0iRU-hRVqAWNPK0mlMTuzv8I,101
 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=iW3v-YHjj4ZAfGv0x0J-XV-Y0fAAhS6xmSg2ozQm4UI,13803
-puda_drivers-0.0.6.dist-info/METADATA,sha256=ELS1LZxhddh-dD-b0iKDrO5RnuJrrgITv6F6GeJ20wY,8598
-puda_drivers-0.0.6.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
-puda_drivers-0.0.6.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
-puda_drivers-0.0.6.dist-info/RECORD,,
+puda_drivers/transfer/liquid/sartorius/sartorius.py,sha256=RM4S8AkHQ2JJEsYbw83I0nFJUT7BYHRa2y6vgdNQXyc,13008
+puda_drivers-0.0.7.dist-info/METADATA,sha256=93De176TfLUIk3-H8mM5LwLXGOCKMguxT-0rg6mozjc,8598
+puda_drivers-0.0.7.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+puda_drivers-0.0.7.dist-info/licenses/LICENSE,sha256=7EI8xVBu6h_7_JlVw-yPhhOZlpY9hP8wal7kHtqKT_E,1074
+puda_drivers-0.0.7.dist-info/RECORD,,