symetrie-hexapod 0.16.10__tar.gz → 0.16.12__tar.gz

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: symetrie-hexapod
-Version: 0.16.10
+Version: 0.16.12
 Summary: Symetrie Hexapod implementation for CGSE
 Author: IvS KU Leuven
 Maintainer-email: Rik Huygen <rik.huygen@kuleuven.be>, Sara Regibo <sara.regibo@kuleuven.be>

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "symetrie-hexapod"
-version = "0.16.10"
+version = "0.16.12"
 description = "Symetrie Hexapod implementation for CGSE"
 authors = [
     {name = "IvS KU Leuven"}
@@ -36,7 +36,7 @@ zonda_cs = 'egse.hexapod.symetrie.zonda_cs:app'
 joran_cs = 'egse.hexapod.symetrie.joran_cs:app'
 
 [project.gui-scripts]
-puna_ui = "egse.hexapod.symetrie.puna_ui:main"
+puna_ui = "egse.hexapod.symetrie.puna_ui:app"
 zonda_ui = "egse.hexapod.symetrie.zonda_ui:main"
 joran_ui = "egse.hexapod.symetrie.joran_ui:main"
 

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/src/egse/hexapod/symetrie/__init__.py

@@ -102,6 +102,8 @@ class ProxyFactory(DeviceFactoryInterface):
     """
 
     def create(self, device_type: str, *, device_id: str = None, **_ignored):
+        logger.debug(f"{device_type=}, {device_id=}")
+
         with RegistryClient() as reg:
             service = reg.discover_service(device_id)
 

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/src/egse/hexapod/symetrie/pmac.py

@@ -15,11 +15,14 @@ from datetime import datetime
 from datetime import timedelta
 from typing import List
 
+from egse.env import bool_env
 from egse.hexapod.symetrie import logger
 from egse.hexapod.symetrie.pmac_regex import match_float_response
 from egse.hexapod.symetrie.pmac_regex import match_int_response
 from egse.hexapod.symetrie.pmac_regex import match_string_response
 
+VERBOSE_DEBUG = bool_env("VERBOSE_DEBUG")
+
 # Command set Request
 
 VR_PMAC_SENDLINE = 0xB0
@@ -517,7 +520,8 @@ class EthernetCommand:
         headerStr = struct.pack(">BBHHH", self.requestType, self.request, self.value, self.index, len(command))
         wrappedCommand = headerStr + command.encode()
 
-        logger.debug(f"Command Packet generated: {wrappedCommand}")
+        if VERBOSE_DEBUG:
+            logger.debug(f"Command Packet generated: {wrappedCommand}")
 
         return wrappedCommand
 
@@ -729,13 +733,17 @@ class PmacEthernetInterface(object):
 
             # Attempt to send the complete command to PMAC
 
-            logger.debug(f"Sending out to PMAC: {command}")
+            if VERBOSE_DEBUG:
+                logger.debug(f"Sending out to PMAC: {command}")
+
             self.sock.sendall(self.getResponseCommand.getCommandPacket(command))
 
             # wait for, read and return the response from PMAC (will be at most 1400 chars)
 
             returnStr = self.sock.recv(2048)
-            logger.debug(f"Received from PMAC: {returnStr}")
+
+            if VERBOSE_DEBUG:
+                logger.debug(f"Received from PMAC: {returnStr}")
 
             return returnStr
 
@@ -798,7 +806,9 @@ class PmacEthernetInterface(object):
         for qVar in qVars:
             cmd += f"Q{qVar:02} "
         retStr = self.getResponse(cmd)
-        logger.debug(f"retStr={retStr} of type {type(retStr)}")
+
+        if VERBOSE_DEBUG:
+            logger.debug(f"retStr={retStr} of type {type(retStr)}")
 
         if retStr == b"\x00":
             raise PMACError(f"No response received for {cmd}, return value is {retStr}")
@@ -949,11 +959,13 @@ class PmacEthernetInterface(object):
         else:
             fullCommand = cmd["cmd"]
 
-        logger.debug(f"Sending the {cmd['name']} command.")
+        if VERBOSE_DEBUG:
+            logger.debug(f"Sending the {cmd['name']} command.")
 
         retStr = self.getResponse(fullCommand)
 
-        logger.debug(f"Command '{cmd['name']}' returned \"{retStr}\"")
+        if VERBOSE_DEBUG:
+            logger.debug(f"Command '{cmd['name']}' returned \"{retStr}\"")
 
         # Check the return code (usually Q20)
 

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/src/egse/hexapod/symetrie/pmac_regex.py

@@ -1,7 +1,10 @@
 import re
 
+from egse.env import bool_env
 from egse.hexapod.symetrie import logger
 
+VERBOSE_DEBUG = bool_env("VERBOSE_DEBUG")
+
 regex_response = {
     # Error message as ERRXXX
     "ERROR": re.compile(r"\a(ERR\d{3})\r"),
@@ -24,7 +27,8 @@ def match_regex_response(regex_prog, res):
 
     Return None if no match and the match object otherwise.
     """
-    logger.debug(f"res = {res} with type {type(res)}")
+    if VERBOSE_DEBUG:
+        logger.debug(f"res = {res} with type {type(res)}")
     if isinstance(res, bytes):
         res = res.decode()
     match_obj = regex_prog.match(res)

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/src/egse/hexapod/symetrie/puna_ui.py

@@ -15,45 +15,45 @@ platform that supports Python and Qt5.
 """
 
 import argparse
-import logging
 import multiprocessing
 import sys
 import threading
 from enum import IntEnum
 from pathlib import Path
 
+import typer
 from PyQt5.QtCore import QLockFile
-
-from egse.hexapod.symetrie import ControllerFactory
-from egse.hexapod.symetrie import ProxyFactory
-from egse.hexapod.symetrie import get_hexapod_controller_pars
-from egse.hexapod.symetrie.punaplus import PunaPlusController
-from egse.hexapod.symetrie.punaplus import PunaPlusProxy
-
-multiprocessing.current_process().name = "puna_ui"
-
 from PyQt5.QtGui import QIcon
-from PyQt5.QtWidgets import QApplication, QMessageBox
+from PyQt5.QtWidgets import QApplication
 from PyQt5.QtWidgets import QFrame
 from PyQt5.QtWidgets import QHBoxLayout
+from PyQt5.QtWidgets import QMessageBox
 from PyQt5.QtWidgets import QVBoxLayout
-from prometheus_client import start_http_server
 
 from egse.gui import show_warning_message
 from egse.gui.led import Indic
 from egse.gui.states import States
+from egse.hexapod.symetrie import ControllerFactory
+from egse.hexapod.symetrie import ProxyFactory
+from egse.hexapod.symetrie import get_hexapod_controller_pars
 from egse.hexapod.symetrie.hexapod_ui import ActuatorStates
 from egse.hexapod.symetrie.hexapod_ui import HexapodUIController
 from egse.hexapod.symetrie.hexapod_ui import HexapodUIModel
 from egse.hexapod.symetrie.hexapod_ui import HexapodUIView
 from egse.hexapod.symetrie.puna import PunaSimulator
+from egse.hexapod.symetrie.punaplus import PunaPlusController
+from egse.hexapod.symetrie.punaplus import PunaPlusProxy
+from egse.log import logging
 from egse.process import ProcessStatus
 from egse.resource import get_resource
 from egse.settings import Settings
 from egse.system import do_every
+from dotenv import load_dotenv
 
 MODULE_LOGGER = logging.getLogger(__name__)
 
+load_dotenv(override=True)
+
 
 class DeviceControllerType(IntEnum):
     ALPHA = 0
@@ -283,8 +283,8 @@ class PunaUIView(HexapodUIView):
 
 
 class PunaUIModel(HexapodUIModel):
-    def __init__(self, connection_type):
-        hostname, port, dev_id, dev_name, _ = get_hexapod_controller_pars()
+    def __init__(self, connection_type, device_id):
+        hostname, port, dev_id, dev_name, *_ = get_hexapod_controller_pars(device_id)
         if connection_type == "proxy":
             device = ProxyFactory().create(dev_name, device_id=dev_id)
         elif connection_type == "direct":
@@ -346,15 +346,19 @@ def parse_arguments():
     return parser.parse_args()
 
 
-def main():
+app = typer.Typer()
+
+
+@app.command()
+def main(device_id: str, device_type: str = "proxy", profile: bool = False):
+    multiprocessing.current_process().name = "puna_ui"
+
     lock_file = QLockFile(str(Path("~/puna_ui.app.lock").expanduser()))
 
     styles_location = get_resource(":/styles/default.qss")
     app_logo = get_resource(":/icons/logo-puna.svg")
 
-    args = list(sys.argv)
-    args[1:1] = ["-stylesheet", str(styles_location)]
-    app = QApplication(args)
+    app = QApplication(["-stylesheet", str(styles_location)])
     app.setWindowIcon(QIcon(str(app_logo)))
 
     if lock_file.tryLock(100):
@@ -364,13 +368,11 @@ def main():
         timer_thread.daemon = True
         timer_thread.start()
 
-        args = parse_arguments()
-
-        if args.profile:
+        if profile:
             Settings.set_profiling(True)
 
-        if args.type == "proxy":
-            *_, device_id, device_name, _ = get_hexapod_controller_pars()
+        if device_type == "proxy":
+            _, _, device_id, device_name, *_ = get_hexapod_controller_pars(device_id)
             factory = ProxyFactory()
             proxy = factory.create(device_name, device_id=device_id)
             if not proxy.ping():
@@ -385,7 +387,7 @@ def main():
 
                 show_warning_message(description, info_text)
 
-        model = PunaUIModel(args.type)
+        model = PunaUIModel(device_type, device_id)
         view = PunaUIView(model.get_device_controller_type(), model.device_id)
         PunaUIController(model, view)
 
@@ -405,4 +407,4 @@ def main():
 if __name__ == "__main__":
     logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
 
-    sys.exit(main())
+    sys.exit(app())

{symetrie_hexapod-0.16.10 → symetrie_hexapod-0.16.12}/src/symetrie_hexapod/settings.yaml

@@ -6,6 +6,7 @@ PUNA Alpha+ Controller:
     password: provide password in local settings
 
 Hexapod Control Server:
+    SERVICE_TYPE:                puna
     PROTOCOL:                     tcp
     HOSTNAME:               localhost          # The hostname that client shall connect to, e.g. on the same machine
     COMMANDING_PORT:                0          # The port on which the controller listens to commands - REQ-REP