symetrie-hexapod 0.17.3__py3-none-any.whl

egse/hexapod/__init__.py

@@ -0,0 +1,33 @@
+"""
+The Hexapod package provides the components to interact with the PUNA Hexapod of
+Symétrie, i.e.
+
+* The Hexapod commanding concept with Command, and CommandProtocol
+* The client server access through Proxy and ControlServer
+* The interface to the hardware controller: HexapodController and its simulator
+
+This package also contains the Hexapod GUI which can be used to monitor the
+hexapod positions in different reference frames and apply simple movements.
+
+"""
+
+
+class HexapodError(Exception):
+    """A Hexapod specific error."""
+
+    pass
+
+
+# These are the classes and function that we would like to export. This is mainly
+# to simplify import statements in scripts. The user can now use the following:
+#
+#    >>> from egse.hexapod import HexapodProxy
+#
+# while she previously had to import the class as follows:
+#
+#    >>> from egse.hexapod.hexapodProxy import HexapodProxy
+#
+
+__all__ = [
+    "HexapodError",
+]

egse/hexapod/symetrie/__init__.py

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+"""
+Device control for the Symétrie Hexapod PUNA, ZONDA, and JORAN.
+
+This package contains the modules and classes to work with the Hexapod PUNA, the Hexapod ZONDA, and the Hexapod JORAN
+from [Symétrie](www.symetrie.fr).
+
+The main entry point for the user of this package is through the terminal commands to start the
+control servers for the PUNA, ZONDA, and JORAN Hexapod, and the GUIs that are provided to interact with
+the hexapods. The following commands start the control servers for the PUNA, ZONDA, and JORAN
+in the background.
+
+    $ puna_cs start-bg
+    $ zonda_cs start-bg
+    $ joran_cs start-bg
+
+The GUIs can be started with the following commands:
+
+    $ puna_ui
+    $ zonda_ui
+    $ joran_ui
+
+For developers, the `PunaProxy`, `ZondaProxy`, and `JoranProxy` classes are the main interface to command the
+hardware.
+
+For the PUNA:
+    >>> from egse.hexapod.symetrie.puna import PunaProxy
+    >>> puna = PunaProxy()
+
+For the ZONDA:
+
+    >>> from egse.hexapod.symetrie.zonda import ZondaProxy
+    >>> zonda = ZondaProxy()
+
+For the JORAN:
+
+    >>> from egse.hexapod.symetrie.joran import JoranProxy
+    >>> joran = JoranProxy()
+
+These classes will connect to their control servers and provide all commands to
+control the hexapod and monitor its positions and status.
+
+
+"""
+
+import logging
+from typing import NamedTuple
+
+from egse.device import DeviceFactoryInterface
+from egse.registry.client import RegistryClient
+from egse.settings import Settings
+from egse.settings import SettingsError
+
+logger = logging.getLogger("egse.hexapod.symetrie")
+
+HEXAPOD_SETTINGS = Settings.load("Hexapod Controller")
+
+HexapodInfo = NamedTuple(
+    "HexapodInfo",
+    [
+        ("hostname", str),
+        ("port", int),
+        ("device_id", str),
+        ("device_name", str),
+        ("device_type", str),
+        ("controller_type", str),
+    ],
+)
+
+
+def get_hexapod_controller_pars(device_id: str) -> HexapodInfo:
+    """
+    Returns a NamedTuple HexapodInfo with the hostname (str), port number (int),
+    device id (str), device name (str), device_type (str) and controller type (str)
+    for the hexapod controller as defined in the Settings.
+
+    Note the returned values are for the device hardware controller, not the control server.
+
+    All values are derived from the Settings.
+    """
+
+    logger.debug(f"Getting parameters for {device_id} controller...")
+
+    try:
+        hostname: str = HEXAPOD_SETTINGS[device_id]["HOSTNAME"]
+        port: int = int(HEXAPOD_SETTINGS[device_id]["PORT"])
+        controller_type: str = HEXAPOD_SETTINGS[device_id]["CONTROLLER_TYPE"]
+        device_name: str = HEXAPOD_SETTINGS[device_id]["DEVICE_NAME"]
+        device_type: str = HEXAPOD_SETTINGS[device_id]["DEVICE_TYPE"]
+    except (KeyError, AttributeError) as exc:
+        raise SettingsError("The Settings do not contain proper controller parameters for the Hexapod.") from exc
+
+    logger.debug(f"{hostname=}, {port=}, {device_id=}, {device_name=}, {device_type=}, {controller_type=}")
+    return HexapodInfo(hostname, port, device_id, device_name, device_type, controller_type)
+
+
+class ProxyFactory(DeviceFactoryInterface):
+    """
+    A factory class that will create the Proxy that matches the given device name and identifier.
+
+    The device name is matched against the string 'puna' or 'zonda'. If the device name doesn't contain
+    one of these names, a ValueError will be raised.
+    """
+
+    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)
+
+            if service:
+                protocol = service.get("protocol", "tcp")
+                hostname = service["host"]
+                port = service["port"]
+
+            else:
+                raise RuntimeError(f"No service registered as {device_id}")
+
+        if "puna" in device_type.lower():
+            controller_type = HEXAPOD_SETTINGS[device_id]["CONTROLLER_TYPE"]
+            if controller_type.lower() == "alpha":
+                from egse.hexapod.symetrie.puna import PunaProxy
+
+                return PunaProxy(protocol, hostname, port)
+            elif controller_type == "alpha_plus":
+                from egse.hexapod.symetrie.punaplus import PunaPlusProxy
+
+                return PunaPlusProxy(protocol, hostname, port)
+            else:
+                raise ValueError(f"Unknown controller_type ({controller_type}) for {device_type} – {device_id}")
+
+        elif "zonda" in device_type.lower():
+            from egse.hexapod.symetrie.zonda import ZondaProxy
+
+            return ZondaProxy(protocol, hostname, port)
+
+        elif "joran" in device_type.lower():
+            from egse.hexapod.symetrie.joran import JoranProxy
+
+            return JoranProxy(protocol, hostname, port)
+
+        else:
+            raise ValueError(f"Unknown device type: {device_type}")
+
+
+class ControllerFactory(DeviceFactoryInterface):
+    """
+    A factory class that will create the Controller that matches the given device name and identifier.
+
+    The device name is matched against the string 'puna', 'zonda', or 'joran'. If the device name doesn't contain
+    one of these names, a ValueError will be raised.
+    """
+
+    def create(self, device_type: str, *, device_id: str = None, **_ignored):
+        if "puna" in device_type.lower():
+            from egse.hexapod.symetrie.puna import PunaController
+            from egse.hexapod.symetrie.punaplus import PunaPlusController
+
+            hostname = HEXAPOD_SETTINGS[device_id]["HOSTNAME"]
+            port = HEXAPOD_SETTINGS[device_id]["PORT"]
+            controller_type = HEXAPOD_SETTINGS[device_id]["CONTROLLER_TYPE"]
+            if controller_type.lower() == "alpha":
+                return PunaController(hostname=hostname, port=port)
+            elif controller_type.lower() == "alpha_plus":
+                return PunaPlusController(hostname=hostname, port=port)
+            else:
+                raise ValueError(f"Unknown controller_type ({controller_type}) for {device_type} – {device_id}")
+
+        elif "zonda" in device_type.lower():
+            from egse.hexapod.symetrie.zonda import ZondaController
+
+            hostname = HEXAPOD_SETTINGS[device_id]["HOSTNAME"]
+            port = HEXAPOD_SETTINGS[device_id]["PORT"]
+
+            return ZondaController(hostname=hostname, port=port)
+
+        elif "joran" in device_type.lower():
+            from egse.hexapod.symetrie.joran import JoranController
+
+            return JoranController()
+
+        else:
+            raise ValueError(f"Unknown device name: {device_type}")