symetrie-hexapod 0.17.3__py3-none-any.whl

egse/hexapod/symetrie/puna_ui.py

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+"""
+A Graphical User Interface for monitoring and commanding the Symétrie Hexapod.
+
+Start the GUI from your terminal as follows:
+
+    puna_ui [--type proxy|direct|simulator]
+
+This GUI is based on the SYM_positioning application from Symétrie. The intent
+is to provide operators a user interface which is platform independent, but
+familiar.
+
+The application is completely written in Python/Qt5 and can therefore run on any
+platform that supports Python and Qt5.
+
+"""
+
+import argparse
+import multiprocessing
+import sys
+import threading
+from enum import IntEnum
+from pathlib import Path
+
+import typer
+from PyQt5.QtCore import QLockFile
+from PyQt5.QtGui import QIcon
+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 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
+    ALPHA_PLUS = 1
+
+
+DCT = DeviceControllerType
+
+
+# Status LEDs define the number of status leds (length of the list), the description and the
+# default color when the LED is on.
+
+STATUS_LEDS_ALPHA = [
+    ["Error", Indic.RED],  # bit 0
+    ["System Initialized", Indic.GREEN],  # bit 1
+    ["In position", Indic.GREEN],  # bit 2
+    ["Amplifier enabled", Indic.GREEN],  # bit 3
+    ["Homing done", Indic.GREEN],  # bit 4
+    ["Brake on", Indic.GREEN],  # bit 5
+    ["Emergency stop", Indic.ORANGE],  # bit 6
+    ["Warning FE", Indic.ORANGE],  # bit 7
+    ["Fatal FE", Indic.RED],  # bit 8
+    ["Actuator Limit Error", Indic.RED],  # bit 9
+    ["Amplifier Error", Indic.RED],  # bit 10
+    ["Encoder error", Indic.RED],  # bit 11
+    ["Phasing error", Indic.RED],  # bit 12
+    ["Homing error", Indic.RED],  # bit 13
+    ["Kinematic error", Indic.RED],  # bit 14
+    ["Abort input error", Indic.RED],  # bit 15
+    ["R/W memory error", Indic.RED],  # bit 16
+    ["Temperature error", Indic.RED],  # bit 17
+    ["Homing done (virtual)", Indic.ORANGE],  # bit 18
+    ["Encoders power off", Indic.ORANGE],  # bit 19
+    ["Limit switches power off", Indic.ORANGE],  # bit 20
+    ["Reserved", Indic.BLACK],  # bit 21
+    ["Reserved", Indic.BLACK],  # bit 22
+    ["Reserved", Indic.BLACK],  # bit 23
+]
+
+STATUS_LEDS_ALPHA_PLUS = [
+    ["Error", Indic.RED],  # bit 0
+    ["System Initialized", Indic.GREEN],  # bit 1
+    ["Control On", Indic.GREEN],  # bit 2
+    ["In Position", Indic.GREEN],  # bit 3
+    ["Motion Task Running", Indic.GREEN],  # bit 4
+    ["Home Task Running", Indic.GREEN],  # bit 5
+    ["Home Complete", Indic.GREEN],  # bit 6
+    ["Home Virtual", Indic.GREEN],  # bit 7
+    ["Phase Found", Indic.GREEN],  # bit 8
+    ["Brake on", Indic.GREEN],  # bit 9
+    ["Motion Restricted", Indic.RED],  # bit 10
+    ["Power on Encoders", Indic.GREEN],  # bit 11
+    ["Power on Limit switches", Indic.GREEN],  # bit 12
+    ["Power on Drives", Indic.GREEN],  # bit 13
+    ["Emergency Stop", Indic.RED],  # bit 14
+]
+
+STATUS_LEDS = {DCT.ALPHA: STATUS_LEDS_ALPHA, DCT.ALPHA_PLUS: STATUS_LEDS_ALPHA_PLUS}
+
+# The index of the Control LED
+
+CONTROL_ONOFF = {DCT.ALPHA: 3, DCT.ALPHA_PLUS: 2}
+
+ACTUATOR_STATE_LABELS_ALPHA = [
+    "In position",
+    "Control loop on servo motors active",
+    "Homing done",
+    "Input “Home switch”",
+    "Input “Positive limit switch”",
+    "Input “Negative limit switch”",
+    "Brake control output",
+    "Following error (warning)",
+    "Following error",
+    "Actuator out of bounds error",
+    "Amplifier error",
+    "Encoder error",
+    "Phasing error (brushless engine only)",
+]
+
+ACTUATOR_STATE_LABELS_ALPHA_PLUS = [
+    "Error: ",
+    "Control On: ",
+    "In Position: ",
+    "Motion Task Running: ",
+    "Home task running: ",
+    "Home complete: ",
+    "Phase found: ",
+    "Brake on: ",
+    "Home HW input: ",
+    "Negative HW limit switch: ",
+    "Positive HW limit switch: ",
+    "SW limit reached: ",
+    "Following Error: ",
+    "Drive fault: ",
+    "Encoder error: ",
+]
+
+ACTUATOR_STATE_LABELS = {DCT.ALPHA: ACTUATOR_STATE_LABELS_ALPHA, DCT.ALPHA_PLUS: ACTUATOR_STATE_LABELS_ALPHA_PLUS}
+
+
+class PunaUIView(HexapodUIView):
+    def __init__(self, device_controller_type: DCT, device_id: str):
+        super().__init__()
+
+        self.dct = device_controller_type
+
+        if self.dct == DCT.ALPHA:
+            title = f"Hexapod PUNA Controller (Alpha) – {device_id}"
+        else:
+            title = f"Hexapod PUNA Controller (Alpha+) – {device_id}"
+
+        self.setWindowTitle(title)
+        self.actuator_states = ActuatorStates(labels=ACTUATOR_STATE_LABELS[self.dct])
+
+        self.init_gui()
+
+    def init_gui(self):
+        # The main frame in which all the other frames are located, the outer Application frame
+
+        app_frame = QFrame()
+        app_frame.setObjectName("AppFrame")
+
+        # The left part which shows the states and positions
+
+        status_frame = QFrame()
+        status_frame.setObjectName("StatusFrame")
+
+        # The right part which has tabs that allow settings, movements, maintenance etc.
+
+        tabs_frame = QFrame()
+        tabs_frame.setObjectName("TabsFrame")
+
+        # The states of the Hexapod (contains all the leds)
+
+        states_frame = QFrame()
+        states_frame.setObjectName("StatesFrame")
+
+        # The user, machine positions and actuator lengths
+
+        positions_frame = QFrame()
+        positions_frame.setObjectName("PositionsFrame")
+
+        hbox = QHBoxLayout()
+        vbox_left = QVBoxLayout()
+        vbox_right = QVBoxLayout()
+
+        self.create_toolbar()
+        self.create_status_bar()
+
+        self.states = States(STATUS_LEDS[self.dct])
+
+        user_positions_widget = self.create_user_position_widget()
+        mach_positions_widget = self.create_machine_position_widget()
+        actuator_length_widget = self.create_actuator_length_widget()
+
+        vbox_right.addWidget(user_positions_widget)
+        vbox_right.addWidget(mach_positions_widget)
+        vbox_right.addWidget(actuator_length_widget)
+
+        positions_frame.setLayout(vbox_right)
+
+        vbox_left.addWidget(self.states)
+
+        states_frame.setLayout(vbox_left)
+
+        hbox.addWidget(states_frame)
+        hbox.addWidget(positions_frame)
+
+        status_frame.setLayout(hbox)
+
+        tabbed_widget = self.create_tabbed_widget()
+
+        hbox = QHBoxLayout()
+        hbox.addWidget(tabbed_widget)
+        tabs_frame.setLayout(hbox)
+
+        hbox = QHBoxLayout()
+        hbox.addWidget(status_frame)
+        hbox.addWidget(tabs_frame)
+
+        app_frame.setLayout(hbox)
+
+        self.setCentralWidget(app_frame)
+
+    def update_status_bar(self, message=None, mode=None, timeout=2000):
+        if message:
+            self.statusBar().showMessage(message, msecs=timeout)
+        if mode:
+            self.mode_label.setStyleSheet(f"border: 0; color: {'red' if 'Simulator' in mode else 'black'};")
+            self.mode_label.setText(f"mode: {mode}")
+        self.statusBar().repaint()
+
+    def updatePositions(self, userPositions, machinePositions, actuatorLengths):
+        if userPositions is None:
+            MODULE_LOGGER.warning("no userPositions passed into updatePositions(), returning.")
+            return
+
+        for upos in range(len(self.user_positions)):
+            try:
+                self.user_positions[upos][1].setText(f"{userPositions[upos]:10.4f}")
+            except IndexError:
+                MODULE_LOGGER.error(f"IndexError in user_positions, upos = {upos}")
+
+        if machinePositions is None:
+            MODULE_LOGGER.warning("no machinePositions passed into updatePositions(), returning.")
+            return
+
+        for mpos in range(len(self.mach_positions)):
+            self.mach_positions[mpos][1].setText(f"{machinePositions[mpos]:10.4f}")
+
+        if actuatorLengths is None:
+            MODULE_LOGGER.warning("no actuatorLengths passed into updatePositions(), returning.")
+            return
+
+        for idx, alen in enumerate(self.actuator_lengths):
+            alen[1].setText(f"{actuatorLengths[idx]:10.4f}")
+
+    def updateStates(self, states):
+        if states is None:
+            return
+
+        self.updateControlButton(states[CONTROL_ONOFF[self.dct]])
+        self.states.set_states(states)
+
+    def updateControlButton(self, flag):
+        self.control.set_selected(on=flag)
+
+
+class PunaUIModel(HexapodUIModel):
+    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":
+            device = ControllerFactory().create(dev_name, device_id=dev_id)
+            device.connect()
+        elif connection_type == "simulator":
+            device = PunaSimulator()
+        else:
+            raise ValueError(f"Unknown type of Hexapod implementation passed into the model: {connection_type}")
+
+        super().__init__(connection_type, device)
+
+        self._device_id = dev_id
+
+        if device is not None:
+            MODULE_LOGGER.debug(f"Hexapod initialized as {device.__class__.__name__}")
+
+    @property
+    def device_id(self):
+        return self._device_id
+
+    def get_device_controller_type(self) -> DCT:
+        return DCT.ALPHA_PLUS if isinstance(self.device, (PunaPlusProxy, PunaPlusController)) else DCT.ALPHA
+
+    def get_speed(self):
+        vt, vr, vt_min, vr_min, vt_max, vr_max = self.device.get_speed()
+        return vt, vr
+
+
+class PunaUIController(HexapodUIController):
+    def __init__(self, model: PunaUIModel, view: PunaUIView):
+        super().__init__(model, view)
+
+    def update_values(self):
+        super().update_values()
+
+        # Add here any updates to PUNA specific widgets
+
+
+def parse_arguments():
+    """
+    Prepare the arguments that are specific for this application.
+    """
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--type",
+        dest="type",
+        action="store",
+        choices={"proxy", "simulator", "direct"},
+        help="Specify Hexapod implementation you want to connect to.",
+        default="proxy",
+    )
+    parser.add_argument(
+        "--profile",
+        default=False,
+        action="store_true",
+        help="Enable info logging messages with method profile information.",
+    )
+    return parser.parse_args()
+
+
+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")
+
+    app = QApplication(["-stylesheet", str(styles_location)])
+    app.setWindowIcon(QIcon(str(app_logo)))
+
+    if lock_file.tryLock(100):
+        process_status = ProcessStatus()
+
+        timer_thread = threading.Thread(target=do_every, args=(10, process_status.update))
+        timer_thread.daemon = True
+        timer_thread.start()
+
+        if profile:
+            Settings.set_profiling(True)
+
+        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():
+                description = "Could not connect to Hexapod Control Server"
+                info_text = (
+                    "The GUI will start, but the connection button will show a disconnected state. "
+                    "Please check if the Control Server is running and start the server if needed. "
+                    "Otherwise, check if the correct HOSTNAME for the control server is set in the "
+                    "Settings.yaml "
+                    "configuration file."
+                )
+
+                show_warning_message(description, info_text)
+
+        model = PunaUIModel(device_type, device_id)
+        view = PunaUIView(model.get_device_controller_type(), model.device_id)
+        PunaUIController(model, view)
+
+        view.show()
+
+        return app.exec_()
+    else:
+        error_message = QMessageBox()
+        error_message.setIcon(QMessageBox.Warning)
+        error_message.setWindowTitle("Error")
+        error_message.setText("The Puna GUI application is already running!")
+        error_message.setStandardButtons(QMessageBox.Ok)
+
+        return error_message.exec()
+
+
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
+
+    sys.exit(app())

egse/hexapod/symetrie/punaplus.py

@@ -0,0 +1,115 @@
+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 import logger
+from egse.hexapod.symetrie.dynalpha import AlphaPlusControllerInterface
+from egse.hexapod.symetrie.dynalpha import AlphaPlusTelnetInterface
+from egse.mixin import DynamicCommandMixin
+from egse.proxy import DynamicProxy
+from egse.registry.client import RegistryClient
+from egse.zmq_ser import connect_address
+
+
+class PunaPlusInterface(AlphaPlusControllerInterface):
+    """
+    Interface definition for the PunaPlusController and the PunaPlusProxy.
+    """
+
+
+class PunaPlusController(PunaPlusInterface, DynamicCommandMixin):
+    def __init__(self, hostname: str = "127.0.0.1", port: int = 23):
+        self.transport = self.device = AlphaPlusTelnetInterface(hostname, port)
+        self.hostname = hostname
+        self.port = port
+
+        super().__init__()
+
+    def get_controller_type(self):
+        return "ALPHA+"
+
+    def is_simulator(self):
+        return False
+
+    def is_connected(self):
+        return self.device.is_connected()
+
+    def connect(self):
+        self.device.connect()
+
+    def disconnect(self):
+        self.device.disconnect()
+
+    def reconnect(self):
+        if self.is_connected():
+            self.disconnect()
+        self.connect()
+
+
+class PunaPlusProxy(DynamicProxy, PunaPlusInterface):
+    """
+    The PunaPlusProxy class is used to connect to the control server and send commands to the
+    Hexapod PUNA remotely. The device controller for that PUNA hexapod is an Alpha+ controller.
+
+    Args:
+        protocol: the transport protocol
+        hostname: location of the control server (IP address)
+        port: TCP port on which the control server is listening for commands
+
+    """
+
+    def __init__(self, protocol: str, hostname: str, port: int):
+        super().__init__(connect_address(protocol, hostname, port))
+
+    @classmethod
+    def from_identifier(cls, device_id: str):
+        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}")
+
+        logger.info(f"{protocol=}:{hostname=}:{port=}")
+
+        return cls(protocol, hostname, port)
+
+
+if __name__ == "__main__":
+    from egse.hexapod.symetrie.puna import PunaProxy
+
+    # The following imports are needed for the isinstance() to work
+    from egse.hexapod.symetrie.punaplus import PunaPlusProxy
+    from egse.hexapod.symetrie.punaplus import PunaPlusController
+
+    print()
+
+    *_, device_id, device_name, _ = get_hexapod_controller_pars()
+    print(f"{device_name = }, {device_id = }")
+
+    factory = ProxyFactory()
+    proxy = factory.create(device_name, device_id="1A")
+    assert isinstance(proxy, PunaProxy)
+
+    proxy = factory.create(device_name, device_id="2B")
+    assert isinstance(proxy, PunaPlusProxy)
+
+    print(proxy.info())
+
+    factory = ControllerFactory()
+
+    device = factory.create("PUNA", device_id="H_2B")
+    device.connect()
+    assert isinstance(device, PunaPlusController)
+
+    print(device.info())
+
+    device = factory.create("ZONDA")
+    device.connect()
+
+    print(device.info())
+
+    device.disconnect()