symetrie-hexapod 2023.1.0__py3-none-any.whl

egse/hexapod/__init__.py

@@ -0,0 +1,32 @@
+"""
+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

@@ -0,0 +1,151 @@
+"""
+Device control for the Symétrie Hexapod PUNA and ZONDA.
+
+This package contains the modules and classes to work with the Hexapod PUNA and the Hexapod ZONDA
+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 and ZONDA Hexapod, and the GUIs that are provided to interact with
+the hexapods. The following commands start the control servers for both the PUNA and the ZONDA
+in the background.
+
+    $ puna_cs start-bg
+    $ zonda_cs start-bg
+
+The GUIs can be started with the following commands:
+
+    $ puna_ui
+    $ zonda_ui
+
+For developers, the `PunaProxy` and `ZondaProxy` classes are the main interface to command the
+hardware.
+
+    >>> from egse.hexapod.symetrie.puna import PunaProxy
+    >>> puna = PunaProxy()
+
+and for the ZONDA:
+
+    >>> from egse.hexapod.symetrie.zonda import ZondaProxy
+    >>> zonda = ZondaProxy()
+
+These classes will connect to their control servers and provide all commands to
+control the hexapod and monitor its positions and status.
+
+
+"""
+import os
+
+from egse.device import DeviceFactoryInterface
+from egse.settings import Settings, SettingsError
+
+PUNA_SETTINGS = Settings.load("PMAC Controller")
+
+
+def get_hexapod_controller_pars(setup: 'Setup' = None) -> (str, int, str, str, str):
+    """
+    Returns the hostname (str), port number (int), hexapod id (str), hexapod name (str),
+    and type (str) for the hexapod controller as defined in the Setup and Settings.
+
+    Note the returned values are for the device hardware controller, not the control server.
+
+    If no setup argument is provided, the Setup will be loaded from the GlobalState.
+    """
+
+    from egse.setup import SetupError, load_setup
+
+    setup = setup or load_setup()
+
+    try:
+        try:
+            hexapod_id = setup.gse.hexapod.device_args.device_id
+            hexapod_name: str = setup.gse.hexapod.device_args.device_name
+        except AttributeError:
+            # Handle older Setups where no device_args existed for the PUNA hexapod
+            hexapod_id = setup.gse.hexapod.ID
+            hexapod_name: str = setup.gse.hexapod.device_name
+    except AttributeError as exc:
+
+        # Before quitting, try to load from environment variables
+
+        hexapod_id = os.environ.get("SYMETRIE_HEXAPOD_ID")
+        hexapod_name = os.environ.get("SYMETRIE_HEXAPOD_NAME")
+
+        if hexapod_id is None or hexapod_name is None:
+            raise SetupError("The Setup doesn't contain proper controller parameters for the Hexapod.") from exc
+
+    hexapod_id = f"H_{hexapod_id}"
+
+    try:
+        hostname: str = PUNA_SETTINGS[hexapod_id]["HOSTNAME"]
+        port: int = int(PUNA_SETTINGS[hexapod_id]["PORT"])
+        controller_type: str = PUNA_SETTINGS[hexapod_id]["TYPE"]
+    except (KeyError, AttributeError) as exc:
+        raise SettingsError("The Settings do not contain proper controller parameters for the Hexapod.") from exc
+
+    return hostname, port, hexapod_id, hexapod_name, 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_name: str, *, device_id: str = None, **_ignored):
+
+        if "puna" in device_name.lower():
+            if not device_id.startswith("H_"):
+                device_id = f"H_{device_id}"
+
+            controller_type = PUNA_SETTINGS[device_id]["TYPE"]
+            if controller_type == "ALPHA":
+                from egse.hexapod.symetrie.puna import PunaProxy
+                return PunaProxy()
+            elif controller_type == "ALPHA_PLUS":
+                from egse.hexapod.symetrie.punaplus import PunaPlusProxy
+                return PunaPlusProxy()
+            else:
+                raise ValueError(f"Unknown controller_type ({controller_type}) for {device_name} – {device_id}")
+
+        elif "zonda" in device_name.lower():
+            from egse.hexapod.symetrie.zonda import ZondaProxy
+            return ZondaProxy()
+
+        else:
+            raise ValueError(f"Unknown device name: {device_name}")
+
+
+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' or 'zonda'. If the device name doesn't contain
+    one of these names, a ValueError will be raised.
+    """
+    def create(self, device_name: str, *, device_id: str = None, **_ignored):
+
+        if "puna" in device_name.lower():
+            from egse.hexapod.symetrie.puna import PunaController
+            from egse.hexapod.symetrie.punaplus import PunaPlusController
+
+            if not device_id.startswith("H_"):
+                device_id = f"H_{device_id}"
+
+            hostname = PUNA_SETTINGS[device_id]["HOSTNAME"]
+            port = PUNA_SETTINGS[device_id]["PORT"]
+            controller_type = PUNA_SETTINGS[device_id]["TYPE"]
+            if controller_type == "ALPHA":
+                return PunaController(hostname=hostname, port=port)
+            elif controller_type == "ALPHA_PLUS":
+                return PunaPlusController(hostname=hostname, port=port)
+            else:
+                raise ValueError(f"Unknown controller_type ({controller_type}) for {device_name} – {device_id}")
+
+        elif "zonda" in device_name.lower():
+            from egse.hexapod.symetrie.zonda import ZondaController
+            return ZondaController()
+
+        else:
+            raise ValueError(f"Unknown device name: {device_name}")