symetrie-hexapod 2023.1.0__tar.gz → 2024.1.4__tar.gz

symetrie_hexapod-2024.1.4/.gitignore

@@ -0,0 +1,35 @@
+# Python versions and environment
+
+__pycache__
+.python-version
+.envrc
+
+# Build systems
+
+build
+dist
+**/*.egg-info
+
+# Apple specific
+
+.DS_Store
+
+# Unit testing
+
+.pytest_cache
+.coverage
+htmlcov
+
+# Virtual environments
+
+.env
+.venv
+venv
+
+# PyCharm IDE
+
+.idea
+
+# Packaging
+
+uv.lock

symetrie_hexapod-2024.1.4/PKG-INFO

@@ -0,0 +1,23 @@
+Metadata-Version: 2.4
+Name: symetrie-hexapod
+Version: 2024.1.4
+Summary: Symetrie Hexapod implementation for CGSE
+Author: IVS KU Leuven
+Maintainer-email: Rik Huygen <rik.huygen@kuleuven.be>, Sara Regibo <sara.regibo@kuleuven.be>
+License-Expression: MIT
+Keywords: CGSE,Common-EGSE,hardware testing,software framework
+Requires-Python: >=3.9
+Requires-Dist: cgse-common
+Requires-Dist: cgse-coordinates
+Requires-Dist: cgse-core
+Requires-Dist: cgse-gui
+Requires-Dist: invoke
+Requires-Dist: paramiko
+Requires-Dist: pyqt5>=5.15.11
+Provides-Extra: test
+Requires-Dist: pytest; extra == 'test'
+Requires-Dist: pytest-cov; extra == 'test'
+Requires-Dist: pytest-mock; extra == 'test'
+Description-Content-Type: text/markdown
+
+# Drivers for the Symétrie Hexapods

symetrie_hexapod-2024.1.4/README.md

@@ -0,0 +1 @@
+# Drivers for the Symétrie Hexapods

symetrie_hexapod-2024.1.4/pyproject.toml

@@ -0,0 +1,64 @@
+[project]
+name = "symetrie-hexapod"
+version = "2024.1.4"
+description = "Symetrie Hexapod implementation for CGSE"
+authors = [
+    {name = "IVS KU Leuven"}
+]
+maintainers = [
+    {name = "Rik Huygen", email = "rik.huygen@kuleuven.be"},
+    {name = "Sara Regibo", email = "sara.regibo@kuleuven.be"}
+]
+readme = {"file" = "README.md", "content-type" = "text/markdown"}
+requires-python = ">=3.9"
+license = "MIT"
+keywords = [
+    "CGSE",
+    "Common-EGSE",
+    "hardware testing",
+    "software framework"
+]
+dependencies = [
+    "cgse-common",
+    "cgse-core",
+    "cgse-gui",
+    "cgse-coordinates",
+    "PyQt5>=5.15.11",
+    "paramiko",
+    "invoke"
+]
+
+[project.optional-dependencies]
+test = ["pytest", "pytest-mock", "pytest-cov"]
+
+[project.scripts]
+puna_cs = 'egse.hexapod.symetrie.puna_cs:cli'
+
+[project.gui-scripts]
+puna_ui = "egse.hexapod.symetrie.puna_ui:main"
+
+[project.entry-points."cgse.version"]
+symetrie-hexapod = 'egse.plugins'
+
+[project.entry-points."cgse.service.plugins"]
+puna_cs = 'scripts.cgse_service_plugins:puna_cs'
+
+[tool.hatch.build.targets.sdist]
+exclude = [
+    "/tests",
+    "/pytest.ini",
+    "/.gitignore",
+]
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/egse", "src/scripts"]
+
+[tool.ruff]
+line-length = 120
+
+[tool.ruff.lint]
+extend-select = ["E501"]
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"

{symetrie_hexapod-2023.1.0 → symetrie_hexapod-2024.1.4}/src/egse/hexapod/symetrie/__init__.py

@@ -1,33 +1,41 @@
 """
-Device control for the Symétrie Hexapod PUNA and ZONDA.
+Device control for the Symétrie Hexapod PUNA, ZONDA, and JORAN.
 
-This package contains the modules and classes to work with the Hexapod PUNA and the Hexapod ZONDA
+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 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
+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` and `ZondaProxy` classes are the main interface to command the
+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()
 
-and for the ZONDA:
+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.
 
@@ -113,6 +121,10 @@ class ProxyFactory(DeviceFactoryInterface):
             from egse.hexapod.symetrie.zonda import ZondaProxy
             return ZondaProxy()
 
+        elif "joran" in device_name.lower():
+            from egse.hexapod.symetrie.joran import JoranProxy
+            return JoranProxy()
+
         else:
             raise ValueError(f"Unknown device name: {device_name}")
 
@@ -121,7 +133,7 @@ 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
+    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_name: str, *, device_id: str = None, **_ignored):
@@ -147,5 +159,9 @@ class ControllerFactory(DeviceFactoryInterface):
             from egse.hexapod.symetrie.zonda import ZondaController
             return ZondaController()
 
+        elif "joran" in device_name.lower():
+            from egse.hexapod.symetrie.joran import JoranController
+            return JoranController()
+
         else:
             raise ValueError(f"Unknown device name: {device_name}")

{symetrie_hexapod-2023.1.0 → symetrie_hexapod-2024.1.4}/src/egse/hexapod/symetrie/alpha.py

@@ -22,7 +22,7 @@ class AlphaControllerInterface:
                 for 30 seconds which should complete the cycle, i.e. this command will
                 only return after 30 seconds.
 
-        .. Note::
+        Note:
            This command is equivalent to power cycling the controller manually.
 
         """
@@ -47,7 +47,7 @@ class AlphaControllerInterface:
         Returns:
             0 on success.
         Raises:
-            HexapodError: when there is a time out or when there is a communication error with
+            HexapodError: when there is a timeout or when there is a communication error with
             the hexapod.
         """
         raise NotImplementedError
@@ -76,7 +76,7 @@ class AlphaControllerInterface:
             return_code: 0 on success, -1 when ignored
 
         Raises:
-            HexapodError: when the arguments do not match up, or when there is a time out or when
+            HexapodError: when the arguments do not match up, or when there is a timeout or when
             there is a
             socket communication error.
 
@@ -85,12 +85,12 @@ class AlphaControllerInterface:
 
     @dynamic_interface
     def stop(self):
-        """Stop the current motion. This command can be send during a motion of the Hexapod.
+        """Stop the current motion. This command can be sent during a motion of the Hexapod.
 
         Returns:
             0 on success.
         Raises:
-            HexapodError: when there is a time out or when there is a communication error with
+            HexapodError: when there is a timeout or when there is a communication error with
             the hexapod.
         """
         raise NotImplementedError
@@ -114,7 +114,7 @@ class AlphaControllerInterface:
         Returns:
             0 on success, -1 when ignored, -2 on error.
         Raises:
-            HexapodError: when there is a time out or when there is a communication error with
+            HexapodError: when there is a timeout or when there is a communication error with
             the hexapod
                 hardware controller.
         """
@@ -127,7 +127,7 @@ class AlphaControllerInterface:
         Returns:
             0 on success.
         Raises:
-            HexapodError: when there is a time out or when there is a communication error with
+            HexapodError: when there is a timeout or when there is a communication error with
             the hexapod.
         """
         raise NotImplementedError
@@ -136,7 +136,7 @@ class AlphaControllerInterface:
     def jog(self, axis: int, inc: float) -> int:
         """Perform a JOG-type movement on the specified actuator.
 
-        .. note::
+        Note:
             This is a maintenance feature.
 
         Args:
@@ -145,7 +145,7 @@ class AlphaControllerInterface:
         Returns:
             0 on success, -1 if command was ignored due to non-compliance.
         Raises:
-            HexapodError: when there is a time out or when there is a communication error with
+            HexapodError: when there is a timeout or when there is a communication error with
             the hexapod.
         """
         raise NotImplementedError
@@ -262,44 +262,29 @@ class AlphaControllerInterface:
 
         Args:
             tx_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
+            to the machine coordinate system [in mm]
             ty_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
+            to the machine coordinate system [in mm]
             tz_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
-
+            to the  machine coordinate system [in mm]
             rx_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
+            the machine coordinate system [in deg]
             ry_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
+            the machine coordinate system [in deg]
             rz_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
-
+            the machine coordinate system [in deg]
             tx_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
+            to the platform coordinate system [in mm]
             ty_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
+            to the platform coordinate system [in mm]
             tz_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
-
-            rx_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
-            ry_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
-            rz_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
+            to the platform coordinate system [in mm]
+            rx_o (float): rotation parameter that define the object coordinate system relative to the platform
+            coordinate system [in deg]
+            ry_o (float): rotation parameter that define the object coordinate system relative to the platform
+            coordinate system [in deg]
+            rz_o (float): rotation parameter that define the object coordinate system relative to the platform
+            coordinate system [in deg]
 
         Returns:
             0 on success and -1 when the configuration is ignored, e.g. when password protection
@@ -506,7 +491,7 @@ class AlphaControllerInterface:
 
     @dynamic_interface
     def get_user_positions(self):
-        """Retreive the current position of the hexapod.
+        """Retrieve the current position of the hexapod.
 
         The returned position corresponds to the position of the Object Coordinate System
         in the User Coordinate System.
@@ -515,13 +500,13 @@ class AlphaControllerInterface:
             array: an array of six float values for Tx, Ty, Tz, Rx, Ry, Rz.
             None: when an Exception was raised and logs the error message.
 
-        .. note:: This is equivalent to the POSUSER? command.
+        Note: This is equivalent to the POSUSER? command.
         """
         raise NotImplementedError
 
     @dynamic_interface
     def get_machine_positions(self):
-        """Retreive the current position of the hexapod.
+        """Retrieve the current position of the hexapod.
 
         The returned position corresponds to the position of the Platform Coordinate System
         in the Machine Coordinate System.
@@ -530,7 +515,7 @@ class AlphaControllerInterface:
             array: an array of six float values for Tx, Ty, Tz, Rx, Ry, Rz.
             None: when a PMACError was raised and logs the error message.
 
-        .. note:: This is equivalent to the POSMACH? command.
+        Note: This is equivalent to the POSMACH? command.
         """
         raise NotImplementedError
 
@@ -580,13 +565,13 @@ class AlphaControllerInterface:
 
             None: when an Exception was raised and logs the error message.
 
-        .. note:: This is equivalent to the STATE#HEXA? Command.
+        Note: This is equivalent to the STATE#HEXA? Command.
         """
         raise NotImplementedError
 
     @dynamic_interface
     def get_actuator_state(self):
-        """Retreive general state information of the actuators.
+        """Retrieve general state information of the actuators.
 
         For each of the six actuators, an integer value is returned that should be interpreted as a
         bit field containing status bits for that actuator.
@@ -616,7 +601,7 @@ class AlphaControllerInterface:
                 Hexapod Controller API, section 4.5.5.
             None: when an Exception was raised and logs the error message.
 
-        .. note:: This is equivalent to the STATE#ACTUATOR? Command.
+        Note: This is equivalent to the STATE#ACTUATOR? Command.
         """
         raise NotImplementedError
 
@@ -691,7 +676,7 @@ class AlphaControllerInterface:
 
     @dynamic_interface
     def perform_maintenance(self, axis):
-        """Perform a maintenance cycle which consists to travel the full range
+        """Perform a maintenance cycle which consists of travelling the full range
         on one axis corresponding to the Hexapod machine limits. The movement is
         also in machine coordinate system.
 
@@ -839,9 +824,9 @@ class AlphaPlusControllerInterface(AlphaControllerInterface):
         """Sets the user workspace limits of the hexapod. Will raise error if not all the parameters are set (see
         Args definition)
 
-        Remark: operational workspace limits must be understood as limits in terms of amplitude of movement. Those limits
-        are defined for each operational axis with a negative and positive value and are used in the validation process.
-        Position on each operational axis must be within those two values.
+        Remark: operational workspace limits must be understood as limits in terms of amplitude of movement. Those
+        limits are defined for each operational axis with a negative and positive value and are used in the
+        validation process.  Position on each operational axis must be within those two values.
 
         Args:
             ntx(double): negative position limit in X in mm

{symetrie_hexapod-2023.1.0 → symetrie_hexapod-2024.1.4}/src/egse/hexapod/symetrie/dynalpha.py

@@ -602,9 +602,8 @@ class AlphaPlusTelnetInterface(DeviceTransport, DeviceConnectionInterface):
     def connect(self) -> None:
         """
         Connects to the Alpha+ Controller using the Telnet protocol. After connection
-        the telnet session logs in with the username provided in the Settings under
-        the `PUNA Alpha+ Controller` group. The password for this login is also provided
-        in the Settings under the same group. Make sure their values are only given in
+        the telnet session logs in with the username provided in the Settings file. The password for this login is also
+        provided in the Settings under the same group. Make sure their values are only given in
         the local settings file, not the global settings.
 
         After login, the `gpascii` command is started with the option `-2` as instructed

{symetrie_hexapod-2023.1.0 → symetrie_hexapod-2024.1.4}/src/egse/hexapod/symetrie/hexapod_ui.py

@@ -1009,8 +1009,10 @@ class HexapodUIController(Observer):
             self.view.set_connection_state("disconnected")
             self.stop_timer()
 
-            if not self.model.is_device_connected(): self.view.disable_device_action()
-            if not self.model.is_cs_connected(): self.view.uncheck_cs_action()
+            if not self.model.is_device_connected():
+                self.view.disable_device_action()
+            if not self.model.is_cs_connected():
+                self.view.uncheck_cs_action()
 
             return
 
@@ -1170,7 +1172,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         self.temperature_log = None
 
-    def onClick(self, icon: Union[QIcon, bool]):
+    def on_click(self, icon: Union[QIcon, bool]):
 
         sender = self.sender()
 
@@ -1184,14 +1186,14 @@ class HexapodUIView(QMainWindow, Observable):
 
         self.notifyObservers(sender)
 
-    def createStatusBar(self):
+    def create_status_bar(self):
 
         self.statusBar().setStyleSheet("border: 0; background-color: #FFF8DC;")
         self.statusBar().setStyleSheet("QStatusBar::item {border: none;}")
         self.statusBar().addPermanentWidget(VLine())
         self.statusBar().addPermanentWidget(self.mode_label)
 
-    def createToolbar(self):
+    def create_toolbar(self):
 
         # The Switch On/OFF is in this case used for the Control ON/OFF action.
 
@@ -1202,7 +1204,7 @@ class HexapodUIView(QMainWindow, Observable):
             not_selected=get_resource(":/icons/switch-off.svg"),
             disabled=get_resource(":/icons/switch-disabled.svg")
         )
-        self.control.clicked.connect(self.onClick)
+        self.control.clicked.connect(self.on_click)
 
         # The Home action is used to command the Homing to the Hexapod.
 
@@ -1212,7 +1214,7 @@ class HexapodUIView(QMainWindow, Observable):
             selected=get_resource(":/icons/home.svg"),
             disabled=get_resource(":/icons/home-disabled.svg"),
         )
-        self.homing.clicked.connect(self.onClick)
+        self.homing.clicked.connect(self.on_click)
 
         # The Clear action is used to command the ClearErrors to the Hexapod.
 
@@ -1222,7 +1224,7 @@ class HexapodUIView(QMainWindow, Observable):
             selected=get_resource(":/icons/erase.svg"),
             disabled=get_resource(":/icons/erase-disabled.svg"),
         )
-        self.clear_errors.clicked.connect(self.onClick)
+        self.clear_errors.clicked.connect(self.on_click)
 
         # The Reconnect action is used to reconnect to the control server
 
@@ -1233,7 +1235,7 @@ class HexapodUIView(QMainWindow, Observable):
             not_selected=get_resource(":/icons/cs-not-connected.svg"),
             disabled=get_resource(":/icons/cs-connected-disabled.svg")
         )
-        self.cs_connection.clicked.connect(self.onClick)
+        self.cs_connection.clicked.connect(self.on_click)
 
         # The Reconnect action is used to reconnect the device
 
@@ -1244,7 +1246,7 @@ class HexapodUIView(QMainWindow, Observable):
             not_selected=get_resource(":/icons/unplugged.svg"),
             disabled=get_resource(":/icons/plugged-disabled.svg")
         )
-        self.device_connection.clicked.connect(self.onClick)
+        self.device_connection.clicked.connect(self.on_click)
 
 
         # The STOP button is used to immediately stop the current motion
@@ -1253,7 +1255,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         self.stop_action = QAction(stop_button, "STOP", self)
         self.stop_action.setToolTip("STOP Movement")
-        self.stop_action.triggered.connect(self.onClick)
+        self.stop_action.triggered.connect(self.on_click)
 
         # The HELP button is used to show the on-line help in a browser window
 
@@ -1261,7 +1263,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         self.help_action = QAction(help_button, "INFO", self)
         self.help_action.setToolTip("Browse the on-line documentation")
-        self.help_action.triggered.connect(self.onClick)
+        self.help_action.triggered.connect(self.on_click)
 
         # spacer widget to help with aligning STOP button to the right
 
@@ -1280,7 +1282,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         return self.toolbar
 
-    def createUserPositionWidget(self):
+    def create_user_position_widget(self):
 
         vbox_labels = QVBoxLayout()
         vbox_values = QVBoxLayout()
@@ -1324,7 +1326,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         return gbox_positions
 
-    def createMachinePositionWidget(self):
+    def create_machine_position_widget(self):
 
         vbox_labels = QVBoxLayout()
         vbox_values = QVBoxLayout()
@@ -1368,7 +1370,7 @@ class HexapodUIView(QMainWindow, Observable):
 
         return gbox_positions
 
-    def createActuatorLengthWidget(self):
+    def create_actuator_length_widget(self):
 
         vbox_labels = QVBoxLayout()
         vbox_values = QVBoxLayout()