Merge pull request #1715 from crocsaint/master

basic phidget stepper motor support for slider and buttons
artisan-roaster-scope · Oct 18, 2024 · c139b69 · c139b69
2 parents 899462a + 254df7e
commit c139b69
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Showing 4 changed files with 145 additions and 3 deletions.
diff --git a/src/artisanlib/canvas.py b/src/artisanlib/canvas.py
@@ -12548,6 +12548,8 @@ def closePhidgetOUTPUTs(self) -> None:
         self.aw.ser.phidgetDCMotorClose()
         # close Phidget RC Servos
         self.aw.ser.phidgetRCclose()
+        # close Phidget Stepper Motors
+        self.aw.ser.phidgetStepperClose()
         # close Yocto Voltage Outputs
         self.aw.ser.yoctoVOUTclose()
         # close Yocto Current Outputs

diff --git a/src/artisanlib/comm.py b/src/artisanlib/comm.py
@@ -76,6 +76,7 @@
 from Phidget22.Devices.DigitalOutput import DigitalOutput # type: ignore # @UnusedWildImport
 from Phidget22.Devices.VoltageOutput import VoltageOutput, VoltageOutputRange # type: ignore # @UnusedWildImport
 from Phidget22.Devices.RCServo import RCServo # type: ignore # @UnusedWildImport
+from Phidget22.Devices.Stepper import Stepper # type: ignore # @UnusedWildImport
 from Phidget22.Devices.CurrentInput import CurrentInput # type: ignore # @UnusedWildImport
 from Phidget22.Devices.FrequencyCounter import FrequencyCounter # type: ignore # @UnusedWildImport
 from Phidget22.Devices.DCMotor import DCMotor # type: ignore # @UnusedWildImport
@@ -243,7 +244,7 @@ class serialport:
         'Phidget1045semaphore','PhidgetBridgeSensor','Phidget1046values','Phidget1046lastvalues','Phidget1046semaphores',\
         'PhidgetIO','PhidgetIOvalues','PhidgetIOlastvalues','PhidgetIOsemaphores','PhidgetDigitalOut',\
         'PhidgetDigitalOutLastPWM','PhidgetDigitalOutLastToggle','PhidgetDigitalOutHub','PhidgetDigitalOutLastPWMhub',\
-        'PhidgetDigitalOutLastToggleHub','PhidgetAnalogOut','PhidgetDCMotor','PhidgetRCServo',\
+        'PhidgetDigitalOutLastToggleHub','PhidgetAnalogOut','PhidgetDCMotor','PhidgetRCServo','PhidgetStepperMotor',\
         'YOCTOlibImported','YOCTOsensor','YOCTOchan1','YOCTOchan2','YOCTOtempIRavg','YOCTOvalues','YOCTOlastvalues','YOCTOsemaphores',\
         'YOCTOthread','YOCTOvoltageOutputs','YOCTOcurrentOutputs','YOCTOrelays','YOCTOservos','YOCTOpwmOutputs','HH506RAid','MS6514PrevTemp1','MS6514PrevTemp2','DT301PrevTemp','EXTECH755PrevTemp',\
         'controlETpid','readBTpid','useModbusPort','showFujiLCDs','arduinoETChannel','arduinoBTChannel','arduinoATChannel',\
@@ -304,6 +305,8 @@ def __init__(self, aw:'ApplicationWindow') -> None:
         self.PhidgetAnalogOut:Dict[Optional[str], List[Phidget]] = {} # type:ignore[no-any-unimported,unused-ignore] # a dict associating serials with lists of channels
         #store the servo objects
         self.PhidgetRCServo:Dict[Optional[str], List[Phidget]] = {} # type:ignore[no-any-unimported,unused-ignore] # a dict associating serials with lists of channels
+        #store the Phidget StepperMotor objects
+        self.PhidgetStepperMotor:Dict[Optional[str], List[Phidget]] = {} # type:ignore[no-any-unimported,unused-ignore] # a dict associating serials with lists of channels
         #store the Phidget DCMotor objects
         self.PhidgetDCMotor:Dict[Optional[str], List[Phidget]] = {} # type:ignore[no-any-unimported,unused-ignore] # a dict associating serials with lists of channels
         # Phidget Ambient Sensor Channels
@@ -5229,6 +5232,90 @@ def yoctoSERVOclose(self) -> None:
         except Exception as e: # pylint: disable=broad-except
             _log.exception(e)
 
+#-- Phidget Stepper Motor (only one supported for now)
+    #  - Phidget STC1005: 1 channels (control of one bipolar stepper motor)
+# commands:
+#       engaged(ch,state[,sn])    # engage channel
+#       set(ch,pos[,sn])          # sets position
+#       rescale(ch,rf,[,sn])      # sets rescalefactor
+
+    def phidgetStepperAttach(self, channel:int, serial:Optional[str]=None) -> None:
+        if serial not in self.aw.ser.PhidgetStepperMotor:
+            if self.aw.qmc.phidgetManager is None:
+                self.aw.qmc.startPhidgetManager()
+            if self.aw.qmc.phidgetManager is not None:
+                s,p = self.serialString2serialPort(serial)
+                # try to attach a Phidget STC1005 module
+                ser,port = self.aw.qmc.phidgetManager.getFirstMatchingPhidget('PhidgetStepper',DeviceID.PHIDID_STC1005,
+                            remote=self.aw.qmc.phidgetRemoteFlag,remoteOnly=self.aw.qmc.phidgetRemoteOnlyFlag,serial=s,hubport=p)
+                ports = 1
+
+                if ser is not None:
+                    self.aw.ser.PhidgetStepperMotor[serial] = []
+                    for i in range(ports):
+                        stepper = Stepper()
+                        if port is not None:
+                            stepper.setHubPort(port)
+                        stepper.setDeviceSerialNumber(ser)
+                        stepper.setChannel(i)
+                        if self.aw.qmc.phidgetRemoteOnlyFlag and self.aw.qmc.phidgetRemoteFlag:
+                            stepper.setIsRemote(True)
+                            stepper.setIsLocal(False)
+                        self.aw.ser.PhidgetStepperMotor[serial].append(stepper)
+                    if serial is None:
+                        # we make this also accessible via its serial number
+                        self.aw.ser.PhidgetStepperMotor[str(ser)] = self.aw.ser.PhidgetStepperMotor[None]
+
+        try:
+            ch = self.aw.ser.PhidgetStepperMotor[serial][channel]
+            ch.setOnAttachHandler(self.phidgetOUTattached)
+            ch.setOnDetachHandler(self.phidgetOUTdetached)
+            if not ch.getAttached():
+                if self.aw.qmc.phidgetRemoteFlag:
+                    ch.openWaitForAttachment(3000)
+                else:
+                    ch.openWaitForAttachment(1500)
+                if serial is None and ch.getAttached():
+                    # we make this also accessible via its serial number + port
+                    si = self.serialPort2serialString(ch.getDeviceSerialNumber(),ch.getHubPort())
+                    self.aw.ser.PhidgetStepperMotor[str(si)] = self.aw.ser.PhidgetStepperMotor[None]
+        except Exception: # pylint: disable=broad-except
+            pass
+
+    # sets rescalefactor
+    def phidgetStepperRescale(self, channel:int, value:int, serial:Optional[str]=None) -> None:
+        _log.debug('phidgetStepperRescale(%s,%s,%s,%s)',channel,value,serial)
+        self.phidgetStepperAttach(channel,serial)
+        if serial in self.aw.ser.PhidgetStepperMotor and len(self.aw.ser.PhidgetStepperMotor[serial])>channel:
+            self.aw.ser.PhidgetStepperMotor[serial][channel].setRescaleFactor(value)
+
+    # sets position
+    def phidgetStepperSet(self, channel:int, value:int, serial:Optional[str]=None) -> None:
+        _log.debug('phidgetStepperSet(%s,%s,%s,%s)',channel,value,serial)
+        self.phidgetStepperAttach(channel,serial)
+        if serial in self.aw.ser.PhidgetStepperMotor and len(self.aw.ser.PhidgetStepperMotor[serial])>channel:
+            self.aw.ser.PhidgetStepperMotor[serial][channel].setTargetPosition(value)
+
+    # engages channel
+    def phidgetStepperEngaged(self, channel:int, state:bool, serial:Optional[str]=None) -> None:
+        _log.debug('phidgetStepperEngaged(%s,%s,%s,%s)',channel,state,serial)
+        self.phidgetStepperAttach(channel,serial)
+        if serial in self.aw.ser.PhidgetStepperMotor and len(self.aw.ser.PhidgetStepperMotor[serial])>channel:
+            self.aw.ser.PhidgetStepperMotor[serial][channel].setEngaged(state)
+
+    def phidgetStepperClose(self) -> None:
+        _log.debug('phidgetStepperClose')
+        for c in self.aw.ser.PhidgetStepperMotor:
+            st = self.aw.ser.PhidgetStepperMotor[c]
+            for i, _ in enumerate(st):
+                try:
+                    if st[i].getAttached():
+                        st[i].setEngaged(False)
+                        self.phidgetOUTdetached(st[i])
+                    st[i].close()
+                except Exception: # pylint: disable=broad-except
+                    pass
+        self.aw.ser.PhidgetStepperMotor = {}
 
 #--- Phidget RC (only one supported for now)
 #  supporting up to 16 channels for the following RC Phidgets

diff --git a/src/artisanlib/events.py b/src/artisanlib/events.py
@@ -127,7 +127,8 @@ def __init__(self, parent:QWidget, aw:'ApplicationWindow', activeTab:int = 0) ->
                                      QApplication.translate('ComboBox','Aillio R1 Command'),
                                      QApplication.translate('ComboBox','Artisan Command'),
                                      QApplication.translate('ComboBox','RC Command'),
-                                     QApplication.translate('ComboBox','WebSocket Command')]
+                                     QApplication.translate('ComboBox','WebSocket Command'),
+                                     QApplication.translate('ComboBox','Stepper Command')]
         self.custom_button_actions_sorted:List[str] = sorted(self.custom_button_actions)
 
         titlefont = QFont()
@@ -774,7 +775,8 @@ def __init__(self, parent:QWidget, aw:'ApplicationWindow', activeTab:int = 0) ->
                        QApplication.translate('ComboBox', 'Aillio R1 Drum'),
                        QApplication.translate('ComboBox', 'Artisan Command'),
                        QApplication.translate('ComboBox', 'RC Command'),
-                       QApplication.translate('ComboBox', 'WebSocket Command')]
+                       QApplication.translate('ComboBox', 'WebSocket Command'),
+                       QApplication.translate('ComboBox', 'Stepper Command')]
         self.sliderActionTypesSorted = sorted(self.sliderActionTypes)
         self.E1action = QComboBox()
         self.E1action.setToolTip(QApplication.translate('Tooltip', 'Action Type'))

diff --git a/src/artisanlib/main.py b/src/artisanlib/main.py
@@ -10249,6 +10249,57 @@ def eventaction_internal(self, action:int, cmd:str, eventtype:Optional[int]) ->
                         else:
                             # command not recognized
                             _log.info('WebSocket Command <%s> not recognized', cs)
+                elif action == 23:
+                    # PHIDGETS   sn : has the form <hub_serial>[:<hub_port>], an optional serial number of the hub, optionally specifying the port number the module is connected to
+                    ##  rescale(ch,rs,[,sn]) : sets the rescaleFactor
+                    ##  engaged(ch,b[,sn])   : engage (b=1) or disengage (b = 0)
+                    ##  set(ch,pos[,sn])     : set the target position
+                    if cmd_str:
+                        cmds = filter(None, cmd_str.split(';')) # allows for sequences of commands like in "<cmd>;<cmd>;...;<cmd>"
+                        for c in cmds:
+                            cs = c.strip()
+                            # rescale(ch,val[,sn]) # sets rescaleFactor
+                            if cs.startswith('rescale(') and len(cs) > 11:
+                                try:
+                                    n = 2
+                                    cs_split = cs[len('rescale('):-1].split(',')
+                                    channel_str,value = cs_split[0:n]
+                                    if len(cs_split)>n:
+                                        sn = cs_split[n]
+                                    else:
+                                        sn = None
+                                    self.ser.phidgetStepperRescale(int(channel_str),toFloat(eval(value)),sn) # pylint: disable=eval-used
+                                except Exception as e: # pylint: disable=broad-except
+                                    _log.exception(e)
+                            # engaged(ch,state[,sn]) # engage channel
+                            elif cs.startswith('engaged(') and len(cs) > 11:
+                                try:
+                                    n = 2
+                                    cs_split = cs[len('engaged('):-1].split(',')
+                                    channel_str, state_str = cs_split[0:n]
+                                    if len(cs_split)>n:
+                                        sn = cs_split[n]
+                                    else:
+                                        sn = None
+                                    state_engaged:bool = bool(state_str.lower() in {'yes', 'true', 't', '1'})
+                                    self.ser.phidgetStepperEngaged(int(channel_str), state_engaged, sn)
+                                except Exception as e: # pylint: disable=broad-except
+                                    _log.exception(e)
+                            # set(ch,pos[,sn]) # set position
+                            elif cs.startswith('set(') and len(cs) > 7:
+                                try:
+                                    n = 2
+                                    cs_split = cs[len('set('):-1].split(',')
+                                    channel_str,pos = cs_split[0:n]
+                                    if len(cs_split)>n:
+                                        sn = cs_split[n]
+                                    else:
+                                        sn = None
+                                    self.ser.phidgetStepperSet(int(channel_str),toFloat(eval(pos)),sn) # pylint: disable=eval-used
+                                except Exception as e: # pylint: disable=broad-except
+                                    _log.exception(e)
+                            else:
+                                _log.info('Stepper Command <%s> not recognized', cs)
             except Exception as e: # pylint: disable=broad-except
                 _log.exception(e)