diff --git a/.gitignore b/.gitignore index 5a91b9b8aa609188062f326c45c82aafe433faf1..bb619c67841e42b0cdd2a1740adf695bda957b71 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ build/ # python stuff __pycache__/ -*.exe \ No newline at end of file +*.exe +dist/ \ No newline at end of file diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index b579085652dad07fb67f03030981eb3a46da4884..e8d63df39ba0b3cf21b16c4f6014d02bbd015799 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -18,7 +18,7 @@ lint-black: allow_failure: false script: - poetry install --only lint - - poetry run black --check spj/ + - poetry run black --check pyspj/ lint-pylint: stage: lint @@ -30,7 +30,7 @@ lint-pylint: allow_failure: false script: - poetry install --only lint - - poetry run pylint --fail-under=8 spj/ + - poetry run pylint --fail-under=8 pyspj/ deploy-job: # This job runs only when the merge is accepted diff --git a/README.md b/README.md index 85fe74f0b5d32c91886f11732a00f687db11fad1..4bad81378010bab06177d4c55b4c5c2e42e9926e 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,35 @@ # Spherical Parallel Joint Robot +This repository contains a python package named **pyspj** that allows to control the Spherical Parallel Joint device from Skyentific. +It also contains a small GUI application to control the device as well as the controller firmware. + +## Install python dependencies + +```bash +poetry install +``` + +## Add **pyspj** package to your project + +If your project uses Poetry: + +1. Add this repository as a source + +```bash +poetry source add -s igib https://labinfo.ing.he-arc.ch/gitlab/api/v4/projects/2491/packages/pypi/simple +``` + +2. Add the package from the added source + +```bash +poetry add pyspj --source igib +``` + +## GUI application + +The GUI application can be run using the following command + +```bash +poetry run python frontend/main.py +``` diff --git a/dist/pyspj-0.1.0-py3-none-any.whl b/dist/pyspj-0.1.0-py3-none-any.whl deleted file mode 100644 index e7c60d407d4f6994ed0720dc87deea73bd9f4637..0000000000000000000000000000000000000000 Binary files a/dist/pyspj-0.1.0-py3-none-any.whl and /dev/null differ diff --git a/dist/pyspj-0.1.0.tar.gz b/dist/pyspj-0.1.0.tar.gz deleted file mode 100644 index c772a29a308afd3b6d642f6f492df6ad2d223715..0000000000000000000000000000000000000000 Binary files a/dist/pyspj-0.1.0.tar.gz and /dev/null differ diff --git a/frontend/README.md b/frontend/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/frontend/genui.sh b/frontend/genui.sh new file mode 100755 index 0000000000000000000000000000000000000000..cf6155ca9c030dcc97d8f378f79b7226d4319ad1 --- /dev/null +++ b/frontend/genui.sh @@ -0,0 +1,20 @@ +#!/bin/bash + +SCRIPTPATH="$( cd "$(dirname "$0")" >/dev/null 2>&1 ; pwd -P )" + +cd $SCRIPTPATH + +UI_FILES=`(find ui/ -type f -iname "*.ui")` + +# Generate qt designer files +for f in ${UI_FILES}; do + echo $f > .tmp + sed -i "s/.ui/.py/g" .tmp + + PYHTON_FILE=`(cat .tmp)` + echo "$PYHTON_FILE $f" + + rm .tmp + + poetry run pyside6-uic -o $PYHTON_FILE $f +done \ No newline at end of file diff --git a/frontend/main.py b/frontend/main.py index ec60eadcf74bfb99305ca19316ffea7e99965eb9..716692ba3a6f12637f382781ba51fa8b1d799c02 100644 --- a/frontend/main.py +++ b/frontend/main.py @@ -1,9 +1,11 @@ from PySide6.QtCore import Qt -from frontend.ui.robot_ui import Ui_MainWindow +import serial.tools +import serial.tools.list_ports +from frontend.ui.robot import Ui_MainWindow from pyspj.spj import SphericalParallelJoint, WorldPosition from PySide6.QtWidgets import ( - QApplication, QMainWindow, QMessageBox, QFileDialog, QWidget + QApplication, QMainWindow, QMessageBox, QPushButton, QSpinBox, QComboBox ) from PySide6.QtGui import QCloseEvent, QImage, QPixmap @@ -11,6 +13,9 @@ from PySide6.QtCore import QObject, Qt, QThread, Signal as pyqtSignal import time, sys from functools import partial from enum import Enum +import serial +import platform +from pathlib import Path POS_DEFAULT = 0.0 VEL_DEFAULT = 12.0 @@ -21,21 +26,20 @@ class JOG(Enum): RZ_POS = 1 RY_NEG = 2 RY_POS = 3 - RZ1_NEG = 4 - RZ1_POS = 5 + RX_NEG = 4 + RX_POS = 5 -class CommThread(QThread): +class RobotThread(QThread): update_positions = pyqtSignal(list) _stop = False - def __init__(self, serial : str, parent = None) -> None: + def __init__(self, spj: SphericalParallelJoint, parent = None) -> None: super().__init__(parent) - self._spj = SphericalParallelJoint(serial) - # values = self._spj.get_current_position() + self._spj = spj def send_pos(self, move : WorldPosition): - self._spj.move(move) + self._spj.move_async(move) def stop(self): self._stop = True @@ -46,20 +50,51 @@ class CommThread(QThread): # Get current position pos = self._spj.get_current_position() self.update_positions.emit(pos) - + class Window(QMainWindow, Ui_MainWindow): def __init__(self, parent = None) -> None: + super().__init__(parent) + self.setupUi(self) - self.robot = CommThread("COM9") + + self._com_ports: list[tuple[str, str]] = [] + self.__setup_comports() + self.__setup_signals() - self.robot.start() - time.sleep(0.5) + self.step_size_cb.addItems(["1", "5", "10", "50"]) + + self._spj: SphericalParallelJoint = SphericalParallelJoint() + self._angle_lut : list[list] = None + self._step_lut: list[list] = None + + # self._angle_lut, self._step_lut= self._spj.load_lookup_table(Path("../pyspj/spj_lut.json")) + self.current_pos = None - self.store() - + + self.__enable_robot_controls(False) + + self._com_thread: RobotThread = None + + def __setup_comports(self): + + self.comports_comboBox.clear() + + coms = sorted(serial.tools.list_ports.comports()) + + for com in coms: + if com.hwid != "n/a": + match platform.system(): + case "Linux": + self._com_ports.append((f"/dev/{com.name}", com.description)) + case "Windows": + self._com_ports.append(com.name, com.description) + + self.comports_comboBox.addItems([x[0] for x in self._com_ports]) + self.comport_description_lineEdit.setText(self._com_ports[0][1]) + def __setup_signals(self): # UI @@ -71,11 +106,14 @@ class Window(QMainWindow, Ui_MainWindow): self.jog_rz_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RZ_POS)) self.jog_ry_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RY_NEG)) self.jog_ry_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RY_POS)) - self.jog_rz1_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RZ1_NEG)) - self.jog_rz1_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RZ1_POS)) + self.jog_rx_neg_pb.pressed.connect(partial(self.jog_callback, JOG.RX_NEG)) + self.jog_rx_pos_pb.pressed.connect(partial(self.jog_callback, JOG.RX_POS)) + self.comports_comboBox.currentIndexChanged.connect(self.__update_comport_description) + self.comport_connect_pushButton.clicked.connect(self.__connect_robot) + # Thread - self.robot.update_positions.connect(self.update_position) + # self.robot.update_positions.connect(self.update_position) def __update_spinbox_step_size(self): @@ -83,16 +121,63 @@ class Window(QMainWindow, Ui_MainWindow): self.move_ry_sb.setSingleStep(int(self.step_size_cb.currentText())) self.move_rz_sb.setSingleStep(int(self.step_size_cb.currentText())) + def __update_comport_description(self): + + self.comport_description_lineEdit.setText(self._com_ports[self.comports_comboBox.currentIndex()][1]) + + def __enable_robot_controls(self, enable: bool = True): + + for button in self.robot_control_gridLayout.parentWidget().findChildren(QPushButton): + _button: QPushButton = button + _button.setEnabled(enable) + + for comboBox in self.robot_control_gridLayout.parentWidget().findChildren(QComboBox): + _comboBox: QComboBox = comboBox + _comboBox.setEnabled(enable) + + for spinBox in self.robot_control_gridLayout.parentWidget().findChildren(QSpinBox): + _spinbox: QSpinBox = spinBox + _spinbox.setEnabled(enable) + + def __connect_robot(self): + + match self.comport_connect_pushButton.text(): + case "Connect": + + try: + self._spj.connect(self._com_ports[self.comports_comboBox.currentIndex()][0]) + except RuntimeError as ex: + self.err_msg(ex.__str__()) + return + + # Unlock all robot controls + self.__enable_robot_controls(True) + self.comport_connect_pushButton.setText("Disconnect") + self._com_thread = RobotThread(self._spj) + self._com_thread.update_positions.connect(self.update_position) + self._com_thread.start() + self.home() + + case "Disconnect": + + self.store() + self._com_thread.stop() + self._com_thread.wait() + self._spj.close() + self.__enable_robot_controls(False) + self.comport_connect_pushButton.setText("Connect") + def home(self): - self.move(WorldPosition(0.0, 0.0, 0.0)) + self.move(SphericalParallelJoint.home_pos()) def store(self): - self.move(WorldPosition(-60.0, 0.0, 0.0)) + self.move(SphericalParallelJoint.store_pos()) def jog_callback(self, jog: JOG): new_pos = self.current_pos step = int(self.step_size_cb.currentText()) + match jog: case JOG.RZ_NEG: new_pos.rz -= step @@ -102,10 +187,10 @@ class Window(QMainWindow, Ui_MainWindow): new_pos.ry -= step case JOG.RY_POS: new_pos.ry += step - case JOG.RZ1_NEG: - new_pos.rz1 -= step - case JOG.RZ1_POS: - new_pos.rz1 += step + case JOG.RX_NEG: + new_pos.rx -= step + case JOG.RX_POS: + new_pos.rx += step self.move(new_pos) @@ -122,37 +207,49 @@ class Window(QMainWindow, Ui_MainWindow): self.current_pos = new_pos self.update_spinboxes(new_pos) - self.robot.send_pos(new_pos) + self._com_thread.send_pos(new_pos) - print(self.current_pos) + # print(self.current_pos) def update_spinboxes(self, pos : WorldPosition): - self.move_rx_sb.setValue(int(pos.rz)) + self.move_rx_sb.setValue(int(pos.rx)) self.move_ry_sb.setValue(int(pos.ry)) - self.move_rz_sb.setValue(int(pos.rz1)) + self.move_rz_sb.setValue(int(pos.rz)) def update_position(self, pos : list[float]): + # pos = list(map(int, pos)) + # index = self._step_lut.index(pos) + # angle = self._angle_lut[index] + # try: - self.current_rx_le.setText(str(int(pos[0]))) + self.current_rx_le.setText(str(int(pos[2]))) self.current_ry_le.setText(str(int(pos[1]))) - self.current_rz_le.setText(str(int(pos[2]))) + self.current_rz_le.setText(str(int(pos[0]))) except ValueError as ex: - print(ex) + # print(ex) + return def closeEvent(self, a0: QCloseEvent) -> None: self.store() - self.robot.stop() - - # Wait for thread to stop - while(self.robot.isRunning()): - time.sleep(0.001) + self._com_thread.stop() + self._com_thread.wait() + self._spj.close() return super().closeEvent(a0) + def err_msg(self, msg: str): + + QMessageBox.critical(self, "Error", msg) + if __name__ == "__main__": + + import os + + os.chdir(os.path.dirname(__file__)) + app = QApplication(sys.argv) win = Window() win.show() diff --git a/frontend/ui/__init__.py b/frontend/ui/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/frontend/ui/robot.py b/frontend/ui/robot.py new file mode 100644 index 0000000000000000000000000000000000000000..0dc787593cb0fa1b285c4c786f5fb71579e04937 --- /dev/null +++ b/frontend/ui/robot.py @@ -0,0 +1,299 @@ +# -*- coding: utf-8 -*- + +################################################################################ +## Form generated from reading UI file 'robot.ui' +## +## Created by: Qt User Interface Compiler version 6.7.2 +## +## WARNING! All changes made in this file will be lost when recompiling UI file! +################################################################################ + +from PySide6.QtCore import (QCoreApplication, QDate, QDateTime, QLocale, + QMetaObject, QObject, QPoint, QRect, + QSize, QTime, QUrl, Qt) +from PySide6.QtGui import (QBrush, QColor, QConicalGradient, QCursor, + QFont, QFontDatabase, QGradient, QIcon, + QImage, QKeySequence, QLinearGradient, QPainter, + QPalette, QPixmap, QRadialGradient, QTransform) +from PySide6.QtWidgets import (QApplication, QComboBox, QFormLayout, QGridLayout, + QGroupBox, QHBoxLayout, QLabel, QLayout, + QLineEdit, QMainWindow, QMenuBar, QPushButton, + QSizePolicy, QSpacerItem, QSpinBox, QStatusBar, + QVBoxLayout, QWidget) + +class Ui_MainWindow(object): + def setupUi(self, MainWindow): + if not MainWindow.objectName(): + MainWindow.setObjectName(u"MainWindow") + MainWindow.resize(532, 408) + self.centralwidget = QWidget(MainWindow) + self.centralwidget.setObjectName(u"centralwidget") + self.verticalLayout = QVBoxLayout(self.centralwidget) + self.verticalLayout.setObjectName(u"verticalLayout") + self.groupBox = QGroupBox(self.centralwidget) + self.groupBox.setObjectName(u"groupBox") + self.horizontalLayout_5 = QHBoxLayout(self.groupBox) + self.horizontalLayout_5.setObjectName(u"horizontalLayout_5") + self.horizontalLayout_4 = QHBoxLayout() + self.horizontalLayout_4.setObjectName(u"horizontalLayout_4") + self.formLayout = QFormLayout() + self.formLayout.setObjectName(u"formLayout") + self.label_7 = QLabel(self.groupBox) + self.label_7.setObjectName(u"label_7") + + self.formLayout.setWidget(0, QFormLayout.LabelRole, self.label_7) + + self.horizontalSpacer_2 = QSpacerItem(40, 20, QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Minimum) + + self.formLayout.setItem(2, QFormLayout.LabelRole, self.horizontalSpacer_2) + + self.comport_connect_pushButton = QPushButton(self.groupBox) + self.comport_connect_pushButton.setObjectName(u"comport_connect_pushButton") + + self.formLayout.setWidget(2, QFormLayout.FieldRole, self.comport_connect_pushButton) + + self.comport_description_lineEdit = QLineEdit(self.groupBox) + self.comport_description_lineEdit.setObjectName(u"comport_description_lineEdit") + self.comport_description_lineEdit.setReadOnly(True) + + self.formLayout.setWidget(1, QFormLayout.FieldRole, self.comport_description_lineEdit) + + self.comports_comboBox = QComboBox(self.groupBox) + self.comports_comboBox.setObjectName(u"comports_comboBox") + + self.formLayout.setWidget(0, QFormLayout.FieldRole, self.comports_comboBox) + + self.label_9 = QLabel(self.groupBox) + self.label_9.setObjectName(u"label_9") + + self.formLayout.setWidget(1, QFormLayout.LabelRole, self.label_9) + + + self.horizontalLayout_4.addLayout(self.formLayout) + + self.horizontalLayout_4.setStretch(0, 1) + + self.horizontalLayout_5.addLayout(self.horizontalLayout_4) + + + self.verticalLayout.addWidget(self.groupBox) + + self.groupBox_2 = QGroupBox(self.centralwidget) + self.groupBox_2.setObjectName(u"groupBox_2") + self.groupBox_2.setAlignment(Qt.AlignmentFlag.AlignLeading|Qt.AlignmentFlag.AlignLeft|Qt.AlignmentFlag.AlignVCenter) + self.groupBox_2.setFlat(False) + self.gridLayout = QGridLayout(self.groupBox_2) + self.gridLayout.setObjectName(u"gridLayout") + self.robot_control_gridLayout = QGridLayout() + self.robot_control_gridLayout.setObjectName(u"robot_control_gridLayout") + self.robot_control_gridLayout.setSizeConstraint(QLayout.SizeConstraint.SetDefaultConstraint) + self.move_rz_sb = QSpinBox(self.groupBox_2) + self.move_rz_sb.setObjectName(u"move_rz_sb") + self.move_rz_sb.setMinimum(-180) + self.move_rz_sb.setMaximum(180) + + self.robot_control_gridLayout.addWidget(self.move_rz_sb, 3, 2, 1, 1) + + self.horizontalLayout_2 = QHBoxLayout() + self.horizontalLayout_2.setObjectName(u"horizontalLayout_2") + self.jog_ry_neg_pb = QPushButton(self.groupBox_2) + self.jog_ry_neg_pb.setObjectName(u"jog_ry_neg_pb") + + self.horizontalLayout_2.addWidget(self.jog_ry_neg_pb) + + self.jog_ry_pos_pb = QPushButton(self.groupBox_2) + self.jog_ry_pos_pb.setObjectName(u"jog_ry_pos_pb") + + self.horizontalLayout_2.addWidget(self.jog_ry_pos_pb) + + self.horizontalLayout_2.setStretch(0, 1) + self.horizontalLayout_2.setStretch(1, 1) + + self.robot_control_gridLayout.addLayout(self.horizontalLayout_2, 2, 3, 1, 1) + + self.label_5 = QLabel(self.groupBox_2) + self.label_5.setObjectName(u"label_5") + + self.robot_control_gridLayout.addWidget(self.label_5, 2, 0, 1, 1) + + self.current_ry_le = QLineEdit(self.groupBox_2) + self.current_ry_le.setObjectName(u"current_ry_le") + self.current_ry_le.setEnabled(True) + self.current_ry_le.setReadOnly(True) + + self.robot_control_gridLayout.addWidget(self.current_ry_le, 2, 1, 1, 1) + + self.step_size_cb = QComboBox(self.groupBox_2) + self.step_size_cb.setObjectName(u"step_size_cb") + + self.robot_control_gridLayout.addWidget(self.step_size_cb, 4, 3, 1, 1) + + self.label_4 = QLabel(self.groupBox_2) + self.label_4.setObjectName(u"label_4") + self.label_4.setAlignment(Qt.AlignmentFlag.AlignCenter) + + self.robot_control_gridLayout.addWidget(self.label_4, 0, 2, 1, 1) + + self.move_rx_sb = QSpinBox(self.groupBox_2) + self.move_rx_sb.setObjectName(u"move_rx_sb") + self.move_rx_sb.setMinimum(-180) + self.move_rx_sb.setMaximum(180) + + self.robot_control_gridLayout.addWidget(self.move_rx_sb, 1, 2, 1, 1) + + self.horizontalLayout = QHBoxLayout() + self.horizontalLayout.setObjectName(u"horizontalLayout") + self.jog_rx_neg_pb = QPushButton(self.groupBox_2) + self.jog_rx_neg_pb.setObjectName(u"jog_rx_neg_pb") + + self.horizontalLayout.addWidget(self.jog_rx_neg_pb) + + self.jog_rx_pos_pb = QPushButton(self.groupBox_2) + self.jog_rx_pos_pb.setObjectName(u"jog_rx_pos_pb") + + self.horizontalLayout.addWidget(self.jog_rx_pos_pb) + + self.horizontalLayout.setStretch(0, 1) + self.horizontalLayout.setStretch(1, 1) + + self.robot_control_gridLayout.addLayout(self.horizontalLayout, 1, 3, 1, 1) + + self.store_pb = QPushButton(self.groupBox_2) + self.store_pb.setObjectName(u"store_pb") + + self.robot_control_gridLayout.addWidget(self.store_pb, 4, 0, 1, 1) + + self.label_6 = QLabel(self.groupBox_2) + self.label_6.setObjectName(u"label_6") + + self.robot_control_gridLayout.addWidget(self.label_6, 3, 0, 1, 1) + + self.label_3 = QLabel(self.groupBox_2) + self.label_3.setObjectName(u"label_3") + + self.robot_control_gridLayout.addWidget(self.label_3, 1, 0, 1, 1) + + self.current_rz_le = QLineEdit(self.groupBox_2) + self.current_rz_le.setObjectName(u"current_rz_le") + self.current_rz_le.setEnabled(True) + self.current_rz_le.setReadOnly(True) + + self.robot_control_gridLayout.addWidget(self.current_rz_le, 3, 1, 1, 1) + + self.move_pb = QPushButton(self.groupBox_2) + self.move_pb.setObjectName(u"move_pb") + + self.robot_control_gridLayout.addWidget(self.move_pb, 4, 2, 1, 1) + + self.label = QLabel(self.groupBox_2) + self.label.setObjectName(u"label") + self.label.setAlignment(Qt.AlignmentFlag.AlignCenter) + + self.robot_control_gridLayout.addWidget(self.label, 0, 3, 1, 1) + + self.horizontalLayout_3 = QHBoxLayout() + self.horizontalLayout_3.setObjectName(u"horizontalLayout_3") + self.jog_rz_neg_pb = QPushButton(self.groupBox_2) + self.jog_rz_neg_pb.setObjectName(u"jog_rz_neg_pb") + + self.horizontalLayout_3.addWidget(self.jog_rz_neg_pb) + + self.jog_rz_pos_pb = QPushButton(self.groupBox_2) + self.jog_rz_pos_pb.setObjectName(u"jog_rz_pos_pb") + + self.horizontalLayout_3.addWidget(self.jog_rz_pos_pb) + + self.horizontalLayout_3.setStretch(0, 1) + self.horizontalLayout_3.setStretch(1, 1) + + self.robot_control_gridLayout.addLayout(self.horizontalLayout_3, 3, 3, 1, 1) + + self.home_pb = QPushButton(self.groupBox_2) + self.home_pb.setObjectName(u"home_pb") + + self.robot_control_gridLayout.addWidget(self.home_pb, 4, 1, 1, 1) + + self.move_ry_sb = QSpinBox(self.groupBox_2) + self.move_ry_sb.setObjectName(u"move_ry_sb") + self.move_ry_sb.setMinimum(-180) + self.move_ry_sb.setMaximum(180) + + self.robot_control_gridLayout.addWidget(self.move_ry_sb, 2, 2, 1, 1) + + self.current_rx_le = QLineEdit(self.groupBox_2) + self.current_rx_le.setObjectName(u"current_rx_le") + self.current_rx_le.setEnabled(True) + self.current_rx_le.setReadOnly(True) + + self.robot_control_gridLayout.addWidget(self.current_rx_le, 1, 1, 1, 1) + + self.label_2 = QLabel(self.groupBox_2) + self.label_2.setObjectName(u"label_2") + sizePolicy = QSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Preferred) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.label_2.sizePolicy().hasHeightForWidth()) + self.label_2.setSizePolicy(sizePolicy) + self.label_2.setAlignment(Qt.AlignmentFlag.AlignCenter) + + self.robot_control_gridLayout.addWidget(self.label_2, 0, 1, 1, 1) + + self.label_8 = QLabel(self.groupBox_2) + self.label_8.setObjectName(u"label_8") + + self.robot_control_gridLayout.addWidget(self.label_8, 0, 0, 1, 1) + + self.robot_control_gridLayout.setRowStretch(0, 1) + self.robot_control_gridLayout.setRowStretch(1, 1) + self.robot_control_gridLayout.setRowStretch(2, 1) + self.robot_control_gridLayout.setRowStretch(3, 1) + self.robot_control_gridLayout.setRowStretch(4, 1) + self.robot_control_gridLayout.setColumnStretch(0, 1) + + self.gridLayout.addLayout(self.robot_control_gridLayout, 0, 0, 1, 1) + + + self.verticalLayout.addWidget(self.groupBox_2) + + self.verticalLayout.setStretch(0, 2) + self.verticalLayout.setStretch(1, 3) + MainWindow.setCentralWidget(self.centralwidget) + self.menubar = QMenuBar(MainWindow) + self.menubar.setObjectName(u"menubar") + self.menubar.setGeometry(QRect(0, 0, 532, 23)) + MainWindow.setMenuBar(self.menubar) + self.statusbar = QStatusBar(MainWindow) + self.statusbar.setObjectName(u"statusbar") + MainWindow.setStatusBar(self.statusbar) + + self.retranslateUi(MainWindow) + + QMetaObject.connectSlotsByName(MainWindow) + # setupUi + + def retranslateUi(self, MainWindow): + MainWindow.setWindowTitle(QCoreApplication.translate("MainWindow", u"MainWindow", None)) + self.groupBox.setTitle(QCoreApplication.translate("MainWindow", u"Settings", None)) + self.label_7.setText(QCoreApplication.translate("MainWindow", u"Serial port", None)) + self.comport_connect_pushButton.setText(QCoreApplication.translate("MainWindow", u"Connect", None)) + self.label_9.setText(QCoreApplication.translate("MainWindow", u"Description", None)) + self.groupBox_2.setTitle(QCoreApplication.translate("MainWindow", u"Device controls", None)) + self.jog_ry_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) + self.jog_ry_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) + self.label_5.setText(QCoreApplication.translate("MainWindow", u"Ry", None)) + self.step_size_cb.setCurrentText("") + self.label_4.setText(QCoreApplication.translate("MainWindow", u"Move to", None)) + self.jog_rx_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) + self.jog_rx_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) + self.store_pb.setText(QCoreApplication.translate("MainWindow", u"Store", None)) + self.label_6.setText(QCoreApplication.translate("MainWindow", u"Rz", None)) + self.label_3.setText(QCoreApplication.translate("MainWindow", u"Rx", None)) + self.move_pb.setText(QCoreApplication.translate("MainWindow", u"Move", None)) + self.label.setText(QCoreApplication.translate("MainWindow", u"Jog", None)) + self.jog_rz_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) + self.jog_rz_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) + self.home_pb.setText(QCoreApplication.translate("MainWindow", u"Home", None)) + self.label_2.setText(QCoreApplication.translate("MainWindow", u"Current postion", None)) + self.label_8.setText(QCoreApplication.translate("MainWindow", u"Axis", None)) + # retranslateUi + diff --git a/frontend/ui/robot.ui b/frontend/ui/robot.ui index 6c537bb1db07946b683e86c1ca6bb42f0358cdb0..5de7039a6c3b9c357d040bb6968e0626e0a3aaa2 100644 --- a/frontend/ui/robot.ui +++ b/frontend/ui/robot.ui @@ -6,222 +6,313 @@ 0 0 - 503 - 218 + 532 + 408 MainWindow - - - - 10 - 10 - 481 - 152 - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Rz - - - - - - - Current postion - - - - - - - Rz' - - - - - - - Ry - - - - - - - Home - - - - - - - -180 - - - 180 - - - - - - - Move - - - - - - - false - - - - - - - Store - - - - - - - -180 - - - 180 - - - - - - - false - - - - - - - -180 - - - 180 - - - - - - - Move to - - - - - - - false - - - - - - - Jog - - - - - - - - - - - - + + + + + Settings + + - - - - - - - - - - - + - - + + + + + + + Serial port + + + + + + + Qt::Orientation::Horizontal + + + + 40 + 20 + + + + + + + + Connect + + + + + + + true + + + + + + + + + + Description + + + + + + - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - - + + + + + + + Device controls + + + Qt::AlignmentFlag::AlignLeading|Qt::AlignmentFlag::AlignLeft|Qt::AlignmentFlag::AlignVCenter + + + false + + + + + + QLayout::SizeConstraint::SetDefaultConstraint - + + + + -180 + + + 180 + + + + + + + + + - + + + + + + + + + + + + + + + + + Ry + + + + + + + true + + + true + + + + + + + + + + + + + + Move to + + + Qt::AlignmentFlag::AlignCenter + + + + + + + -180 + + + 180 + + + + + + + + + - + + + + + + + + + + + + + + + + + Store + + + + + + + Rz + + + + + + + Rx + + + + + + + true + + + true + + + + + + + Move + + + + + + + Jog + + + Qt::AlignmentFlag::AlignCenter + + + + + + + + + - + + + + + + + + + + + + + + + + + Home + + + + + + + -180 + + + 180 + + + + + + + true + + + true + + + + + + + + 0 + 0 + + + + Current postion + + + Qt::AlignmentFlag::AlignCenter + + + + + + + Axis + + + + - - - + + + 0 0 - 503 - 22 + 532 + 23 diff --git a/frontend/ui/robot_ui.py b/frontend/ui/robot_ui.py deleted file mode 100644 index 9549b58e9d78a51adeffb8b00dda98d174112a41..0000000000000000000000000000000000000000 --- a/frontend/ui/robot_ui.py +++ /dev/null @@ -1,211 +0,0 @@ -# -*- coding: utf-8 -*- - -################################################################################ -## Form generated from reading UI file 'robot.ui' -## -## Created by: Qt User Interface Compiler version 6.7.2 -## -## WARNING! All changes made in this file will be lost when recompiling UI file! -################################################################################ - -from PySide6.QtCore import (QCoreApplication, QDate, QDateTime, QLocale, - QMetaObject, QObject, QPoint, QRect, - QSize, QTime, QUrl, Qt) -from PySide6.QtGui import (QBrush, QColor, QConicalGradient, QCursor, - QFont, QFontDatabase, QGradient, QIcon, - QImage, QKeySequence, QLinearGradient, QPainter, - QPalette, QPixmap, QRadialGradient, QTransform) -from PySide6.QtWidgets import (QApplication, QComboBox, QGridLayout, QHBoxLayout, - QLabel, QLineEdit, QMainWindow, QMenuBar, - QPushButton, QSizePolicy, QSpacerItem, QSpinBox, - QStatusBar, QWidget) - -class Ui_MainWindow(object): - def setupUi(self, MainWindow): - if not MainWindow.objectName(): - MainWindow.setObjectName(u"MainWindow") - MainWindow.resize(503, 218) - self.centralwidget = QWidget(MainWindow) - self.centralwidget.setObjectName(u"centralwidget") - self.gridLayoutWidget = QWidget(self.centralwidget) - self.gridLayoutWidget.setObjectName(u"gridLayoutWidget") - self.gridLayoutWidget.setGeometry(QRect(10, 10, 481, 152)) - self.gridLayout = QGridLayout(self.gridLayoutWidget) - self.gridLayout.setObjectName(u"gridLayout") - self.gridLayout.setContentsMargins(0, 0, 0, 0) - self.horizontalSpacer = QSpacerItem(40, 20, QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Minimum) - - self.gridLayout.addItem(self.horizontalSpacer, 0, 0, 1, 1) - - self.label_3 = QLabel(self.gridLayoutWidget) - self.label_3.setObjectName(u"label_3") - - self.gridLayout.addWidget(self.label_3, 1, 0, 1, 1) - - self.label_2 = QLabel(self.gridLayoutWidget) - self.label_2.setObjectName(u"label_2") - - self.gridLayout.addWidget(self.label_2, 0, 1, 1, 1) - - self.label_6 = QLabel(self.gridLayoutWidget) - self.label_6.setObjectName(u"label_6") - - self.gridLayout.addWidget(self.label_6, 3, 0, 1, 1) - - self.label_5 = QLabel(self.gridLayoutWidget) - self.label_5.setObjectName(u"label_5") - - self.gridLayout.addWidget(self.label_5, 2, 0, 1, 1) - - self.home_pb = QPushButton(self.gridLayoutWidget) - self.home_pb.setObjectName(u"home_pb") - - self.gridLayout.addWidget(self.home_pb, 4, 1, 1, 1) - - self.move_rz_sb = QSpinBox(self.gridLayoutWidget) - self.move_rz_sb.setObjectName(u"move_rz_sb") - self.move_rz_sb.setMinimum(-180) - self.move_rz_sb.setMaximum(180) - - self.gridLayout.addWidget(self.move_rz_sb, 3, 2, 1, 1) - - self.move_pb = QPushButton(self.gridLayoutWidget) - self.move_pb.setObjectName(u"move_pb") - - self.gridLayout.addWidget(self.move_pb, 4, 2, 1, 1) - - self.current_ry_le = QLineEdit(self.gridLayoutWidget) - self.current_ry_le.setObjectName(u"current_ry_le") - self.current_ry_le.setEnabled(False) - - self.gridLayout.addWidget(self.current_ry_le, 2, 1, 1, 1) - - self.store_pb = QPushButton(self.gridLayoutWidget) - self.store_pb.setObjectName(u"store_pb") - - self.gridLayout.addWidget(self.store_pb, 4, 0, 1, 1) - - self.move_ry_sb = QSpinBox(self.gridLayoutWidget) - self.move_ry_sb.setObjectName(u"move_ry_sb") - self.move_ry_sb.setMinimum(-180) - self.move_ry_sb.setMaximum(180) - - self.gridLayout.addWidget(self.move_ry_sb, 2, 2, 1, 1) - - self.current_rx_le = QLineEdit(self.gridLayoutWidget) - self.current_rx_le.setObjectName(u"current_rx_le") - self.current_rx_le.setEnabled(False) - - self.gridLayout.addWidget(self.current_rx_le, 1, 1, 1, 1) - - self.move_rx_sb = QSpinBox(self.gridLayoutWidget) - self.move_rx_sb.setObjectName(u"move_rx_sb") - self.move_rx_sb.setMinimum(-180) - self.move_rx_sb.setMaximum(180) - - self.gridLayout.addWidget(self.move_rx_sb, 1, 2, 1, 1) - - self.label_4 = QLabel(self.gridLayoutWidget) - self.label_4.setObjectName(u"label_4") - - self.gridLayout.addWidget(self.label_4, 0, 2, 1, 1) - - self.current_rz_le = QLineEdit(self.gridLayoutWidget) - self.current_rz_le.setObjectName(u"current_rz_le") - self.current_rz_le.setEnabled(False) - - self.gridLayout.addWidget(self.current_rz_le, 3, 1, 1, 1) - - self.label = QLabel(self.gridLayoutWidget) - self.label.setObjectName(u"label") - - self.gridLayout.addWidget(self.label, 0, 3, 1, 1) - - self.step_size_cb = QComboBox(self.gridLayoutWidget) - self.step_size_cb.setObjectName(u"step_size_cb") - - self.gridLayout.addWidget(self.step_size_cb, 4, 3, 1, 1) - - self.horizontalLayout = QHBoxLayout() - self.horizontalLayout.setObjectName(u"horizontalLayout") - self.jog_rz_neg_pb = QPushButton(self.gridLayoutWidget) - self.jog_rz_neg_pb.setObjectName(u"jog_rz_neg_pb") - - self.horizontalLayout.addWidget(self.jog_rz_neg_pb) - - self.jog_rz_pos_pb = QPushButton(self.gridLayoutWidget) - self.jog_rz_pos_pb.setObjectName(u"jog_rz_pos_pb") - - self.horizontalLayout.addWidget(self.jog_rz_pos_pb) - - - self.gridLayout.addLayout(self.horizontalLayout, 1, 3, 1, 1) - - self.horizontalLayout_2 = QHBoxLayout() - self.horizontalLayout_2.setObjectName(u"horizontalLayout_2") - self.jog_ry_neg_pb = QPushButton(self.gridLayoutWidget) - self.jog_ry_neg_pb.setObjectName(u"jog_ry_neg_pb") - - self.horizontalLayout_2.addWidget(self.jog_ry_neg_pb) - - self.jog_ry_pos_pb = QPushButton(self.gridLayoutWidget) - self.jog_ry_pos_pb.setObjectName(u"jog_ry_pos_pb") - - self.horizontalLayout_2.addWidget(self.jog_ry_pos_pb) - - - self.gridLayout.addLayout(self.horizontalLayout_2, 2, 3, 1, 1) - - self.horizontalLayout_3 = QHBoxLayout() - self.horizontalLayout_3.setObjectName(u"horizontalLayout_3") - self.jog_rz1_neg_pb = QPushButton(self.gridLayoutWidget) - self.jog_rz1_neg_pb.setObjectName(u"jog_rz1_neg_pb") - - self.horizontalLayout_3.addWidget(self.jog_rz1_neg_pb) - - self.jog_rz1_pos_pb = QPushButton(self.gridLayoutWidget) - self.jog_rz1_pos_pb.setObjectName(u"jog_rz1_pos_pb") - - self.horizontalLayout_3.addWidget(self.jog_rz1_pos_pb) - - - self.gridLayout.addLayout(self.horizontalLayout_3, 3, 3, 1, 1) - - self.gridLayout.setColumnStretch(0, 1) - self.gridLayout.setColumnStretch(1, 1) - self.gridLayout.setColumnStretch(2, 1) - self.gridLayout.setColumnStretch(3, 1) - MainWindow.setCentralWidget(self.centralwidget) - self.menubar = QMenuBar(MainWindow) - self.menubar.setObjectName(u"menubar") - self.menubar.setGeometry(QRect(0, 0, 503, 22)) - MainWindow.setMenuBar(self.menubar) - self.statusbar = QStatusBar(MainWindow) - self.statusbar.setObjectName(u"statusbar") - MainWindow.setStatusBar(self.statusbar) - - self.retranslateUi(MainWindow) - - QMetaObject.connectSlotsByName(MainWindow) - # setupUi - - def retranslateUi(self, MainWindow): - MainWindow.setWindowTitle(QCoreApplication.translate("MainWindow", u"MainWindow", None)) - self.label_3.setText(QCoreApplication.translate("MainWindow", u"Rz", None)) - self.label_2.setText(QCoreApplication.translate("MainWindow", u"Current postion", None)) - self.label_6.setText(QCoreApplication.translate("MainWindow", u"Rz'", None)) - self.label_5.setText(QCoreApplication.translate("MainWindow", u"Ry", None)) - self.home_pb.setText(QCoreApplication.translate("MainWindow", u"Home", None)) - self.move_pb.setText(QCoreApplication.translate("MainWindow", u"Move", None)) - self.store_pb.setText(QCoreApplication.translate("MainWindow", u"Store", None)) - self.label_4.setText(QCoreApplication.translate("MainWindow", u"Move to", None)) - self.label.setText(QCoreApplication.translate("MainWindow", u"Jog", None)) - self.step_size_cb.setCurrentText("") - self.jog_rz_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) - self.jog_rz_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) - self.jog_ry_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) - self.jog_ry_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) - self.jog_rz1_neg_pb.setText(QCoreApplication.translate("MainWindow", u"-", None)) - self.jog_rz1_pos_pb.setText(QCoreApplication.translate("MainWindow", u"+", None)) - # retranslateUi - diff --git a/poetry.lock b/poetry.lock index 215921d7f713526715340f90e38855458b4eb27a..439e81a7c2efe2a4951da73e03b5ec03a5a350dc 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,3 +1,95 @@ +[[package]] +name = "astroid" +version = "3.3.5" +description = "An abstract syntax tree for Python with inference support." +category = "dev" +optional = false +python-versions = ">=3.9.0" + +[package.dependencies] +typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""} + +[[package]] +name = "black" +version = "24.10.0" +description = "The uncompromising code formatter." +category = "dev" +optional = false +python-versions = ">=3.9" + +[package.dependencies] +click = ">=8.0.0" +mypy-extensions = ">=0.4.3" +packaging = ">=22.0" +pathspec = ">=0.9.0" +platformdirs = ">=2" +tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""} +typing-extensions = {version = ">=4.0.1", markers = "python_version < \"3.11\""} + +[package.extras] +colorama = ["colorama (>=0.4.3)"] +d = ["aiohttp (>=3.10)"] +jupyter = 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name = "pyspj" -version = "0.1.0" +version = "0.1.1" description = "This pakages is used to control the Spherical Parallel Joint Robot" authors = ["mattia.gallacchi "] readme = "README.md" +packages = [ + {include = "frontend"} +] [tool.poetry.dependencies] python = ">=3.10,<3.13" numpy = "^2.0.0" pyserial = "^3.5" -pygame = "^2.6.0" -PySide6 = "^6.7.2" +[tool.poetry.group.lint.dependencies] +black = "^24.10.0" +pylint = "^3.3.1" + + +[tool.poetry.group.ui.dependencies] +PySide6 = "^6.8.0.2" + [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" diff --git a/pyspj/__init__.py b/pyspj/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pyspj/spj.py b/pyspj/spj.py index d5b73d0c57bb07a43a8312ff564644170d2e28cf..c82bce62d16b2503f8b6ea4b0ad7a9a5b9aaef49 100644 --- a/pyspj/spj.py +++ b/pyspj/spj.py @@ -1,60 +1,265 @@ -import numpy as np -import serial +""" +This module is used to control the spherical parallel joint device +from Skyentific +""" + +from threading import Thread, Lock, Event, main_thread from dataclasses import dataclass import time +import numpy as np +import serial + + +class SpjException(Exception): + """Generic class exception""" + + +class NotConnected(SpjException): + """Serial device not connected""" + @dataclass class WorldPosition: + """World position Rz, Ry, Rx""" + + rz: float = 0.0 + ry: float = 0.0 + rx: float = 0.0 + + +_ser: serial.Serial = None + + +class WorkerThread: + """Worker thread to continuously acquire device position""" + + def __init__(self): + """Constructor""" + + self._stop_event = Event() + self._thread: Thread = None + self._lock: Lock = Lock() + self._current_pos: list[float] = [0, 0, 0] + + def start(self) -> None: + """Start thread""" + + self._stop_event.clear() + self._thread = Thread(target=self.__run) + self._thread.start() + + def stop(self) -> None: + """Stop thread and join""" + + self._stop_event.set() + self._thread.join() + + @property + def running(self) -> bool: + """Thread running + + Return + ------ + True if thread is running + """ + + return self._thread.is_alive() + + @property + def current_pos(self) -> list[float]: + """Get current device position + + Return + List with current motor steps [Rz, Ry, Rx] + """ + + if self._lock.acquire(blocking=False): + steps = self._current_pos + self._lock.release() + else: + steps = [0.0, 0.0, 0.0] + + return steps + + def __run(self): + """Thread function""" + + global _ser + + while not self._stop_event.is_set() and main_thread().is_alive(): + + new_pos = _ser.read_until() + + if len(new_pos) > 0: + steps = new_pos.decode("utf-8").strip().split(",") + steps = [float(x) for x in steps] + if self._lock.acquire(blocking=False): + self._current_pos = steps + self._lock.release() + + time.sleep(0.001) + + +_worker_thread: WorkerThread = None - rz : float = 0.0 - ry : float = 0.0 - rz1 : float = 0.0 class SphericalParallelJoint: + """Class to control the SPJ device""" + + @staticmethod + def home_pos() -> WorldPosition: + """Get the home position""" + + return WorldPosition(0, 0, 0) + + @staticmethod + def store_pos() -> WorldPosition: + """Get the store position""" + + return WorldPosition(-60, 0, 0) + + def __init__(self) -> None: + """Constructor + + Example + ------- + .. code-block:: python + + robot = SphericalParallelJoint() + robot.connect() + + print("Move sync") + if not robot.move_sync(robot.HOME_POS): + print("Move failed") - def __init__(self, port : str = "/dev/ttyACM0", baud : int = 115200) -> None: - self._ser = serial.Serial(port, baudrate=baud, timeout=1) - self._curr_position = WorldPosition() - self._rot_axis = np.array([ - [ -1.0 / np.sqrt(3.0), -1.0 / np.sqrt(3.0), - 1.0 / np.sqrt(3.0) ], - [ -1.0 / np.sqrt(2.0), 1.0 / np.sqrt(2.0), 0.0 ], - [ 1.0 / np.sqrt(6.0), 1.0 / np.sqrt(6.0), - 2.0 / np.sqrt(6.0) ] #ZYX version. Values calculated with cross product of ZxY - #[ -1.0 / np.sqrt(3.0), -1.0 / np.sqrt(3.0), - 1.0 / np.sqrt(3.0) ] #ZYZ' version. Z' = Z - ]) + print("Move async") + robot.move_async(robot.STORE_POS) + time.sleep(4) + + print(f"Current position: {robot.get_current_position()}") + + robot.close() + """ + + self._rot_axis = np.array( + [ + [-1.0 / np.sqrt(3.0), -1.0 / np.sqrt(3.0), -1.0 / np.sqrt(3.0)], + [-1.0 / np.sqrt(2.0), 1.0 / np.sqrt(2.0), 0.0], + [ + 1.0 / np.sqrt(6.0), + 1.0 / np.sqrt(6.0), + -2.0 / np.sqrt(6.0), + ], # ZYX version. Values calculated with cross product of ZxY + # [ -1.0 / np.sqrt(3.0), -1.0 / np.sqrt(3.0), - 1.0 / np.sqrt(3.0) ] #ZYZ' version. Z' = Z + ] + ) + + self._current_pos: list[float] = self.store_pos() + self._connected = False + + def connect(self, port: str = "/dev/ttyACM0", baud: int = 115200): + """Connect to the device + + Parameters + ---------- + port: str + COM port for serial communication. For linux /dev/tty, for windows COM + baud: int, optional + Serial baudrate + + Raise + ----- + Runtime error + """ + + global _worker_thread + global _ser + + _ser = serial.Serial(port, baudrate=baud, timeout=1) if not self.check_online(): raise RuntimeError("Failed to communicate with device") - - def __get_rotational_matrix(self, index : int, angle : float) -> np.ndarray: + + self._connected = True + + # Empty the read buffer + _ser.read_all() + + # Start the thread + _worker_thread = WorkerThread() + _worker_thread.start() + time.sleep(0.01) + self._current_pos = self.get_current_position() + + def __check_connected(self): + """Check if the connect method was called + + Raise + ----- + NotConnected + """ + + if not self._connected: + raise NotConnected( + "Use the connect method to establish a connection to the device" + ) + + def __get_rotational_matrix(self, index: int, angle: float) -> np.ndarray: + """Compute the rotational matrix for one axis + + Parameters + ---------- + index: int + Axis index (Rz = 0, Ry = 1, Rx = 2) + angle: float + Axis angle in degree + + Return + ------ + Rotational matrix for that axis + """ angle = np.deg2rad(angle) ux, uy, uz = self._rot_axis[index] - mat = np.array([ - [ - np.cos(angle) + ux ** 2 * (1.0 - np.cos(angle)), - ux * uy * (1.0 - np.cos(angle)) - uz * np.sin(angle), - ux * uz * (1.0 - np.cos(angle)) + uy * np.sin(angle) - ], + mat = np.array( [ - uy * uz * (1.0 - np.cos(angle)) + uz * np.sin(angle), - np.cos(angle) + uy ** 2 * (1.0 - np.cos(angle)), - uy * ux * (1.0 - np.cos(angle)) + ux * np.sin(angle) - ], - [ - uz * ux * (1.0 - np.cos(angle)) - uy * np.sin(angle), - uz * uy * (1.0 - np.cos(angle)) + ux * np.sin(angle), - np.cos(angle) + uz ** 2 * (1.0 - np.cos(angle)) + [ + np.cos(angle) + ux**2 * (1.0 - np.cos(angle)), + ux * uy * (1.0 - np.cos(angle)) - uz * np.sin(angle), + ux * uz * (1.0 - np.cos(angle)) + uy * np.sin(angle), + ], + [ + uy * uz * (1.0 - np.cos(angle)) + uz * np.sin(angle), + np.cos(angle) + uy**2 * (1.0 - np.cos(angle)), + uy * ux * (1.0 - np.cos(angle)) + ux * np.sin(angle), + ], + [ + uz * ux * (1.0 - np.cos(angle)) - uy * np.sin(angle), + uz * uy * (1.0 - np.cos(angle)) + ux * np.sin(angle), + np.cos(angle) + uz**2 * (1.0 - np.cos(angle)), + ], ] - ]) + ) return mat - - def compute_steps(self, new_pos : WorldPosition) -> list[int]: + + def compute_steps(self, new_pos: WorldPosition) -> list[float]: + """Compute the steps for each motor based on Rz, Ry and Rx coordinates + + Parameters + ---------- + new_pos: WorldPosition + Position to compute the steps for + + Return + ------ + Steps for each motor + """ first_rot_mat = self.__get_rotational_matrix(0, new_pos.rz) second_rot_mat = self.__get_rotational_matrix(1, new_pos.ry) - third_rot_mat = self.__get_rotational_matrix(2, new_pos.rz1) + third_rot_mat = self.__get_rotational_matrix(2, new_pos.rx) # rot_mat = third_rot_mat * (second_rot_mat * first_rot_mat) rot_mat = np.matmul(third_rot_mat, np.matmul(second_rot_mat, first_rot_mat)) @@ -67,41 +272,174 @@ class SphericalParallelJoint: step2 = (108.0 / 20.0) * (theta2 - np.pi / 4.0) * (200.0 / (2 * np.pi)) step3 = (108.0 / 20.0) * (theta3 - np.pi / 4.0) * (200.0 / (2 * np.pi)) - return[step1, step2, step3] + return [step1, step2, step3] + + def __move(self, pos: WorldPosition) -> list[float]: + """Do move the device + + Parameters + ---------- + pos: WorldPosition + Position to move to - def move(self, pos : WorldPosition) -> list[float]: + Return + ------ + End position in steps + """ + + global _ser + + self.__check_connected() steps = self.compute_steps(pos) - self._ser.write(f"{steps[0]},{steps[1]},{steps[2]}\n".encode("utf-8")) - - return [float(steps[0]),float(steps[1]),float(steps[2])] + _bytes = _ser.write(f"{steps[0]},{steps[1]},{steps[2]}\n".encode("utf-8")) + if _bytes < 1: + print("Failed to write") + steps = self._current_pos + + return [float(steps[0]), float(steps[1]), float(steps[2])] + + def move_sync(self, pos: WorldPosition) -> bool: + """Move the device synchronously. This call will return when the movement is finished + + Parameters + ---------- + pos: WorldPosition + Position to move to + + Return + ------ + True if move was successful, False otherwise + """ + + max_errors = 100 + end_pos = self.__move(pos) + + try: + end_pos = list(map(int, end_pos)) + except ValueError: + print(f"Failed to convert end position to int: {end_pos}") + return False + + while True: + + if max_errors < 1: + break + + try: + current_pos = list(map(int, self.get_current_position())) + except ValueError: + max_errors -= 1 + continue + + if current_pos == end_pos: + break + + if max_errors < 1: + return False + + return True + + def move_async(self, pos: WorldPosition) -> list[float]: + """Move the robot asynchronously. Return before movement ends. + + Parameters + ---------- + pos: WorldPosition + Position to move to + + Return + ------ + End position in steps + """ + + return self.__move(pos) def check_online(self) -> bool: + """Check if the device is online and working + + Return + ------ + True if online + """ - msg = self._ser.read_until().decode("utf-8").strip() + global _ser + + msg = _ser.read_until().decode("utf-8").strip() if msg == "Wait": - self._ser.timeout = 5 - self._ser.write("\n".encode("utf-8")) - msg = self._ser.read_until().decode("utf-8").strip() - self._ser.timeout = 1 + _ser.timeout = 5 + _ser.write("\n".encode("utf-8")) + msg = _ser.read_until().decode("utf-8").strip() + _ser.timeout = 1 if msg == "Ready": return True return False - + if len(msg) > 0: - return True + return True return False - + def get_current_position(self) -> list[float]: - - pos = self._ser.read_until() - steps = pos.decode("utf-8").strip().split(",") - steps = [float(x) for x in steps] + """Get the current position of the motors in steps - return steps - - + Return + ------ + A list in the format (stepZ, stepY, stepX) + """ + + global _worker_thread + + self.__check_connected() + + self._current_pos = _worker_thread._current_pos + + # Sleep to avoid overloading the lock + time.sleep(0.001) + + return self._current_pos + + def close(self): + """End communication with the device""" + + global _worker_thread + global _ser + + if not self._connected: + return + + if _worker_thread.running: + _worker_thread.stop() + + _ser.close() + self._connected = False + + def __del__(self): + """Destructor""" + + if self._connected: + self.close() + + +if "__main__" == __name__: + + import os + + os.chdir(os.path.dirname(__file__)) + + robot = SphericalParallelJoint() + + robot.connect() + + print("Move sync") + if not robot.move_sync(SphericalParallelJoint.home_pos()): + print("Move failed") + + print("Move async") + robot.move_async(SphericalParallelJoint.store_pos()) + time.sleep(4) + + print(f"Current position: {robot.get_current_position()}") - \ No newline at end of file + robot.close()