diff --git a/.github/workflows/docker-publish.yml b/.github/workflows/docker.yml similarity index 83% rename from .github/workflows/docker-publish.yml rename to .github/workflows/docker.yml index 2336eea..a812dae 100644 --- a/.github/workflows/docker-publish.yml +++ b/.github/workflows/docker.yml @@ -1,17 +1,12 @@ -name: Docker Build and Publish - -# This workflow uses actions that are not certified by GitHub. -# They are provided by a third-party and are governed by -# separate terms of service, privacy policy, and support -# documentation. +name: Docker Image Build and Publish on: - push: + push: # * Run for every push branches: [ "*" ] - # Publish semver tags as releases. tags: [ '*' ] - schedule: # Run on Tuesday's at noon + schedule: # Run on Tuesday's at 12:00 - cron: '0 12 * * 2' + workflow_dispatch: # Run manually env: # Use docker.io for Docker Hub if empty @@ -72,5 +67,5 @@ jobs: tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} platforms: linux/amd64,linux/arm64 - #cache-from: type=gha - #cache-to: type=gha,mode=max + cache-from: type=gha + cache-to: type=gha,mode=max diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml index 4d9a5b4..f01c862 100644 --- a/.github/workflows/pre-commit.yml +++ b/.github/workflows/pre-commit.yml @@ -1,7 +1,10 @@ name: Pre-Commit Checks on: - push: + push: # Run for every push + branches: ["*"] + tags: ["*"] + workflow_dispatch: # Run manually jobs: pre-commit: @@ -9,7 +12,9 @@ jobs: steps: - uses: actions/checkout@v3 name: Checkout code - - uses: actions/setup-python@v3 + - uses: actions/setup-python@v4 name: Setup Python - - uses: pre-commit/action@v3.0.0 + with: + python-version: 3.9 + - uses: pre-commit/action@v3.0.1 name: Run Pre-Commit Checks diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml deleted file mode 100644 index 76bd801..0000000 --- a/.github/workflows/tests.yml +++ /dev/null @@ -1,19 +0,0 @@ -name: Pytest Unit Tests - -on: [push] - -jobs: - build_and_test: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - name: Checkout code - - name: Test makefile - run: make init .env - - name: Check .env file - run: cat .env - - name: Create paths - run: make paths - - name: Initialize, Build, and Test with Docker - run: make test - shell: bash diff --git a/.gitignore b/.gitignore index 68bc17f..ca14c23 100644 --- a/.gitignore +++ b/.gitignore @@ -158,3 +158,6 @@ cython_debug/ # and can be added to the global gitignore or merged into this file. For a more nuclear # option (not recommended) you can uncomment the following to ignore the entire idea folder. #.idea/ + +.pdm-python +.vscode/ diff --git a/.justfile b/.justfile new file mode 100644 index 0000000..4f0003b --- /dev/null +++ b/.justfile @@ -0,0 +1,28 @@ +# List available commands +default: + @just --list --justfile {{justfile()}} + +# initialize the project +init: + @which pdm || echo "pdm not found, you'll need to install it: https://github.com/pdm-project/pdm" + @pdm install -G:all + @OSTYPE="" . .venv/bin/activate + @which pre-commit && pre-commit install && pre-commit autoupdate || true + +# Build the project +build: init dcb + +# Run the pre-commit checks +checks: + @pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; } +check: checks + +# Run automated tests +test: + @pytest +tests: test +pytest: test + +# Build docker image +dcb: + @docker compose build diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0e70236..7df6122 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,9 +1,8 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.5.0 + rev: v6.0.0 hooks: - id: check-yaml - - id: check-json - id: check-toml - id: check-ast - id: check-merge-conflict @@ -12,15 +11,19 @@ repos: - id: end-of-file-fixer - id: trailing-whitespace - repo: https://github.com/kynan/nbstripout - rev: 0.6.1 + rev: 0.9.1 hooks: - id: nbstripout - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: v0.1.10 + rev: v0.15.14 hooks: # Run the linter. - id: ruff args: [--fix] # Run the formatter. - id: ruff-format + - repo: https://gitlab.com/bmares/check-json5 + rev: v1.0.1 + hooks: + - id: check-json5 diff --git a/Dockerfile b/Dockerfile index 3735aeb..f3b5d4b 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,6 +1,6 @@ -FROM ghcr.io/ad-sdl/wei:v0.6.1 +FROM ghcr.io/ad-sdl/madsci:v0.8.0 -LABEL org.opencontainers.image.source=https://github.com/AD-SDL/a4s_sealer_module.git +LABEL org.opencontainers.image.source=https://github.com/AD-SDL/a4s_sealer_module LABEL org.opencontainers.image.description="Drivers and REST API's for the A4S Sealer" LABEL org.opencontainers.image.licenses=MIT @@ -13,12 +13,19 @@ RUN mkdir -p a4s_sealer_module COPY ./src a4s_sealer_module/src COPY ./README.md a4s_sealer_module/README.md COPY ./pyproject.toml a4s_sealer_module/pyproject.toml -COPY ./tests a4s_sealer_module/tests RUN --mount=type=cache,target=/root/.cache \ - pip install -e ./a4s_sealer_module + uv pip install --python ${MADSCI_VENV}/bin/python -e ./a4s_sealer_module -CMD ["python", "a4s_sealer_module/scripts/a4s_sealer_rest_node.py"] +# Cross-distro serial access: +# Ubuntu hosts: dialout = GID 20 (matches container's built-in `dialout` group). +# Fedora hosts: dialout = GID 18 (added below as `dialout_fedora`). +# Baking both into the image means /dev/ttyUSB* works without compose-side +# `group_add` (which gets stripped by the madsci entrypoint's userdel/useradd). +RUN usermod -aG dialout madsci && \ + groupadd -g 18 dialout_fedora && \ + usermod -aG dialout_fedora madsci + +CMD ["python", "a4s_sealer_module/src/sealer_rest_node.py"] -RUN usermod -aG dialout app ######################################### diff --git a/Makefile b/Makefile deleted file mode 100644 index 7e2dfef..0000000 --- a/Makefile +++ /dev/null @@ -1,23 +0,0 @@ -# Python Configuration - -.DEFAULT_GOAL := init -.PHONY += init paths checks test clean - -init: # Do the initial configuration of the project - @test -e .env || cp example.env .env - -.env: init - - -paths: .env # Create the necessary data directories - @mkdir -p $(shell grep -E '^WEI_DATA_DIR=' .env | cut -d '=' -f 2) - @mkdir -p $(shell grep -E '^REDIS_DIR=' .env | cut -d '=' -f 2) - -checks: # Runs all the pre-commit checks - @pre-commit install - @pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; } - -test: init .env paths # Runs all the tests - @docker compose -f wei.compose.yaml --env-file .env up --build -d - @docker compose -f wei.compose.yaml --env-file .env exec a4s_sealer_module pytest -p no:cacheprovider -m "not hardware" a4s_sealer_module - @docker compose -f wei.compose.yaml --env-file .env down diff --git a/README.md b/README.md index 494e900..92250d4 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # A4S Sealer Module -A python driver and WEI-compatible REST server for controlling and communicating with an A4S Sealer. +A python driver and MADSci-compatible REST server for controlling and communicating with an A4S Sealer. ## User Guide @@ -10,13 +10,19 @@ A python driver and WEI-compatible REST server for controlling and communicating git clone https://github.com/ad-sdl/a4s_sealer_module.git cd a4s_sealer_module python -m venv .venv && src .venv/bin/activate -pip install -e . +pdm install ``` -To run the WEI REST node, use the following command (updating arguments as needed) +To run the MADSci REST node, create a node definition files using ``` -python -m a4s_sealer_rest_node --port 3001 --device /dev/ttyUSB2 +madsci node create +``` + +Then use the following command to start the node + +``` +python -m a4s_sealer_rest_node ``` ### Docker Installation @@ -24,10 +30,8 @@ python -m a4s_sealer_rest_node --port 3001 --device /dev/ttyUSB2 After installing and configuring docker, run ``` -git clone https://github.com/ad-sdl/brooks_xpeel_module.git +git clone https://github.com/ad-sdl/a4s_sealer_module.git cd a4s_sealer_module -cp example.env .env -# Set appropriate values in the .env file before running the next commands docker compose build docker compose up ``` diff --git a/compose.yaml b/compose.yaml index ca5b75e..167d141 100644 --- a/compose.yaml +++ b/compose.yaml @@ -1,20 +1,19 @@ -name: a4s_sealer_module +name: a4s_sealer_node services: - a4s_sealer_module: - container_name: a4s_sealer_module - image: ${IMAGE} + a4s_sealer: + container_name: a4s_sealer + image: ghcr.io/ad-sdl/a4s_sealer_module + network_mode: host + privileged: true + environment: + - USER_ID=${USER_ID:-1000} + - GROUP_ID=${GROUP_ID:-1000} build: context: . dockerfile: Dockerfile tags: - - ${IMAGE}:latest - - ${IMAGE}:dev - command: python -m a4s_sealer_rest_node --port 3057 --device ${A4S_DEVICE} - env_file: .env + - ghcr.io/ad-sdl/a4s_sealer_module:latest + - ghcr.io/ad-sdl/a4s_sealer_module:dev + command: python -m sealer_rest_node --node_definition /home/madsci/definitions/sealer_node.node.yaml volumes: - - /dev:/dev - - ./src:/home/app/a4s_sealer_module/src - - ./tests:/home/app/a4s_sealer_module/tests - ports: - - 3057:3057 - privileged: True + - ./definitions:/home/madsci/definitions/ diff --git a/definitions/sealer_node.info.yaml b/definitions/sealer_node.info.yaml new file mode 100644 index 0000000..890beca --- /dev/null +++ b/definitions/sealer_node.info.yaml @@ -0,0 +1,158 @@ +node_name: sealer_node +node_id: 01JY7EWSBYNHKDEKZC8Y0XH2B1 +node_description: A REST Node to control A4S Sealer device +node_type: device +module_name: a4s_sealer_module +module_version: 0.0.1 +capabilities: + get_info: true + get_state: true + get_status: true + send_action: true + get_action_result: true + get_action_history: true + action_files: true + send_admin_commands: true + set_config: true + get_resources: false + get_log: true + admin_commands: + - lock + - reset + - shutdown + - unlock +node_url: null +actions: + seal: + name: seal + description: Seal a plate + args: {} + locations: {} + files: {} + results: {} + blocking: false + asynchronous: true + open: + name: open + description: Open the sealer + args: {} + locations: {} + files: {} + results: {} + blocking: false + asynchronous: true + close: + name: close + description: Close the sealer + args: {} + locations: {} + files: {} + results: {} + blocking: false + asynchronous: true + configure: + name: configure + description: Configure the sealer + args: + seal_time: + name: seal_time + description: '' + argument_type: float + required: true + default: null + seal_temp: + name: seal_temp + description: '' + argument_type: int + required: true + default: null + locations: {} + files: {} + results: {} + blocking: false + asynchronous: true +config: + node_definition: /home/madsci/definitions/sealer_node.node.yaml + node_info_path: null + update_node_files: true + status_update_interval: 2.0 + state_update_interval: 2.0 + node_url: http://127.0.0.1:2000/ + uvicorn_kwargs: {} + device_path: /dev/ttyUSB2 + seal_time: 3.0 + seal_temp: 175 +config_schema: + description: Configuration for the UR node module. + properties: + node_definition: + anyOf: + - type: string + - format: path + type: string + - type: 'null' + default: default.node.yaml + description: Path to the node definition file to use. If set, the node will + load the definition from this file on startup. Otherwise, a default configuration + will be created. + title: Node Definition File + node_info_path: + anyOf: + - type: string + - format: path + type: string + - type: 'null' + default: null + description: Path to export the generated node info file. If not set, will use + the node name and the node_definition's path. + title: Node Info Path + update_node_files: + default: true + description: Whether to update the node definition and info files on startup. + If set to False, the node will not update the files even if they are out of + date. + title: Update Node Files + type: boolean + status_update_interval: + anyOf: + - type: number + - type: 'null' + default: 2.0 + description: The interval in seconds at which the node should update its status. + title: Status Update Interval + state_update_interval: + anyOf: + - type: number + - type: 'null' + default: 2.0 + description: The interval in seconds at which the node should update its state. + title: State Update Interval + node_url: + default: http://127.0.0.1:2000/ + description: The URL used to communicate with the node. This is the base URL + for the REST API. + format: uri + minLength: 1 + title: Node URL + type: string + uvicorn_kwargs: + additionalProperties: true + description: Configuration for the Uvicorn server that runs the REST API. + title: Uvicorn Configuration + type: object + device_path: + default: /dev/ttyUSB2 + title: Device Path + type: string + seal_time: + default: 3.0 + title: Seal Time + type: number + seal_temp: + default: 175 + maximum: 200 + minimum: 50 + title: Seal Temp + type: integer + title: SealerNodeConfig + type: object diff --git a/definitions/sealer_node.node.yaml b/definitions/sealer_node.node.yaml new file mode 100644 index 0000000..d8ca662 --- /dev/null +++ b/definitions/sealer_node.node.yaml @@ -0,0 +1,7 @@ +node_name: sealer_node +node_id: 01JY7EWSBYNHKDEKZC8Y0XH2B1 +node_description: A REST Node to control A4S Sealer device +node_type: device +module_name: a4s_sealer_module +module_version: 0.0.1 +capabilities: null diff --git a/example.env b/example.env deleted file mode 100644 index e2ce23e..0000000 --- a/example.env +++ /dev/null @@ -1,7 +0,0 @@ -# Note: all paths are relative to the docker compose file -A4S_DEVICE="/dev/ttyUSB1" -WEI_DATA_DIR=~/.wei -WORKCELL_FILENAME=test_workcell.yaml -WORKCELLS_DIR=./tests/workcell_defs -IMAGE=ghcr.io/ad-sdl/a4s_sealer_module -REDIS_DIR=~/.wei/redis diff --git a/notebooks/test_interface.ipynb b/notebooks/test_interface.ipynb new file mode 100644 index 0000000..e2ead9c --- /dev/null +++ b/notebooks/test_interface.ipynb @@ -0,0 +1,61 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from madsci.client import ResourceClient" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "resource_client = ResourceClient(resource_server_url=\"http://batman.cels.anl.gov:8004\")" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + 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Lewis", email="ryan.lewis@anl.gov"}, - {name = "Rafael Vescovi", email="ravescovi@anl.gov"}, {name = "Doga Ozgulbas", email="dozgulbas@anl.gov"}, + {name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"}, {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"}, ] dependencies = [ - "ad_sdl.wei>=0.6.0", - "fastapi>=0.103.2", - "uvicorn>=0.21.1", - "pyserial>=3.5", - "pytest" + "pyserial", + "madsci.node_module~=0.8.0", + "madsci.client~=0.8.0", + "madsci.common~=0.8.0", ] -requires-python = ">=3.8.1" + +requires-python = ">=3.10" readme = "README.md" license = {text = "MIT"} @@ -29,112 +28,10 @@ homepage = "https://github.com/AD-SDL/a4s_sealer_module" requires = ["setuptools>=61", "wheel"] build-backend = "setuptools.build_meta" -##################### -# Development Tools # -##################### - -[tool.ruff] -# https://docs.astral.sh/ruff/configuration/ - -# Exclude a variety of commonly ignored directories. -exclude = [ - ".bzr", - ".direnv", - ".eggs", - ".git", - ".git-rewrite", - ".hg", - ".mypy_cache", - ".nox", - ".pants.d", - ".pytype", - ".ruff_cache", - ".svn", - ".tox", - ".venv", - "__pypackages__", - "_build", - "buck-out", - "build", - "dist", - "node_modules", - "venv", - "docs", -] - -# Same as Black. -line-length = 150 -indent-width = 4 - -# Assume Python 3.8 -target-version = "py38" - -[tool.ruff.lint] -# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. -select = [ - # pycodestyle - "E", - # Pyflakes - "F", - # pyupgrade - # "UP", - # flake8-bugbear - "B", - # flake8-simplify - # "SIM", - # isort - "I", - # Warning - "W", - # pydocstyle - "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", - # ruff - # "RUF" -] -ignore = [ - "E501", # Line too long - "B006", # Do not use mutable data structures for argument defaults -] - -# Allow fix for all enabled rules (when `--fix`) is provided. -fixable = ["ALL"] -unfixable = [] - -# Allow unused variables when underscore-prefixed. -dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" - -[tool.ruff.format] -# Like Black, use double quotes for strings. -quote-style = "double" - -# Like Black, indent with spaces, rather than tabs. -indent-style = "space" - -# Like Black, respect magic trailing commas. -skip-magic-trailing-comma = false - -# Like Black, automatically detect the appropriate line ending. -line-ending = "auto" - -[tool.pytest.ini_options] -# https://docs.pytest.org/en/stable/customize.html -addopts = "-x" -junit_family="xunit1" -filterwarnings = [ - "ignore::DeprecationWarning", - "ignore::pottery.exceptions.InefficientAccessWarning", +[dependency-groups] +dev = [ + "pre-commit>=4.2.0", + "ruff>=0.11.7", + "pytest", + "ipykernel>=7.1.0", ] -markers = [ - "hardware: marks test as requiring hardware (deselect with '-m \"not hardware\"')", -] - -[tool.mypy] -# https://mypy.readthedocs.io/en/stable/config_file.html#using-a-pyproject-toml -show_error_codes = true -check_untyped_defs = true -follow_imports = "normal" -strict_optional = true -plugins = ["pydantic.mypy"] -strict = true -disallow_untyped_defs = true -implicit_reexport = true diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..db2463c --- /dev/null +++ b/ruff.toml @@ -0,0 +1,125 @@ +# https://docs.astral.sh/ruff/configuration/ + +# Exclude a variety of commonly ignored directories. +exclude = [ + ".bzr", + ".direnv", + ".eggs", + ".git", + ".git-rewrite", + ".hg", + ".mypy_cache", + ".nox", + ".pants.d", + ".pytype", + ".ruff_cache", + ".svn", + ".tox", + ".venv", + "__pypackages__", + "_build", + "buck-out", + "build", + "dist", + "node_modules", + "venv", + ".venv", + "docs", +] + +# Same as Black. +line-length = 88 +indent-width = 4 + +# Assume Python 3.9 +target-version = "py39" + +[lint] +# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. +select = [ + # pycodestyle + "E", + # Pyflakes + "F", + # pyupgrade + "UP", + # flake8-bugbear + "B", + # flake8-simplify + "SIM", + # isort + "I", + # Warning + "W", + # pydocstyle + "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", + # ruff + "RUF", + # McCabe Complexity + "C90", + # pep8-naming (N) + "N", + # flake8-2020 (YTT) + "YTT", + # flake8-annotations (ANN) + "ANN", + # flake8-async + "ASYNC", + # flake8-bandit + "S", + # flake8-commas + "COM", + # flake8-use-pathlib + "PTH", + # FastAPI + "FAST", + # flake8-logging + "LOG", + # flake8-comprehensions + "C4", + # flake8-pie + "PIE", + # flake8-return + "RET", + # Pylint + "PL", + # eradicate + "ERA", + # refurb + "FURB", + # flake-8-unused-arguments + "ARG", + # flake-8-print + "T20", +] +ignore = [ + "E501", # Line too long + "B006", # Do not use mutable data structures for argument defaults + "ANN401", # Don't flag Any types + "COM812", # Don't fight over trailing commas + "PLR0913", # Allow for a reasonable number of arguments + "PLR2004", # Magic value used in comparison +] + +# Allow fix for all enabled rules (when `--fix`) is provided. +fixable = ["ALL"] +unfixable = [] + +# Allow unused variables when underscore-prefixed. +dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" + +[lint.per-file-ignores] +"**/tests/**/*.py" = ["S101"] + +[format] +# Like Black, use double quotes for strings. +quote-style = "double" + +# Like Black, indent with spaces, rather than tabs. +indent-style = "space" + +# Like Black, respect magic trailing commas. +skip-magic-trailing-comma = false + +# Like Black, automatically detect the appropriate line ending. +line-ending = "auto" diff --git a/src/__init__.py b/src/__init__.py new file mode 100644 index 0000000..bd37cd1 --- /dev/null +++ b/src/__init__.py @@ -0,0 +1 @@ +"""Logic for interfacing with and controlling the A4S Sealer instrument.""" diff --git a/src/a4s_sealer_driver.py b/src/a4s_sealer_driver.py deleted file mode 100644 index 5723183..0000000 --- a/src/a4s_sealer_driver.py +++ /dev/null @@ -1,174 +0,0 @@ -"""Python Driver for controlling the A4S Sealer instrument""" - -import re -import time - -import serial - - -class A4S_SEALER_DRIVER: - """ - Description: - - Python interface that allows remote commands to be executed using simple string messages over TCP/IP on PF400 cobot. - Serial Communication Messages from the Robot: - - Responses begin with a "0" if the command was successful, or a negative error code number - """ - - def __init__(self, host_path: str = "/dev/ttyUSB2", baud_rate: int = 19200): - """ - This function initializes the data to be called and modified in other locations in the client. - """ - - self.host_path = host_path - self.baud_rate = baud_rate - self.connection = None - self.connect_sealer() - self.sealer_output_msg = "" - self.status_msg = "" - self.heat = "" - self.error_msg = "" - - def connect_sealer(self): - """ - Connect to serial port / If wrong port entered inform user - """ - - try: - self.connection = serial.Serial(self.host_path, self.baud_rate) - except Exception as e: - raise Exception( - "Could not establish connection, check that the device is connected and the correct USB serial device is selected." - ) from e - - def get_status(self, time_wait=500): - """ - Records the data outputted by the Sealer and sets it to equal "" if no data is outputted in the provided time. - """ - - response_timer = time.time() - while time.time() - response_timer < time_wait: - if self.connection.in_waiting != 0: - response = self.connection.read_until(expected=b"!") - response_string = response.decode("utf-8") - response_string_pat = re.search(r"=\d+,(\d+),(\d+),\d+,\d+,\d+", response_string) - if response_string_pat: - self.status_msg = int(response_string_pat[1]) - self.heat = int(response_string_pat[2]) - break - else: - response_string = "" - return response_string - - def send_command(self, command, success_msg="", err_msg="", timeout=10): - """ """ - - self.sealer_output_msg = self.sealer_output_msg + "Command: " + command + "\n" - - self.connection.write(command.encode("utf-8")) - - ready_timer = time.time() - response_buffer = "" - # response_msg = self.get_status(timeout) - while self.status_msg != 0: - response_msg = self.get_status(timeout) - print(self.status_msg) - if response_msg != "": - self.sealer_output_msg = self.sealer_output_msg + response_msg + "\n" - - response_buffer = response_buffer + response_msg - - if time.time() - ready_timer > 20: - raise Exception(f"Timed out during {command}.") - - return response_buffer - - def reset(self): - """ - Clears error status/resets shuttle. - """ - - cmd_string = "*00SR=zz!" - success_msg = "Conducting System Reset" - err_msg = "Failed to Conduct System Reset" - self.send_command(cmd_string, success_msg, err_msg) - - def open_gate(self): - """ - Opens shuttle - """ - - cmd_string = "*00MO=zz!" - success_msg = "Opening Gate" - err_msg = "Failed to Open Gate" - self.send_command(cmd_string, success_msg, err_msg) - - def close_gate(self): - """ - Closes shuttle - """ - - cmd_string = "*00MC=zz!" - success_msg = "Closing Gate" - err_msg = "Failed to Close Gate" - self.send_command(cmd_string, success_msg, err_msg) - - def set_temp(self, temp=175): - """ - Adjusts seal to given temperature. - """ - - temp = str(temp).zfill(4) - cmd_string = f"*00DH={temp}zz!" - success_msg = "Setting Temp. to %d°C" % (temp) - err_msg = "Failed to Set Temp. to %d°" % (temp) - self.send_command(cmd_string, success_msg, err_msg) - - def set_time(self, time=3.0): - """ - Adjusts seal time to given time. - """ - - time = str(int(time * 10)).zfill(4) - cmd_string = f"*00DT={time}zz!" - success_msg = "Setting Seal Time to %s S" % (time) - err_msg = "Failed to Set Seal Time to %s S" % (time) - self.send_command(cmd_string, success_msg, err_msg) - - def seal(self): - """ - Conducts seal action. - """ - - cmd_string = "*00GS=zz!" - success_msg = "Sealing" - err_msg = "Failed to Seal" - self.send_command(cmd_string, success_msg, err_msg) - - def config_robot(self, temp, time): - """ - Sets robot to given permission/time - """ - - self.set_temp(temp) - self.set_time() - - -if __name__ == "__main__": - """ - Runs given function. - """ - - sealer = A4S_SEALER_DRIVER("/dev/ttyUSB2") - # sealer.reset() - sealer.get_status() - - print(sealer.status_msg) - # sealer.reset() - # sealer.close_gate() - # time.sleep(5) - # sealer.open_gate() - # sealer.seal() - # sealer.get_status() - # sealer.get_error() - # dummy_seal.reset() - # dummy_seal.reset() diff --git a/src/a4s_sealer_rest_node.py b/src/a4s_sealer_rest_node.py deleted file mode 100644 index bfe6266..0000000 --- a/src/a4s_sealer_rest_node.py +++ /dev/null @@ -1,67 +0,0 @@ -"""REST-based node for A4S Sealer device""" -import datetime -import time -from pathlib import Path - -from fastapi.datastructures import State -from wei.modules.rest_module import RESTModule -from wei.types.module_types import ModuleState, ModuleStatus -from wei.types.step_types import ActionRequest, StepResponse, StepSucceeded -from wei.utils import extract_version - -from a4s_sealer_driver import A4S_SEALER_DRIVER - -rest_module = RESTModule( - name="sealer_node", - version=extract_version(Path(__file__).parent.parent / "pyproject.toml"), - description="A node to control the A4S Sealer device", - model="A4S Sealer", -) -rest_module.arg_parser.add_argument( - "--device", - type=str, - default="/dev/ttyUSB2", - help="Serial device for communicating with the device", -) - -rest_module.state.sealer = None - - -@rest_module.startup() -def sealer(state: State): - """Sealer startup handler.""" - state.sealer = A4S_SEALER_DRIVER(state.device) - print("Sealer online") - - -@rest_module.state_handler() -def state(state: State): - """Returns the current state of the UR module""" - if state.status not in [ModuleStatus.BUSY, ModuleStatus.ERROR, ModuleStatus.INIT, None] or ( - state.action_start and (datetime.datetime.now() - state.action_start > datetime.timedelta(0, 2)) - ): - state.sealer.get_status() - if state.sealer.status_msg == 3: - state.status = ModuleStatus.ERROR - elif state.sealer.status_msg == 0: - state.status = ModuleStatus.IDLE - - return ModuleState(status=state.status, error="", status_msg=state.sealer.status_msg) - - -@rest_module.action( - name="seal", - description="Executes a sealing cycle on the Sealer device", -) -def seal(state: State, action: ActionRequest) -> StepResponse: - """ - Seal a plate - """ - state.sealer.seal() - time.sleep(15) - - return StepSucceeded() - - -if __name__ == "__main__": - rest_module.start() diff --git a/src/sealer_interface.py b/src/sealer_interface.py new file mode 100644 index 0000000..8c9663e --- /dev/null +++ b/src/sealer_interface.py @@ -0,0 +1,301 @@ +"""Python Driver for controlling the A4S Sealer instrument""" + +import threading +import time +from datetime import datetime, timedelta +from typing import Optional + +import serial +from madsci.client.event_client import EventClient +from madsci.client.resource_client import ResourceClient +from madsci.common.types.resource_types import DiscreteConsumable, Slot + +from sealer_types import ( + SealerCommandAccepted, + SealerCommandRejected, + SealerCommunicationBusy, + SealerOperationStatus, + SealerSystemStatus, + SealInfo, + SystemStatus, +) + + +class Sealer: + """ + Description: + - Python interface that allows remote commands to be executed using simple string messages over TCP/IP on PF400 cobot. + Serial Communication Messages from the Robot: + - Responses begin with a "0" if the command was successful, or a negative error code number + """ + + resource_client: Optional[ResourceClient] = None + nest: Optional[Slot] = None + seal_roll: Optional[DiscreteConsumable] = None + + connection: Optional[serial.Serial] = None + serial_lock: threading.Lock = threading.Lock() + action_lock: threading.Lock = threading.Lock() + + sealer_operation_status: Optional[SealerOperationStatus] = None + sealer_system_status: Optional[SealerSystemStatus] = None + sealer_command_accepted: Optional[SealerCommandAccepted] = None + sealer_command_rejected: Optional[SealerCommandRejected] = None + sealer_communication_busy: Optional[SealerCommunicationBusy] = None + + def __init__( + self, + serial_device: str = "/dev/ttyUSB2", + baud_rate: int = 19200, + resource_client: Optional[ResourceClient] = None, + nest: Optional[Slot] = None, + seal_roll: Optional[DiscreteConsumable] = None, + logger: Optional[EventClient] = None, + ) -> "Sealer": + """ + Initializes the Sealer class with the specified parameters. + """ + + self.serial_device = serial_device + self.baud_rate = baud_rate + self.resource_client = resource_client + self.nest = nest + self.seal_roll = seal_roll + self.connection = None + self.logger = logger or EventClient() + + def connect_sealer(self) -> None: + """ + Connect to serial port / If wrong port entered inform user + """ + + self.connection = serial.Serial(self.serial_device, self.baud_rate, timeout=10) + if self.connection.is_open: + self.logger.info( + f"Connected to {self.serial_device} at {self.baud_rate} baud." + ) + else: + raise ConnectionError( + f"Failed to open serial port {self.serial_device}. Please check the connection." + ) + + def disconnect(self) -> None: + """ + Closes the serial connection to the device. + """ + if self.connection and self.connection.is_open: + self.connection.close() + self.logger.info("Serial connection closed.") + else: + self.logger.info("No open serial connection to close.") + + def read_messages(self) -> None: + """ + Reads messages from the serial port and store results. + """ + if not self.connection or not self.connection.is_open: + self.connect_sealer() + + with self.serial_lock: + try: + while self.connection.in_waiting > 0: + message = self.connection.read_until(b"!").decode("utf-8") + if message: + self.logger.log_debug(f"Received message: {message}") + self.process_message(message) + except serial.SerialException as e: + self.logger.error(f"Serial error: {e}") + except Exception as e: + self.logger.error(f"Error reading messages: {e}") + + def process_message(self, message: str) -> None: + """Processes the received message and updates the appropriate status.""" + + # *Remove everything in message before the first '*' + star_index = message.find("*") + if star_index != -1: + message = message[star_index:] + + # Example: parse message type and update status objects + if message.startswith("*"): + if message[1] == "D": + self.sealer_operation_status = SealerOperationStatus.from_string( + message + ) + elif message[1] == "T": + self.sealer_system_status = SealerSystemStatus.from_string(message) + elif message[1] == "Y": + self.sealer_command_accepted = SealerCommandAccepted.from_string( + message + ) + elif message[1] == "N": + self.sealer_command_rejected = SealerCommandRejected.from_string( + message + ) + elif message[1] == "X": + self.sealer_communication_busy = SealerCommunicationBusy.from_string( + message + ) + else: + self.logger.warning(f"Unrecognized message: {message}") + else: + self.logger.warning(f"Message does not start with '*': {message}") + + def send_command(self, command: str, timeout: float = 60.0) -> str: + """Sends a serial command to the device and waits for a response.""" + + if not self.connection or not self.connection.is_open: + self.connect_sealer() + + with self.serial_lock: + self.logger.log_debug(f"Sending command: {command}") + action_send_time = datetime.now() + self.connection.write(command.encode("utf-8")) + + accepted = False + + while True: + self.logger.log_debug(f"Waiting for response to command: {command}") + time.sleep(1.0) + if datetime.now() - action_send_time > timedelta(seconds=timeout): + raise TimeoutError("Timeout waiting for response from sealer.") + self.read_messages() + if ( + self.sealer_command_accepted + and self.sealer_command_accepted.message_received > action_send_time + and not accepted + ): + self.logger.info(f"Command {command} accepted") + accepted = True + if ( + self.sealer_command_rejected + and self.sealer_command_rejected.message_received > action_send_time + ): + raise ValueError(f"Command {command} rejected") + if ( + self.sealer_communication_busy + and self.sealer_communication_busy.message_received > action_send_time + ): + raise ValueError( + f"Sealer is busy, command {command} cannot be executed" + ) + if ( + self.sealer_system_status + and self.sealer_system_status.message_received > action_send_time + ): + if self.sealer_system_status.status_msg in [ + SystemStatus.FINISH, + SystemStatus.IDLE, + ]: + self.logger.info(f"Command {command} executed successfully") + break + if ( + self.sealer_system_status.status_msg == SystemStatus.ERROR + or self.sealer_system_status.error_code != 0 + ): + raise ValueError( + f"Sealer error: {self.sealer_system_status.status_msg}" + ) + + @staticmethod + def create_sealer_command_str( + command_code: str, + parameter_str: str = "", + command_index: int = 0, + checksum: str = "zz", + ) -> str: + """ + Creates a command string to send to the sealer. + + Message Format: + *<2-byte priority index><2-byte command>=<2 byte Checksum>! + Message Example: + *00SR=zz! + + Index 00 means ignore command priority indexing, zz or ZZ means don't care about checksum. + """ + + if len(command_code) != 2: + raise ValueError("Command code must be 2 characters long.") + + return ( + f"*{str(command_index).zfill(2)}{command_code}={parameter_str}{checksum}!" + ) + + def reset(self) -> None: + """ + Reset the system status, error, and warning alarm. + """ + with self.action_lock: + self.logger.info("Resetting Sealer") + self.send_command(self.create_sealer_command_str("SR")) + + def open_gate(self) -> None: + """ + Ask the instrument to move the drawer forward to the outside position + """ + + with self.action_lock: + self.logger.info("Opening Gate") + self.send_command(self.create_sealer_command_str("MO")) + + def close_gate(self) -> None: + """ + Ask the instrument to move the drawer backward to the inside position + """ + + with self.action_lock: + self.logger.info("Closing Gate") + self.send_command(self.create_sealer_command_str("MC")) + + def set_heating_block_temperature(self, temp: int = 175) -> None: + """ + Set the sealing temperature of the instrument + """ + + if temp < 50 or temp > 200: + raise ValueError("Temperature must be between 50 and 200 degrees Celsius.") + + with self.action_lock: + self.logger.info(f"Setting Heating Block Temperature to {temp}°C") + self.send_command(self.create_sealer_command_str("DH", str(temp).zfill(4))) + + def set_sealing_time(self, seconds: float = 3.0) -> None: + """ + Adjusts seal time to the provided value. + """ + + time_str = str(int(seconds * 10)).zfill(4) + with self.action_lock: + self.logger.info(f"Setting Seal Time to {seconds} seconds") + self.send_command(self.create_sealer_command_str("DT", time_str)) + + def seal(self) -> None: + """ + Ask the instrument to perform the sealing cycle + """ + + with self.action_lock: + self.logger.info("Sealing Plate") + self.send_command(self.create_sealer_command_str("GS")) + + try: + if self.resource_client and self.seal_roll and self.nest: + with self.resource_client.lock(self.seal_roll, self.nest) as ( + seal_roll, + nest, + ): + seal_roll.decrease_quantity(1) + if len(nest.children) > 0: + nest.children[0].attributes["seal_info"] = SealInfo( + seal_roll_id=seal_roll.resource_id, + ).model_dump(mode="json") + except Exception as e: + self.logger.error(f"Error updating resources for sealer: {e}") + + def configure_instrument(self, temp: int, seal_time: float = 3.0) -> None: + """ + Sets the configuration for the sealer, currently the seal time and temperature. + """ + self.set_heating_block_temperature(temp) + self.set_sealing_time(seal_time) diff --git a/src/sealer_rest_node.py b/src/sealer_rest_node.py new file mode 100644 index 0000000..e43e6b3 --- /dev/null +++ b/src/sealer_rest_node.py @@ -0,0 +1,211 @@ +"""REST-based node for A4S Sealer device""" + +from madsci.common.types.action_types import ActionFailed, ActionResult, ActionSucceeded +from madsci.common.types.admin_command_types import AdminCommandResponse +from madsci.common.types.node_types import RestNodeConfig +from madsci.common.types.resource_types import DiscreteConsumable, Slot +from madsci.node_module.helpers import action +from madsci.node_module.rest_node_module import RestNode +from pydantic import Field + +from sealer_interface import Sealer + + +class SealerNodeConfig(RestNodeConfig): + """Configuration for the UR node module.""" + + device_path: str = "/dev/ttyUSB2" + """Path to the device (e.g., /dev/ttyUSB0).""" + seal_time: float = 3.0 + """Default sealing time in seconds.""" + seal_temp: int = Field(default=175, ge=50, le=200) + """Default sealing temperature in Celsius.""" + adapter_block: str = Field( + default="", # TODO: Consult casey for list/default + description="Name of the adapter block currently installed on the sealer", + ) + + +class SealerNode(RestNode): + """A node to control the A4S Sealer device.""" + + sealer: Sealer = None + config: SealerNodeConfig = SealerNodeConfig() + config_model = SealerNodeConfig + module_version = "1.1.0" + + def startup_handler(self) -> None: + """Called to (re)initialize the node. Should be used to open connections to devices or initialize any other resources.""" + + self.create_resource_templates() + self.create_resources() + + self.sealer = Sealer( + self.config.device_path, + resource_client=self.resource_client, + nest=self.nest, + seal_roll=self.seal_roll, + logger=self.logger, + ) + self.sealer.connect_sealer() + if not self.sealer.connection.is_open: + self.logger.log_error("Sealer connection failed") + raise RuntimeError("Sealer connection failed") + self.sealer.configure_instrument( + temp=self.config.seal_temp, seal_time=self.config.seal_time + ) + + def create_resource_templates(self) -> None: + """Handle creation of Sealer-specific resource templates""" + + self.resource_client.create_template( + template_name="a4s_sealer_nest_template", + description="Plate Nest for an a4s sealer", + resource=Slot(resource_name="a4s_sealer_nest_template"), + version="1.0.0", + ) + self.resource_client.create_template( + template_name="a4s_seal_roll_template", + description="Plate seal roll used in an a4s sealer", + resource=DiscreteConsumable( + resource_name="a4s_seal_roll_template", + quantity=1000, + capacity=1000, + ), + version="1.1.0", + ) + + def create_resources(self) -> None: + """Handle creating resources from templates on node startup""" + + self.nest = self.resource_client.create_resource_from_template( + template_name="a4s_sealer_nest_template", + resource_name=f"{self.node_info.node_name}.nest", + ) + self.seal_roll = self.resource_client.create_resource_from_template( + template_name="a4s_seal_roll_template", + resource_name=f"{self.node_info.node_name}.seal_roll", + ) + + def shutdown_handler(self) -> None: + """Called to close connections to devices or clean up any other resources.""" + try: + if self.sealer: + del self.sealer + self.sealer = None + except Exception as err: + self.logger.log_error(f"Error shutting down the Sealer Node: {err}") + + def state_handler(self) -> None: + """Periodically checks the state of the Sealer device and updates the node's state.""" + if self.sealer: + self.node_state["sealer_interface_initialized"] = True + self.sealer.read_messages() + self.node_state["sealer_connected"] = self.sealer.connection.is_open + else: + self.node_state["sealer_interface_initialized"] = False + self.node_state["sealer_connected"] = False + self.logger.log_warning("Sealer interface is not initialized") + return + + self.node_state["sealer_operation_status"] = ( + self.sealer.sealer_operation_status.model_dump(mode="json") + if self.sealer.sealer_operation_status + else None + ) + self.node_state["sealer_system_status"] = ( + self.sealer.sealer_system_status.model_dump(mode="json") + if self.sealer.sealer_system_status + else None + ) + self.node_state["sealer_command_accepted"] = ( + self.sealer.sealer_command_accepted.model_dump(mode="json") + if self.sealer.sealer_command_accepted + else None + ) + self.node_state["sealer_command_rejected"] = ( + self.sealer.sealer_command_rejected.model_dump(mode="json") + if self.sealer.sealer_command_rejected + else None + ) + self.node_state["sealer_communication_busy"] = ( + self.sealer.sealer_communication_busy.model_dump(mode="json") + if self.sealer.sealer_communication_busy + else None + ) + + @action(name="seal", description="Seal a plate") + def seal(self) -> None: + """Seal a plate""" + self.sealer.seal() + if self.sealer.sealer_system_status.error_code != 0: + self.logger.log_error( + f"Sealer error: {self.sealer.sealer_system_status.error_code}" + ) + raise RuntimeError( + f"Sealer error code: {self.sealer.sealer_system_status.error_code}", + ) + + @action(name="open", description="Open the sealer") + def open(self) -> None: + """Open the sealer""" + self.sealer.open_gate() + if self.sealer.sealer_system_status.error_code != 0: + self.logger.log_error( + f"Sealer error: {self.sealer.sealer_system_status.error_code}" + ) + raise RuntimeError( + f"Sealer error code: {self.sealer.sealer_system_status.error_code}", + ) + + @action(name="close", description="Close the sealer") + def close(self) -> None: + """Close the sealer""" + self.sealer.close_gate() + if self.sealer.sealer_system_status.error_code != 0: + self.logger.log_error( + f"Sealer error: {self.sealer.sealer_system_status.error_code}" + ) + raise RuntimeError( + f"Sealer error code: {self.sealer.sealer_system_status.error_code}", + ) + + @action(name="configure", description="Configure the sealer") + def configure(self, seal_time: float, seal_temp: int) -> ActionResult: + """Configure the sealer""" + if seal_temp < 50 or seal_temp > 200: + return ActionFailed( + errors="Seal temperature must be between 50 and 200 degrees Celsius", + ) + if seal_time < 0 or seal_time > 10: + return ActionFailed( + errors="Seal time must be greater than 0 seconds and less than 10 seconds", + ) + self.sealer.configure_instrument(temp=seal_temp, seal_time=seal_time) + if self.sealer.sealer_system_status.error_code != 0: + self.logger.log_error( + f"Sealer error: {self.sealer.sealer_system_status.error_code}" + ) + raise RuntimeError( + f"Sealer error code: {self.sealer.sealer_system_status.error_code}", + ) + return ActionSucceeded() + + def reset(self) -> AdminCommandResponse: + """Reset the sealer""" + response = super().reset() + self.sealer.reset() + if self.sealer.sealer_system_status.error_code != 0: + self.logger.log_error( + f"Sealer error: {self.sealer.sealer_system_status.error_code}" + ) + return AdminCommandResponse( + success=False, + errors=f"Sealer error code: {self.sealer.sealer_system_status.error_code}", + ) + return response + + +if __name__ == "__main__": + sealer_node = SealerNode() + sealer_node.start_node() diff --git a/src/sealer_types.py b/src/sealer_types.py new file mode 100644 index 0000000..192a6a2 --- /dev/null +++ b/src/sealer_types.py @@ -0,0 +1,296 @@ +"""Data Models for Sealer Messages and other Types/Models""" + +from datetime import datetime, time +from enum import Enum +from typing import Optional + +from madsci.common.ownership import get_current_ownership_info +from madsci.common.types.auth_types import OwnershipInfo +from pydantic import BaseModel, Field + + +class SealInfo(BaseModel): + """Seal Metadata to store on sealed resources""" + + sealed: bool = True + """Whether the plate is sealed or not""" + sealed_by: OwnershipInfo = Field(default_factory=get_current_ownership_info) + """Ownership info for the sealer used to seal the plate""" + seal_roll_id: Optional[str] + """Resource ID of the seal roll used to seal the plate""" + seal_time: datetime = Field(default_factory=datetime.now()) + """A datetime stamp when the seal was performed (approximate)""" + + +class SystemStatus(Enum): + """System status codes for the sealer.""" + + IDLE = 0 + """The system is idle.""" + SINGLE_CYCLE = 1 + """The system is running a single cycle.""" + REPEAT_CYCLE = 2 + """The system is running a repeat cycle.""" + ERROR = 3 + """The system is in an error state.""" + FINISH = 4 + """The system has finished its operation.""" + + +class HeatingBlockStatus(Enum): + """Heating block status codes for the sealer.""" + + HEATER_OFF = 0 + """The heating block is off.""" + READY = 1 + """The heating block is ready.""" + HEATING = 2 + """The heating block is heating up.""" + COOLING = 3 + """The heating block is cooling down.""" + CONVERGING = 4 + """The heating block is converging to the target temperature.""" + + +class SealerOperationStatus(BaseModel): + """ + Model for the sealer operation status message. + + Message Format: + *D=,<2 byte Checksum>! + Message Example: + *D515A=0051315529,0000000432EE! + """ + + firmware_version: str + """The firmware version of the device.""" + running_time: int + """The time the sealer has been running in seconds.""" + sealing_cycles: int + """The number of sealing cycles completed.""" + message_received: Optional[datetime] = Field( + default_factory=datetime.now, description="The time the message was received." + ) + + @classmethod + def from_string(cls, message: str) -> "SealerOperationStatus": + """ + Parses the message string and sets the attributes of the class. + """ + if not message.startswith("*D"): + raise ValueError("Invalid message format, no *D prefix") + if not message.endswith("!"): + raise ValueError("Invalid message format, no terminal ! character") + + # Extract the relevant part of the message + firmware_version, parameters = message[2:-3].split("=") + + running_time, sealing_cycles = map(int, parameters.split(",")) + return cls( + firmware_version=firmware_version, + running_time=running_time, + sealing_cycles=sealing_cycles, + ) + + +class SealerSystemStatus(BaseModel): + """Model for the sealer system status message. + + Message Format: + *T=,,,,,,<2 byte Checksum>! + + Message Example: + *T07:11:30=1697,1,2,0,0,0,300FM! + + """ + + timestamp: time + """The time of the message, reported by the device.""" + current_temp: float + """The current temperature of the device in degrees Celsius. Reported by device in integer tenths of degrees Celsius * 10, we normalize.""" + status_msg: SystemStatus + """The status of the device.""" + heating_status: HeatingBlockStatus + """The status of the heating block.""" + error_code: int + """The error code, if any. 0 means no error.""" + warning_message_code: int + """The warning message code, if any. 0 means no warning.""" + sensor_status_code: int = Field(ge=0, le=255) + """The status byte of the sensor.""" + countdown_sealing_time: int + """The countdown time for sealing in seconds.""" + + # * Bits 0-7 from Sensor Status Byte + shuttle_middle_sensor: bool + """True if the middle sensor is triggered.""" + shuttle_open_sensor: bool + """True if the open sensor is triggered.""" + shuttle_closed_sensor: bool + """True if the closed sensor is triggered.""" + clean_door_sensor: bool + """True if the clean door sensor is triggered.""" + seal_roll_sensor: bool + """True if the seal roll sensor is triggered.""" + heater_motor_up_sensor: bool + """True if the heater motor up sensor is triggered.""" + heater_motor_down_sensor: bool + """True if the heater motor down sensor is triggered.""" + no_connect: bool + """Reserved for future use.""" + message_received: Optional[datetime] = Field( + default_factory=datetime.now, description="The time the message was received." + ) + + @classmethod + def from_string(cls, message: str) -> "SealerSystemStatus": + """ + Parses the message string and sets the attributes of the class. + """ + if not message.startswith("*T"): + raise ValueError("Invalid message format, no *T prefix") + if not message.endswith("!"): + raise ValueError("Invalid message format, no terminal ! character") + + # Extract the relevant part of the message + message = message[2:-3] # Remove the *T prefix and the ! suffix + + # Extract the timestamp + timestamp_str, parameter_bytes = message.split("=") + timestamp = time.fromisoformat(timestamp_str) + + # Extract the rest of the fields + ( + current_temp, + status_msg, + heating_status, + error_code, + warning_message_code, + sensor_status_code, + countdown_sealing_time, + ) = map(int, parameter_bytes.split(",")) + + # Extract sensor status bits + shuttle_middle_sensor = bool(sensor_status_code & 0b00000001) + shuttle_open_sensor = bool(sensor_status_code & 0b00000010) + shuttle_closed_sensor = bool(sensor_status_code & 0b00000100) + clean_door_sensor = bool(sensor_status_code & 0b00001000) + seal_roll_sensor = bool(sensor_status_code & 0b00010000) + heater_motor_up_sensor = bool(sensor_status_code & 0b00100000) + heater_motor_down_sensor = bool(sensor_status_code & 0b01000000) + no_connect = bool(sensor_status_code & 0b10000000) + + return cls( + timestamp=timestamp, + current_temp=float(current_temp) / 10, + status_msg=SystemStatus(status_msg), + heating_status=HeatingBlockStatus(heating_status), + error_code=error_code, + warning_message_code=warning_message_code, + sensor_status_code=sensor_status_code, + countdown_sealing_time=countdown_sealing_time, + shuttle_middle_sensor=shuttle_middle_sensor, + shuttle_open_sensor=shuttle_open_sensor, + shuttle_closed_sensor=shuttle_closed_sensor, + clean_door_sensor=clean_door_sensor, + seal_roll_sensor=seal_roll_sensor, + heater_motor_up_sensor=heater_motor_up_sensor, + heater_motor_down_sensor=heater_motor_down_sensor, + no_connect=no_connect, + ) + + +class SealerCommandAccepted(BaseModel): + """ + Model for the sealer command accepted message. + + Message Format: + *Y<2 byte Checksum>! + + Message Example: + *Y01PL! + """ + + command_index: int + """The index of the command that was accepted.""" + message_received: Optional[datetime] = Field( + default_factory=datetime.now, description="The time the message was received." + ) + + @classmethod + def from_string(cls, message: str) -> "SealerCommandAccepted": + """ + Parses the message string and sets the attributes of the class. + """ + if not message.startswith("*Y"): + raise ValueError("Invalid message format, no *Y prefix") + if not message.endswith("!"): + raise ValueError("Invalid message format, no terminal ! character") + + # Extract the relevant part of the message + command_index = int(message[2:-3]) + return cls(command_index=command_index) + + +class SealerCommandRejected(BaseModel): + """ + Model for the sealer command rejected message. + + Message Format: + *N<2 byte command_index><2 byte Checksum>! + + Message Example: + *N010G! + """ + + command_index: int + """The index of the command that was rejected.""" + message_received: Optional[datetime] = Field( + default_factory=datetime.now, description="The time the message was received." + ) + + @classmethod + def from_string(cls, message: str) -> "SealerCommandRejected": + """ + Parses the message string and sets the attributes of the class. + """ + if not message.startswith("*N"): + raise ValueError("Invalid message format, no *N prefix") + if not message.endswith("!"): + raise ValueError("Invalid message format, no terminal ! character") + + # Extract the relevant part of the message + command_index = int(message[2:-3]) + return cls(command_index=command_index) + + +class SealerCommunicationBusy(BaseModel): + """ + Model for the sealer communication busy message, indicating that the device is busy and cannot accept commands. + + Message Format: + *X<2 byte command_index><2 byte Checksum>! + + Message Example: + *X01PL! + """ + + command_index: int + """The index of the command that was busy.""" + message_received: Optional[datetime] = Field( + default_factory=datetime.now, description="The time the message was received." + ) + + @classmethod + def from_string(cls, message: str) -> "SealerCommunicationBusy": + """ + Parses the message string and sets the attributes of the class. + """ + if not message.startswith("*X"): + raise ValueError("Invalid message format, no *X prefix") + if not message.endswith("!"): + raise ValueError("Invalid message format, no terminal ! character") + + # Extract the relevant part of the message + command_index = int(message[2:-3]) + return cls(command_index=command_index) diff --git a/tests/test_base.py b/tests/test_base.py deleted file mode 100644 index 5060be1..0000000 --- a/tests/test_base.py +++ /dev/null @@ -1,26 +0,0 @@ -"""Base module tests for a4s_sealer_module.""" - -import unittest - - -class TestModule_Base(unittest.TestCase): - """Base test class for a4s_sealer_module.""" - - pass - - -class TestImports(TestModule_Base): - """Test the imports of the module are working correctly""" - - def test_driver_import(self): - """Test the driver and rest node imports""" - import a4s_sealer_rest_node - - import a4s_sealer_driver - - assert a4s_sealer_driver - assert a4s_sealer_rest_node - - -if __name__ == "__main__": - unittest.main() diff --git a/tests/test_module.py b/tests/test_module.py deleted file mode 100644 index 1b4e5bd..0000000 --- a/tests/test_module.py +++ /dev/null @@ -1,55 +0,0 @@ -"""Tests the basic functionality of the Module.""" - -import time -import unittest -from pathlib import Path - -import requests -from wei import ExperimentClient -from wei.types import Workcell - - -class TestWEI_Base(unittest.TestCase): - """Base class for WEI's pytest tests""" - - def __init__(self, *args, **kwargs): - """Basic setup for WEI's pytest tests""" - super().__init__(*args, **kwargs) - self.root_dir = Path(__file__).resolve().parent.parent - self.workcell = Workcell.from_yaml(self.root_dir / Path("tests/workcell_defs/test_workcell.yaml")) - self.server_host = self.workcell.config.server_host - self.server_port = self.workcell.config.server_port - self.url = f"http://{self.server_host}:{self.server_port}" - self.module_url = "http://a4s_sealer_module:3057" - self.redis_host = self.workcell.config.redis_host - self.experiment = ExperimentClient( - server_host=self.server_host, - server_port=self.server_port, - experiment_name="Test_Experiment", - working_dir=Path(__file__).resolve().parent, - ) - # Check to see that server is up - start_time = time.time() - while True: - try: - if requests.get(self.url + "/up").status_code == 200: - break - except Exception: - pass - time.sleep(1) - if time.time() - start_time > 60: - raise TimeoutError("Server did not start in 60 seconds") - - -# class TestSealerInterfaces(TestWEI_Base): -# """Tests the basic functionality of the Module.""" - -# def test_module_about(self): -# """Tests that the module's /about endpoint works""" -# response = requests.get(self.module_url + "/about") -# assert response.status_code == 200 -# ModuleAbout(**response.json()) - - -if __name__ == "__main__": - unittest.main() diff --git a/tests/workcell_defs/test_workcell.yaml b/tests/workcell_defs/test_workcell.yaml deleted file mode 100644 index d61de6e..0000000 --- a/tests/workcell_defs/test_workcell.yaml +++ /dev/null @@ -1,19 +0,0 @@ -name: Test_Workcell - -#Info about data processing and location of the workcell -config: - workcell_origin_coordinates: [0, 0, 0, 0, 0, 0] - redis_host: "wei_redis" - server_host: "wei_server" - server_port: 8000 - -#List of all components accessible in this workcell -modules: - - - name: a4s_sealer_module - model: A4S Sealer - interface: wei_rest_node - config: - rest_node_address: "http://a4s_sealer_module:3057" - workcell_coordinates: [0, 0, 0, 0, 0, 0] -locations: {} diff --git a/tests/workflow_defs/test_workflow.yaml b/tests/workflow_defs/test_workflow.yaml deleted file mode 100644 index b991c09..0000000 --- a/tests/workflow_defs/test_workflow.yaml +++ /dev/null @@ -1,14 +0,0 @@ -name: Test a4s_sealer_module Module -metadata: - author: Doga Ozgulbas - info: Tests the functionality of the brooks_xpeel Module - version: 0.1 - -modules: - - name: a4s_sealer_module - -flowdef: - - name: Seal a plate - module: a4s_sealer_module - action: seal - # args: {} diff --git a/wei.compose.yaml b/wei.compose.yaml deleted file mode 100644 index c00725f..0000000 --- a/wei.compose.yaml +++ /dev/null @@ -1,48 +0,0 @@ -include: [compose.yaml] -##################### -# WEI Core Services # -##################### -services: - wei_server: - image: ghcr.io/ad-sdl/wei - container_name: wei_server - ports: - - 8000:8000 - env_file: .env - environment: - - PYTHONUNBUFFERED=1 # Fix weird bug with empty logging - volumes: - - ${WORKCELLS_DIR}:/workcell_defs - - ${WEI_DATA_DIR}:/home/app/.wei - - diaspora_config:/home/app/.diaspora - command: python3 -m wei.server --workcell /workcell_defs/${WORKCELL_FILENAME} - depends_on: - - wei_redis - wei_engine: - image: ghcr.io/ad-sdl/wei - container_name: wei_engine - volumes: - - ${WORKCELLS_DIR}:/workcell_defs - - ${WEI_DATA_DIR}:/home/app/.wei - env_file: .env - environment: - - PYTHONUNBUFFERED=1 # Fix weird bug with empty logging - command: python3 -m wei.engine --workcell /workcell_defs/${WORKCELL_FILENAME} - depends_on: - - wei_redis - - wei_server - wei_redis: - image: redis - container_name: wei_redis - ports: - - 6379:6379 - volumes: - - ${REDIS_DIR}:/data - command: redis-server --save 60 1 --loglevel warning - -################ -# Data Storage # -################ -volumes: - diaspora_config: - driver: local