Merge pull request #33 from iq-motion-control/sync-with-bitbucket

Sync with bitbucket

.changes/0.11.10.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "remove the local toml file",
+    "type": "patch"
+  }
+]

.changes/0.11.11.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "compress rd module code",
+    "type": "patch"
+  }
+]

.changes/0.11.12.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Updated Vertiq8108 Files",
+    "type": "patch"
+  }
+]

.changes/0.11.13.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Patched RD module to work with Windows",
+    "type": "patch"
+  }
+]

.changes/0.11.2.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Restored CustomIQModule",
+    "type": "patch"
+  }
+]

.changes/0.11.3.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Exposes CustomIQModule through iq import",
+    "type": "patch"
+  }
+]

.changes/0.11.4.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Internal Update",
+    "type": "patch"
+  }
+]

.changes/0.11.5.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "internal update 2",
+    "type": "patch"
+  }
+]

.changes/0.11.6.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Added Anticogging_ft client to main code base",
+    "type": "patch"
+  }
+]

.changes/0.11.7.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "You can now change the baudrate from within the module using .update_baudrate",
+    "type": "patch"
+  }
+]

.changes/0.11.8.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "modified anticogging_pro",
+    "type": "patch"
+  }
+]

.changes/0.11.9.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "get_all_retry bug fix",
+    "type": "patch"
+  }
+]

.changes/0.12.0.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Update persistent_memory client file",
+    "type": "minor"
+  }
+]

.changes/0.13.0.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Update anticogging_pro, brushless_drive, hobby_input, persistent_memory, power_monitor, serial_interface, servo_input_parser, system_control, temperature_esimator, and uavcan_node",
+    "type": "minor"
+  }
+]

.changes/0.13.1.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Undo derate name change in brushless_drive",
+    "type": "patch"
+  }
+]

.changes/0.14.0.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Added power_safety client",
+    "type": "minor"
+  }
+]

.changes/0.14.1.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Fix param_idn fields in power_safety",
+    "type": "patch"
+  }
+]

.changes/0.14.2.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Fix unit fields for power_safety",
+    "type": "patch"
+  }
+]

.changes/0.15.0.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Added new clients for 81-08 speed, fortiq, and pulsing",
+    "type": "minor"
+  }
+]

.changes/0.15.1.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Update client files for 8108 servo",
+    "type": "patch"
+  }
+]

.changes/0.16.0.json

@@ -0,0 +1,6 @@
+[
+  {
+    "description": "Added new 4006 module and updated endpoints for system_control",
+    "type": "minor"
+  }
+]

CHANGELOG.md

@@ -1,6 +1,90 @@
 # Changelog
 Note: version releases in the 0.x.y range may introduce breaking changes.
 
+## 0.16.0
+
+- minor: Added new 4006 module and updated endpoints for system_control
+
+## 0.15.1
+
+- patch: Update client files for 8108 servo
+
+## 0.15.0
+
+- minor: Added new clients for 81-08 speed, fortiq, and pulsing
+
+## 0.14.2
+
+- patch: Fix unit fields for power_safety
+
+## 0.14.1
+
+- patch: Fix param_idn fields in power_safety
+
+## 0.14.0
+
+- minor: Added power_safety client
+
+## 0.13.1
+
+- patch: Undo derate name change in brushless_drive
+
+## 0.13.0
+
+- minor: Update anticogging_pro, brushless_drive, hobby_input, persistent_memory, power_monitor, serial_interface, servo_input_parser, system_control, temperature_esimator, and uavcan_node
+
+## 0.12.0
+
+- minor: Update persistent_memory client file
+
+## 0.11.13
+
+- patch: Patched RD module to work with Windows
+
+## 0.11.12
+
+- patch: Updated Vertiq8108 Files
+
+## 0.11.11
+
+- patch: compress rd module code
+
+## 0.11.10
+
+- patch: remove the local toml file
+
+## 0.11.9
+
+- patch: get_all_retry bug fix
+
+## 0.11.8
+
+- patch: modified anticogging_pro
+
+## 0.11.7
+
+- patch: You can now change the baudrate from within the module using .update_baudrate
+
+## 0.11.6
+
+- patch: Added Anticogging_ft client to main code base
+
+## 0.11.5
+
+- patch: internal update 2
+
+## 0.11.4
+
+- patch: Internal Update
+
+## 0.11.3
+
+- patch: Exposes CustomIQModule through iq import
+
+## 0.11.2
+
+- patch: Restored CustomIQModule
+
 ## 0.11.1
 
 - patch: Updated Coverage tests for the New Vertiq's, Fortiq's, and Base Modules

iqmotion/iq_devices/rd_iq_module.py

@@ -0,0 +1,124 @@
+from iqmotion.iq_devices.iq_module import IqModule
+from iqmotion.communication.serial_communicator import SerialCommunicator
+from iqmotion.custom_errors import CommunicationError, IqModuleError
+from iqmotion.iq_devices.utils import get_parent_dir, load_all_clients
+
+import os
+import sys
+import glob
+import serial
+
+SPEED   = '1'
+SERVO   = '2'
+STEPDIR = '4'
+
+class RdModule(IqModule):
+    """ Creates R&D Object with every publicly available json
+
+    The R&D Module does a few things different than other modules:
+
+        1. Creates dynamic json that contains all the public facing clients
+        2. Automatically connects to serial com port
+            Will throw an error if more than one serial port exists and one wasn't provided
+    
+    Optional Arguments:
+        com {Communicator} -- The communicator object to interface with the IqModule
+        port {str} -- will connect to this port if more than one port is detected
+    
+    Keyword Arguments:
+        module_idn {int} -- The idn of the module (default: {0})
+        extra_clients {list} -- list of file paths to extra clients you want to load in the module (default: {None})
+    """
+
+    def __init__(
+        self,
+        port: str=None,
+        baudrate: int=115200,
+        module_idn: int = 0,
+        style: str = None,      
+        clients_path: str = None
+    ):
+
+        self._DEFAULT_VELOCITY_CLIENT_ENTRY = "ctrl_velocity"
+        self._DEFAULT_VOLTS_CLIENT_ENTRY = "ctrl_volts"
+        self._MODULE_FILE_NAME = "rd.json"
+
+
+        # Dynamically Load all clients into one module file
+        path = os.path.join(get_parent_dir(__file__, 2), "clients/client_files")
+        rd = os.path.join(os.path.dirname(__file__), "module_files/rd.json")
+        clients = load_all_clients(path)
+
+        # Load them into a RD Module file
+        with open(rd, 'w') as f:
+            f.write(clients)
+
+        # Pull all the available ports into a list
+        ports_avail = self._find_serial_ports()
+
+        # Let user decide which port they want
+        if port is not None:
+            com = SerialCommunicator(port, baudrate)
+        # Otherwise allow RdModule auto-connect if it's only 1 port open
+        elif len(ports_avail) == 1:
+            port = ports_avail[0]
+            com = SerialCommunicator(port, baudrate)
+        # If too many ports are available, you should pass one in
+        elif len(ports_avail) > 1:
+            err_msg = "Too many ports available to choose from, "
+            err_msg += "Please choose one of the following:\n\n"
+            err_msg += f"{ports_avail}\n"
+            err_msg += "ex: motor = iq.RdModule(port='COM1', baudrate=115200)"
+            raise CommunicationError(err_msg)    
+        # No ports available
+        else:
+            err_msg = "No available ports detected"
+            raise CommunicationError(err_msg)
+
+
+        super().__init__(com, module_idn, clients_path)
+
+        # Try to automagically figure out the firmware style
+        firmware_version = self.get("system_control", "firmware_version")
+        firmware_style = str(0xFFFF & (firmware_version >> 20))
+        if (style=="speed" or firmware_style == SPEED):
+            self._DEFAULT_CONTROL_CLIENT = "propeller_motor_control"
+        elif(style=="position" or firmware_style == SERVO or firmware_style == STEPDIR):
+            self._DEFAULT_CONTROL_CLIENT = "multi_turn_angle_control"
+        else:
+            err_msg = "Please select the motor firmware style:\n\n"
+            err_msg += "'speed' or 'position'"
+            raise IqModuleError(err_msg)
+
+
+    def _find_serial_ports(self):
+        """ Finds a list of open serial ports
+
+        Raises:
+            EnvironmentError: Unsupported platform
+
+        Returns:
+            list: List of str of open serial ports
+        """
+
+        if sys.platform.startswith("win"):
+            ports = ["COM%s" % (i + 1) for i in range(256)]
+        elif sys.platform.startswith("linux") or sys.platform.startswith("cygwin"):
+            # this excludes your current terminal "/dev/tty"
+            # this excludes everything but the /dev/ttyUSB
+            ports = glob.glob("/dev/tty[U-Z]*")
+        elif sys.platform.startswith("darwin"):
+            ports = glob.glob("/dev/tty.*")
+        else:
+            raise EnvironmentError("Unsupported platform")
+
+        working_ports = []
+        for port in ports:
+            try:
+                s = serial.Serial(port)
+                s.close()
+                working_ports.append(port)
+            except (OSError, serial.SerialException):
+                pass
+
+        return working_ports