Merge pull request #31 from iq-motion-control/refactor-pulsing-module

Updated Vertiq2306 with new pulsing firmware. Added additional files …

iqmotion/__init__.py

@@ -1,9 +1,11 @@
 from iqmotion.iq_devices.base_iq_module import BaseIqModule
+from iqmotion.iq_devices.custom_iq_module import CustomIqModule
 
 # Soon to be deprecated: but the original way to access motor firmware API
 from iqmotion.iq_devices.speed_module import SpeedModule
 from iqmotion.iq_devices.servo_module import ServoModule
 from iqmotion.iq_devices.step_dir_module import StepDirModule
+from iqmotion.iq_devices.pulsing_module import PulsingModule
 
 # Make Motor Modules front facing visible
 from iqmotion.iq_devices.vertiq8108_module import Vertiq8108

iqmotion/iq_devices/custom_iq_module.py

@@ -0,0 +1,81 @@
+import os
+
+from iqmotion.iq_devices.iq_module import IqModule
+from iqmotion.communication.communicator import Communicator
+
+
+# There are 3 options when it comes to adding extra clients
+#
+#       -Quick and dirty-
+#   1.  clients_path {str: directory path}:   
+#           Points to a directory containing client entry jsons
+#           Note: this option will add every client entry in the folder
+# 
+#       -More Work but Flexible-
+#   2.  extra_clients {list: [dir path, dir path, ...]}:
+#           Contains a list of paths to each cleint entry you want to include
+#           Note: you need to pass in an absolute paths
+#
+#       -Most Work but cleanest-
+#   3.  custom_module_location {str: directory path}:
+#           Commonly passed in as a cwd path, this can contain a module file
+#           in addition to extra client files. 
+#           Note: You need to have a folder named extra_client_files hosting your 
+#                 client files
+#           Example of 3rd Option
+#           {
+#             "clients": [
+#               "brushless_drive",
+#               "propeller_motor_control",
+#               "anticogging",
+#               "buzzer_control",
+#               "esc_propeller_input_parser",
+#               "hobby_input",
+#               "persistent_memory",
+#               "power_monitor",
+#               "serial_interface",
+#               "servo_input_parser",
+#               "step_direction_input",
+#               "system_control",
+#               "temperature_estimator",
+#               "temperature_monitor_uc"
+#             ],
+#             "extra_clients": [
+#               "extra_client"
+#             ]
+#           }
+
+
+class CustomIqModule(IqModule):
+    _MODULE_FILE_NAME = ""
+
+    def __init__(
+        self,
+        custom_module_location: str,
+        com: Communicator,
+        module_idn=0,
+        clients_path: str=None,
+        extra_clients: list=None,
+    ):
+        module_file_path = os.path.join(
+            os.path.dirname(custom_module_location),
+            ("module_files/" + self._MODULE_FILE_NAME),
+        )
+
+        super().__init__(com, 
+                        module_idn, 
+                        clients_path=clients_path,
+                        extra_clients=extra_clients, 
+                        module_file_path=module_file_path)
+
+        # This will pull clients from the Module JSON 
+        #       --Refer to example Below--
+        if "extra_clients" in self._module_file_dict:
+            for extra_client_name in self._module_file_dict["extra_clients"]:
+                extra_client_file_path = os.path.join(
+                    os.path.dirname(custom_module_location),
+                    (f"extra_client_files/{extra_client_name}.json"),
+                )
+                self.add_client(extra_client_file_path)
+
+

iqmotion/iq_devices/module_files/pulsing.json

@@ -0,0 +1,19 @@
+{
+  "clients": [
+    "brushless_drive",
+    "buzzer_control",
+    "coil_temperature_estimator",
+    "esc_propeller_input_parser",
+    "iquart_flight_controller_interface",
+    "persistent_memory",
+    "power_monitor",
+    "power_safety",
+    "propeller_motor_control",
+    "pulsing_rectangular_input_parser",
+    "serial_interface",
+    "system_control",
+    "temperature_estimator",
+    "temperature_monitor_uc",
+    "voltage_superposition"
+  ]
+}

iqmotion/iq_devices/pulsing_module.py

@@ -0,0 +1,25 @@
+from iqmotion.communication.communicator import Communicator
+from iqmotion.iq_devices.custom_iq_module import CustomIqModule
+
+
+class PulsingModule(CustomIqModule):
+    """ Creates PulsingModule object
+    
+    Arguments:
+        com {Communicator} -- The communicator object to interface with the IqModule
+    
+    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})
+    """
+
+    _DEFAULT_CONTROL_CLIENT = "propeller_motor_control"
+    _DEFAULT_VELOCITY_CLIENT_ENTRY = "ctrl_velocity"
+    _DEFAULT_VOLTS_CLIENT_ENTRY = "ctrl_volts"
+
+    _MODULE_FILE_NAME = "pulsing.json"
+
+    def __init__(
+        self, com: Communicator, module_idn=0, extra_clients=None,
+    ):
+        super().__init__(__file__, com, module_idn, extra_clients)

iqmotion/iq_devices/vertiq2306_module.py

@@ -2,30 +2,33 @@
 from iqmotion.communication.communicator import Communicator
 from iqmotion.custom_errors import IqModuleError
 
-# This is a IQ Module Wrapper for the vertiq 2306
-# This Wrapper takes in firmware argument and creates an veritq2036 API Object
-class Vertiq2306(IqModule):
-    """ Creates vertiq2306 object with default speed firmware
-    
-    Arguments:
-        com {Communicator} -- The communicator object to interface with the IqModule
-        firmware {str} -- Which firmware is the motor using (default: {"speed"})
-    
-    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})
-    """
 
+class Vertiq2306(IqModule):
     def __init__(
         self,
-        com: Communicator, 
+        com: Communicator,
         module_idn: int = 0,
-        firmware: str = "speed", # Default Firmware
-        clients_path: str = None 
+        firmware: str = "speed",  # Default Firmware
+        clients_path: str = None,
     ):
+        """Creates Vertiq2306 object with default speed firmware.
+
+        :param com: The communicator object used to interface with the IqModule
+        :type com: Communicator
+        :param module_idn: The idn of the module (default: 0)
+        :type module_idn: int
+        :param firmware: The firmware type used to determine which clients are available for the module to use
+            Options include:
+                * speed
+                * stepdir
+                * servo
+                * pulsing
+        :type firmware: str
+        :param clients_path: Optional parameter to specify a directory containing extra clients for the module to use (default: {None})
+        :type clients_path: str
+        """
 
         # Point to the correct JSON File depending on the firmware
-        #
         if firmware.lower() == "speed":
             self._DEFAULT_CONTROL_CLIENT = "propeller_motor_control"
             self._DEFAULT_VELOCITY_CLIENT_ENTRY = "ctrl_velocity"
@@ -40,16 +43,22 @@ def __init__(
 
             self._MODULE_FILE_NAME = "step_direction.json"
 
-        elif firmware.lower() == "servo": 
+        elif firmware.lower() == "servo":
             self._DEFAULT_CONTROL_CLIENT = "multi_turn_angle_control"
             self._DEFAULT_VELOCITY_CLIENT_ENTRY = "ctrl_velocity"
             self._DEFAULT_VOLTS_CLIENT_ENTRY = "ctrl_volts"
 
             self._MODULE_FILE_NAME = "servo.json"
 
+        elif firmware.lower() == "pulsing":
+            self._DEFAULT_CONTROL_CLIENT = "propeller_motor_control"
+            self._DEFAULT_VELOCITY_CLIENT_ENTRY = "ctrl_velocity"
+            self._DEFAULT_VOLTS_CLIENT_ENTRY = "ctrl_volts"
+
+            self._MODULE_FILE_NAME = "pulsing.json"
 
         else:
             raise IqModuleError("'" + str(firmware) + "' firmware is not supported")
 
         # Pass the Super
-        super().__init__(com, module_idn, clients_path)
+        super().__init__(com, module_idn, clients_path)

iqmotion/tests/module_files/new_module.json

@@ -0,0 +1,21 @@
+{
+  "clients": [
+    "brushless_drive",
+    "propeller_motor_control",
+    "anticogging",
+    "buzzer_control",
+    "esc_propeller_input_parser",
+    "hobby_input",
+    "persistent_memory",
+    "power_monitor",
+    "serial_interface",
+    "servo_input_parser",
+    "step_direction_input",
+    "system_control",
+    "temperature_estimator",
+    "temperature_monitor_uc"
+  ],
+  "extra_clients": [
+    "extra_client"
+  ]
+}

iqmotion/tests/module_files/non_extra_module.json

@@ -0,0 +1,18 @@
+{
+  "clients": [
+    "brushless_drive",
+    "propeller_motor_control",
+    "anticogging",
+    "buzzer_control",
+    "esc_propeller_input_parser",
+    "hobby_input",
+    "persistent_memory",
+    "power_monitor",
+    "serial_interface",
+    "servo_input_parser",
+    "step_direction_input",
+    "system_control",
+    "temperature_estimator",
+    "temperature_monitor_uc"
+  ]
+}

iqmotion/tests/test_custom_iq_module.py

@@ -0,0 +1,89 @@
+import pytest
+import os
+
+from iqmotion.iq_devices.custom_iq_module import CustomIqModule
+
+from iqmotion.tests.helpers import MockCommunicator
+
+
+class NewModule(CustomIqModule):
+    _DEFAULT_CONTROL_CLIENT = "CONTROL"
+    _DEFAULT_VELOCITY_CLIENT_ENTRY = "VEL"
+    _DEFAULT_VOLTS_CLIENT_ENTRY = "VOLTS"
+    _MODULE_FILE_NAME = "new_module.json"
+
+    def __init__(
+        self, com, module_idn=0, extra_clients=None,
+    ):
+        super().__init__(__file__, com, module_idn, extra_clients=extra_clients)
+
+class NonExtraModule(CustomIqModule):
+    _DEFAULT_CONTROL_CLIENT = "CONTROL"
+    _DEFAULT_VELOCITY_CLIENT_ENTRY = "VEL"
+    _DEFAULT_VOLTS_CLIENT_ENTRY = "VOLTS"
+    _MODULE_FILE_NAME = "non_extra_module.json"
+
+    def __init__(
+        self, com, module_idn=0, extra_clients=None,
+    ):
+        super().__init__(__file__, com, module_idn, extra_clients=extra_clients)
+
+
+@pytest.fixture
+def mock_communicator():
+    mock_class = MockCommunicator()
+    return mock_class
+
+
+# pylint: disable=redefined-outer-name
+def test_custom_iq_module(mock_communicator):
+    expected_clients = set(
+        [
+            "brushless_drive",
+            "propeller_motor_control",
+            "anticogging",
+            "buzzer_control",
+            "esc_propeller_input_parser",
+            "hobby_input",
+            "persistent_memory",
+            "power_monitor",
+            "serial_interface",
+            "servo_input_parser",
+            "step_direction_input",
+            "system_control",
+            "temperature_estimator",
+            "temperature_monitor_uc",
+            "extra_client",
+        ],
+    )
+    iq_module = NewModule(mock_communicator, 0)
+    client_dict = set(iq_module._client_dict.keys())
+    assert client_dict == expected_clients
+
+def test_extra_clients_iq_module(mock_communicator):
+    expected_clients = set(
+        [
+            "brushless_drive",
+            "propeller_motor_control",
+            "anticogging",
+            "buzzer_control",
+            "esc_propeller_input_parser",
+            "hobby_input",
+            "persistent_memory",
+            "power_monitor",
+            "serial_interface",
+            "servo_input_parser",
+            "step_direction_input",
+            "system_control",
+            "temperature_estimator",
+            "temperature_monitor_uc",
+            "extra_client",
+        ],
+    )
+
+    extra_client = os.path.join(os.path.dirname(__file__), ("extra_client_files/extra_client.json"))
+    print(extra_client)
+
+    iq_module = NonExtraModule(mock_communicator, 0, extra_clients=[extra_client])
+    client_dict = set(iq_module._client_dict.keys())
+    assert client_dict == expected_clients

iqmotion/tests/test_vertiq2306.py

@@ -20,6 +20,9 @@ def test_stepdir_module(self, mock_communicator):
     def test_servo_module(self, mock_communicator):
         Vertiq2306(mock_communicator, firmware="servo")
 
+    def test_pulsing_module(self, mock_communicator):
+        Vertiq2306(mock_communicator, firmware="pulsing")
+
     def test_false_module(self, mock_communicator):
         with pytest.raises(IqModuleError):
-            Vertiq2306(mock_communicator, firmware="pulse")
+            Vertiq2306(mock_communicator, firmware="abcxyz")