def get_serial_ports_list(self):
""" Lists serial port names
:raises EnvironmentError:
On unsupported or unknown platforms
:returns:
A list of the serial ports available on the system
"""
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"
ports = glob.glob('/dev/tty[A-Za-z]*')
elif sys.platform.startswith('darwin'):
ports = glob.glob('/dev/tty.*')
else:
raise EnvironmentError('Unsupported platform')
result = []
for port in ports:
try:
if 'usbmodem' in port or 'COM' in port:
s = serial.Serial(port)
s.close()
result.append(port)
except Exception as e:
log.debug(
"Serial",
'Exception in testing port {}'.format(port))
log.debug("Serial", e)
return result
def move_head(self, mode='absolute', **kwargs):
self.set_coordinate_system(mode)
current = self.get_head_position()['target']
log.debug('Motor Driver', 'Current Head Position: {}'.format(current))
target_point = {
axis: kwargs.get(
axis,
0 if mode == 'relative' else current[axis]
)
for axis in 'xyz'
}
log.debug('Motor Driver', 'Destination: {}'.format(target_point))
time_interval = 0.5
# convert mm/min -> mm/sec,
# multiply by time interval to get increment in mm
increment = self.head_speed / 60 * time_interval
vector_list = break_down_travel(
current, Vector(target_point), mode=mode, increment=increment)
# turn the vector list into axis args
args_list = []
for vector in vector_list:
flipped_vector = self.flip_coordinates(vector, mode)
args_list.append(
{axis.upper(): flipped_vector[axis]
for axis in 'xyz' if axis in kwargs})
return self.consume_move_commands(args_list, increment)
def move(self, x=None, y=None, z=None, speed=None, absolute=True, **kwargs):
if speed:
code = self.MOVE
else:
code = self.RAPID_MOVE
if absolute:
self.send_command(self.ABSOLUTE_POSITIONING)
else:
self.send_command(self.RELATIVE_POSITIONING)
args = {}
"""
Add x, y and z back to the kwargs. They're omitted when we name them
as explicit keyword arguments, but it's much nicer to be able to pass
them as anonymous parameters when calling this method.
"""
if x is not None:
args['x'] = x
if y is not None:
args['y'] = y
if z is not None:
args['z'] = z
for k in kwargs:
args[k.upper()] = kwargs[k]
log.debug("MotorDriver", "Moving: {}".format(args))
self.send_command(code, **args)
def wait_for_stat(self, stat=None):
if self.DEBUG_ON:
log.debug("Serial", "Turning on debug mode.")
log.debug("Serial", "Awaiting stat responses.")
self.send_command(self.DEBUG_ON)
self._wait_for_stat = True
if stat is not None:
self._stat_command = stat
def plunge(self, volume):
debug(
"PipetteMotor",
"Plunging {} axis ({}) to volume of {}µl."
.format(self.axis, self.name, volume)
)
depth = self.pipette.plunge_depth(volume)
self.move(depth)
def process_command(self, command):
parsed_command = self.parse_command(command)
command_mapping = {
'G': self.process_nop,
'M': self.process_nop,
'G0': self.process_move_command,
'G4': self.process_dwell_command,
'M114': self.process_get_position,
'G92': self.process_set_position_command,
'G28': self.process_home_command,
'M119': self.process_get_endstops,
'M999': self.process_calm_down,
'M63': self.process_disengage_feedback,
'G90': self.process_absolute_positioning,
'G91': self.process_relative_positioning,
'M40': self.process_mosfet_state,
'M41': self.process_mosfet_state,
'M42': self.process_mosfet_state,
'M43': self.process_mosfet_state,
'M44': self.process_mosfet_state,
'M45': self.process_mosfet_state,
'M46': self.process_mosfet_state,
'M47': self.process_mosfet_state,
'M48': self.process_mosfet_state,
'M49': self.process_mosfet_state,
'M50': self.process_mosfet_state,
'M51': self.process_mosfet_state,
'M17': self.process_power_on,
'M18': self.process_power_off,
'version': self.process_version,
'config-get': self.process_config_get,
'config-set': self.process_config_set
}
if parsed_command:
command = parsed_command['command']
arguments = parsed_command['arguments']
if command in command_mapping:
command_func = command_mapping[command]
log.debug(
'Virtual Smoothie',
'Processing {} calling {}'.format(
parsed_command,
command_func.__name__))
message = command_func(arguments)
self.insert_response(message)
else:
log.error(
'Virtual Smoothie',
'Command {} is not supported'.format(command))
def _run(self, index):
cur = self._commands[index]
command = list(cur)[0]
kwargs = cur[command]
self._run_in_context_handler(command, **kwargs)
for h in self._handlers:
debug(
"Protocol",
"{}.{}: {}"
.format(type(h).__name__, command, kwargs)
)
h.before_each()
method = getattr(h, command)
method(**kwargs)
h.after_each()
def write_to_serial(self, data, max_tries=10, try_interval=0.2):
log.debug("Serial", "Write: {}".format(str(data).encode()))
if self.connection is None:
log.warn("Serial", "No connection found.")
return
if self.is_connected():
self.connection.write(str(data).encode())
return self.wait_for_response()
elif max_tries > 0:
self.reset_port()
return self.write_to_serial(
data, max_tries=max_tries - 1, try_interval=try_interval
)
else:
log.error("Serial", "Cannot connect to serial port.")
return b''
def readline_from_serial(self):
msg = b''
if self.is_connected():
# serial.readline() returns an empty byte string if it times out
msg = self.connection.readline().strip()
if msg:
log.debug("Serial", "Read: {}".format(msg))
# detect if it hit a home switch
if b'!!' in msg or b'limit' in msg:
# TODO (andy): allow this to bubble up so UI is notified
log.debug('Serial', 'home switch hit')
self.flush_port()
self.calm_down()
raise RuntimeWarning('limit switch hit')
return msg
def get_position(self):
res = self.send_command(self.GET_POSITION)
# remove the "ok " from beginning of response
res = res.decode('utf-8')[3:]
coords = {}
try:
response_dict = json.loads(res).get(self.GET_POSITION)
coords = {'target': {}, 'current': {}}
for letter in 'xyzab':
# the lowercase axis are the "real-time" values
coords['current'][letter] = response_dict.get(letter, 0)
# the uppercase axis are the "target" values
coords['target'][letter] = response_dict.get(letter.upper(), 0)
except JSON_ERROR:
log.debug("Serial", "Error parsing JSON string:")
log.debug("Serial", res)
return coords
def wait_for_response(self, timeout=20.0):
count = 0
max_retries = int(timeout / self.serial_timeout)
while count < max_retries:
count = count + 1
out = self.readline_from_serial()
if out:
log.debug(
"Serial",
"Waited {} lines for response {}.".format(count, out)
)
return out
else:
if count == 1 or count % 10 == 0:
# Don't log all the time; gets spammy.
log.debug(
"Serial",
"Waiting {} lines for response.".format(count)
)
raise RuntimeWarning('no response after {} seconds'.format(timeout))
def consume_move_commands(self, args_list, step):
tolerance = step * 0.5
self.current_commands = list(args_list)
while self.can_move.wait():
if self.stopped.is_set():
self.resume()
return (False, self.STOPPED)
if self.current_commands:
args = self.current_commands.pop(0)
else:
self.wait_for_arrival()
break
self.wait_for_arrival(tolerance)
log.debug("MotorDriver", "Moving head: {}".format(args))
res = self.send_command(self.MOVE, **args)
if res != b'ok':
return (False, self.SMOOTHIE_ERROR)
return (True, self.SMOOTHIE_SUCCESS)
def connect_to_physical_smoothie(self, port, options=None):
try:
self.connection = serial.Serial(
port=port,
baudrate=115200,
timeout=self.serial_timeout
)
# sometimes pyserial swallows the initial b"Smoothie\r\nok\r\n"
# so just always swallow it ourselves
self.reset_port()
log.debug("Serial", "Connected to {}".format(port))
return self.calm_down()
except serial.SerialException as e:
log.debug(
"Serial",
"Error connecting to {}".format(port))
log.error("Serial", e)
return False
def write_to_serial(self, data, max_tries=10, try_interval=0.2):
log.debug("Serial", "Write: {}".format(str(data).encode()))
if self.connection is None:
log.warn("Serial", "No connection found.")
return
if self.connection.isOpen():
self.connection.write(str(data).encode())
if self._wait_for_stat is True and self._stat_command:
waiting = True
count = 0
while waiting:
count = count + 1
out = self.connection.readline().decode().strip()
log.debug("Serial", "Read: {}".format(out))
if out == self._stat_command:
waiting = False
log.debug(
"Serial",
"Waited {} lines for stat.".format(count)
)
else:
if count == 1 or count % 10 == 0:
# Don't log all the time; gets spammy.
log.debug(
"Serial",
"Waiting {} lines for stat ({})."
.format(count, self._stat_command)
)
else:
out = self.connection.readline()
log.debug("Serial", "Read: {}".format(out))
return out
elif max_tries > 0:
time.sleep(try_interval)
self.write_to_serial(
data, max_tries=max_tries - 1, try_interval=try_interval
)
else:
log.error("Serial", "Cannot connect to serial port.")
def test_calibrate_placeable(self):
well = self.plate[0]
pos = well.from_center(x=0, y=0, z=0, reference=self.plate)
location = (self.plate, pos)
well_deck_coordinates = well.center(well.get_deck())
dest = well_deck_coordinates + Vector(1, 2, 3)
log.debug('Unit test', 'Destination: {}'.format(well_deck_coordinates))
self.robot._driver.move_head(x=dest['x'], y=dest['y'], z=dest['z'])
self.p200.calibrate_position(location)
expected_calibration_data = {
'A2': {
'children': {
'96-flat': {
'delta': (1.0, 2.0, 3.0)
}}}}
self.assertDictEqual(
self.p200.calibration_data,
expected_calibration_data)
def move_motors(self, **kwargs):
debug("MotorHandler", "Moving: {}".format(kwargs))
self._driver.move(**kwargs)
def droptip(self):
debug(
"PipetteMotor",
"Droptip on {} axis ({}).".format(self.axis, self.name)
)
self.move(self.pipette.droptip)
def blowout(self):
debug(
"PipetteMotor",
"Blowout on {} axis ({}).".format(self.axis, self.name)
)
self.move(self.pipette.blowout)
def reset(self):
debug(
"PipetteMotor",
"Resetting {} axis ({}).".format(self.axis, self.name)
)
self.move(0)
def connect(self, device=None, port=None):
self.connection = serial.Serial(port=device or port)
self.connection.close()
self.connection.open()
log.debug("Serial", "Connected to {}".format(device or port))
self.wait_for_stat()
def write(self, data):
if self.isOpen() is False:
raise IOError("Connection not open.")
log.debug('GCodeLogger', 'Writing: {}'.format(data))
self.write_buffer.append(data)