Initial commit

unilabos/devices/motor/iCL42.py

@@ -0,0 +1,126 @@
+import os
+import sys
+from abc import abstractmethod
+from typing import Optional
+
+import serial
+
+from .Consts import Config
+from .FakeSerial import FakeSerial
+from .Utils import run_commands
+from .base_types.PrPath import PR_PATH
+from .commands.PositionControl import run_get_command_position, run_set_forward_run, create_position_commands, \
+    create_position_run_command
+from .commands.Warning import run_elimate_warning
+
+try:
+    from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
+    from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
+    from unilabos.device_comms import universal_driver as ud
+except Exception as e:
+    sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
+    from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
+    from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
+    from unilabos.devices.template_driver import universal_driver as ud
+    print(f"使用文件DEBUG运行: {e}")
+
+
+class iCL42Driver(UniversalDriver):
+    _ser: Optional[serial.Serial | FakeSerial] = None
+    _motor_position: Optional[int] = None
+    _DEVICE_COM: Optional[str] = None
+    _DEVICE_ADDRESS: Optional[int] = None
+    # 运行状态
+    _is_executing_run: bool = False
+    _success: bool = False
+
+    @property
+    def motor_position(self) -> int:
+        return self._motor_position
+    
+    @property
+    def is_executing_run(self) -> bool:
+        return self._is_executing_run
+    
+    @property
+    def success(self) -> bool:
+        return self._success
+    
+    def init_device(self):
+        # 配置串口参数
+        if Config.OPEN_DEVICE:
+            self._ser = serial.Serial(
+                port=self._DEVICE_COM,               # 串口号
+                baudrate=38400,            # 波特率
+                bytesize=serial.EIGHTBITS, # 数据位
+                parity=serial.PARITY_NONE, # 校验位 N-无校验
+                stopbits=serial.STOPBITS_TWO,  # 停止位
+                timeout=1                  # 超时时间
+            )
+        else:
+            self._ser = FakeSerial()
+    
+    def run_motor(self, mode: str, position: float, velocity: int):
+        if self._ser is None:
+            print("Device is not initialized")
+            self._success = False
+            return False
+        def post_func(res, _):
+            self._success = res
+            if not res:
+                self._is_executing_run = False
+        ins: SingleRunningExecutor = SingleRunningExecutor.get_instance(
+            self.execute_run_motor, post_func
+        )
+        # if not ins.is_ended and ins.is_started:
+        #     print("Function is running")
+        #     self._success = False
+        #     return False
+        # elif not ins.is_started:
+        #     print("Function started")
+        #     ins.start() # 开始执行
+        # else:
+        #     print("Function reset and started")
+        ins.reset()
+        ins.start(mode=mode, position=position, velocity=velocity)
+
+    def execute_run_motor(self, mode: str, position: float, velocity: int):
+        position = int(position * 1000)
+        PR = 0
+        run_elimate_warning(self._ser, self._DEVICE_ADDRESS)
+        run_set_forward_run(self._ser, self._DEVICE_ADDRESS)
+        run_commands(
+            self._ser, 0.1,
+            create_position_commands(self._DEVICE_ADDRESS, PR, PR_PATH[mode], position, velocity),  # 41.8cm   21.8cm
+            create_position_run_command(self._DEVICE_ADDRESS, PR),
+        )
+        # if run_until_status(self._ser, self._DEVICE_ADDRESS, "路径完成"):
+        #     pass
+
+
+    def __init__(self, device_com: str = "COM9", device_address: int = 0x01):
+        self._DEVICE_COM = device_com
+        self._DEVICE_ADDRESS = device_address
+        self.init_device()
+        # 启动所有监控器
+        self.checkers = [
+            # PositionChecker(self, 1),
+        ]
+        for checker in self.checkers:
+            checker.start_monitoring()
+
+@abstractmethod
+class DriverChecker(ud.DriverChecker):
+    driver: iCL42Driver
+
+class PositionChecker(DriverChecker):
+    def check(self):
+        # noinspection PyProtectedMember
+        if self.driver._ser is not None:
+            # noinspection PyProtectedMember
+            self.driver._motor_position = run_get_command_position(self.driver._ser, self.driver._DEVICE_ADDRESS)
+
+# 示例用法
+if __name__ == "__main__":
+    driver = iCL42Driver("COM3")
+    driver._is_executing_run = True