Edit PreciseFlex API and backend to support Cartesian and Joint coordinates; update method signatures and add new backend classes for PreciseFlex 400 and PreciseFlex 3400

Author: miikee

pylabrobot/arms/backend.py

@@ -1,11 +1,31 @@
 from abc import ABCMeta, abstractmethod
 from enum import Enum
+from dataclasses import dataclass
 
 from pylabrobot.machines.backend import MachineBackend
 
 class ElbowOrientation(Enum):
-    LEFT = "left"
     RIGHT = "right"
+    LEFT = "left"
+
+@dataclass
+class JointCoords:
+  rail: float
+  base: float
+  shoulder: float
+  elbow: float
+  wrist: float
+  gripper: float
+
+@dataclass
+class CartesianCoords:
+  x: float
+  y: float
+  z: float
+  yaw: float
+  pitch: float
+  roll: float
+  orientation: ElbowOrientation | None = None
 
 class ArmBackend(MachineBackend, metaclass=ABCMeta):
     """Backend for a robotic arm"""
@@ -51,51 +71,31 @@ async def move_to_safe(self):
         ...
 
     @abstractmethod
-    async def approach_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
+    async def approach(self, position: CartesianCoords | JointCoords, approach_height: float):
         """Move the arm to a position above the specified coordinates by a certain distance."""
         ...
 
     @abstractmethod
-    async def pick_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
+    async def pick_plate(self, position: CartesianCoords | JointCoords, approach_height: float):
         """Pick a plate from the specified position."""
         ...
 
     @abstractmethod
-    async def place_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
+    async def place_plate(self, position: CartesianCoords | JointCoords, approach_height: float):
         """Place a plate at the specified position."""
         ...
 
     @abstractmethod
-    async def move_to_j(self, joint_position: tuple[float, float, float, float, float, float, float]):
+    async def move_to(self, position: CartesianCoords | JointCoords):
         """Move the arm to a specified position in 3D space."""
         ...
 
     @abstractmethod
-    async def get_position_j(self) -> tuple[float, float, float, float, float, float, float]:
+    async def get_joint_position(self) -> JointCoords:
         """Get the current position of the arm in 3D space."""
         ...
 
     @abstractmethod
-    async def approach_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
-        """Move the arm to a position above the specified coordinates by a certain distance."""
-        ...
-
-    @abstractmethod
-    async def pick_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
-        """Pick a plate from the specified position."""
-        ...
-
-    @abstractmethod
-    async def place_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
-        """Place a plate at the specified position."""
-        ...
-
-    @abstractmethod
-    async def move_to_c(self, cartesian_position: tuple[float, float, float, float, float, float], orientation: ElbowOrientation | None = None):
-        """Move the arm to a specified position in 3D space."""
-        ...
-
-    @abstractmethod
-    async def get_position_c(self) -> tuple[float, float, float, float, float, float, ElbowOrientation | None]:
+    async def get_cartesian_position(self) -> CartesianCoords:
         """Get the current position of the arm in 3D space."""
         ...

pylabrobot/arms/precise_flex/pf_3400.py

@@ -0,0 +1,7 @@
+from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
+
+
+class PreciseFlex400Backend(PreciseFlexBackend):
+  """Backend for the PreciseFlex 400 robotic arm."""
+  def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
+    super().__init__('pf3400', host, port, timeout)

pylabrobot/arms/precise_flex/pf_400.py

@@ -0,0 +1,7 @@
+from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
+
+
+class PreciseFlex400Backend(PreciseFlexBackend):
+  """Backend for the PreciseFlex 400 robotic arm."""
+  def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
+    super().__init__('pf400', host, port, timeout)

pylabrobot/arms/precise_flex/precise_flex_api.py

@@ -733,12 +733,12 @@ async def where_c(self) -> tuple[float, float, float, float, float, float, int]:
     data = await self.send_command("wherec")
     parts = data.split()
 
-    if len(parts) != 6:
+    if len(parts) != 7:
       # In case of incomplete response, wait for EOM and try to read again
       await self.wait_for_eom()
       data = await self.send_command("wherec")
       parts = data.split()
-      if len(parts) != 6:
+      if len(parts) != 7:
         raise PreciseFlexError(-1, "Unexpected response format from wherec command.")
 
     x, y, z, yaw, pitch, roll = self._parse_xyz_response(parts[0:6])