update api to use 6 joints instead of 7

Author: miikee

pylabrobot/arms/precise_flex/precise_flex_api.py

@@ -397,7 +397,7 @@ async def get_version(self) -> str:
     return await self.send_command("version")
 
   #region LOCATION COMMANDS
-  async def get_location(self, location_index: int) -> tuple[int, int, float, float, float, float, float, float, float]:
+  async def get_location(self, location_index: int) -> tuple[int, int, float, float, float, float, float, float]:
     """Get the location values for the specified station index.
 
     Parameters:
@@ -406,7 +406,7 @@ async def get_location(self, location_index: int) -> tuple[int, int, float, floa
     Returns:
       tuple: A tuple containing (type_code, station_index, val1, val2, val3, val4, val5, val6)
          - For Cartesian type (type_code=0): (0, station_index, X, Y, Z, yaw, pitch, roll, unused = 0.0)
-         - For angles type (type_code=1): (1, station_index, angle1, angle2, angle3, angle4, angle5, angle6, angle7) - any unused angles are set to 0.0
+         - For angles type (type_code=1): (1, station_index, angle1, angle2, angle3, angle4, angle5, angle6) - any unused angles are set to 0.0
     """
     data = await self.send_command(f"loc {location_index}")
     parts = data.split(" ")
@@ -417,16 +417,16 @@ async def get_location(self, location_index: int) -> tuple[int, int, float, floa
     # location stored as cartesian
     if type_code == 0:
       x, y, z, yaw, pitch, roll = self._parse_xyz_response(parts[2:8])
-      return (type_code, station_index, x, y, z, yaw, pitch, roll, 0.0)
+      return (type_code, station_index, x, y, z, yaw, pitch, roll)
 
     # location stored as angles
     if type_code == 1:
-      angle1, angle2, angle3, angle4, angle5, angle6, angle7 = self._parse_angles_response(parts[2:])
-      return (type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6, angle7)
+      angle1, angle2, angle3, angle4, angle5, angle6 = self._parse_angles_response(parts[2:])
+      return (type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6)
 
     raise PreciseFlexError(-1, "Unexpected response format from loc command.")
 
-  async def get_location_angles(self, location_index: int) -> tuple[int, int, float, float, float, float, float, float, float]:
+  async def get_location_angles(self, location_index: int) -> tuple[int, int, float, float, float, float, float, float]:
     """Get the angle values for the specified station index.
 
     Parameters:
@@ -446,9 +446,9 @@ async def get_location_angles(self, location_index: int) -> tuple[int, int, floa
       raise PreciseFlexError(-1, "Location is not of angles type.")
 
     station_index = int(parts[1])
-    angle1, angle2, angle3, angle4, angle5, angle6, angle7 = self._parse_angles_response(parts[2:])
+    angle1, angle2, angle3, angle4, angle5, angle6 = self._parse_angles_response(parts[2:])
 
-    return (type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6, angle7)
+    return (type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6)
 
 
 
@@ -654,7 +654,7 @@ async def dest_c(self, arg1: int = 0) -> tuple[float, float, float, float, float
 
     return (x, y, z, yaw, pitch, roll, config)
 
-  async def dest_j(self, arg1: int = 0) -> tuple[float, float, float, float, float, float, float]:
+  async def dest_j(self, arg1: int = 0) -> tuple[float, float, float, float, float, float]:
     """Get the destination or current joint location of the robot.
 
     Parameters:
@@ -676,10 +676,10 @@ async def dest_j(self, arg1: int = 0) -> tuple[float, float, float, float, float
     if not parts:
       raise PreciseFlexError(-1, "Unexpected response format from destJ command.")
 
-    # Ensure we have exactly 7 elements, padding with 0.0 if necessary
-    angle1, angle2, angle3, angle4, angle5, angle6, angle7 = self._parse_angles_response(parts)
+    # Ensure we have exactly 6 elements, padding with 0.0 if necessary
+    angle1, angle2, angle3, angle4, angle5, angle6 = self._parse_angles_response(parts)
 
-    return (angle1, angle2, angle3, angle4, angle5, angle6, angle7)
+    return (angle1, angle2, angle3, angle4, angle5, angle6)
 
   async def here_j(self, location_index: int) -> None:
     """Record the current position of the selected robot into the specified Location as angles.
@@ -706,7 +706,7 @@ async def where(self) -> tuple[float, float, float, float, float, float, tuple[f
     """Return the current position of the selected robot in both Cartesian and joints format.
 
     Returns:
-      tuple: A tuple containing (X, Y, Z, yaw, pitch, roll, (axis1, axis2, axis3, axis4, axis5, axis6, axis7))
+      tuple: A tuple containing (X, Y, Z, yaw, pitch, roll, (axis1, axis2, axis3, axis4, axis5, axis6))
     """
     data = await self.send_command("where")
     parts = data.split()
@@ -733,24 +733,24 @@ 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) != 7:
+    if len(parts) != 6:
       # 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) != 7:
+      if len(parts) != 6:
         raise PreciseFlexError(-1, "Unexpected response format from wherec command.")
 
     x, y, z, yaw, pitch, roll = self._parse_xyz_response(parts[0:6])
     config = int(parts[6])
 
     return (x, y, z, yaw, pitch, roll, config)
 
-  async def where_j(self) -> tuple[float, float, float, float, float, float, float]:
+  async def where_j(self) -> tuple[float, float, float, float, float, float]:
     """Return the current joint position for the selected robot.
 
     Returns:
-      tuple: A tuple containing (axis1, axis2, axis3, axis4, axis5, axis6, axis7)
+      tuple: A tuple containing (axis1, axis2, axis3, axis4, axis5, axis6)
     """
     data = await self.send_command("wherej")
     parts = data.split()
@@ -1902,20 +1902,19 @@ def _parse_xyz_response(self, parts: list[str]) -> tuple[float, float, float, fl
 
     return (x, y, z, yaw, pitch, roll)
 
-  def _parse_angles_response(self, parts: list[str]) -> tuple[float, float, float, float, float, float, float]:
+  def _parse_angles_response(self, parts: list[str]) -> tuple[float, float, float, float, float, float]:
     if len(parts) < 3:
       raise PreciseFlexError(-1, "Unexpected response format for angles.")
 
-    # Ensure we have exactly 7 elements, padding with 0.0 if necessary
+    # Ensure we have exactly 6 elements, padding with 0.0 if necessary
     angle1 = float(parts[0])
     angle2 = float(parts[1])
     angle3 = float(parts[2])
     angle4 = float(parts[3]) if len(parts) > 3 else 0.0
     angle5 = float(parts[4]) if len(parts) > 4 else 0.0
     angle6 = float(parts[5]) if len(parts) > 5 else 0.0
-    angle7 = float(parts[6]) if len(parts) > 6 else 0.0
 
-    return (angle1, angle2, angle3, angle4, angle5, angle6, angle7)
+    return (angle1, angle2, angle3, angle4, angle5, angle6)
 
   def _parse_reply_ensure_successful(self, reply: bytes) -> str:
     """Parse reply from Precise Flex.

pylabrobot/arms/precise_flex/precise_flex_api_tests.py

@@ -298,24 +298,24 @@ async def test_get_location(self) -> None:
     """Test get_location()"""
     location_data = await self.robot.get_location(self.TEST_LOCATION_ID)
     self.assertIsInstance(location_data, tuple)
-    self.assertEqual(len(location_data), 9)
-    type_code, station_index, val1, val2, val3, val4, val5, val6, val7 = location_data
+    self.assertEqual(len(location_data), 8)
+    type_code, station_index, val1, val2, val3, val4, val5, val6 = location_data
     self.assertIsInstance(type_code, int)
     self.assertIn(type_code, [0, 1])  # 0 = Cartesian, 1 = angles
     self.assertEqual(station_index, self.TEST_LOCATION_ID)
-    print(f"Location {self.TEST_LOCATION_ID}: type={type_code}, values=({val1}, {val2}, {val3}, {val4}, {val5}, {val6}, {val7})")
+    print(f"Location {self.TEST_LOCATION_ID}: type={type_code}, values=({val1}, {val2}, {val3}, {val4}, {val5}, {val6})")
 
   async def test_get_location_angles(self) -> None:
     """Test get_location_angles()"""
     # This test assumes location is already angles type or will fail appropriately
     try:
       location_data = await self.robot.get_location_angles(self.TEST_LOCATION_ID)
       self.assertIsInstance(location_data, tuple)
-      self.assertEqual(len(location_data), 9)
-      type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6, angle7 = location_data
+      self.assertEqual(len(location_data), 8)
+      type_code, station_index, angle1, angle2, angle3, angle4, angle5, angle6 = location_data
       self.assertEqual(type_code, 1)  # Should be angles type
       self.assertEqual(station_index, self.TEST_LOCATION_ID)
-      print(f"Location angles {self.TEST_LOCATION_ID}: ({angle1}, {angle2}, {angle3}, {angle4}, {angle5}, {angle6}, {angle7})")
+      print(f"Location angles {self.TEST_LOCATION_ID}: ({angle1}, {angle2}, {angle3}, {angle4}, {angle5}, {angle6})")
     except Exception as e:
       print(f"Location {self.TEST_LOCATION_ID} is not angles type or error occurred: {e}")
 
@@ -331,7 +331,7 @@ async def test_set_location_angles(self) -> None:
 
       # Verify the angles were set
       location_data = await self.robot.get_location_angles(self.TEST_LOCATION_ID)
-      _, _, angle1, angle2, angle3, angle4, angle5, angle6, angle7 = location_data
+      _, _, angle1, angle2, angle3, angle4, angle5, angle6 = location_data
 
       # Check first 6 angles (angle7 is typically 0)
       retrieved_angles = (angle1, angle2, angle3, angle4, angle5, angle6)
@@ -535,14 +535,14 @@ async def test_dest_j(self) -> None:
     # Test with default argument (current joint positions)
     dest_data = await self.robot.dest_j()
     self.assertIsInstance(dest_data, tuple)
-    self.assertEqual(len(dest_data), 7)
+    self.assertEqual(len(dest_data), 6)
     self.assertTrue(all(isinstance(val, (int, float)) for val in dest_data))
     print(f"Current joint destination: {dest_data}")
 
     # Test with arg1=1 (target joint positions)
     dest_data_target = await self.robot.dest_j(1)
     self.assertIsInstance(dest_data_target, tuple)
-    self.assertEqual(len(dest_data_target), 7)
+    self.assertEqual(len(dest_data_target), 6)
     print(f"Target joint destination: {dest_data_target}")
 
   async def test_here_j(self) -> None: