Merge branch 'main' into proscan

Author: rwb27

.github/workflows/publish.yml

@@ -0,0 +1,77 @@
+name: Publish to PyPI
+
+on: push
+
+#on:
+#    release:
+#      types: [published]
+
+jobs:
+    build:
+        name: Build distribution 📦
+        runs-on: ubuntu-latest
+    
+        steps:
+        - uses: actions/checkout@v4
+        - name: Set up Python
+          uses: actions/setup-python@v5
+          with:
+            python-version: "3.x"
+        - name: Install pypa/build
+          run: >-
+            python3 -m
+            pip install
+            build
+            --user
+        - name: Build a binary wheel and a source tarball
+          run: python3 -m build
+        - name: Store the distribution packages
+          uses: actions/upload-artifact@v4
+          with:
+            name: python-package-distributions
+            path: dist/
+
+    publish-to-testpypi:
+      name: Publish Python 🐍 distribution 📦 to TestPyPI
+      needs:
+      - build
+      runs-on: ubuntu-latest
+  
+      environment:
+        name: testpypi
+        url: https://test.pypi.org/p/labthings-picamera2
+  
+      permissions:
+        id-token: write  # IMPORTANT: mandatory for trusted publishing
+  
+      steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+      - name: Publish distribution 📦 to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+
+    publish-to-pypi:
+        name: >-
+            Publish Python 🐍 distribution 📦 to PyPI
+        if: startsWith(github.ref, 'refs/tags/v')  # only publish to PyPI on tag pushes
+        needs:
+        - build
+        runs-on: ubuntu-latest
+        environment:
+            name: pypi
+            url: https://pypi.org/p/labthings-picamera2
+        permissions:
+            id-token: write  # IMPORTANT: mandatory for trusted publishing
+        steps:
+            - name: Download all the dists
+              uses: actions/download-artifact@v4
+              with:
+                name: python-package-distributions
+                path: dist/
+            - name: Publish distribution 📦 to PyPI
+              uses: pypa/gh-action-pypi-publish@release/v1

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "labthings-sangaboard"
-version = "0.0.0"
+version = "0.0.1"
 authors = [
   { name="Richard Bowman", email="richard.bowman@cantab.net" },
 ]

src/labthings_sangaboard/__init__.py

@@ -6,11 +6,14 @@
 from labthings_fastapi.descriptors.property import PropertyDescriptor
 from labthings_fastapi.thing import Thing
 from labthings_fastapi.decorators import thing_action, thing_property
-from typing import Iterator
+from labthings_fastapi.dependencies.invocation import CancelHook, InvocationCancelledError
+from typing import Iterator, Literal
 from contextlib import contextmanager
 from collections.abc import Sequence, Mapping
 import sangaboard
 import threading
+import time
+import numpy as np
 
 class SangaboardThing(Thing):
     _axis_names = ("x", "y", "z")  # TODO: handle 4th axis gracefully
@@ -26,6 +29,10 @@ def __init__(self, port: str=None, **kwargs):
     def __enter__(self):
         self._sangaboard = sangaboard.Sangaboard(**self.sangaboard_kwargs)
         self._sangaboard_lock = threading.RLock()
+        with self.sangaboard() as sb:
+            if sb.version_tuple[0] != 1:
+                raise RuntimeError("labthings-sangaboard requires firmware v1")
+            sb.query("blocking_moves false")
         self.update_position()
 
     def __exit__(self, _exc_type, _exc_value, _traceback):
@@ -77,16 +84,30 @@ def thing_state(self):
         }
 
     @thing_action
-    def move_relative(self, **kwargs: Mapping[str, int]):
+    def move_relative(self, cancel: CancelHook, block_cancellation: bool=False, **kwargs: Mapping[str, int]):
         """Make a relative move. Keyword arguments should be axis names."""
+        displacement = [kwargs.get(k, 0) for k in self.axis_names]
         with self.sangaboard() as sb:
             self.moving = True
-            sb.move_rel([kwargs.get(k, 0) for k in self.axis_names])
-            self.moving=False
-            self.update_position()
+            try:
+                sb.move_rel(displacement)
+                if block_cancellation:
+                    sb.query("notify_on_stop")
+                else:
+                    while sb.query("moving?") == "true":
+                        cancel.sleep(0.1)
+            except InvocationCancelledError as e:
+                # If the move has been cancelled, stop it but don't handle the exception.
+                # We need the exception to propagate in order to stop any calling tasks,
+                # and to mark the invocation as "cancelled" rather than stopped.
+                sb.query("stop")
+                raise e
+            finally:
+                self.moving=False
+                self.update_position()
 
     @thing_action
-    def move_absolute(self, **kwargs: Mapping[str, int]):
+    def move_absolute(self, cancel: CancelHook, block_cancellation: bool=False, **kwargs: Mapping[str, int]):
         """Make an absolute move. Keyword arguments should be axis names."""
         with self.sangaboard():
             self.update_position()
@@ -95,7 +116,7 @@ def move_absolute(self, **kwargs: Mapping[str, int]):
                 for k, v in kwargs.items()
                 if k in self.axis_names
             }
-            self.move_relative(**displacement)
+            self.move_relative(cancel, block_cancellation=block_cancellation, **displacement)
 
     @thing_action
     def abort_move(self):
@@ -108,4 +129,44 @@ def abort_move(self):
             tc = self._sangaboard.termination_character
             self._sangaboard._ser.write(("stop" + tc).encode())
         else:
-            raise HTTPException(status_code=409, detail="Stage is not moving.")
+            raise HTTPException(status_code=409, detail="Stage is not moving.")
+        
+    @thing_action
+    def set_zero_position(self):
+        """Make the current position zero in all axes
+        
+        This action does not move the stage, but resets the position to zero.
+        It is intended for use after manually or automatically recentring the
+        stage.
+        """
+        with self.sangaboard() as sb:
+            sb.zero_position()
+        self.update_position()
+
+    @thing_action
+    def flash_led(
+        self,
+        number_of_flashes: int = 10,
+        dt: float = 0.5,
+        led_channel: Literal["cc"]="cc",
+    ) -> None:
+        """Flash the LED to identify the board
+
+        This is intended to be useful in situations where there are multiple
+        Sangaboards in use, and it is necessary to identify which one is 
+        being addressed.
+        """
+        with self.sangaboard() as sb:
+            r = sb.query("led_cc?")
+            if not r.startswith('CC LED:'):
+                raise IOError("The sangaboard does not support LED control")
+            # This suffers from repeated reads and writes decreasing it, so for
+            # now, I'll fix it at the default value.
+            # TODO: proper LED control from python
+            #on_brightness = float(r[7:])
+            on_brightness = 0.32
+            for i in range(number_of_flashes):
+                sb.query("led_cc 0")
+                time.sleep(dt)
+                sb.query(f"led_cc {on_brightness}")
+                time.sleep(dt)