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ControllerFactory.py
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ControllerFactory.py
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import inspect
import queue
from abc import abstractmethod
import multiprocess as mp
from multiprocess import Process, Value, Lock
from typing import Callable
from stepper_motors_juanmf1.AccelerationStrategy import (LinearAcceleration, AccelerationStrategy,
ExponentialAcceleration,
CustomAccelerationPerPps, DynamicDelayPlanner,
StaticDelayPlanner,
InteractiveAcceleration, DelayPlanner)
from adafruit_motor.stepper import StepperMotor as AdafruitStepperDriver
from stepper_motors_juanmf1.AdafruitControllerAdapter import AdafruitStepperDriverAdapter
from stepper_motors_juanmf1.Controller import (DRV8825MotorDriver, TMC2209StandaloneMotorDriver,
DriverSharedPositionStruct, MotorDriver, BipolarStepperMotorDriver)
from stepper_motors_juanmf1.Navigation import (DynamicNavigation, StaticNavigation, Navigation,
BasicSynchronizedNavigation)
from stepper_motors_juanmf1.BlockingQueueWorker import MpQueue
from stepper_motors_juanmf1.EventDispatcher import EventDispatcher, MultiprocessObserver
from stepper_motors_juanmf1.StepperMotor import StepperMotor
from stepper_motors_juanmf1.ThreadOrderedPrint import tprint, flush_streams_if_not_empty
from stepper_motors_juanmf1.UnipolarController import UnipolarMotorDriver, ULN2003MotorDriver
class ControllerBuilder:
def __init__(self, fromBuilder: 'ControllerBuilder' = None):
self.stepperMotor: StepperMotor or None = None
# Generic Pinout
self.directionGpioPin: int or None = None
# Unipolar uses a list of 4 step pins
self.stepGpioPin: int or list = None
self.sleepGpioPin: int or None = None
self.enableGpioPin: int or None = None
# Related to Sleep/Enable
self.useHoldingTorque: bool or None = None
self.modeGpioPins: list or None = None
# ThirdParty Adapted libs might use int as step styles
self.stepsMode: str or int = None
self.transformations: list[tuple] or None = None
self.accelerationStrategy: AccelerationStrategy or None = None
# Navigation style config
self.navigation: Navigation or None = None
self.delayPlanner: DelayPlanner or None = None
self.built = False
self.workerName: str or None = None
self.jobQueueMaxSize = 2
# multiprocess
self.jobQueue: queue.Queue or MpQueue = None
self.sharedMemory: list or None = None
self.isProxy = False
self.jobCompletionObserver: MultiprocessObserver or None = None
# This one does not have a constructor argument, goes in sharedMemory[2]
self.clientMultiprocessObserver: MultiprocessObserver or None = None
self.steppingCompleteEventName = "steppingComplete"
# TMC22XX specific
self.autoResetOnError = False
# CounterClockWise is home.
self.homeDirection = -1
self.indexGpioPin: int or None = None
self.stepsPerIndexPulse = 4
self.spreadGpioPin: int or None = None
self.diagGpioPin: int or None = None
# Adafruit
self.adafruitDriver: AdafruitStepperDriver or None = None
if fromBuilder:
self.copyFromBuilder(fromBuilder)
def copyFromBuilder(self, fromBuilder: 'ControllerBuilder') -> 'ControllerBuilder':
"""
Only copy values that would not cause conflict. e.g. skipping pins.
@param fromBuilder:
@return:
"""
kwargs = fromBuilder._driverConstructorKwArgs()
conflictFields = [
'stepperMotor',
'directionGpioPin',
'stepGpioPin',
'sleepGpioPin',
'enableGpioPin',
'modeGpioPins',
'accelerationStrategy',
'navigation',
'delayPlanner',
'built',
'jobQueue',
'sharedMemory',
'isProxy',
'jobCompletionObserver',
'indexGpioPin',
'spreadGpioPin',
'diagGpioPin',
'adafruitDriver',
]
copiedValues = {key: kwargs[key] for key in kwargs if key not in conflictFields}
for key, value in copiedValues.items():
setattr(self, key, value)
return self
"""
Builder pattern Fluent API
"""
def withClientMultiprocessObserver(self, clientMultiprocessObserver: MultiprocessObserver):
self.clientMultiprocessObserver = clientMultiprocessObserver
return self
def withsteppingCompleteEventName(self, steppingCompleteEventName):
self.steppingCompleteEventName = steppingCompleteEventName
return self
def withWorkerName(self, name):
self.workerName = name
return self
def withTMCPerks(self, *,
autoResetOnError=False,
homeDirection=-1,
indexGpioPin: int or None = None,
stepsPerIndexPulse=4,
spreadGpioPin: int or None = None,
diagGpioPin: int or None = None):
self.autoResetOnError = autoResetOnError
self.homeDirection = homeDirection
self.indexGpioPin = indexGpioPin
self.stepsPerIndexPulse = stepsPerIndexPulse
self.spreadGpioPin = spreadGpioPin
self.diagGpioPin = diagGpioPin
def withSharedMemory(self, sharedMemory: list):
self.sharedMemory = sharedMemory
return self
def withJobCompletionObserver(self, jobCompletionObserver: MultiprocessObserver):
self.jobCompletionObserver = jobCompletionObserver
return self
def withJobQueue(self, jobQueue: queue.Queue or MpQueue):
self.jobQueue = jobQueue
return self
def isMultiprocessProxy(self, isProxy):
self.isProxy = isProxy
return self
def withHoldingTorqueEnabled(self, enabled=True):
self.useHoldingTorque = enabled
return self
def withsteppingMode(self, stepsMode):
self.stepsMode = stepsMode
return self
def withStepperMotor(self, stepperMotor: StepperMotor):
self.stepperMotor = stepperMotor
return self
def withPins(self, *, directionGpioPin=None, stepGpioPin=None, enableGpioPin=None, sleepGpioPin=None):
self.directionGpioPin = directionGpioPin
self.stepGpioPin = stepGpioPin
self.enableGpioPin = enableGpioPin
self.sleepGpioPin = sleepGpioPin
return self
def withsteppingModePins(self, modeGpioPins):
self.modeGpioPins = modeGpioPins
return self
def withTorqueCurve(self, transformations: list):
"""
@param transformations: list of tuples
[(minPPS, maxIncrementPPS_1), (minPPS + maxIncrementPPS_1, maxIncrementPPS_2),...(maxPPS, 0)]
in Full step mode, where 1 pulse == 1 step
see Benchmark module
@return:
"""
self.transformations = transformations
return self
def withAdafruitDriver(self, adafruitDriver: AdafruitStepperDriver):
self.adafruitDriver = adafruitDriver
return self
def _accelerationStrategyConstructorArgs(self):
assert self.stepperMotor and self.delayPlanner and self.stepsMode
return {'stepperMotor': self.stepperMotor,
'delayPlanner': self.delayPlanner,
'steppingModeMultiple': BipolarStepperMotorDriver.RESOLUTION_MULTIPLE[self.stepsMode]}
def withNoAcceleration(self):
self.accelerationStrategy = AccelerationStrategy(**self._accelerationStrategyConstructorArgs())
return self
def withLinearAcceleration(self):
self.accelerationStrategy = LinearAcceleration(**self._accelerationStrategyConstructorArgs())
return self
def withExponentialAcceleration(self):
self.accelerationStrategy = ExponentialAcceleration(**self._accelerationStrategyConstructorArgs())
return self
def withCustomTorqueCurveAccelerationAcceleration(self):
"""
CustomTorqueCurve refers to max increment in PPS at each PPS from minPPS to maxPPS
"""
self.accelerationStrategy = CustomAccelerationPerPps(**self._accelerationStrategyConstructorArgs(),
transformations=self.transformations)
return self
def withInteractiveAcceleration(self, minSpeedDelta, minPPS):
self.accelerationStrategy = InteractiveAcceleration(**self._accelerationStrategyConstructorArgs(),
minSpeedDelta=minSpeedDelta, minPPS=minPPS)
return self
def withNavigationStyleStatic(self):
self.navigation = StaticNavigation()
self.delayPlanner = StaticDelayPlanner()
return self
def withNavigationStyleDynamic(self):
self.navigation = DynamicNavigation()
self.delayPlanner = DynamicDelayPlanner()
return self
def withNavigationStyleSynchronized(self, newMultitonKey=0):
"""
Initializes a set of Navigation and DelayPlain using BasicSynchronizedNavigation. Keep in mind
BasicSynchronizedNavigation is Singleton and can be initialized only once, setting the high and
low values that will be applied to all pulses sent to Drivers (except for ThirdPartyAdapter ones).
"""
self.navigation = BasicSynchronizedNavigation.getInstance(newMultitonKey=newMultitonKey)
self.delayPlanner = DynamicDelayPlanner()
return self
"""
Builder methods
"""
def _driverConstructorKwArgs(self, classToConstruct=None):
if not self.delayPlanner:
self.withNavigationStyleStatic()
if not self.accelerationStrategy:
self.withNoAcceleration()
allParams = {
'stepperMotor': self.stepperMotor,
'directionGpioPin': self.directionGpioPin,
'stepGpioPin': self.stepGpioPin,
'sleepGpioPin': self.sleepGpioPin,
'enableGpioPin': self.enableGpioPin,
'useHoldingTorque': self.useHoldingTorque,
'modeGpioPins': self.modeGpioPins,
'stepsMode': self.stepsMode,
'transformations': self.transformations,
'accelerationStrategy': self.accelerationStrategy,
'navigation': self.navigation,
'delayPlanner': self.delayPlanner,
'built': self.built,
'workerName': self.workerName,
'jobQueueMaxSize': self.jobQueueMaxSize,
'jobQueue': self.jobQueue,
'sharedMemory': self.sharedMemory,
'isProxy': self.isProxy,
'jobCompletionObserver': self.jobCompletionObserver,
'steppingCompleteEventName': self.steppingCompleteEventName,
'autoResetOnError': self.autoResetOnError,
'homeDirection': self.homeDirection,
'indexGpioPin': self.indexGpioPin,
'stepsPerIndexPulse': self.stepsPerIndexPulse,
'spreadGpioPin': self.spreadGpioPin,
'diagGpioPin': self.diagGpioPin,
'adafruitDriver': self.adafruitDriver,
}
if classToConstruct is None:
return allParams
validParams = list(inspect.signature(classToConstruct.__init__).parameters)
constructorKwArgs = {key: allParams[key] for key in allParams if key in validParams}
return constructorKwArgs
def buildDRV8825Driver(self) -> DRV8825MotorDriver:
assert not self.built
driver = DRV8825MotorDriver(**self._driverConstructorKwArgs(DRV8825MotorDriver))
self.built = True
return driver
def buildUnipolarDriver(self) -> UnipolarMotorDriver:
assert not self.built
driver = UnipolarMotorDriver(**self._driverConstructorKwArgs(UnipolarMotorDriver))
self.built = True
return driver
def buildUNL2003Driver(self) -> UnipolarMotorDriver:
"""
Same behavior as buildUnipolarDriver()
@return: ULN2003MotorDriver
"""
assert not self.built
driver = ULN2003MotorDriver(**self._driverConstructorKwArgs(UnipolarMotorDriver))
self.built = True
return driver
def buildTMC2209StandaloneDriver(self) -> TMC2209StandaloneMotorDriver:
assert not self.built
driver = TMC2209StandaloneMotorDriver(**self._driverConstructorKwArgs(TMC2209StandaloneMotorDriver))
self.built = True
return driver
def buildAdafruitStepperDriverAdapter(self) -> AdafruitStepperDriverAdapter:
assert not self.built
driver = AdafruitStepperDriverAdapter(**self._driverConstructorKwArgs(AdafruitStepperDriverAdapter))
self.built = True
return driver
@staticmethod
def getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None) -> 'ControllerBuilder':
return (ControllerBuilder().withPins(directionGpioPin=directionGpioPin, stepGpioPin=stepGpioPin,
enableGpioPin=enableGpioPin, sleepGpioPin=sleepGpioPin)
.withStepperMotor(stepperMotor)
.withsteppingMode(stepsMode)
.withsteppingModePins(modeGpioPins))
class ControllerFactory:
def getDelayPlanner(self) -> DelayPlanner:
pass
def getNavigation(self) -> Navigation:
pass
def getBasicBuilder(self, stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None,
syncNavigationMultitonKey=0) -> ControllerBuilder:
builder = ControllerBuilder.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin,
stepsMode, modeGpioPins, enableGpioPin)
return self.addNavigationStyle(builder, syncNavigationMultitonKey)
# Returns a controller that can't (de)accelerate.
def getFlatDRV8825With(self, stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin)
.withNoAcceleration()
.buildDRV8825Driver())
def getLinearDRV8825With(self, stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin)
.withLinearAcceleration()
.buildDRV8825Driver())
def getExponentialDRV8825With(self, stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin)
.withExponentialAcceleration()
.buildDRV8825Driver())
def getCustomTorqueCharacteristicsDRV8825With(self, stepperMotor, directionGpioPin, stepGpioPin, transformations=None,
sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin)
.withTorqueCurve(transformations)
.withCustomTorqueCurveAccelerationAcceleration()
.buildDRV8825Driver())
def getInteractiveDriverBuilder(self, stepperMotor, directionGpioPin, stepGpioPin, minSpeedDelta, minPps,
sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin)
.withInteractiveAcceleration(minSpeedDelta, minPps))
def getInteractiveDRV8825With(self, stepperMotor, directionGpioPin, stepGpioPin, minSpeedDelta, minPps, sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None):
return (self.getInteractiveDriverBuilder(stepperMotor, directionGpioPin, stepGpioPin, minSpeedDelta, minPps,
sleepGpioPin, stepsMode, modeGpioPins, enableGpioPin)
.buildDRV8825Driver())
def getFlatTCM2209With(self, stepperMotor, directionGpioPin, stepGpioPin,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
stepsMode=stepsMode,
modeGpioPins=modeGpioPins,
enableGpioPin=enableGpioPin)
.withNoAcceleration()
.buildTMC2209StandaloneDriver())
def getLinearTCM2209With(self, stepperMotor, directionGpioPin, stepGpioPin,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
stepsMode=stepsMode,
modeGpioPins=modeGpioPins,
enableGpioPin=enableGpioPin)
.withLinearAcceleration()
.buildTMC2209StandaloneDriver())
def getExponentialTCM2209With(self, stepperMotor, directionGpioPin, stepGpioPin,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
stepsMode=stepsMode,
modeGpioPins=modeGpioPins,
enableGpioPin=enableGpioPin)
.withExponentialAcceleration()
.buildTMC2209StandaloneDriver())
def getCustomTorqueCharacteristicsTCM2209With(self, stepperMotor, directionGpioPin, stepGpioPin, transformations=None,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
stepsMode=stepsMode,
modeGpioPins=modeGpioPins,
enableGpioPin=enableGpioPin)
.withCustomTorqueCurveAccelerationAcceleration()
.buildTMC2209StandaloneDriver())
def getInteractiveTCM2209With(self, stepperMotor, directionGpioPin, stepGpioPin, minSpeedDelta, minPps,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
stepsMode=stepsMode,
modeGpioPins=modeGpioPins,
enableGpioPin=enableGpioPin)
.withInteractiveAcceleration(minSpeedDelta, minPps)
.buildTMC2209StandaloneDriver())
def getLinearUnipolarDriverWith(self,
stepperMotor,
directionGpioPin,
stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
sleepGpioPin=sleepGpioPin,
stepsMode=stepsMode,
enableGpioPin=enableGpioPin)
.withLinearAcceleration()
.buildUnipolarDriver())
def getExponentialUnipolarDriverWith(self,
stepperMotor,
directionGpioPin,
stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
sleepGpioPin=sleepGpioPin,
stepsMode=stepsMode,
enableGpioPin=enableGpioPin)
.withExponentialAcceleration()
.buildUnipolarDriver())
def getCustomTorqueCharacteristicsUnipolarDriverWith(self,
stepperMotor,
directionGpioPin,
stepGpioPin,
transformations=None,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
sleepGpioPin=sleepGpioPin,
stepsMode=stepsMode,
enableGpioPin=enableGpioPin)
.withTorqueCurve(transformations)
.withCustomTorqueCurveAccelerationAcceleration()
.buildUnipolarDriver())
def getInteractiveUnipolarDriverWith(self,
stepperMotor,
directionGpioPin,
stepGpioPin,
minSpeedDelta,
minPps,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin,
sleepGpioPin=sleepGpioPin,
stepsMode=stepsMode,
enableGpioPin=enableGpioPin)
.withInteractiveAcceleration(minSpeedDelta, minPps)
.buildUnipolarDriver())
def getFlatAdafruitStepperWith(self, stepperMotor, adafruitDriver: AdafruitStepperDriver, stepsMode="Full"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode)
.withAdafruitDriver(adafruitDriver)
.withNoAcceleration()
.buildAdafruitStepperDriverAdapter())
def getLinearAdafruitStepperWith(self, stepperMotor, adafruitDriver: AdafruitStepperDriver, stepsMode="Full"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode)
.withAdafruitDriver(adafruitDriver)
.withLinearAcceleration()
.buildAdafruitStepperDriverAdapter())
def getExponentialAdafruitStepperWith(self, stepperMotor, adafruitDriver: AdafruitStepperDriver, stepsMode="Full"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode)
.withAdafruitDriver(adafruitDriver)
.withExponentialAcceleration()
.buildAdafruitStepperDriverAdapter())
def getCustomTorqueCharacteristicsAdafruitStepperWith(self, stepperMotor,
adafruitDriver: AdafruitStepperDriver,
transformations=None,
stepsMode="Full"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode)
.withAdafruitDriver(adafruitDriver)
.withTorqueCurve(transformations)
.withCustomTorqueCurveAccelerationAcceleration()
.buildAdafruitStepperDriverAdapter())
def getInteractiveAdafruitStepperWith(self, stepperMotor, minSpeedDelta, minPps,
adafruitDriver: AdafruitStepperDriver,
stepsMode="Full"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode)
.withAdafruitDriver(adafruitDriver)
.withInteractiveAcceleration(minSpeedDelta, minPps)
.buildAdafruitStepperDriverAdapter())
@abstractmethod
def addNavigationStyle(self, builder: ControllerBuilder, syncNavigationMultitonKey=0) -> ControllerBuilder:
pass
class StaticControllerFactory(ControllerFactory):
def getDelayPlanner(self):
return StaticDelayPlanner()
def getNavigation(self):
return StaticNavigation()
def addNavigationStyle(self, builder: ControllerBuilder, syncNavigationMultitonKey=0):
return builder.withNavigationStyleStatic()
class DynamicControllerFactory(ControllerFactory):
def getDelayPlanner(self):
return DynamicDelayPlanner()
def getNavigation(self):
return DynamicNavigation()
def addNavigationStyle(self, builder: ControllerBuilder, syncNavigationMultitonKey=0):
return builder.withNavigationStyleDynamic()
class SynchronizedControllerFactory(ControllerFactory):
def getDelayPlanner(self):
return DynamicDelayPlanner()
def getNavigation(self):
return BasicSynchronizedNavigation.getInstance()
def addNavigationStyle(self, builder: ControllerBuilder, syncNavigationMultitonKey=0):
return builder.withNavigationStyleSynchronized(syncNavigationMultitonKey)
class MultiProcessingControllerFactory(SynchronizedControllerFactory):
runningProcesses = []
def __init__(self):
self.eventDispatcher = EventDispatcher.instance()
self._factoryOrders = []
self._clientMultiprocessObservers = []
def setUpProcess(self) -> 'MultiProcessingControllerFactory':
self._factoryOrders = []
self._clientMultiprocessObservers = []
return self
def withDriverBuilder(self, builder: ControllerBuilder, builderMethodRef):
# Todo: test if breaks.
self._factoryOrders.append((builder, builderMethodRef))
# Uses buider.clientMultiprocessObserver
self._clientMultiprocessObservers.append(None)
return self
def withDriver(self, factoryFnReference: Callable, multiprocessObserver: MultiprocessObserver = None,
*args, **kwargs) -> 'MultiProcessingControllerFactory':
"""
@param factoryFnReference: any of MultiProcessingControllerFactory.getMp** methods.
@param multiprocessObserver: client specific MP shared memory and handlers to pass along. Final shared memory
will have these appended AFTER standard ones as:
[Lock, DriverSharedPositionStruct, multiprocessObserver]
@return: this factory
"""
self._factoryOrders.append((factoryFnReference, (args, kwargs)))
self._clientMultiprocessObservers.append(multiprocessObserver)
return self
def spawn(self, syncNavigationMultitonKey=0):
"""
@param withBasicSynchronizedNavigationMultitonKey: In case you need to coordinate a group of motors per
process, they'll need one instance of
BasicSynchronizedNavigation each to avoid conflicts with the
latch. MainProcess will have keyed instances, Child process
one instance each.
@return: A list of proxy drivers you can use on MainProcess to send stepping jobs to counterpart drivers in
child process.
"""
print("SPAWNING!!")
syncNavigationCountDownLatch = (BasicSynchronizedNavigation.getInstance(
newMultitonKey=syncNavigationMultitonKey)
.getCountDownLatch(default=Value('i', 0)))
if isinstance(syncNavigationCountDownLatch, BasicSynchronizedNavigation.CountDownLatch):
raise RuntimeError("BasicSynchronizedNavigation.CountDownLatch already initialized as mono-process")
if self._clientMultiprocessObservers:
assert len(self._clientMultiprocessObservers) == len(self._factoryOrders)
queues = []
sharedMemories = []
for i, order in enumerate(self._factoryOrders):
sharedMemory = []
# Position updates
sharedLock = Lock()
positionValue = Value(DriverSharedPositionStruct, 0, 0, lock=True)
sharedMemory.extend([sharedLock, positionValue])
if self._clientMultiprocessObservers:
if isinstance(order[0], ControllerBuilder):
builder = order[0]
observer = builder.clientMultiprocessObserver
sharedMemory.append(observer)
else:
sharedMemory.append(self._clientMultiprocessObservers[i])
# Worker Queue
queues.append(MpQueue())
sharedMemories.append(sharedMemory)
eventsMultiprocessObserver = self.eventDispatcher.getMultiprocessObserver()
proxies = self.Unpacker.doUnpack(self._factoryOrders, queues, sharedMemories, isProxy=True,
syncNavigationMultitonKey=syncNavigationMultitonKey)
jobCompletionObservers = [driver.jobCompletionObserver for driver in proxies]
unpacker = self.Unpacker(self._factoryOrders, queues, sharedMemories, eventsMultiprocessObserver)
childProcess = Process(target=unpacker.unpack, args=(jobCompletionObservers, syncNavigationCountDownLatch))
childProcess.daemon = True
flush_streams_if_not_empty()
childProcess.start()
self.runningProcesses.append((childProcess, proxies))
self._factoryOrders = []
self._clientMultiprocessObservers = []
return proxies
def getMpCustomTorqueCharacteristicsDRV8825With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor, directionGpioPin,
stepGpioPin,
transformations=None,
sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin, syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withTorqueCurve(transformations)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withCustomTorqueCurveAccelerationAcceleration()
.buildDRV8825Driver())
def getMpLinearDRV8825With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor, directionGpioPin,
stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin, syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withLinearAcceleration()
.buildDRV8825Driver())
def getMpExponentialDRV8825With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
directionGpioPin, stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, sleepGpioPin, stepsMode, modeGpioPins,
enableGpioPin, syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withExponentialAcceleration()
.buildDRV8825Driver())
def getMpCustomTorqueCharacteristicsTMC2209With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor, directionGpioPin,
stepGpioPin,
transformations=None,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
modeGpioPins=modeGpioPins, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withTorqueCurve(transformations)
.withCustomTorqueCurveAccelerationAcceleration()
.buildTMC2209StandaloneDriver())
def getMpLinearTMC2209With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor, directionGpioPin, stepGpioPin,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
modeGpioPins=modeGpioPins, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withLinearAcceleration()
.buildTMC2209StandaloneDriver())
def getMpExponentialTMC2209With(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
directionGpioPin, stepGpioPin,
stepsMode="1/8",
modeGpioPins=None,
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (
self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
modeGpioPins=modeGpioPins, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withExponentialAcceleration()
.buildTMC2209StandaloneDriver())
def getMpCustomTorqueCharacteristicsUnipolarDriverWith(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor, directionGpioPin,
stepGpioPin,
transformations=None,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
sleepGpioPin=sleepGpioPin, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withTorqueCurve(transformations)
.withCustomTorqueCurveAccelerationAcceleration()
.buildUnipolarDriver())
def getMpLinearUnipolarDriverWith(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
directionGpioPin, stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
sleepGpioPin=sleepGpioPin, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withLinearAcceleration()
.buildUnipolarDriver())
def getMpExponentialUnipolarDriverWith(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
directionGpioPin, stepGpioPin,
sleepGpioPin=None,
stepsMode="Full",
enableGpioPin=None,
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, directionGpioPin, stepGpioPin, stepsMode=stepsMode,
sleepGpioPin=sleepGpioPin, enableGpioPin=enableGpioPin,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withExponentialAcceleration()
.buildUnipolarDriver())
def getMpCustomTorqueCharacteristicsAdafruitStepperWith(self, jobQueue, sharedMemory, isProxy,
jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
adafruitStepperDriver: AdafruitStepperDriver,
transformations=None,
stepsMode="Full",
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withAdafruitDriver(adafruitStepperDriver)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withTorqueCurve(transformations)
.withLinearAcceleration()
.buildAdafruitStepperDriverAdapter())
def getMpLinearAdafruitStepperWith(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
adafruitStepperDriver: AdafruitStepperDriver,
stepsMode="Full",
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withAdafruitDriver(adafruitStepperDriver)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withLinearAcceleration()
.buildAdafruitStepperDriverAdapter())
def getMpExponentialAdafruitStepperWith(self, jobQueue, sharedMemory, isProxy, jobCompletionObserver,
syncNavigationMultitonKey, stepperMotor,
adafruitStepperDriver: AdafruitStepperDriver,
stepsMode="Full",
steppingCompleteEventName="steppingComplete"):
return (self.getBasicBuilder(stepperMotor, None, None, stepsMode=stepsMode,
syncNavigationMultitonKey=syncNavigationMultitonKey)
.withSharedMemory(sharedMemory)
.withJobQueue(jobQueue)
.withJobCompletionObserver(jobCompletionObserver)
.isMultiprocessProxy(isProxy)
.withAdafruitDriver(adafruitStepperDriver)
.withsteppingCompleteEventName(steppingCompleteEventName)
.withExponentialAcceleration()
.buildAdafruitStepperDriverAdapter())
class Unpacker:
def __init__(self, factoryOrders, queues: list, sharedMemories: list, eventMultiprocessObserver):
self.factoryOrders = factoryOrders
self.queues = queues
self.sharedMemories = sharedMemories
self.multiprocessObserver = eventMultiprocessObserver
self.eventDispatcher = None
def unpack(self, jobCompletionObservers, syncNavigationCountDownLatch):
"""
In new process, build Drivers
@return:
"""
# Removing Singletons instances in case its state was cloned from Parent Process:
EventDispatcher._instance = None
self.eventDispatcher = EventDispatcher.instance(self.multiprocessObserver)
BasicSynchronizedNavigation._instances = {}
BasicSynchronizedNavigation.getInstance(countDownLatch=syncNavigationCountDownLatch)
DynamicDelayPlanner.Rest._instance = None
DynamicDelayPlanner.Steady._instance = None
DynamicDelayPlanner.RampingUp._instance = None
DynamicDelayPlanner.RampingDown._instance = None
tprint("Unpacker: Instantiating EventDispatcher with shared memory", self.multiprocessObserver,
self.eventDispatcher, self.eventDispatcher._multiprocessObserver,
self.eventDispatcher._shouldDispatchToParentProcess, jobCompletionObservers)
drivers = self.doUnpack(self.factoryOrders, self.queues, self.sharedMemories, isProxy=False,
jobCompletionObservers=jobCompletionObservers)
flush_streams_if_not_empty()
# block main forever.
drivers.pop().workerFuture.result()
@staticmethod
def doUnpack(factoryOrders, queues, sharedMemories, isProxy, jobCompletionObservers=None,
syncNavigationMultitonKey=0) \
-> list[MotorDriver]:
drivers = []
for index, order in enumerate(factoryOrders):
if isinstance(order[0], ControllerBuilder):
# jobCompletionObservers[index] should be None as the Builder has (or not) a reference to it.
builder: ControllerBuilder = order[0]
(builder.isMultiprocessProxy(isProxy)
.withJobQueue(queues[index])
.withSharedMemory(sharedMemories[index]))
if isinstance(builder.navigation, BasicSynchronizedNavigation):
# Make sure drivers that are synced use the right multiton instance.
builder.navigation = BasicSynchronizedNavigation.getInstance(
newMultitonKey=syncNavigationMultitonKey)
if jobCompletionObservers:
builder.withJobCompletionObserver(jobCompletionObservers[index])
# Unique scenario, builder can build same Driver twice, if each lives in a different process.
builder.built = False
driver = order[1]()
drivers.append(driver)
elif jobCompletionObservers:
driver = order[0](queues[index], sharedMemories[index], isProxy, jobCompletionObservers[index],
syncNavigationMultitonKey, *order[1][0], **order[1][1])
drivers.append(driver)
else:
driver = order[0](queues[index], sharedMemories[index], isProxy, None,
syncNavigationMultitonKey, *order[1][0], **order[1][1])
drivers.append(driver)
tprint(driver)
return drivers