File size: 7,805 Bytes
f5dbfe6 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 | from dataclasses import dataclass, field, asdict, is_dataclass, fields
from enum import Enum, auto
from typing import List, Any
class CONNECTOR_TYPES(Enum):
# Motors
MOTOR_PMSM = auto()
MOTOR_DC = auto()
MOTOR_STEPPER_BIPOLAR = auto()
MOTOR_STEPPER_UNIPOLAR = auto()
MOTOR_INDUCTION = auto()
# Drives
DRIVE_PMSM = auto()
DRIVE_DC = auto()
DRIVE_STEPPER_BIPOLAR = auto()
DRIVE_STEPPER_UNIPOLAR = auto()
DRIVE_INDUCTION = auto()
# Power sources
POWER_DC = auto()
POWER_AC1 = auto()
POWER_AC3 = auto()
# IO
OUTPUT_DIGITAL_DC = auto()
INPUT_DIGITAL_DC = auto()
OUTPUT_ANALOG = auto()
INPUT_ANALOG = auto()
# Communication
EM_SERIAL_485 = auto()
EM_SERIAL_422 = auto()
# Safety
STO_2 = auto() # 2 ch sto with feedback
ANY = auto()
@dataclass
class CONNECTOR:
description: str = field(default="Default description", metadata={'desc': 'What is connected to the motor connector'})
required: bool = field(default=False, metadata={'desc': 'Is the connector required to be connected'})
exclusive: bool = field(default=False, metadata={'desc': 'Only allowed to connect to a single other connector (no branches)'})
enabled: bool = field(default=False, metadata={'desc': 'Is the connector required to be connected'})
direction: str = field(default="input", metadata={'desc': 'Typical direction of the connection (input/output/bidirectional)'})
can_connect_to: list = field(default_factory=list, metadata={'desc': 'List of connectors that this connector can connect to'})
is_connected_to: list = field(default_factory=list, metadata={'desc': 'List of connectors that this connector is connected to'})
hardware_identifier: str = field(default="None", metadata={'desc': 'ID of connector on hardware'})
type: CONNECTOR_TYPES = field(default=CONNECTOR_TYPES.ANY, metadata={'desc': 'Type of connector'})
parent: Any = field(default=None, repr=False, compare=False, metadata={'exclude': True})
class CONNECTOR_FUNCTIONS:
@staticmethod
def validate_connect_to(own_connector: CONNECTOR, external_connectors: list[CONNECTOR]):
if own_connector not in own_connector.parent.connectors.values():
raise ValueError(f'Connector not found in device ({own_connector.description})')
if not own_connector.enabled:
return [False, "Source connector is disabled"]
if own_connector.exclusive and len(external_connectors) > 1:
return [False, "Source connector can't connect to multiple connectors"]
for external_connector in external_connectors:
if own_connector == external_connector:
return [False, "Source connector can't connect to itself"]
if external_connector in own_connector.is_connected_to or own_connector in external_connector.is_connected_to:
if not external_connector in own_connector.is_connected_to or not own_connector in external_connector.is_connected_to:
return [False, "Connections between devices are not synced"] # TODO: handle this case better
return [False, "Source connector is already connected to target connector"]
if not external_connector.enabled:
return [False, "Source connector is disabled"]
if external_connector.exclusive and len(external_connectors) > 1:
return [False, f"Target connector ({external_connector.description}) can't connect to multiple connectors"]
if external_connector.type not in own_connector.can_connect_to:
return [False, f"Target connector type mismatch, {own_connector.description} can't connect to {external_connector.type}"]
if own_connector.exclusive:
if own_connector.direction == "input" and external_connector.direction == "input":
return [False, "Source connector is an input and target connector is an input, one must be an output"]
elif own_connector.direction == "output" and external_connector.direction == "output":
return [False, "Source connector is an output and target connector is an output, one must be an input"]
return [True, ""]
@staticmethod
def connect_to(own_connector: CONNECTOR, external_connectors: list[CONNECTOR]):
success, error = CONNECTOR_FUNCTIONS.validate_connect_to(own_connector, external_connectors)
if not success:
return [False, f"Connector validation failed ({error})"]
for external_connector in external_connectors:
own_connector.is_connected_to.append(external_connector)
external_connector.is_connected_to.append(own_connector)
return [True, ""]
@staticmethod
def disconnect_from(own_connector: CONNECTOR, external_connectors: list[CONNECTOR]):
error = ""
for external_connector in external_connectors:
if external_connector in own_connector.is_connected_to:
own_connector.is_connected_to.remove(external_connector)
else:
error += f"Connector {own_connector.description} is not connected to {external_connector.description}, nothing to disconnect\n"
if own_connector in external_connector.is_connected_to:
external_connector.is_connected_to.remove(own_connector)
else:
error += f"Connector {external_connector.description} is not connected to {own_connector.description}, nothing to disconnect\n"
if error != "":
return [False, error]
return [True, ""]
@staticmethod
def update_from_connector(own_connector: CONNECTOR, external_connector: CONNECTOR = None):
if external_connector is None and len(own_connector.is_connected_to) > 1:
return [False, "Multiple connections, please specify external connector to update from"]
if own_connector not in own_connector.parent.connectors.values():
raise ValueError(f'Connector not found in device ({external_connector.parent.module_type}/{own_connector.description})')
if len(own_connector.is_connected_to) == 0:
return [False, "Connector is not connected to anything"]
update_count = 0
if external_connector.parent.module_type == "motor":
for own_param in fields(own_connector.parent.common_params):
own_param_name = own_param.name
own_param_data = getattr(own_connector.parent.common_params, own_param_name)
if own_param_data.auto_fill_enable:
for auto_fill_source in own_param_data.auto_fill_by:
for external_param in fields(external_connector.parent.common_params):
external_param_name = external_param.name
if auto_fill_source == external_param_name:
getattr(own_connector.parent.common_params, own_param_name).value = getattr(external_connector.parent.common_params, auto_fill_source).value
update_count += 1
print(f"Updated {own_param_name} to {getattr(own_connector.parent.common_params, own_param_name).value}")
else:
return [False, "Cannot auto update from type: " + external_connector.parent.module_type]
if update_count == 1:
return [True, f"{update_count} value updated"]
return [True, f"{update_count} values updated"]
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