Merge pull request #67 from LaboratoireMecaniqueLille/v1.5.11

Release of version 1.5.11

.readthedocs.yml

@@ -5,10 +5,6 @@
 # Required
 version: 2
 
-# Build documentation in the docs/ directory with Sphinx
-sphinx:
-   configuration: docs/source/conf.py
-
 # Optionally set the version of Python and requirements required to build your docs
 build:
   os: ubuntu-22.04
@@ -22,6 +18,6 @@ sphinx:
 
 python:
   install:
-  - requirements: requirements.txt
+  - requirements: docs/source/requirements.txt
   - method: pip
     path: .

Examples/correl_advanced.py

@@ -52,15 +52,13 @@
                                      'uxx', 'uyy', 'uxy',   # Quadratic def (x)
                                      'vxx', 'vyy', 'vxy'],  # Quadratic def (y)
                                    verbose=2,  # To print info
-                                   show_diff=True,  # Display the residual
-                                   # (slow!)
-                                   drop=False,  # Disable data picker
                                    mask=mask,
                                    levels=4,  # Reduce the number of levels
                                    iterations=3,  # and of iteration
                                    resampling_factor=2.5,  # aggressive
                                    # resampling
                                    labels=[  # Needed to name our custom field
+                                     't(s)', 'meta',
                                      'x', 'y', 'r', 'Exx', 'Eyy', 'Exy',
                                      'Ux2', 'Uy2', 'Uxy',
                                      'Vx2', 'Vy2', 'Vxy'],

Examples/correl_fake_test.py

@@ -70,8 +70,8 @@ def __call__(self, exx: float, eyy: float) -> np.ndarray:
 
   # The block performing the DIC
   dis = crappy.blocks.DISCorrel('', show_image=True,
-                                labels=['t(s)', 'x', 'y', 'measured_Exx(%)',
-                                        'measured_Eyy(%)'],
+                                labels=['t(s)', 'meta', 'x', 'y',
+                                        'measured_Exx(%)', 'measured_Eyy(%)'],
                                 image_generator=Apply_strain_img(img),
                                 verbose=True, display_images=True)
   # This modifier will generate an image with the values of strain

Examples/correl_strain_controlled_fake_test.py

@@ -74,8 +74,8 @@ def __call__(self, exx: float, eyy: float) -> np.ndarray:
 
   # The block performing the DIC
   dis = crappy.blocks.DISCorrel('', display_images=True,
-                                labels=['t(s)', 'x', 'y', 'measured_Exx(%)',
-                                        'measured_Eyy(%)'],
+                                labels=['t(s)', 'meta', 'x', 'y',
+                                        'measured_Exx(%)', 'measured_Eyy(%)'],
                                 verbose=True, iterations=0, finest_scale=2,
                                 image_generator=Apply_strain_img(img))
 

Examples/dio_daqmx.py

@@ -38,10 +38,12 @@ def change_name(data, prev: str, new: str):
   gen = crappy.blocks.Generator([dict(type='cyclic', value1=0, value2=1,
                                       condition1="delay=1",
                                       condition2="delay=1")], repeat=True)
-  io = crappy.blocks.IOBlock("Nidaqmx", device="Dev2",
-                             channels=[dict(name='ai0'), dict(name='di0'),
-                                       dict(name='ao0'), dict(name='do1')],
-                             samplerate=100,
+  io = crappy.blocks.IOBlock("Nidaqmx",
+                             channels=[dict(name='Dev2/ai0'),
+                                       dict(name='Dev2/di0'),
+                                       dict(name='Dev2/ao0'),
+                                       dict(name='Dev2/do1')],
+                             sample_rate=100,
                              labels=['t(s)', 'ai0', 'di0'],
                              cmd_labels=['cmd', 'cmd2'])
   crappy.link(gen, io)

Examples/discorrel_basic.py

@@ -12,7 +12,7 @@
 if __name__ == "__main__":
   dis = crappy.blocks.DISCorrel('Webcam',
                                 fields=['x', 'y'],
-                                labels=['t(s)', 'x(pix)', 'y(pix)'],
+                                labels=['t(s)', 'meta', 'x(pix)', 'y(pix)'],
                                 display_images=True)
 
   graph = crappy.blocks.Grapher(('x(pix)', 'y(pix)'))

Examples/gpucorrel_fake_test.py

@@ -72,8 +72,8 @@ def __call__(self, exx: float, eyy: float) -> np.ndarray:
 
   # The block performing the DIC
   dis = crappy.blocks.GPUCorrel('', verbose=True,
-                                labels=['t(s)', 'x', 'y', 'measured_Exx(%)',
-                                        'measured_Eyy(%)'],
+                                labels=['t(s)', 'meta', 'x', 'y',
+                                        'measured_Exx(%)', 'measured_Eyy(%)'],
                                 fields=['x', 'y', 'exx', 'eyy'], levels=3,
                                 image_generator=Apply_strain_img(img))
   # This modifier will generate an image with the values of strain

Examples/read_write.py

@@ -23,7 +23,7 @@
                                cmd_label='cmd')
 
   io = crappy.blocks.IOBlock(name, labels=['t(s)', 'chan0'],
-                             cmd_labels=['cmd'], out_channels=0, verbose=True)
+                             cmd_labels=['cmd'], verbose=True)
   crappy.link(sg, io)
 
   g = crappy.blocks.Grapher(('t(s)', 'chan0'))

Examples/tensile_1.py

@@ -24,6 +24,7 @@
     "type": "ramp",
     "speed": SPEED / 60,  # Convert to mm/s (in ramps, speed is always
     # in unit/s)
+    'init_value': 0,
     "condition": None}  # No exit condition: we will stop the test manually
 
   # Let's create the first block: the generator

Examples/thermocouple_daqmx.py

@@ -21,7 +21,7 @@
                                             type='thrmcpl',
                                             thermocouple_type='K')
                                        for c_name in chan_names],
-                             samplerate=14. / len(channels),
+                             sample_rate=14. / len(channels),
                              labels=['t(s)', 'stream'] if STREAMER else labels,
                              streamer=STREAMER)
 

crappy/__init__.py

@@ -4,6 +4,7 @@
 from numpy import frombuffer, uint8
 from ._global import OptionalModule
 from webbrowser import open
+from warnings import warn
 
 from . import actuator
 from . import camera
@@ -17,9 +18,16 @@
 # For compatibility (deprecated!)
 condition = modifier
 
+warn("Version 1.5.11 of Crappy is the last one before 2.0.0, that will "
+     "contain many breaking changes.\nThe warnings displayed in the terminal "
+     "should help you identify how to modify your scripts when upgrading to "
+     "2.0.0.", FutureWarning)
+
 
 # Quick access to documentation
 def doc():
+  warn("The doc function will be renamed to docs in version 2.0.0",
+       FutureWarning)
   open('https://crappy.readthedocs.io/en/latest/')
 
 

crappy/__version__.py

@@ -1,3 +1,3 @@
 # coding: utf-8
 
-__version__ = '1.5.10'
+__version__ = '1.5.11'

crappy/_global.py

@@ -1,5 +1,8 @@
 # coding:utf-8
 
+from warnings import warn
+
+
 class OptionalModule:
   """Placeholder for optional dependencies when not installed
 
@@ -28,7 +31,10 @@ def __call__(self, *_, **__):
 class CrappyStop(Exception):
   """Error to raise when Crappy is terminating"""
 
-  pass
+  def __init__(self):
+    warn("The CrappyStop Exception will be removed in version 2.0.0",
+         DeprecationWarning)
+    super().__init__()
 
 
 class DefinitionError(Exception):

crappy/actuator/actuator.py

@@ -2,6 +2,7 @@
 
 from time import sleep
 from typing import Optional
+from warnings import warn
 
 from .._global import DefinitionError
 
@@ -64,6 +65,9 @@ def set_position(self,
     position. A speed value can optionally be provided for specifying the speed
     at which the actuator should move for getting to the desired position."""
 
+    warn("The speed argument of set_position will not be optional anymore in "
+         "version 2.0.0, and will be None if no speed is set", FutureWarning)
+
     print(f"WARNING ! Trying to drive the Actuator {type(self).__name__} in "
           f"position but it does not define a set_position method !\n"
           f"No command sent to the actuator.")

crappy/actuator/biotens.py

@@ -3,6 +3,7 @@
 from struct import pack, unpack
 from typing import Union, Optional
 import time
+from warnings import warn
 from .actuator import Actuator
 from .._global import OptionalModule
 
@@ -58,6 +59,10 @@ def __init__(self,
       baudrate (:obj:`int`, optional): Set the corresponding baud rate.
     """
 
+    if baudrate != 19200:
+      warn("The baudrate argument will be removed in version 2.0.0",
+           FutureWarning)
+
     Actuator.__init__(self)
     self.port = port
     self.baudrate = baudrate
@@ -134,6 +139,8 @@ def reset_position(self) -> None:
   def reset(self) -> None:
     """"""
 
+    warn("The reset method will be removed in version 2.0.0", FutureWarning)
+
     pass
 
   def stop(self) -> None:
@@ -155,6 +162,9 @@ def close(self) -> None:
   def clear_errors(self) -> None:
     """Clears error in motor registers."""
 
+    warn("The clear_errors method will be removed in version 2.0.0",
+         FutureWarning)
+
     command = b'\x52\x52\x52\xFF\x00' +\
         convert_to_byte(35, 'B') +\
         convert_to_byte(4, 'B') +\
@@ -214,6 +224,9 @@ def set_position(self,
     """Pilot in position mode, needs speed and final position to run
     (in `mm/min` and `mm`)."""
 
+    warn("The speed argument of set_position will not be optional anymore in "
+         "version 2.0.0, and will be None if no speed is set", FutureWarning)
+
     if speed is None:
       raise ValueError("The Biotens actuator needs both a position and a speed"
                        " command when driven in position mode !")
@@ -287,6 +300,10 @@ def get_position(self) -> float:
     raise IOError("Could not read biotens pos!")
 
   def _get_position(self) -> Union[float, None]:
+
+    warn("The _get_position method will be removed in version 2.0.0",
+         DeprecationWarning)
+
     try:
       self.ser.readlines()
     except serial.SerialException:

crappy/actuator/cmDrive.py

@@ -1,6 +1,7 @@
 # coding: utf-8
 
 from typing import Optional
+from warnings import warn
 
 from .actuator import Actuator
 from .._global import OptionalModule
@@ -23,6 +24,9 @@ def __init__(self, port: str = '/dev/ttyUSB0', baudrate: int = 9600) -> None:
       baudrate (:obj:`int`, optional): Set the corresponding baud rate.
     """
 
+    warn("The CM_drive Actuator will be renamed to SchneiderMDrive23 in "
+         "version 2.0.0", FutureWarning)
+
     Actuator.__init__(self)
     self.port = port
     self.baudrate = baudrate
@@ -75,6 +79,9 @@ def close(self) -> None:
   def clear_errors(self) -> None:
     """Reset errors."""
 
+    warn("The clear_errors method will be removed in version 2.0.0",
+         FutureWarning)
+
     self.ser.write("CLRFAULT\r\n")
     self.ser.write("OPMODE 0\r\n EN\r\n")
 
@@ -99,6 +106,12 @@ def set_position(self,
     """Pilot in position mode, needs speed and final position to run
     (in `mm/min` and `mm`)."""
 
+    warn("The speed argument of set_position will not be optional anymore in "
+         "version 2.0.0, and will be None if no speed is set", FutureWarning)
+
+    warn("The motion_type argument of set_position will be removed in version "
+         "2.0.0 ", FutureWarning)
+
     self.ser.close()  # close serial connection before to avoid errors
     self.ser.open()  # open serial port
 
@@ -114,6 +127,9 @@ def set_position(self,
   def move_home(self) -> None:
     """Reset the position to zero."""
 
+    warn("The move_home method will be removed in version 2.0.0",
+         FutureWarning)
+
     self.ser.open()  # open serial port
     # send 'MH' ASCII characters for requesting to the motor to return at pos 0
     self.ser.write('MA 0\r')

crappy/actuator/fakemotor.py

@@ -1,6 +1,7 @@
 # coding: utf-8
 
 from time import time
+from warnings import warn
 
 from .actuator import Actuator
 
@@ -38,6 +39,13 @@ def __init__(self,
       initial_pos(:obj:`float`, optional): (turns)
     """
 
+    warn("The Fake_motor Actuator will be renamed to FakeDCMotor in version "
+         "2.0.0", FutureWarning)
+
+    if sim_speed != 1:
+      warn("The sim_speed argument will be renamed to simulation_speed in "
+           "version 2.0.0", FutureWarning)
+
     super().__init__()
     self.inertia = inertia
     self.torque = torque
@@ -68,6 +76,9 @@ def update(self) -> None:
       Supposes `u` is constant for the interval `dt`.
     """
 
+    warn("The update method will be renamed to _update in version 2.0.0",
+         FutureWarning)
+
     t1 = time() * self.sim_speed
     dt = (t1 - self.t)
     self.t = t1

crappy/actuator/motorkit_pump.py

@@ -3,6 +3,7 @@
 from struct import pack_into
 from time import sleep
 from typing import Union
+from warnings import warn
 from .actuator import Actuator
 from .._global import OptionalModule
 from ..tool import ft232h_server as ft232h, Usb_server
@@ -81,6 +82,9 @@ def __init__(self,
         board.
     """
 
+    warn("The DC_motor_hat class will be removed in version 2.0.0",
+         FutureWarning)
+
     if not all(i in range(1, 5) for i in motor_nrs):
       raise ValueError("The DC motor hat can only drive up to 4 DC motors at "
                        "a time !")
@@ -201,6 +205,12 @@ def __init__(self,
         serial number of the ft232h to use for communication.
     """
 
+    warn("The Motorkit_pump Actuator will be renamed to DCMotorHat in version "
+         "2.0.0", FutureWarning)
+    if ft232h_ser_num is not None:
+      warn("The ft232h_ser_num argument of the Motorkit_pump Actuator will be "
+           "removed in version 2.0.0")
+
     if not isinstance(backend, str) or backend not in motor_hat_backends:
       raise ValueError("backend should be in {}".format(motor_hat_backends))
     self._backend = backend