Merge pull request #95 from LaboratoireMecaniqueLille/release/2.0.4

Release of version 2.0.4

.github/workflows/python_package.yml

@@ -0,0 +1,38 @@
+# Installs the Python dependencies, installs Crappy, and checks that it imports
+name: Python Package
+
+on:
+  # Runs on pull requests targeting the default branch
+  pull_request:
+    types: [opened, edited, reopened, synchronize]
+    branches: ["master", "develop"]
+
+  # May also be started manually
+  workflow_dispatch:
+
+  # Runs automatically every first day of the month
+  schedule:
+    - cron: '0 12 1 * *'
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.7", "3.8", "3.9", "3.10", "3.11", "3.12"]
+        os: [ubuntu-latest, windows-latest, macos-latest]
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+    - name: Set up Python ${{ matrix.python-version }} on ${{ matrix.os }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: python -m pip install --upgrade pip wheel build setuptools
+    - name: Install Crappy
+      run: python -m pip install .
+    - name: Import Crappy
+      run: python -c "import crappy; print(crappy.__version__)"

CODEOWNERS

@@ -4,6 +4,10 @@
 # PIERROOOTT owns the Gstreamer cameras
 /src/crappy/camera/gstreamer_* @WeisLeDocto @PIERROOOTT
 
+# PIERROOOTT owns the Phidget hardware
+/src/crappy/actuator/phidgets_stepper4a.py @WeisLeDocto @PIERROOOTT
+/src/crappy/inout/phidgets_wheatstone_bridge.py @WeisLeDocto @PIERROOOTT
+
 # PIERROOOTT owns the Opencv cameras
 /src/crappy/camera/opencv_* @WeisLeDocto @PIERROOOTT
 

docs/source/conf.py

@@ -16,7 +16,7 @@
 from time import gmtime, strftime
 from re import match
 
-__version__ = '2.0.3'
+__version__ = '2.0.4'
 
 # -- Project information -----------------------------------------------------
 

docs/source/crappy_docs/actuators.rst

@@ -49,6 +49,13 @@ Oriental ARD-K
    :members: open, get_position, set_speed, set_position, stop, close
    :special-members: __init__
 
+Phidget Stepper4A
++++++++++++++++++
+.. autoclass:: crappy.actuator.Phidget4AStepper
+   :members: open, set_speed, set_position, get_speed, get_position, stop,
+             close
+   :special-members: __init__
+
 Pololu Tic
 ++++++++++
 .. autoclass:: crappy.actuator.PololuTic

docs/source/crappy_docs/inouts.rst

@@ -104,6 +104,12 @@ OpSens HandySens
    :members: open, get_data, close
    :special-members: __init__
 
+Phidget Wheatstone Bridge
++++++++++++++++++++++++++
+.. autoclass:: crappy.inout.PhidgetWheatstoneBridge
+   :members: open, get_data, close
+   :special-members: __init__
+
 PiJuice
 +++++++
 .. autoclass:: crappy.inout.PiJuice

docs/source/crappy_docs/modifiers.rst

@@ -15,6 +15,11 @@ Differentiate
 .. autoclass:: crappy.modifier.Diff
    :special-members: __init__, __call__
 
+DownSampler
++++++++++++
+.. autoclass:: crappy.modifier.DownSampler
+   :special-members: __init__, __call__
+
 Integrate
 +++++++++
 .. autoclass:: crappy.modifier.Integrate

docs/source/features.rst

@@ -561,6 +561,17 @@ Supported Actuators
      This object hasn't been maintained nor tested for a while, it is not sure
      that it still works as expected !
 
+- :ref:`Phidget Stepper4A`
+
+  Drives 4A bipolar stepper motors using Phidget's `Stepper4A <https://
+  www.phidgets.com/?prodid=1278>`_ in speed or in position, by using several
+  Phidget libraries.
+
+  .. Important::
+     This Actuator must be connected to Phidget's VINT Hub to work. See the
+     following link `<https://www.phidgets.com/?prodid=1278#Tab_User_Guide>`_
+     to connect properly to the Hub.
+
 - :ref:`Pololu Tic`
 
   Drives Pololu's `Tic <https://www.pololu.com/category/212/tic-stepper-motor-
@@ -675,16 +686,6 @@ Sensors
   Reads voltages from Sparfun's `'Qwiic Scale' NAU7802 <https://www.sparkfun.
   com/products/15242>`_ load cell conditioner. Communicates over I2C.
 
-- :ref:`PiJuice`
-
-  Reads the charging status and battery level of Kubii's `PiJuice <https://
-  www.kubii.com/fr/14-chargeurs-alimentations-raspberry/2019-pijuice-hat-kubii
-  -3272496008793.html>`_ Raspberry Pi power supply.
-
-  .. Important::
-     This InOut was written for a specific application, so it may not be
-     usable as-is in the general case.
-
 - :ref:`OpSens HandySens`
 
   Reads data from OpSens' `single channel signal conditioner <https://opsens-
@@ -696,6 +697,26 @@ Sensors
      This object hasn't been maintained nor tested for a while, it is not sure
      that it still works as expected !
 
+- :ref:`Phidget Wheatstone Bridge`
+
+  Reads volatges from Phidget's `Wheatstone Bridge <https://www.phidgets.com/
+  ?prodid=957>`_ load cell conditioner, by using several Phidget libraries.
+
+  .. Important::
+     This InOut must be connected to Phidget's VINT Hub to work. See the
+     following link `<https://www.phidgets.com/?prodid=957#Tab_User_Guide>`_ to
+     connect properly to the Hub.
+
+- :ref:`PiJuice`
+
+  Reads the charging status and battery level of Kubii's `PiJuice <https://
+  www.kubii.com/fr/14-chargeurs-alimentations-raspberry/2019-pijuice-hat-kubii
+  -3272496008793.html>`_ Raspberry Pi power supply.
+
+  .. Important::
+     This InOut was written for a specific application, so it may not be
+     usable as-is in the general case.
+
 - :ref:`Spectrum M2I 4711`
 
   Reads voltages from Spectrum's `M2i 4711 EXP <https://spectrum-
@@ -817,6 +838,7 @@ On-the-fly data modification (Modifiers)
 ----------------------------------------
 
 .. sectionauthor:: Antoine Weisrock <[email protected]>
+.. sectionauthor:: Pierre Margotin <[email protected]>
 
 - :ref:`Demux`
 
@@ -828,6 +850,12 @@ On-the-fly data modification (Modifiers)
 
   Calculates the time derivative of a given label.
 
+- :ref:`DownSampler`
+
+  Transmits the values to downstream Blocks only once every given number of 
+  points. The values that are not sent are discarded. The values are directly 
+  sent without being altered.
+
 - :ref:`Integrate`
 
   Integrates a given label over time.

examples/modifiers/downsampler.py

@@ -0,0 +1,80 @@
+# coding: utf-8
+
+"""
+This example demonstrates the use of the DownSampler Modifier. It does not
+require any specific hardware to run, but necessitates the matplotlib Python
+module to be installed.
+
+The DownSampler Modifier transmits only one data point every n received points
+received from its upstream Block. It is therefore useful for reducing the data
+rate in a given Link.
+
+Here, a sine wave is generated by a Generator Block and sent to two Grapher
+Blocks for display. One Grapher displays it as it is generated, and the other
+displays it downsampled by a DownSampler Modifier. Because the frequency of the
+sine wave is 1 Hz and the frequency of the Generator Block is twice that of the
+DownSampler, the value passed to the second Grapher are always close to 1 or
+-1, the peak of the sine wave.
+
+After starting this script, just watch how the raw signal is transformed by the
+DownSampler Modifier and alternates between 1 and -1. Also notice how the
+initial data rate of the signal is divided when passing through the DownSampler
+Modifier. This demo ends after 22s. You can also hit CTRL+C to stop it
+earlier, but it is not a clean way to stop Crappy.
+"""
+
+import crappy
+import numpy as np
+
+if __name__ == '__main__':
+
+  # This Generator Block generates a sine wave for the Graphers to display. It
+  # sends it to one Grapher that displays it as is, and to another Grapher that
+  # receives it downsampled by the DownSampler Modifier
+  gen = crappy.blocks.Generator(
+      # Generating a sine wave of amplitude 2 and frequency 1 and phase pi/2
+      ({'type': 'Sine',
+        'condition': 'delay=20',
+        'amplitude': 2,
+        'freq': 1,
+        'phase': np.pi/2},),
+      freq=30,  # Lowering the default frequency because it's just a demo
+      cmd_label='sine',  # The label carrying the generated signal
+
+      # Sticking to default for the other arguments
+  )
+
+  # This Grapher Block displays the raw sine wave it receives from the
+  # Generator. As the Generator runs at 30Hz, 30 data points are received each
+  # second for display
+  graph = crappy.blocks.Grapher(
+      ('t(s)', 'sine'),  # The names of the labels to plot on the graph
+      interp=False,  # Not linking the displayed spots, to better see the
+      # frequency of the input
+      length=100,  # Only displaying the data for the last 100 points
+
+      # Sticking to default for the other arguments
+  )
+
+  # This Grapher Block displays the downsampled sine wave it receives from the
+  # Generator. Because the frequency of the sine wave is 1 Hz and the frequency
+  # of the Generator Block is twice that of the DownSampler, only values close
+  # to 1 and -1 are received.
+  graph_down = crappy.blocks.Grapher(
+      ('t(s)', 'sine'),  # The names of the labels to plot on the graph
+      interp=False,  # Not linking the displayed spots, to better see the
+      # frequency of the input
+
+      # Sticking to default for the other arguments
+  )
+
+  # Linking the Block so that the information is correctly sent and received
+  crappy.link(gen, graph)
+  crappy.link(gen, graph_down,
+              # Adding a DownSampler Modifier for downsampling the sine
+              # wave before sending to the Grapher. A data point is sent for
+              # display once every 15 received points
+              modifier=crappy.modifier.DownSampler(15))
+
+  # Mandatory line for starting the test, this call is blocking
+  crappy.start()

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "crappy"
 dynamic = ["readme"]
-version = "2.0.3"
+version = "2.0.4"
 description = "Command and Real-time Acquisition in Parallelized Python"
 license = {file = "LICENSE"}
 keywords = ["control", "command", "acquisition", "multiprocessing"]

src/crappy/__version__.py

@@ -1,3 +1,3 @@
 # coding: utf-8
 
-__version__ = '2.0.3'
+__version__ = '2.0.4'

src/crappy/actuator/__init__.py

@@ -9,6 +9,7 @@
 from .kollmorgen_servostar_300 import ServoStar300
 from .newport_tra6ppd import NewportTRA6PPD
 from .oriental_ard_k import OrientalARDK
+from .phidgets_stepper4a import Phidget4AStepper
 from .pololu_tic import PololuTic
 from .schneider_mdrive_23 import SchneiderMDrive23