Merge pull request #9 from AD-SDL/position_improvements

Position improvements and driver rewrite

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-yaml
       - id: check-json
@@ -12,12 +12,12 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/kynan/nbstripout
-    rev: 0.6.1
+    rev: 0.7.1
     hooks:
       - id: nbstripout
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.1.10
+    rev: v0.4.10
     hooks:
       # Run the linter.
       - id: ruff

Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/ad-sdl/wei
+FROM ghcr.io/ad-sdl/wei:v0.5.9
 
 LABEL org.opencontainers.image.source=https://github.com/AD-SDL/hudson_platecrane_module
 LABEL org.opencontainers.image.description="Drivers and REST API's for the Hudson Platecrane and Sciclops robots"

Makefile

@@ -1,14 +1,11 @@
 # Python Configuration
 PYPROJECT_TOML := pyproject.toml
-PROJECT_VERSION := $(shell grep -oP '(?<=version = ")[^"]+' $(PYPROJECT_TOML) | head -n 1)
 
 .DEFAULT_GOAL := init
 
 .PHONY += init paths checks test clean
 init: # Do the initial configuration of the project
 	@test -e .env || cp example.env .env
-	@sed -i 's/^PROJECT_VERSION=.*/PROJECT_VERSION=$(PROJECT_VERSION)/' .env
-	@sed -i 's/^PROJECT_PATH=.*/PROJECT_PATH=$(shell pwd | sed 's/\//\\\//g')/' .env
 
 .env: init
 

compose.yaml

@@ -10,7 +10,7 @@ services:
         - ${IMAGE}:latest
         - ${IMAGE}:${PROJECT_VERSION}
         - ${IMAGE}:dev
-    command: python -m platecrane_rest_node --port 2000 --device ${DEVICE}
+    command: python -m sciclops_rest_node --port 2000 --device ${DEVICE}
     privileged: true
     env_file: .env
     volumes:

example.env

@@ -1,10 +1,9 @@
 # Note: all paths are relative to the docker compose file
 DEVICE=/dev/ttyUSB2
-PROJECT_PATH=
-PROJECT_VERSION=1.2.0
+PROJECT_VERSION=1.3.0
 WEI_DATA_DIR=~/.wei
 WORKCELL_FILENAME=test_workcell.yaml
-WORKCELLS_DIR=${PROJECT_PATH}/tests/workcell_defs
+WORKCELLS_DIR=./tests/workcell_defs
 IMAGE=ghcr.io/ad-sdl/hudson_platecrane_module
 DOCKERFILE=Dockerfile
 REDIS_DIR=~/.wei/redis

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "hudson_platecrane_module"
-version = "1.0.0"
+version = "1.4.0"
 description = "Driver for the Platecrane and Sciclops"
 authors = [
     {name = "Ryan D. Lewis", email="[email protected]"},
@@ -17,6 +17,7 @@ dependencies = [
     "libusb",
     "pyserial",
     "ad_sdl.wei",
+    "pydantic>=2.7",
     "pytest"
 ]
 requires-python = ">=3.8.1"

src/platecrane_driver/__init__.py

@@ -1,2 +1,3 @@
 """Driver for Hudson Robotics PlateCranes."""
+
 __version__ = "0.1.0"

src/platecrane_driver/error_codes.py

@@ -1,4 +1,5 @@
 """Defines exceptions for error codes returned by the plate crane controller."""
+
 from __future__ import annotations
 
 

src/platecrane_driver/plate_resources.json

@@ -10,10 +10,10 @@
 
     "96_well":{
         "plate_above_height": 800,
-        "plate_pick_steps_module": 1500,
-        "plate_pick_steps_stack": 2400,
+        "plate_pick_steps_module": 1700,
+        "plate_pick_steps_stack": 2700,
         "plate_lid_steps": 1300,
-        "lid_destination_height": 1400
+        "lid_destination_height": 1300
     },
 
     "96_deep_well":{
@@ -50,9 +50,9 @@
     },
     "test_96_well":{
         "plate_above_height": 800,
-        "plate_pick_steps_module": 1500,
-        "plate_pick_steps_stack": 2400,
-        "plate_lid_steps": 1000,
+        "plate_pick_steps_module": 1700,
+        "plate_pick_steps_stack": 1500,
+        "plate_lid_steps": 1300,
         "lid_destination_height": 1300
     }