Merge tag 'v1.6.6' into develop

v1.6.6

Author: mlaunier

README.md

@@ -1,6 +1,3 @@
-# mm-python-api
-MachineMotion Python API
-
 # How-to Guide: MachineMotion Python SDK
 
 <div style="text-align: center;"><img src="https://s3.amazonaws.com/ventioncms/vention_images/images/000/001/021/large/cover_python_guide.png?1550698357" width="80%" /></div>
@@ -11,7 +8,21 @@ MachineMotion Python API
 
 This guide will cover the setup and use of Vention’s MachineMotion™ Python Software Development Kit (SDK). After reading this guide, you will be ready to deploy custom motion and control applications using Vention’s MachineMotion controller. Before you begin, we recommended reading the <a href="https://www.vention.io/technical_documents/machine_motion_docs/vention_machine_motion_user_guide" target="_blank">MachineMotion Quick Start Guide</a> to get familiar with the technology.
 
-## Typical System Overview
+## Overview
+
+The MachineMotion python SDK has been designed to allow user applications to execute:
+
+>- internally to MachineMotion; or
+>- on an external computer connected to MachineMotion via the USB or Ethernet port.
+
+The Python SDK includes the following core features:
+
+>- Simplied interface to all MachineMotion functionality
+>- Control of one or multiple MachineMotion from a single program
+>- Direct access to the internal motion controller via gCode
+
+
+---
 
 Many systems are built by centralizing application-level software on a host computer. The software interacts with various devices (such as robotic devices, sensors, proprietary products, and data acquisition equipment) and delivers the required application behavior (see Figure 1).
 
@@ -98,11 +109,11 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
-print "Controller connected"
+print ( "Controller connected" )
 ```
 
 #### Output
@@ -143,13 +154,13 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 machine_motion_example = machine_motion_example.configMachineMotionIp(NETWORK_MODE.static, "192.168.0.2", "255.255.255.0", "192.168.0.1")
 
-print "--> Controller connected & ethernet interface configured (static)"
+print ( "--> Controller connected & ethernet interface configured (static)" )
 ```
 
 #### Output 1
@@ -170,13 +181,13 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 machine_motion_example = machine_motion_example.configMachineMotionIp(NETWORK_MODE.dhcp, "", "", "")
 
-print "--> Controller connected & ethernet interface configured (dhcp)"
+print ( "--> Controller connected & ethernet interface configured (dhcp)" )
 ```
 
 #### Output 2
@@ -213,14 +224,14 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Configure the axis number one, 8 uSteps and 150 mm / turn for a timing belt
 machine_motion_example = machine_motion_example.configAxis(1, MICRO_STEPS.ustep_8, MECH_GAIN.timing_belt_150mm_turn)
 
-print "--> Controller axis 1 configured"
+print ( "--> Controller axis 1 configured" )
 ```
 
 #### Output
@@ -256,14 +267,14 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Saving a string on the controller
 machine_motion_example = machine_motion_example.saveData("data_1", "save_this_string_on_the_controller")
 
-print "--> Data sent on controller"
+print ( "--> Data sent on controller" )
 ```
 
 ---
@@ -285,11 +296,11 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 # Define a callback to print the data retrieved using the getData function
 def printGetDataResult(data):
-   print "--> Retrieved data = " + data
+   print ( "--> Retrieved data = " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -328,7 +339,7 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -337,7 +348,7 @@ machine_motion_example.emitHome(1)
 # Wait for the message to be acknowledged by the motion controller
 while machine_motion_example.isReady() != "true": pass
 
-print "--> This line executes after the motion controller has acknowledged receipt of the command."
+print ( "--> This line executes after the motion controller has acknowledged receipt of the command." )
 
 ```
 
@@ -371,7 +382,7 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -381,7 +392,7 @@ machine_motion_example.emitHome(1)
 while machine_motion_example.isReady() != "true": pass
 machine_motion_example.waitForMotionCompletion()
 
-print "--> This line executes after the motion controller has acknowledged the reception of the command."
+print ( "--> This line executes after the motion controller has acknowledged the reception of the command." )
 
 ```
 
@@ -425,14 +436,14 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Send a stop command to the machine (this works even if the machine has not started moving yet)
 machine_motion_example.emitStop()
 
-print "--> Machine Stopped"
+print ( "--> Machine Stopped" )
 
 ```
 
@@ -464,15 +475,15 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Homing all the axes of the controller sequentially
 machine_motion_example.emitHomeAll()
 machine_motion_example.waitForMotionCompletion()
 
-print "--> All axes are now at home position."
+print ( "--> All axes are now at home position." )
 
 ```
 
@@ -495,15 +506,15 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Homing axis 1
 machine_motion_example.emitHome(1)
 machine_motion_example.waitForMotionCompletion()
 
-print "--> Axis 1 is now at home position."
+print ( "--> Axis 1 is now at home position." )
 
 ```
 
@@ -549,14 +560,14 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Configuring the travel speed to 10,000 mm / min
 machine_motion_example.emitSpeed(10000)
 
-print "--> Machine moves are not set to 10 000 mm / min"
+print ( "--> Machine moves are not set to 10 000 mm / min" )
 
 ```
 
@@ -578,14 +589,14 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
 # Configuring the travel speed to 1000 mm / second^2
 machine_motion_example.emitAcceleration(1000)
 
-print "--> Machine moves are not set to accelerate @ 1000 mm / second^2"
+print ( "--> Machine moves are not set to accelerate @ 1000 mm / second^2" )
 
 ```
 
@@ -642,7 +653,7 @@ machine_motion_example.waitForMotionCompletion()
 machine_motion_example.emitAbsoluteMove(1, 100)
 machine_motion_example.waitForMotionCompletion()
 
-print "--> Example completed."
+print ( "--> Example completed." )
 
 ```
 
@@ -694,7 +705,7 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -715,7 +726,7 @@ machine_motion_example.waitForMotionCompletion()
 machine_motion_example.emitRelativeMove(1, "negative", 100)
 machine_motion_example.waitForMotionCompletion()
 
-print "--> Example completed."
+print ( "--> Example completed." )
 
 ```
 
@@ -764,7 +775,7 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -782,7 +793,7 @@ machine_motion_example.waitForMotionCompletion()
 machine_motion_example.emitgCode("G0 X500 Y500 F10000")
 machine_motion_example.waitForMotionCompletion()
 
-print "--> Example completed."
+print ( "--> Example completed." )
 
 ```
 
@@ -863,11 +874,11 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 # Define a callback to invoke when a control device is attached to the controller
 def attachControlDeviceCallback(data):
-    print "Attach control device callback: " + data      
+    print ( "Attach control device callback: " + data )     
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -900,11 +911,11 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 # Define a callback to invoke when a control device is attached to the controller
 def attachControlDeviceCallback(data):
-    print "Attach control device callback: " + data   
+    print ( "Attach control device callback: " + data )  
 
 # Define a callback to invoke when a control device is detached from the controller    
 def detachControlDeviceCallback(data):
@@ -952,19 +963,19 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 # Define a callback to invoke when a control device is attached to the controller
 def attachControlDeviceCallback(data):
-    print "Attach control device callback: " + data   
+    print ( "Attach control device callback: " + data )  
 
 # Define a callback to invoke when a control device is detached from the controller    
 def detachControlDeviceCallback(data):
-    print "Detach control device callback: " + data     
+    print ( "Detach control device callback: " + data )    
 
 # Define a callback to invoke when a control device is read    
 def readControlDeviceCallback(data):
-    print "Read control device callback: " + data      
+    print ( "Read control device callback: " + data )     
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 
@@ -1009,23 +1020,23 @@ from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):
-   print "Controller gCode responses " + data
+   print ( "Controller gCode responses " + data )
 
 # Define a callback to invoke when a control device is attached to the controller
 def attachControlDeviceCallback(data):
-    print "Attach control device callback: " + data   
+    print ( "Attach control device callback: " + data )  
 
 # Define a callback to invoke when a control device is detached from the controller    
 def detachControlDeviceCallback(data):
-    print "Detach control device callback: " + data    
+    print ( "Detach control device callback: " + data )   
 
 # Define a callback to invoke when a control device is read    
 def readControlDeviceCallback(data):
-    print "Read control device callback: " + data   
+    print ( "Read control device callback: " + data )  
 
 # Define a callback to invoke when a control device is written
 def writeControlDeviceCallback(data):
-    print "Write control device callback: " + data 
+    print ( "Write control device callback: " + data )
 
 machine_motion_example = MachineMotion(templateCallback, DEFAULT_IP_ADDRESS.usb_windows)
 

_MachineMotion.py

@@ -682,7 +682,7 @@ def writeControlDevice(self, port, signal, value, callback):
             if port not in self.attachedDevices.keys() or self.attachedDevices[port] == "IO_EXPANDER_GENERIC":
                 portNumber = self.validPorts.index(port) + 1
                 signalNumber = self.validSignals.index(signal) - 4
-                self.myMqttClient.publish('digitalOutput/' + str(portNumber) + '/' + str(signalNumber), '1' if value else '0')
+                self.myMqttClient.publish('devices/io-expander/' + str(portNumber) + '/digitalOutput/' +  str(signalNumber), '1' if value else '0')
                 callback("true" if value else "false")
             # Legacy devices
             else :
@@ -700,13 +700,13 @@ def writeControlDevice(self, port, signal, value, callback):
 
     def __onConnect(self, client, userData, flags, rc):
         if rc == 0:
-            self.myMqttClient.subscribe('digitalInput/#')
+            self.myMqttClient.subscribe('devices/io-expander/+/digitalInput')
 
     def __onMessage(self, client, userData, msg):
-        port = int(msg.topic.replace('digitalInput/', '')) - 1
+        device = int(msg.topic.replace('devices/io-expander/', '').replace('/digitalInput', '')) - 1
         values = int(msg.payload, 16)
-        if(port >= 0 and port < len(self.validPorts)) :
-            self.portInputs[self.validPorts[port]] = values
+        if(device >= 0 and device < len(self.validPorts)) :
+            self.portInputs[self.validPorts[device]] = values
 
     def __onDisconnect(self, client, userData, rc):
        print("Disconnected with rtn code [%d]"% (rc) )