minor fixes on the debugging side

Author: beniroquai

binaries/latest/UC2_3_CAN_HAT_Master_v2.bin

@@ -1,4 +1,8 @@
 # dummy_caddy_like_server.py
+'''
+ mv /Users/bene/Dropbox/Dokumente/Promotion/PROJECTS/uc2-ESP/.pio/build/UC2_3_CAN_HAT_Master_v2/firmware.bin /Users/bene/Dropbox/Dokumente/Promotion/PROJECTS/UC2-REST/binaries/latest/UC2_3_CAN_HAT_Master_v2.bin
+ mv /Users/bene/Dropbox/Dokumente/Promotion/PROJECTS/uc2-ESP/.pio/build/seeed_xiao_esp32s3_can_slave_motor/firmware.bin /Users/bene/Dropbox/Dokumente/Promotion/PROJECTS/UC2-REST/binaries/latest/esp32_seeed_xiao_esp32s3_can_slave_motor.bin
+'''
 from fastapi import FastAPI, Request, HTTPException
 from fastapi.responses import (
     JSONResponse,

binaries/latest/esp32_seeed_xiao_esp32s3_can_slave_motor.bin

@@ -420,11 +420,11 @@ def _streaming_upload_worker(self, can_id, port, baud, firmware_data, firmware_s
             # Step 2: Open raw serial connection
             if status_callback:
                 status_callback(f"Opening streaming connection on {port} at {baud} baud...", True)
-            
+            if type(port) == serial.tools.list_ports_common.ListPortInfo:
+                port = port.device
             ser = serial.Serial(port, baud, timeout=0.1)#, write_timeout=1.0)
             time.sleep(0.5)
             self._drain_serial(ser)
-            
             # Step 3: Send streaming start command via JSON
             if status_callback:
                 status_callback(f"Initializing streaming session for CAN ID {can_id}...", True)

binaries/latest/esp32_seeed_xiao_esp32s3_can_slave_motor.bin_

@@ -239,7 +239,7 @@ def xyztTo1230(self, axis):
                 return 0
         return axis
 
-    def home(self, axis=None, timeout=None, speed=None, direction=None, endposrelease=None, endstoppolarity=None, endstoptimeout=10000, isBlocking=False, preMove=True):
+    def home(self, axis=None, timeout=None, speed=None, direction=None, endposrelease=None, endstoppolarity=None, endstoptimeout=10000, isBlocking=False, preMove=False):
         '''
         axis = 0,1,2,3 or 'A, 'X','Y','Z'
         timeout => when to stop homing (it's a while loop on the MCU)
@@ -290,7 +290,22 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
 
         # construct json string
         path = "/home_act"
-
+        '''
+        {
+        "task": "/home_act",
+        "qid": 3,
+        "home": {
+            "steppers": [{
+            "stepperid": 2,
+            "timeout": 40000,
+            "speed": 20000,
+            "direction": -1,
+            "endstoppolarity": 1,
+            "endoffset": 5000
+            }]
+        }
+        }
+        '''
         payload = {
             "task": path,
             "home":{
@@ -300,7 +315,8 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
                  "timeout":endstoptimeout,
                  "speed":abs(speed),
                  "direction":direction,
-                 "endstoppolarity":endstoppolarity
+                 "endstoppolarity":endstoppolarity, 
+                "endoffset": endposrelease
                  }]
             }}
 
@@ -312,3 +328,28 @@ def home(self, axis=None, timeout=None, speed=None, direction=None, endposreleas
 
         return r
 
+
+    def stop_home(self, axis, timeout=1):
+        ''' stop the homing process '''
+        path = "/home_act"
+        '''
+        {
+        "task": "/home_act",
+        "stop": true,
+        "home": {
+            "steppers": [{
+            "stepperid": 2
+            }]
+        }
+        }'''
+        payload = {
+            "task": path,
+            "stop": True,
+            "home":{
+                "steppers": [
+                {
+                 "stepperid": axis,
+                 }]
+            }}
+        r = self._parent.post_json(path, payload, timeout=timeout)
+        return r

binaries/latest/fwServer.py

@@ -454,7 +454,10 @@ def sendMessage(self, command, nResponses=1, timeout = 20):
             if self.DEBUG and json_command!="": self._logger.debug("[SendingCommands]:"+str(json_command))
             self._write(self.serialdevice, json_command)
         except Exception as e:
-            if self.DEBUG: self._logger.error(e) # TODO:  write failed: Device not configured - why?!
+            if self.DEBUG: 
+                self._logger.error(e) # TODO:  write failed: Device not configured - why?!
+                # attempt to reconnect 
+                self.reconnect()
             return "Failed to Send"
         self.commands[identifier]=command # FIXME: Need to clear this after the response is received
         if nResponses <= 0 or not self.is_connected or self.manufacturer=="UC2Mock":