Merge pull request #141 from openUC2/mergemaster

Add State emergency/power APIs and callbacks

Author: beniroquai

uc2rest/UC2Client.py

@@ -135,9 +135,6 @@ def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather
         # initialize fan controller
         self.fan = Fan(self)
 
-        # initialize laser
-        self.state = State(self)
-
         # initialize galvo
         self.galvo = Galvo(self)
 

uc2rest/state.py

@@ -7,7 +7,130 @@ class State(object):
 
     def __init__(self, parent):
         self._parent = parent
-        
+
+        # Emergency-STOP event handling. The CANopen master firmware emits an
+        # unsolicited block when the hardware E-stop is pressed/released:
+        #   ++
+        #   {"emergency":{"active":1,"reason":"estop","msg":"..."},"qid":0}
+        #   --
+        # We surface it through registered callbacks (see register_emergency_callback).
+        self.emergency_active = False
+        self.last_emergency = None
+        self._emergency_callbacks = []
+        if hasattr(self._parent, "serial") and hasattr(self._parent.serial, "register_callback"):
+            self._parent.serial.register_callback(self._callback_emergency, pattern="emergency")
+
+    # ──────────────────────────────────────────────────────────────────────
+    # CAN-bus power (CANopen master gate driven by BUSPOWER_OFF_PIN)
+    # ──────────────────────────────────────────────────────────────────────
+    def set_power(self, power=1, getReturn=True, timeout=1):
+        '''
+        Enable (1, default) or disable (0) the high-current CAN-bus power that
+        feeds the slaves. Maps to /state_act {"power":0|1} on the master.
+        '''
+        path = "/state_act"
+        payload = {
+            "task": path,
+            "power": int(bool(power))
+        }
+        return self._parent.post_json(path, payload, getReturn=getReturn, timeout=timeout)
+
+    def get_power(self, timeout=1):
+        '''
+        Query the current CAN-bus power state (1=ON, 0=OFF).
+        Maps to /state_get {"power":1}. Returns an int when parseable,
+        otherwise the raw response.
+        '''
+        path = "/state_get"
+        payload = {
+            "task": path,
+            "power": 1
+        }
+        r = self._parent.post_json(path, payload, timeout=timeout)
+        try:
+            if isinstance(r, list):
+                r = r[0]
+            return r["state"]["power"]
+        except Exception:
+            return r
+
+    # ──────────────────────────────────────────────────────────────────────
+    # Emergency-STOP (async event pushed by the firmware)
+    # ──────────────────────────────────────────────────────────────────────
+    def set_estop_polarity(self, polarity=0, getReturn=True, timeout=1):
+        '''
+        Set the emergency-STOP asserted (emergency) logic level. Persisted on the
+        device and applied live.
+          polarity=0 -> active-LOW  (asserted reads LOW,  idle HIGH)
+          polarity=1 -> active-HIGH (asserted reads HIGH, idle LOW)
+        Maps to /state_act {"estopPolarity":0|1}.
+        '''
+        path = "/state_act"
+        payload = {"task": path, "estopPolarity": int(bool(polarity))}
+        return self._parent.post_json(path, payload, getReturn=getReturn, timeout=timeout)
+
+    def get_estop(self, timeout=1):
+        '''
+        Read E-stop diagnostics as a dict:
+        {"estopPolarity":0|1, "estopRaw":0|1|-1, "estopActive":0|1}.
+        estopRaw is the live pin level — flip the polarity (set_estop_polarity)
+        until pressing the button makes estopActive read 1.
+        Maps to /state_get {"estop":1}.
+        '''
+        path = "/state_get"
+        payload = {"task": path, "estop": 1}
+        r = self._parent.post_json(path, payload, timeout=timeout)
+        try:
+            if isinstance(r, list):
+                r = r[0]
+            return r["state"]
+        except Exception:
+            return r
+
+    def _callback_emergency(self, data):
+        ''' Handle the async {"emergency":{...}} event from the firmware. '''
+        try:
+            em = data.get("emergency", {})
+            self.emergency_active = bool(em.get("active", 0))
+            self.last_emergency = em
+            if self.emergency_active:
+                self._parent.logger.warning(
+                    "EMERGENCY STOP: " + str(em.get("msg", "E-stop asserted")))
+            else:
+                self._parent.logger.info("Emergency stop released")
+            for callback in list(self._emergency_callbacks):
+                try:
+                    callback(em)
+                except Exception as callback_error:
+                    self._parent.logger.error(
+                        "Error in emergency callback execution: " + str(callback_error))
+        except Exception as e:
+            self._parent.logger.error("Error in _callback_emergency: " + str(e))
+
+    def register_emergency_callback(self, callbackfct):
+        '''
+        Register a function invoked whenever an emergency event arrives.
+        The callback receives the "emergency" dict, e.g.
+        {"active":1,"reason":"estop","msg":"..."}.
+
+        Example:
+            def on_estop(em):
+                if em.get("active"):
+                    print("E-STOP! stopping host-side acquisition")
+            ESP32.state.register_emergency_callback(on_estop)
+        '''
+        if callbackfct not in self._emergency_callbacks:
+            self._emergency_callbacks.append(callbackfct)
+
+    def unregister_emergency_callback(self, callbackfct):
+        ''' Remove a previously registered emergency callback. '''
+        if callbackfct in self._emergency_callbacks:
+            self._emergency_callbacks.remove(callbackfct)
+
+    def is_emergency_active(self):
+        ''' Last known emergency state as reported by the firmware. '''
+        return self.emergency_active
+
     def get_state(self, timeout=3):
         path = "/state_get"