From 9ed36014e092a8c0c74972a10af2b14efa3de771 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 10:41:46 +0000 Subject: [PATCH 01/12] initial conversion to copier template 5.0.1 --- .copier-answers.yml | 21 +++ .devcontainer/devcontainer.json | 70 +++++---- .github/CONTRIBUTING.md | 27 ++++ .github/ISSUE_TEMPLATE/bug_report.md | 21 +++ .github/ISSUE_TEMPLATE/issue.md | 13 ++ .../pull_request_template.md | 8 + .github/pages/index.html | 2 +- .github/pages/make_switcher.py | 33 ++-- .github/workflows/_container.yml | 64 ++++++++ .github/workflows/_dist.yml | 37 +++++ .github/workflows/_docs.yml | 55 +++++++ .github/workflows/_pypi.yml | 19 +++ .github/workflows/_release.yml | 32 ++++ .github/workflows/_test.yml | 39 +++++ .github/workflows/_tox.yml | 22 +++ .github/workflows/ci.yml | 59 +++++++ .github/workflows/periodic.yml | 13 ++ .gitignore | 4 +- .gitleaks.toml | 19 +++ .pre-commit-config.yaml | 31 ++-- .python-version | 1 + .vscode/extensions.json | 6 +- .vscode/launch.json | 9 +- .vscode/settings.json | 15 +- .vscode/tasks.json | 2 +- Dockerfile | 57 +++---- README.md | 38 +++++ catalog-info.yaml | 10 ++ docs/_api.rst | 16 ++ docs/_templates/custom-module-template.rst | 37 +++++ docs/conf.py | 110 +++++++------ docs/explanations.md | 10 ++ docs/explanations/decisions.md | 12 ++ .../0001-record-architecture-decisions.md | 18 +++ ...0002-switched-to-python-copier-template.md | 28 ++++ docs/explanations/decisions/COPYME | 19 +++ docs/genindex.md | 3 + docs/how-to.md | 10 ++ docs/how-to/contribute.md | 2 + docs/how-to/run-container.md | 14 ++ docs/images/dls-logo.svg | 20 +-- docs/index.md | 56 +++++++ docs/reference.md | 12 ++ docs/tutorials.md | 10 ++ docs/tutorials/installation.md | 42 +++++ pyproject.toml | 147 +++++++++++------- renovate.json | 41 +++++ src/catio/__init__.py | 11 +- uv.lock | 3 + 49 files changed, 1109 insertions(+), 239 deletions(-) create mode 100644 .copier-answers.yml create mode 100644 .github/CONTRIBUTING.md create mode 100644 .github/ISSUE_TEMPLATE/bug_report.md create mode 100644 .github/ISSUE_TEMPLATE/issue.md create mode 100644 .github/PULL_REQUEST_TEMPLATE/pull_request_template.md create mode 100644 .github/workflows/_container.yml create mode 100644 .github/workflows/_dist.yml create mode 100644 .github/workflows/_docs.yml create mode 100644 .github/workflows/_pypi.yml create mode 100644 .github/workflows/_release.yml create mode 100644 .github/workflows/_test.yml create mode 100644 .github/workflows/_tox.yml create mode 100644 .github/workflows/ci.yml create mode 100644 .github/workflows/periodic.yml create mode 100644 .gitleaks.toml create mode 100644 .python-version create mode 100644 README.md create mode 100644 catalog-info.yaml create mode 100644 docs/_api.rst create mode 100644 docs/_templates/custom-module-template.rst create mode 100644 docs/explanations.md create mode 100644 docs/explanations/decisions.md create mode 100644 docs/explanations/decisions/0001-record-architecture-decisions.md create mode 100644 docs/explanations/decisions/0002-switched-to-python-copier-template.md create mode 100644 docs/explanations/decisions/COPYME create mode 100644 docs/genindex.md create mode 100644 docs/how-to.md create mode 100644 docs/how-to/contribute.md create mode 100644 docs/how-to/run-container.md create mode 100644 docs/index.md create mode 100644 docs/reference.md create mode 100644 docs/tutorials.md create mode 100644 docs/tutorials/installation.md create mode 100644 renovate.json create mode 100644 uv.lock diff --git a/.copier-answers.yml b/.copier-answers.yml new file mode 100644 index 00000000..2d4ec37b --- /dev/null +++ b/.copier-answers.yml @@ -0,0 +1,21 @@ +# Changes here will be overwritten by Copier +_commit: 5.0.1 +_src_path: https://github.com/DiamondLightSource/python-copier-template.git +author_email: gregory.gay@diamond.ac.uk +author_name: Greg Gay +component_lifecycle: experimental +component_owner: group:default/beamline-controls +component_type: application +description: Control system integration of EtherCAT I/O devices running under TwinCAT + using pyads and FastCS +distribution_name: catio +docker: true +docker_debug: false +docs_type: sphinx +git_platform: github.com +github_org: DiamondLightSource +package_name: catio +pypi: true +repo_name: catio +strict_typing: false +type_checker: pyright diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index fd4efc94..c12cce59 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -3,56 +3,70 @@ "name": "Python 3 Developer Container", "build": { "dockerfile": "../Dockerfile", - "target": "build", - // Only upgrade pip, we will install the project below - "args": { - "PIP_OPTIONS": "--upgrade pip" - } + "target": "developer" }, "remoteEnv": { // Allow X11 apps to run inside the container - "DISPLAY": "${localEnv:DISPLAY}" - }, - // Add the URLs of features you want added when the container is built. - "features": { - "ghcr.io/devcontainers/features/common-utils:1": { - "username": "none", - "upgradePackages": false - } + "DISPLAY": "${localEnv:DISPLAY}", + // Put things that allow it in the persistent cache + "PRE_COMMIT_HOME": "/cache/pre-commit", + "UV_CACHE_DIR": "/cache/uv", + "UV_PYTHON_CACHE_DIR": "/cache/uv-python", + // Make a venv that is specific for this workspace path as the cache is shared + "UV_PROJECT_ENVIRONMENT": "/cache/venv-for${localWorkspaceFolder}", + // Do the equivalent of "activate" the venv so we don't have to "uv run" everything + "VIRTUAL_ENV": "/cache/venv-for${localWorkspaceFolder}", + "PATH": "/cache/venv-for${localWorkspaceFolder}/bin:${containerEnv:PATH}" }, "customizations": { "vscode": { // Set *default* container specific settings.json values on container create. "settings": { - "python.defaultInterpreterPath": "/venv/bin/python" + // Use the container's python by default + "python.defaultInterpreterPath": "/cache/venv-for${localWorkspaceFolder}/bin/python", + // Don't activate the venv as it is already in the PATH + "python.terminal.activateEnvInCurrentTerminal": false, + "python.terminal.activateEnvironment": false, + // Workaround to prevent garbled python REPL in the terminal + // https://github.com/microsoft/vscode-python/issues/25505 + "python.terminal.shellIntegration.enabled": false }, // Add the IDs of extensions you want installed when the container is created. "extensions": [ "ms-python.python", + "github.vscode-github-actions", "tamasfe.even-better-toml", "redhat.vscode-yaml", "ryanluker.vscode-coverage-gutters", - "github.vscode-github-actions", "charliermarsh.ruff", "ms-azuretools.vscode-docker" ] } }, - // Make sure the files we are mapping into the container exist on the host - "initializeCommand": "bash -c 'for i in $HOME/.inputrc; do [ -f $i ] || touch $i; done'", + // Create the config folder for the bash-config feature and uv cache + "initializeCommand": "mkdir -p ${localEnv:HOME}/.config/terminal-config", "runArgs": [ + // Allow the container to access the host X11 display and EPICS CA "--net=host", - "--security-opt=label=type:container_runtime_t" + // Make sure SELinux does not disable with access to host filesystems like tmp + "--security-opt=label=disable" ], "mounts": [ - "source=${localEnv:HOME}/.ssh,target=/root/.ssh,type=bind", - "source=${localEnv:HOME}/.inputrc,target=/root/.inputrc,type=bind", - // map in home directory - not strictly necessary but useful - "source=${localEnv:HOME},target=${localEnv:HOME},type=bind,consistency=cached" + // Mount in the user terminal config folder so it can be edited + { + "source": "${localEnv:HOME}/.config/terminal-config", + "target": "/user-terminal-config", + "type": "bind" + }, + // Keep a persistent cross container cache for uv, pre-commit, and the venvs + { + "source": "devcontainer-shared-cache", + "target": "/cache", + "type": "volume" + } ], - // make the workspace folder the same inside and outside of the container - "workspaceMount": "source=${localWorkspaceFolder},target=${localWorkspaceFolder},type=bind", - "workspaceFolder": "${localWorkspaceFolder}", - // After the container is created, install the python project in editable form - "postCreateCommand": "pip install -e '.[dev]'" -} \ No newline at end of file + // Mount the parent as /workspaces so we can pip install peers as editable + "workspaceMount": "source=${localWorkspaceFolder}/..,target=/workspaces,type=bind", + // After the container is created, recreate the venv then make pre-commit first run faster + "postCreateCommand": "uv venv --clear && uv sync && pre-commit install --install-hooks" +} diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md new file mode 100644 index 00000000..75753b46 --- /dev/null +++ b/.github/CONTRIBUTING.md @@ -0,0 +1,27 @@ +# Contribute to the project + +Contributions and issues are most welcome! All issues and pull requests are +handled through [GitHub](https://github.com/DiamondLightSource/catio/issues). Also, please check for any existing issues before +filing a new one. If you have a great idea but it involves big changes, please +file a ticket before making a pull request! We want to make sure you don't spend +your time coding something that might not fit the scope of the project. + +## Issue or Discussion? + +Github also offers [discussions](https://github.com/DiamondLightSource/catio/discussions) as a place to ask questions and share ideas. If +your issue is open ended and it is not obvious when it can be "closed", please +raise it as a discussion instead. + +## Code Coverage + +While 100% code coverage does not make a library bug-free, it significantly +reduces the number of easily caught bugs! Please make sure coverage remains the +same or is improved by a pull request! + +## Developer Information + +It is recommended that developers use a [vscode devcontainer](https://code.visualstudio.com/docs/devcontainers/containers). This repository contains configuration to set up a containerized development environment that suits its own needs. + +This project was created using the [Diamond Light Source Copier Template](https://github.com/DiamondLightSource/python-copier-template) for Python projects. + +For more information on common tasks like setting up a developer environment, running the tests, and setting a pre-commit hook, see the template's [How-to guides](https://diamondlightsource.github.io/python-copier-template/5.0.1/how-to.html). diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 00000000..92087f5b --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,21 @@ +--- +name: Bug Report +about: The template to use for reporting bugs and usability issues +title: " " +labels: 'bug' +assignees: '' + +--- + +Describe the bug, including a clear and concise description of the expected behaviour, the actual behavior and the context in which you encountered it (ideally include details of your environment). + +## Steps To Reproduce +Steps to reproduce the behavior: +1. Go to '...' +2. Click on '....' +3. Scroll down to '....' +4. See error + + +## Acceptance Criteria +- Specific criteria that will be used to judge if the issue is fixed diff --git a/.github/ISSUE_TEMPLATE/issue.md b/.github/ISSUE_TEMPLATE/issue.md new file mode 100644 index 00000000..52c84dd8 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/issue.md @@ -0,0 +1,13 @@ +--- +name: Issue +about: The standard template to use for feature requests, design discussions and tasks +title: " " +labels: '' +assignees: '' + +--- + +A brief description of the issue, including specific stakeholders and the business case where appropriate + +## Acceptance Criteria +- Specific criteria that will be used to judge if the issue is fixed diff --git a/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md new file mode 100644 index 00000000..8200afe5 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE/pull_request_template.md @@ -0,0 +1,8 @@ +Fixes #ISSUE + +### Instructions to reviewer on how to test: +1. Do thing x +2. Confirm thing y happens + +### Checks for reviewer +- [ ] Would the PR title make sense to a user on a set of release notes diff --git a/.github/pages/index.html b/.github/pages/index.html index 80f0a009..c495f39f 100644 --- a/.github/pages/index.html +++ b/.github/pages/index.html @@ -8,4 +8,4 @@ - \ No newline at end of file + diff --git a/.github/pages/make_switcher.py b/.github/pages/make_switcher.py index 39c12772..c06813af 100755 --- a/.github/pages/make_switcher.py +++ b/.github/pages/make_switcher.py @@ -1,30 +1,32 @@ +"""Make switcher.json to allow docs to switch between different versions.""" + import json import logging from argparse import ArgumentParser from pathlib import Path from subprocess import CalledProcessError, check_output -from typing import List, Optional -def report_output(stdout: bytes, label: str) -> List[str]: +def report_output(stdout: bytes, label: str) -> list[str]: + """Print and return something received frm stdout.""" ret = stdout.decode().strip().split("\n") print(f"{label}: {ret}") return ret -def get_branch_contents(ref: str) -> List[str]: +def get_branch_contents(ref: str) -> list[str]: """Get the list of directories in a branch.""" stdout = check_output(["git", "ls-tree", "-d", "--name-only", ref]) return report_output(stdout, "Branch contents") -def get_sorted_tags_list() -> List[str]: +def get_sorted_tags_list() -> list[str]: """Get a list of sorted tags in descending order from the repository.""" stdout = check_output(["git", "tag", "-l", "--sort=-v:refname"]) return report_output(stdout, "Tags list") -def get_versions(ref: str, add: Optional[str], remove: Optional[str]) -> List[str]: +def get_versions(ref: str, add: str | None) -> list[str]: """Generate the file containing the list of all GitHub Pages builds.""" # Get the directories (i.e. builds) from the GitHub Pages branch try: @@ -36,15 +38,12 @@ def get_versions(ref: str, add: Optional[str], remove: Optional[str]) -> List[st # Add and remove from the list of builds if add: builds.add(add) - if remove: - assert remove in builds, f"Build '{remove}' not in {sorted(builds)}" - builds.remove(remove) # Get a sorted list of tags tags = get_sorted_tags_list() # Make the sorted versions list from main branches and tags - versions: List[str] = [] + versions: list[str] = [] for version in ["master", "main"] + tags: if version in builds: versions.append(version) @@ -56,29 +55,27 @@ def get_versions(ref: str, add: Optional[str], remove: Optional[str]) -> List[st return versions -def write_json(path: Path, repository: str, versions: str): +def write_json(path: Path, repository: str, versions: list[str]): + """Write the JSON switcher to path.""" org, repo_name = repository.split("/") struct = [ - dict(version=version, url=f"https://{org}.github.io/{repo_name}/{version}/") + {"version": version, "url": f"https://{org}.github.io/{repo_name}/{version}/"} for version in versions ] text = json.dumps(struct, indent=2) print(f"JSON switcher:\n{text}") - path.write_text(text) + path.write_text(text, encoding="utf-8") def main(args=None): + """Parse args and write switcher.""" parser = ArgumentParser( - description="Make a versions.txt file from gh-pages directories" + description="Make a versions.json file from gh-pages directories" ) parser.add_argument( "--add", help="Add this directory to the list of existing directories", ) - parser.add_argument( - "--remove", - help="Remove this directory from the list of existing directories", - ) parser.add_argument( "repository", help="The GitHub org and repository name: ORG/REPO", @@ -91,7 +88,7 @@ def main(args=None): args = parser.parse_args(args) # Write the versions file - versions = get_versions("origin/gh-pages", args.add, args.remove) + versions = get_versions("origin/gh-pages", args.add) write_json(args.output, args.repository, versions) diff --git a/.github/workflows/_container.yml b/.github/workflows/_container.yml new file mode 100644 index 00000000..1d02e99f --- /dev/null +++ b/.github/workflows/_container.yml @@ -0,0 +1,64 @@ +on: + workflow_call: + inputs: + publish: + type: boolean + description: If true, pushes image to container registry + +jobs: + build: + runs-on: ubuntu-latest + + steps: + - name: Checkout + uses: actions/checkout@v5 + with: + # Need this to get version number from last tag + fetch-depth: 0 + + - name: Set up Docker Buildx + id: buildx + uses: docker/setup-buildx-action@v3 + + - name: Log in to GitHub Docker Registry + if: github.event_name != 'pull_request' + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Build and export to Docker local cache + uses: docker/build-push-action@v6 + env: + DOCKER_BUILD_RECORD_UPLOAD: false + with: + context: . + # Need load and tags so we can test it below + load: true + tags: tag_for_testing + + - name: Test cli works in cached runtime image + run: docker run --rm tag_for_testing --version + + - name: Create tags for publishing image + id: meta + uses: docker/metadata-action@v5 + with: + images: ghcr.io/${{ github.repository }} + tags: | + type=ref,event=tag + type=raw,value=latest + + - name: Push cached image to container registry + if: inputs.publish && github.ref_type == 'tag' + uses: docker/build-push-action@v6 + env: + DOCKER_BUILD_RECORD_UPLOAD: false + # This does not build the image again, it will find the image in the + # Docker cache and publish it + with: + context: . + push: true + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} diff --git a/.github/workflows/_dist.yml b/.github/workflows/_dist.yml new file mode 100644 index 00000000..9fdb47fd --- /dev/null +++ b/.github/workflows/_dist.yml @@ -0,0 +1,37 @@ +on: + workflow_call: + +jobs: + build: + runs-on: "ubuntu-latest" + + steps: + - name: Checkout + uses: actions/checkout@v5 + with: + # Need this to get version number from last tag + fetch-depth: 0 + + - name: Install uv + uses: astral-sh/setup-uv@v7 + + - name: Build sdist and wheel + run: > + export SOURCE_DATE_EPOCH=$(git log -1 --pretty=%ct) && + uvx --from build pyproject-build + + - name: Upload sdist and wheel as artifacts + uses: actions/upload-artifact@v4 + with: + name: dist + path: dist + + - name: Check for packaging errors + run: uvx twine check --strict dist/* + + - name: Install produced wheel + run: python -m pip install dist/*.whl + + - name: Test module --version works using the installed wheel + # If more than one module in src/ replace with module name to test + run: python -m $(ls --hide='*.egg-info' src | head -1) --version diff --git a/.github/workflows/_docs.yml b/.github/workflows/_docs.yml new file mode 100644 index 00000000..272a30f2 --- /dev/null +++ b/.github/workflows/_docs.yml @@ -0,0 +1,55 @@ +on: + workflow_call: + + +jobs: + build: + runs-on: ubuntu-latest + + steps: + - name: Avoid git conflicts when tag and branch pushed at same time + if: github.ref_type == 'tag' + run: sleep 60 + + - name: Checkout + uses: actions/checkout@v5 + with: + # Need this to get version number from last tag + fetch-depth: 0 + + - name: Install system packages + run: sudo apt-get install graphviz + + - name: Install uv + uses: astral-sh/setup-uv@v7 + + - name: Build docs + run: uv run --locked tox -e docs + + - name: Remove environment.pickle + run: rm build/html/.doctrees/environment.pickle + + - name: Upload built docs artifact + uses: actions/upload-artifact@v4 + with: + name: docs + path: build + + - name: Sanitize ref name for docs version + run: echo "DOCS_VERSION=${GITHUB_REF_NAME//[^A-Za-z0-9._-]/_}" >> $GITHUB_ENV + + - name: Move to versioned directory + run: mv build/html .github/pages/$DOCS_VERSION + + - name: Write switcher.json + run: python .github/pages/make_switcher.py --add $DOCS_VERSION ${{ github.repository }} .github/pages/switcher.json + + - name: Publish Docs to gh-pages + if: github.ref_type == 'tag' || github.ref_name == 'main' + # We pin to the SHA, not the tag, for security reasons. + # https://docs.github.com/en/actions/learn-github-actions/security-hardening-for-github-actions#using-third-party-actions + uses: peaceiris/actions-gh-pages@4f9cc6602d3f66b9c108549d475ec49e8ef4d45e # v4.0.0 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: .github/pages + keep_files: true diff --git a/.github/workflows/_pypi.yml b/.github/workflows/_pypi.yml new file mode 100644 index 00000000..fa78b9ea --- /dev/null +++ b/.github/workflows/_pypi.yml @@ -0,0 +1,19 @@ +on: + workflow_call: + +jobs: + upload: + runs-on: ubuntu-latest + environment: release + + steps: + - name: Download dist artifact + uses: actions/download-artifact@v5 + with: + name: dist + path: dist + + - name: Publish to PyPI using trusted publishing + uses: pypa/gh-action-pypi-publish@release/v1 + with: + attestations: false diff --git a/.github/workflows/_release.yml b/.github/workflows/_release.yml new file mode 100644 index 00000000..15171d44 --- /dev/null +++ b/.github/workflows/_release.yml @@ -0,0 +1,32 @@ +on: + workflow_call: + +jobs: + artifacts: + runs-on: ubuntu-latest + + steps: + - name: Download artifacts + uses: actions/download-artifact@v5 + with: + merge-multiple: true + + - name: Zip up docs + run: | + set -vxeuo pipefail + if [ -d html ]; then + mv html $GITHUB_REF_NAME + zip -r docs.zip $GITHUB_REF_NAME + rm -rf $GITHUB_REF_NAME + fi + + - name: Create GitHub Release + # We pin to the SHA, not the tag, for security reasons. + # https://docs.github.com/en/actions/learn-github-actions/security-hardening-for-github-actions#using-third-party-actions + uses: softprops/action-gh-release@6da8fa9354ddfdc4aeace5fc48d7f679b5214090 # v2.4.1 + with: + prerelease: ${{ contains(github.ref_name, 'a') || contains(github.ref_name, 'b') || contains(github.ref_name, 'rc') }} + files: "*" + generate_release_notes: true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/_test.yml b/.github/workflows/_test.yml new file mode 100644 index 00000000..46cd49df --- /dev/null +++ b/.github/workflows/_test.yml @@ -0,0 +1,39 @@ +on: + workflow_call: + inputs: + python-version: + type: string + description: The version of python to install, default is from .python-version file + default: "" + runs-on: + type: string + description: The runner to run this job on + required: true + +env: + # https://github.com/pytest-dev/pytest/issues/2042 + PY_IGNORE_IMPORTMISMATCH: "1" + UV_PYTHON: ${{ inputs.python-version }} + +jobs: + run: + runs-on: ${{ inputs.runs-on }} + + steps: + - name: Checkout + uses: actions/checkout@v5 + with: + # Need this to get version number from last tag + fetch-depth: 0 + + - name: Install uv + uses: astral-sh/setup-uv@v7 + + - name: Run tests + run: uv run --locked tox -e tests + + - name: Upload coverage to Codecov + uses: codecov/codecov-action@v5 + with: + name: ${{ inputs.python-version }}/${{ inputs.runs-on }} + files: cov.xml diff --git a/.github/workflows/_tox.yml b/.github/workflows/_tox.yml new file mode 100644 index 00000000..56eddd4e --- /dev/null +++ b/.github/workflows/_tox.yml @@ -0,0 +1,22 @@ +on: + workflow_call: + inputs: + tox: + type: string + description: What to run under tox + required: true + + +jobs: + run: + runs-on: "ubuntu-latest" + + steps: + - name: Checkout + uses: actions/checkout@v5 + + - name: Install uv + uses: astral-sh/setup-uv@v7 + + - name: Run tox + run: uv run --locked tox -e ${{ inputs.tox }} diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 00000000..9feb06d9 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,59 @@ +name: CI + +on: + push: + branches: + - main + tags: + - '*' + pull_request: + +jobs: + + lint: + uses: ./.github/workflows/_tox.yml + with: + tox: pre-commit,type-checking + + test: + strategy: + matrix: + runs-on: ["ubuntu-latest"] # can add windows-latest, macos-latest + python-version: ["3.11", "3.12", "3.13"] + fail-fast: false + uses: ./.github/workflows/_test.yml + with: + runs-on: ${{ matrix.runs-on }} + python-version: ${{ matrix.python-version }} + + container: + needs: test + if: always() + uses: ./.github/workflows/_container.yml + with: + publish: ${{ needs.test.result == 'success' }} + permissions: + contents: read + packages: write + + docs: + uses: ./.github/workflows/_docs.yml + permissions: + contents: write + + dist: + uses: ./.github/workflows/_dist.yml + + pypi: + needs: [dist, test] + if: github.ref_type == 'tag' + uses: ./.github/workflows/_pypi.yml + permissions: + id-token: write + + release: + needs: [dist, test, docs] + if: github.ref_type == 'tag' + uses: ./.github/workflows/_release.yml + permissions: + contents: write diff --git a/.github/workflows/periodic.yml b/.github/workflows/periodic.yml new file mode 100644 index 00000000..18b419c5 --- /dev/null +++ b/.github/workflows/periodic.yml @@ -0,0 +1,13 @@ +name: Periodic + +on: + workflow_dispatch: + schedule: + # Run weekly to check URL links still resolve + - cron: "0 8 * * WED" + +jobs: + linkcheck: + uses: ./.github/workflows/_tox.yml + with: + tox: docs -- -b linkcheck diff --git a/.gitignore b/.gitignore index c6f7315a..0f33bf29 100644 --- a/.gitignore +++ b/.gitignore @@ -8,7 +8,6 @@ __pycache__/ # Distribution / packaging .Python env/ -.venv build/ develop-eggs/ dist/ @@ -56,6 +55,7 @@ cov.xml # Sphinx documentation docs/_build/ +docs/_api # PyBuilder target/ @@ -68,4 +68,4 @@ venv* lockfiles/ # ruff cache -.ruff_cache/ \ No newline at end of file +.ruff_cache/ diff --git a/.gitleaks.toml b/.gitleaks.toml new file mode 100644 index 00000000..9ecf1248 --- /dev/null +++ b/.gitleaks.toml @@ -0,0 +1,19 @@ +# This allow-list is limited to YAML/YML files to cut down SealedSecrets false positives. +# All gitleaks default rules still apply everywhere (useDefault = true). +# To broaden this allow-list to all files, comment out the 'paths' line below. + +[extend] +useDefault = true + +[[rules]] +id = "generic-api-key" + +# Pattern-only allowlist for long Ag… tokens in YAML +[[rules.allowlists]] +condition = "AND" +regexes = [ + # Boundary-safe Ag… token without lookarounds (RE2-safe) + '''(?:^|[^A-Za-z0-9+/=])(Ag[A-Za-z0-9+/]{500,}={0,2})(?:[^A-Za-z0-9+/=]|$)''' +] +# Limit to YAML only for now. Comment this out if you want it to apply everywhere. +paths = ['''(?i).*\.ya?ml$'''] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 3e895fd8..a43ed574 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,32 +1,19 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.5.0 + rev: v5.0.0 hooks: - id: check-added-large-files + exclude: ^uv.lock - id: check-yaml - id: check-merge-conflict - id: end-of-file-fixer - repo: local hooks: - - id: black - name: Run black - stages: [commit] - language: system - entry: black --check --diff - types: [python] - - - id: flake8 - name: Run flake8 - stages: [commit] - language: system - entry: flake8 - types: [python] - - id: ruff name: lint with ruff language: system - entry: ruff check --force-exclude + entry: ruff check --force-exclude --fix types: [python] require_serial: true @@ -36,3 +23,15 @@ repos: entry: ruff format --force-exclude types: [python] require_serial: true + + - id: uv-sync + name: update uv.lock and venv + pass_filenames: false + language: system + entry: uv sync + files: ^(uv\.lock|pyproject\.toml)$ + + - repo: https://github.com/gitleaks/gitleaks + rev: v8.28.0 + hooks: + - id: gitleaks diff --git a/.python-version b/.python-version new file mode 100644 index 00000000..2c073331 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.11 diff --git a/.vscode/extensions.json b/.vscode/extensions.json index 81922991..933c580c 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -1,9 +1,5 @@ { "recommendations": [ "ms-vscode-remote.remote-containers", - "ms-python.python", - "tamasfe.even-better-toml", - "redhat.vscode-yaml", - "ryanluker.vscode-coverage-gutters" ] -} \ No newline at end of file +} diff --git a/.vscode/launch.json b/.vscode/launch.json index 609720b8..59f4a608 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -14,12 +14,6 @@ "debug-test" ], "console": "integratedTerminal", - "env": { - // The default config in pyproject.toml's "[tool.pytest.ini_options]" adds coverage. - // Cannot have coverage and debugging at the same time. - // https://github.com/microsoft/vscode-python/issues/693 - "PYTEST_ADDOPTS": "--no-cov" - }, }, { "name": "CATio IOC", @@ -36,4 +30,5 @@ ] }, ] -} \ No newline at end of file +] +} diff --git a/.vscode/settings.json b/.vscode/settings.json index 2c8e079f..101c75fa 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,15 +1,12 @@ { - "python.linting.pylintEnabled": false, - "python.linting.flake8Enabled": true, - "python.linting.mypyEnabled": true, - "python.linting.enabled": true, - "python.testing.pytestArgs": [], "python.testing.unittestEnabled": false, "python.testing.pytestEnabled": true, - "python.formatting.provider": "black", - "python.languageServer": "Pylance", "editor.formatOnSave": true, "editor.codeActionsOnSave": { "source.organizeImports": "explicit" - } -} \ No newline at end of file + }, + "files.insertFinalNewline": true, + "[python]": { + "editor.defaultFormatter": "charliermarsh.ruff", + }, +} diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 946e69d4..c999e864 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -13,4 +13,4 @@ "problemMatcher": [], } ] -} \ No newline at end of file +} diff --git a/Dockerfile b/Dockerfile index 4e50f9a7..b7c76861 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,41 +1,44 @@ -# This file is for use as a devcontainer and a runtime container -# -# The devcontainer should use the build target and run as root with podman +# The devcontainer should use the developer target and run as root with podman # or docker with user namespaces. -# -ARG PYTHON_VERSION=3.11 +FROM ghcr.io/diamondlightsource/ubuntu-devcontainer:noble AS developer -FROM python:${PYTHON_VERSION} as developer - -# Add any system dependencies for the developer/build environment here e.g. -RUN apt-get update && apt-get upgrade -y && \ - apt-get install -y --no-install-recommends \ +# Add any system dependencies for the developer/build environment here +RUN apt-get update -y && apt-get install -y --no-install-recommends \ graphviz \ - && rm -rf /var/lib/apt/lists/* - -# set up a virtual environment and put it in PATH -RUN python -m venv /venv -ENV PATH=/venv/bin:$PATH + && apt-get dist-clean # The build stage installs the context into the venv FROM developer AS build -# copy any required context for the pip install over -COPY . /context -WORKDIR /context +# Change the working directory to the `app` directory +# and copy in the project +WORKDIR /app +COPY . /app +RUN chmod o+wrX . + +# Tell uv sync to install python in a known location so we can copy it out later +ENV UV_PYTHON_INSTALL_DIR=/python + +# Sync the project without its dev dependencies +RUN --mount=type=cache,target=/root/.cache/uv \ + uv sync --locked --no-editable --no-dev + -# install python package into /venv -RUN touch dev-requirements.txt && pip install -c dev-requirements.txt . +# The runtime stage copies the built venv into a runtime container +FROM ubuntu:noble AS runtime -# The runtime stage copies the built venv into a slim runtime container -FROM python:${PYTHON_VERSION}-slim as runtime +# Add apt-get system dependecies for runtime here if needed +# RUN apt-get update -y && apt-get install -y --no-install-recommends \ +# some-library \ +# && apt-get dist-clean -# add apt-get system dependencies for runtime here if needed +# Copy the python installation from the build stage +COPY --from=build /python /python -# copy the virtual environment from the build stage and put it in PATH -COPY --from=build /venv/ /venv/ -ENV PATH=/venv/bin:$PATH +# Copy the environment, but not the source code +COPY --from=build /app/.venv /app/.venv +ENV PATH=/app/.venv/bin:$PATH # change this entrypoint if it is not the same as the repo -ENTRYPOINT ["CATio"] +ENTRYPOINT ["catio"] CMD ["--version"] diff --git a/README.md b/README.md new file mode 100644 index 00000000..8fd6bc5f --- /dev/null +++ b/README.md @@ -0,0 +1,38 @@ +[![CI](https://github.com/DiamondLightSource/catio/actions/workflows/ci.yml/badge.svg)](https://github.com/DiamondLightSource/catio/actions/workflows/ci.yml) +[![Coverage](https://codecov.io/gh/DiamondLightSource/catio/branch/main/graph/badge.svg)](https://codecov.io/gh/DiamondLightSource/catio) +[![PyPI](https://img.shields.io/pypi/v/catio.svg)](https://pypi.org/project/catio) +[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0) + +# catio + +Control system integration of EtherCAT I/O devices running under TwinCAT using pyads and FastCS + +This is where you should write a short paragraph that describes what your module does, +how it does it, and why people should use it. + +Source | +:---: | :---: +PyPI | `pip install catio` +Docker | `docker run ghcr.io/diamondlightsource/catio:latest` +Documentation | +Releases | + +This is where you should put some images or code snippets that illustrate +some relevant examples. If it is a library then you might put some +introductory code here: + +```python +from catio import __version__ + +print(f"Hello catio {__version__}") +``` + +Or if it is a commandline tool then you might put some example commands here: + +``` +python -m catio --version +``` + + + +See https://diamondlightsource.github.io/catio for more detailed documentation. diff --git a/catalog-info.yaml b/catalog-info.yaml new file mode 100644 index 00000000..21a994fb --- /dev/null +++ b/catalog-info.yaml @@ -0,0 +1,10 @@ +apiVersion: backstage.io/v1alpha1 +kind: Component +metadata: + name: catio + title: catio + description: Control system integration of EtherCAT I/O devices running under TwinCAT using pyads and FastCS +spec: + type: application + lifecycle: experimental + owner: group:default/beamline-controls diff --git a/docs/_api.rst b/docs/_api.rst new file mode 100644 index 00000000..8549bfed --- /dev/null +++ b/docs/_api.rst @@ -0,0 +1,16 @@ +:orphan: + +.. + This page is not included in the TOC tree, but must exist so that the + autosummary pages are generated for catio and all its + subpackages + +API +=== + +.. autosummary:: + :toctree: _api + :template: custom-module-template.rst + :recursive: + + catio diff --git a/docs/_templates/custom-module-template.rst b/docs/_templates/custom-module-template.rst new file mode 100644 index 00000000..9aeca540 --- /dev/null +++ b/docs/_templates/custom-module-template.rst @@ -0,0 +1,37 @@ +{{ ('``' + fullname + '``') | underline }} + +{%- set filtered_members = [] %} +{%- for item in members %} + {%- if item in functions + classes + exceptions + attributes %} + {% set _ = filtered_members.append(item) %} + {%- endif %} +{%- endfor %} + +.. automodule:: {{ fullname }} + :members: + + {% block modules %} + {% if modules %} + .. rubric:: Submodules + + .. autosummary:: + :toctree: + :template: custom-module-template.rst + :recursive: + {% for item in modules %} + {{ item }} + {%- endfor %} + {% endif %} + {% endblock %} + + {% block members %} + {% if filtered_members %} + .. rubric:: Members + + .. autosummary:: + :nosignatures: + {% for item in filtered_members %} + {{ item }} + {%- endfor %} + {% endif %} + {% endblock %} diff --git a/docs/conf.py b/docs/conf.py index 244881b7..e05a52b7 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,8 +1,9 @@ -# Configuration file for the Sphinx documentation builder. -# -# This file only contains a selection of the most common options. For a full -# list see the documentation: -# https://www.sphinx-doc.org/en/master/usage/configuration.html +"""Configuration file for the Sphinx documentation builder. + +This file only contains a selection of the most common options. For a full +list see the documentation: +https://www.sphinx-doc.org/en/master/usage/configuration.html +""" import sys from pathlib import Path @@ -15,7 +16,7 @@ # -- General configuration ------------------------------------------------ # General information about the project. -project = "CATio" +project = "catio" # The full version, including alpha/beta/rc tags. release = catio.__version__ @@ -32,6 +33,8 @@ extensions = [ # Use this for generating API docs "sphinx.ext.autodoc", + # and making summary tables at the top of API docs + "sphinx.ext.autosummary", # This can parse google style docstrings "sphinx.ext.napoleon", # For linking to external sphinx documentation @@ -44,8 +47,13 @@ "sphinx_copybutton", # For the card element "sphinx_design", + # So we can write markdown files + "myst_parser", ] +# So we can use the ::: syntax +myst_enable_extensions = ["colon_fence"] + # If true, Sphinx will warn about all references where the target cannot # be found. nitpicky = True @@ -75,6 +83,12 @@ # Don't inherit docstrings from baseclasses autodoc_inherit_docstrings = False +# Document only what is in __all__ +autosummary_ignore_module_all = False + +# Add any paths that contain templates here, relative to this directory. +templates_path = ["_templates"] + # Output graphviz directive produced images in a scalable format graphviz_output_format = "svg" @@ -82,9 +96,6 @@ # role, that is, for text marked up `like this` default_role = "any" -# The suffix of source filenames. -source_suffix = ".rst" - # The master toctree document. master_doc = "index" @@ -98,20 +109,10 @@ # This means you can link things like `str` and `asyncio` to the relevant # docs in the python documentation. -intersphinx_mapping = dict(python=("https://docs.python.org/3/", None)) +intersphinx_mapping = {"python": ("https://docs.python.org/3/", None)} # A dictionary of graphviz graph attributes for inheritance diagrams. -inheritance_graph_attrs = dict(rankdir="TB") - -# Common links that should be available on every page -rst_epilog = """ -.. _Diamond Light Source: http://www.diamond.ac.uk -.. _black: https://github.com/psf/black -.. _flake8: https://flake8.pycqa.org/en/latest/ -.. _isort: https://github.com/PyCQA/isort -.. _mypy: http://mypy-lang.org/ -.. _pre-commit: https://pre-commit.com/ -""" +inheritance_graph_attrs = {"rankdir": "TB"} # Ignore localhost links for periodic check that links in docs are valid linkcheck_ignore = [r"http://localhost:\d+/"] @@ -127,7 +128,7 @@ # a list of builtin themes. # html_theme = "pydata_sphinx_theme" -github_repo = project +github_repo = "catio" github_user = "DiamondLightSource" switcher_json = f"https://{github_user}.github.io/{github_repo}/switcher.json" switcher_exists = requests.get(switcher_json).ok @@ -143,46 +144,41 @@ # Theme options for pydata_sphinx_theme # We don't check switcher because there are 3 possible states for a repo: # 1. New project, docs are not published so there is no switcher -# 2. Existing project with latest skeleton, switcher exists and works -# 3. Existing project with old skeleton that makes broken switcher, +# 2. Existing project with latest copier template, switcher exists and works +# 3. Existing project with old copier template that makes broken switcher, # switcher exists but is broken -# Point 3 makes checking switcher difficult, because the updated skeleton +# Point 3 makes checking switcher difficult, because the updated copier template # will fix the switcher at the end of the docs workflow, but never gets a chance # to complete as the docs build warns and fails. -html_theme_options = dict( - logo=dict( - text=project, - ), - use_edit_page_button=True, - github_url=f"https://github.com/{github_user}/{github_repo}", - icon_links=[ - dict( - name="PyPI", - url=f"https://pypi.org/project/{project}", - icon="fas fa-cube", - ) - ], - switcher=dict( - json_url=switcher_json, - version_match=version, - ), - check_switcher=False, - navbar_end=["theme-switcher", "icon-links", "version-switcher"], - external_links=[ - dict( - name="Release Notes", - url=f"https://github.com/{github_user}/{github_repo}/releases", - ) +html_theme_options = { + "logo": { + "text": project, + }, + "use_edit_page_button": True, + "github_url": f"https://github.com/{github_user}/{github_repo}", + "icon_links": [ + { + "name": "PyPI", + "url": f"https://pypi.org/project/{project}", + "icon": "fas fa-cube", + } ], -) + "switcher": { + "json_url": switcher_json, + "version_match": version, + }, + "check_switcher": False, + "navbar_end": ["theme-switcher", "icon-links", "version-switcher"], + "navigation_with_keys": False, +} # A dictionary of values to pass into the template engine’s context for all pages -html_context = dict( - github_user=github_user, - github_repo=project, - github_version=version, - doc_path="docs", -) +html_context = { + "github_user": github_user, + "github_repo": github_repo, + "github_version": version, + "doc_path": "docs", +} # If true, "Created using Sphinx" is shown in the HTML footer. Default is True. html_show_sphinx = False @@ -192,4 +188,4 @@ # Logo html_logo = "images/dls-logo.svg" -html_favicon = "images/dls-favicon.ico" +html_favicon = html_logo diff --git a/docs/explanations.md b/docs/explanations.md new file mode 100644 index 00000000..73ab289b --- /dev/null +++ b/docs/explanations.md @@ -0,0 +1,10 @@ +# Explanations + +Explanations of how it works and why it works that way. + +```{toctree} +:maxdepth: 1 +:glob: + +explanations/* +``` diff --git a/docs/explanations/decisions.md b/docs/explanations/decisions.md new file mode 100644 index 00000000..0533b98d --- /dev/null +++ b/docs/explanations/decisions.md @@ -0,0 +1,12 @@ +# Architectural Decision Records + +Architectural decisions are made throughout a project's lifetime. As a way of keeping track of these decisions, we record these decisions in Architecture Decision Records (ADRs) listed below. + +```{toctree} +:glob: true +:maxdepth: 1 + +decisions/* +``` + +For more information on ADRs see this [blog by Michael Nygard](http://thinkrelevance.com/blog/2011/11/15/documenting-architecture-decisions). diff --git a/docs/explanations/decisions/0001-record-architecture-decisions.md b/docs/explanations/decisions/0001-record-architecture-decisions.md new file mode 100644 index 00000000..44d234ef --- /dev/null +++ b/docs/explanations/decisions/0001-record-architecture-decisions.md @@ -0,0 +1,18 @@ +# 1. Record architecture decisions + +## Status + +Accepted + +## Context + +We need to record the architectural decisions made on this project. + +## Decision + +We will use Architecture Decision Records, as [described by Michael Nygard](http://thinkrelevance.com/blog/2011/11/15/documenting-architecture-decisions). + +## Consequences + +See Michael Nygard's article, linked above. To create new ADRs we will copy and +paste from existing ones. diff --git a/docs/explanations/decisions/0002-switched-to-python-copier-template.md b/docs/explanations/decisions/0002-switched-to-python-copier-template.md new file mode 100644 index 00000000..66fe5d8b --- /dev/null +++ b/docs/explanations/decisions/0002-switched-to-python-copier-template.md @@ -0,0 +1,28 @@ +# 2. Adopt python-copier-template for project structure + +## Status + +Accepted + +## Context + +We should use the following [python-copier-template](https://github.com/DiamondLightSource/python-copier-template). +The template will ensure consistency in developer +environments and package management. + +## Decision + +We have switched to using the template. + +## Consequences + +This module will use a fixed set of tools as developed in `python-copier-template` +and can pull from this template to update the packaging to the latest techniques. + +As such, the developer environment may have changed, the following could be +different: + +- linting +- formatting +- pip venv setup +- CI/CD diff --git a/docs/explanations/decisions/COPYME b/docs/explanations/decisions/COPYME new file mode 100644 index 00000000..b466c792 --- /dev/null +++ b/docs/explanations/decisions/COPYME @@ -0,0 +1,19 @@ +# 3. Short descriptive title + +Date: Today's date + +## Status + +Accepted + +## Context + +Background to allow us to make the decision, to show how we arrived at our conclusions. + +## Decision + +What decision we made. + +## Consequences + +What we will do as a result of this decision. diff --git a/docs/genindex.md b/docs/genindex.md new file mode 100644 index 00000000..73f1191b --- /dev/null +++ b/docs/genindex.md @@ -0,0 +1,3 @@ +# Index + + diff --git a/docs/how-to.md b/docs/how-to.md new file mode 100644 index 00000000..6b161417 --- /dev/null +++ b/docs/how-to.md @@ -0,0 +1,10 @@ +# How-to Guides + +Practical step-by-step guides for the more experienced user. + +```{toctree} +:maxdepth: 1 +:glob: + +how-to/* +``` diff --git a/docs/how-to/contribute.md b/docs/how-to/contribute.md new file mode 100644 index 00000000..6e419797 --- /dev/null +++ b/docs/how-to/contribute.md @@ -0,0 +1,2 @@ +```{include} ../../.github/CONTRIBUTING.md +``` diff --git a/docs/how-to/run-container.md b/docs/how-to/run-container.md new file mode 100644 index 00000000..abbbbf85 --- /dev/null +++ b/docs/how-to/run-container.md @@ -0,0 +1,14 @@ +# Run in a container + +Pre-built containers with catio and its dependencies already +installed are available on [Github Container Registry](https://ghcr.io/DiamondLightSource/catio). + +## Starting the container + +To pull the container from github container registry and run: + +``` +$ docker run ghcr.io/diamondlightsource/catio:latest --version +``` + +To get a released version, use a numbered release instead of `latest`. diff --git a/docs/images/dls-logo.svg b/docs/images/dls-logo.svg index 0af1a177..4fcaa861 100644 --- a/docs/images/dls-logo.svg +++ b/docs/images/dls-logo.svg @@ -1,11 +1,11 @@ - - - - - - - - - - \ No newline at end of file + + + + + + + + + + diff --git a/docs/index.md b/docs/index.md new file mode 100644 index 00000000..730b3fdc --- /dev/null +++ b/docs/index.md @@ -0,0 +1,56 @@ +--- +html_theme.sidebar_secondary.remove: true +--- + +```{include} ../README.md +:end-before: + +::::{grid} 2 +:gutter: 4 + +:::{grid-item-card} {material-regular}`directions_walk;2em` +```{toctree} +:maxdepth: 2 +tutorials +``` ++++ +Tutorials for installation and typical usage. New users start here. +::: + +:::{grid-item-card} {material-regular}`directions;2em` +```{toctree} +:maxdepth: 2 +how-to +``` ++++ +Practical step-by-step guides for the more experienced user. +::: + +:::{grid-item-card} {material-regular}`info;2em` +```{toctree} +:maxdepth: 2 +explanations +``` ++++ +Explanations of how it works and why it works that way. +::: + +:::{grid-item-card} {material-regular}`menu_book;2em` +```{toctree} +:maxdepth: 2 +reference +``` ++++ +Technical reference material including APIs and release notes. +::: + +:::: diff --git a/docs/reference.md b/docs/reference.md new file mode 100644 index 00000000..16a29bd6 --- /dev/null +++ b/docs/reference.md @@ -0,0 +1,12 @@ +# Reference + +Technical reference material including APIs and release notes. + +```{toctree} +:maxdepth: 1 +:glob: + +API <_api/catio> +genindex +Release Notes +``` diff --git a/docs/tutorials.md b/docs/tutorials.md new file mode 100644 index 00000000..1fe66c54 --- /dev/null +++ b/docs/tutorials.md @@ -0,0 +1,10 @@ +# Tutorials + +Tutorials for installation and typical usage. New users start here. + +```{toctree} +:maxdepth: 1 +:glob: + +tutorials/* +``` diff --git a/docs/tutorials/installation.md b/docs/tutorials/installation.md new file mode 100644 index 00000000..aa21cefe --- /dev/null +++ b/docs/tutorials/installation.md @@ -0,0 +1,42 @@ +# Installation + +## Check your version of python + +You will need python 3.11 or later. You can check your version of python by +typing into a terminal: + +``` +$ python3 --version +``` + +## Create a virtual environment + +It is recommended that you install into a “virtual environment” so this +installation will not interfere with any existing Python software: + +``` +$ python3 -m venv /path/to/venv +$ source /path/to/venv/bin/activate +``` + +## Installing the library + +You can now use `pip` to install the library and its dependencies: + +``` +$ python3 -m pip install catio +``` + +If you require a feature that is not currently released you can also install +from github: + +``` +$ python3 -m pip install git+https://github.com/DiamondLightSource/catio.git +``` + +The library should now be installed and the commandline interface on your path. +You can check the version that has been installed by typing: + +``` +$ catio --version +``` diff --git a/pyproject.toml b/pyproject.toml index 2d19949b..2d0e86c4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,5 @@ [build-system] -requires = ["setuptools>=64", "setuptools_scm[toml]>=6.2", "wheel"] +requires = ["setuptools>=64", "setuptools_scm[toml]>=8"] build-backend = "setuptools.build_meta" [project] @@ -7,7 +7,6 @@ name = "catio" classifiers = [ "Development Status :: 3 - Alpha", "License :: OSI Approved :: Apache Software License", - "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", "Programming Language :: Python :: 3.13", @@ -23,17 +22,13 @@ dependencies = [ ] dynamic = ["version"] license.file = "LICENSE" -readme = "README.rst" -requires-python = ">=3.10" +readme = "README.md" +requires-python = ">=3.11" -[project.optional-dependencies] +[dependency-groups] dev = [ - "black", "copier", - "mypy", - "flake8-isort", - "Flake8-pyproject", - "pipdeptree", + "myst-parser", "pre-commit", "pydata-sphinx-theme>=0.12", "pyright", @@ -43,49 +38,31 @@ dev = [ "sphinx-autobuild", "sphinx-copybutton", "sphinx-design", - "tox-direct", + "tox-uv", "types-mock", ] [project.scripts] -CATio = "catio.__main__:main" +catio = "catio.__main__:main" [project.urls] -GitHub = "https://github.com/DiamondLightSource/CATio" +GitHub = "https://github.com/DiamondLightSource/catio" [[project.authors]] # Further authors may be added by duplicating this section email = "gregory.gay@diamond.ac.uk" -name = "Gregory Gay" +name = "Greg Gay" [tool.setuptools_scm] -write_to = "src/catio/_version.py" +version_file = "src/catio/_version.py" [tool.pyright] typeCheckingMode = "standard" reportMissingImports = false # Ignore missing stubs in imported modules -[tool.mypy] -ignore_missing_imports = true # Ignore missing stubs in imported modules - -[tool.isort] -float_to_top = true -profile = "black" - -[tool.flake8] -extend-ignore = [ - "E203", # See https://github.com/PyCQA/pycodestyle/issues/373 - "F811", # support typing.overload decorator - "F722", # allow Annotated[typ, some_func("some string")] -] -max-line-length = 88 # Respect black's line length (default 88), -exclude = [".tox", "venv"] - - [tool.pytest.ini_options] # Run pytest with all our checkers, and don't spam us with massive tracebacks on error addopts = """ --tb=native -vv --doctest-modules --doctest-glob="*.rst" - --cov=catio --cov-report term --cov-report xml:cov.xml """ # https://iscinumpy.gitlab.io/post/bound-version-constraints/#watch-for-warnings filterwarnings = "error" @@ -93,35 +70,94 @@ filterwarnings = "error" testpaths = "docs src tests" [tool.coverage.run] +patch = ["subprocess"] data_file = "/tmp/catio.coverage" [tool.coverage.paths] # Tests are run from installed location, map back to the src directory source = ["src", "**/site-packages/"] -# tox must currently be configured via an embedded ini string -# See: https://github.com/tox-dev/tox/issues/999 [tool.tox] -legacy_tox_ini = """ -[tox] -skipsdist=True - -[testenv:{pre-commit,mypy,pytest,docs}] -# Don't create a virtualenv for the command, requires tox-direct plugin -direct = True -passenv = * -allowlist_externals = - pytest - pre-commit - mypy - sphinx-build - sphinx-autobuild -commands = - pytest: pytest --cov=catio --cov-report term --cov-report xml:cov.xml {posargs} - mypy: mypy src tests {posargs} - pre-commit: pre-commit run --all-files --show-diff-on-failure {posargs} - docs: sphinx-{posargs:build -EW --keep-going} -T docs build/html -""" +skipsdist = true +# envs to runs automatically with tox -p +env_list = ["pre-commit", "type-checking", "tests", "docs"] + +[tool.tox.env_run_base] +# Pass all environment variables to the test environments +passenv = ["*"] + +[tool.tox.env.pre-commit] +description = "Run pre-commit on all files" +commands = [ + [ + "pre-commit", + "run", + "--all-files", + "--show-diff-on-failure", + { replace = "posargs", default = [ + ], extend = true }, + ], +] + +[tool.tox.env.type-checking] +description = "Run pyright" +commands = [ + [ + "pyright", + "--pythonpath", + ".venv/bin/python", + "src", + "tests", + { replace = "posargs", default = [ + ], extend = true }, + ], +] + +[tool.tox.env.tests] +description = "Run tests with coverage" +commands = [ + [ + "pytest", + "--cov=catio", + "--cov-report", + "term", + "--cov-report", + "xml:cov.xml", + { replace = "posargs", default = [ + ], extend = true }, + ], +] + +[tool.tox.env.docs] +description = "Run docs build with clean environment" +commands = [ + [ + "sphinx-build", + "--fresh-env", + "--show-traceback", + "--fail-on-warning", + "--keep-going", + "docs", + "build/html", + { replace = "posargs", default = [ + ], extend = true }, + ], +] + +[tool.tox.env.docs-autobuild] +description = "Run docs with autobuild on change" +commands = [ + [ + "sphinx-autobuild", + "--show-traceback", + "--watch", + "README.md", + "docs", + "build/html", + { replace = "posargs", default = [ + ], extend = true }, + ], +] [tool.ruff] src = ["src", "tests"] @@ -131,6 +167,7 @@ lint.select = [ "C4", # flake8-comprehensions - https://docs.astral.sh/ruff/rules/#flake8-comprehensions-c4 "E", # pycodestyle errors - https://docs.astral.sh/ruff/rules/#error-e "F", # pyflakes rules - https://docs.astral.sh/ruff/rules/#pyflakes-f + "N", # pep8-naming - https://docs.astral.sh/ruff/rules/#pep8-naming-n "W", # pycodestyle warnings - https://docs.astral.sh/ruff/rules/#warning-w "I", # isort - https://docs.astral.sh/ruff/rules/#isort-i "UP", # pyupgrade - https://docs.astral.sh/ruff/rules/#pyupgrade-up diff --git a/renovate.json b/renovate.json new file mode 100644 index 00000000..7a40c6ab --- /dev/null +++ b/renovate.json @@ -0,0 +1,41 @@ +{ + "$schema": "https://docs.renovatebot.com/renovate-schema.json", + "extends": [ + "config:recommended" + ], + "lockFileMaintenance": { + "description": "Keep uv.lock up to date, merging if tests pass", + "enabled": true, + "automerge": true + }, + "packageRules": [ + { + "description": "Disable python version as that is managed by python-copier-template", + "matchManagers": [ + "pyenv" + ], + "enabled": false + }, + { + "description": "Disable github actions that are managed by python-copier-template", + "matchPackageNames": [ + "actions/checkout", + "astral-sh/setup-uv", + "actions/upload-artifact", + "actions/download-artifact", + "softprops/action-gh-release", + "codecov/codecov-action", + "docker/setup-buildx-action", + "docker/login-action", + "docker/build-push-action", + "docker/metadata-action", + "pypa/gh-action-pypi-publish", + "peaceiris/actions-gh-pages" + ], + "matchManagers": [ + "github-actions" + ], + "enabled": false + } + ] +} diff --git a/src/catio/__init__.py b/src/catio/__init__.py index 6eba622b..a2ffbf36 100644 --- a/src/catio/__init__.py +++ b/src/catio/__init__.py @@ -1,6 +1,11 @@ -from importlib.metadata import version # noqa +"""Top level API. -__version__ = version("CATio") -del version +.. data:: __version__ + :type: str + + Version number as calculated by https://github.com/pypa/setuptools_scm +""" + +from ._version import __version__ __all__ = ["__version__"] diff --git a/uv.lock b/uv.lock new file mode 100644 index 00000000..9431a635 --- /dev/null +++ b/uv.lock @@ -0,0 +1,3 @@ +version = 1 +revision = 3 +requires-python = ">=3.11" From 7ebe75775677b34f34eb005fbecce54a33c8c9d6 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 10:42:14 +0000 Subject: [PATCH 02/12] remove old skeleton docs --- docs/developer/explanations/decisions.rst | 17 ----- .../0001-record-architecture-decisions.rst | 26 ------- .../0002-switched-to-pip-skeleton.rst | 35 --------- docs/developer/how-to/build-docs.rst | 38 ---------- docs/developer/how-to/contribute.rst | 1 - docs/developer/how-to/lint.rst | 41 ---------- docs/developer/how-to/make-release.rst | 16 ---- docs/developer/how-to/pin-requirements.rst | 74 ------------------- docs/developer/how-to/run-tests.rst | 12 --- docs/developer/how-to/static-analysis.rst | 8 -- docs/developer/how-to/test-container.rst | 25 ------- docs/developer/how-to/update-tools.rst | 16 ---- docs/developer/index.rst | 64 ---------------- docs/developer/reference/standards.rst | 64 ---------------- docs/developer/tutorials/dev-install.rst | 68 ----------------- docs/user/explanations/docs-structure.rst | 18 ----- docs/user/how-to/run-container.rst | 15 ---- docs/user/index.rst | 57 -------------- docs/user/reference/api.rst | 14 ---- docs/user/tutorials/installation.rst | 38 ---------- 20 files changed, 647 deletions(-) delete mode 100644 docs/developer/explanations/decisions.rst delete mode 100644 docs/developer/explanations/decisions/0001-record-architecture-decisions.rst delete mode 100644 docs/developer/explanations/decisions/0002-switched-to-pip-skeleton.rst delete mode 100644 docs/developer/how-to/build-docs.rst delete mode 100644 docs/developer/how-to/contribute.rst delete mode 100644 docs/developer/how-to/lint.rst delete mode 100644 docs/developer/how-to/make-release.rst delete mode 100644 docs/developer/how-to/pin-requirements.rst delete mode 100644 docs/developer/how-to/run-tests.rst delete mode 100644 docs/developer/how-to/static-analysis.rst delete mode 100644 docs/developer/how-to/test-container.rst delete mode 100644 docs/developer/how-to/update-tools.rst delete mode 100644 docs/developer/index.rst delete mode 100644 docs/developer/reference/standards.rst delete mode 100644 docs/developer/tutorials/dev-install.rst delete mode 100644 docs/user/explanations/docs-structure.rst delete mode 100644 docs/user/how-to/run-container.rst delete mode 100644 docs/user/index.rst delete mode 100644 docs/user/reference/api.rst delete mode 100644 docs/user/tutorials/installation.rst diff --git a/docs/developer/explanations/decisions.rst b/docs/developer/explanations/decisions.rst deleted file mode 100644 index 5841e6ea..00000000 --- a/docs/developer/explanations/decisions.rst +++ /dev/null @@ -1,17 +0,0 @@ -.. This Source Code Form is subject to the terms of the Mozilla Public -.. License, v. 2.0. If a copy of the MPL was not distributed with this -.. file, You can obtain one at http://mozilla.org/MPL/2.0/. - -Architectural Decision Records -============================== - -We record major architectural decisions in Architecture Decision Records (ADRs), -as `described by Michael Nygard -`_. -Below is the list of our current ADRs. - -.. toctree:: - :maxdepth: 1 - :glob: - - decisions/* \ No newline at end of file diff --git a/docs/developer/explanations/decisions/0001-record-architecture-decisions.rst b/docs/developer/explanations/decisions/0001-record-architecture-decisions.rst deleted file mode 100644 index b2d3d0fe..00000000 --- a/docs/developer/explanations/decisions/0001-record-architecture-decisions.rst +++ /dev/null @@ -1,26 +0,0 @@ -1. Record architecture decisions -================================ - -Date: 2022-02-18 - -Status ------- - -Accepted - -Context -------- - -We need to record the architectural decisions made on this project. - -Decision --------- - -We will use Architecture Decision Records, as `described by Michael Nygard -`_. - -Consequences ------------- - -See Michael Nygard's article, linked above. To create new ADRs we will copy and -paste from existing ones. diff --git a/docs/developer/explanations/decisions/0002-switched-to-pip-skeleton.rst b/docs/developer/explanations/decisions/0002-switched-to-pip-skeleton.rst deleted file mode 100644 index b8e1a00d..00000000 --- a/docs/developer/explanations/decisions/0002-switched-to-pip-skeleton.rst +++ /dev/null @@ -1,35 +0,0 @@ -2. Adopt CATio for project structure -=================================================== - -Date: 2022-02-18 - -Status ------- - -Accepted - -Context -------- - -We should use the following `pip-skeleton `_. -The skeleton will ensure consistency in developer -environments and package management. - -Decision --------- - -We have switched to using the skeleton. - -Consequences ------------- - -This module will use a fixed set of tools as developed in CATio -and can pull from this skeleton to update the packaging to the latest techniques. - -As such, the developer environment may have changed, the following could be -different: - -- linting -- formatting -- pip venv setup -- CI/CD diff --git a/docs/developer/how-to/build-docs.rst b/docs/developer/how-to/build-docs.rst deleted file mode 100644 index 0174fc82..00000000 --- a/docs/developer/how-to/build-docs.rst +++ /dev/null @@ -1,38 +0,0 @@ -Build the docs using sphinx -=========================== - -You can build the `sphinx`_ based docs from the project directory by running:: - - $ tox -e docs - -This will build the static docs on the ``docs`` directory, which includes API -docs that pull in docstrings from the code. - -.. seealso:: - - `documentation_standards` - -The docs will be built into the ``build/html`` directory, and can be opened -locally with a web browser:: - - $ firefox build/html/index.html - -Autobuild ---------- - -You can also run an autobuild process, which will watch your ``docs`` -directory for changes and rebuild whenever it sees changes, reloading any -browsers watching the pages:: - - $ tox -e docs autobuild - -You can view the pages at localhost:: - - $ firefox http://localhost:8000 - -If you are making changes to source code too, you can tell it to watch -changes in this directory too:: - - $ tox -e docs autobuild -- --watch src - -.. _sphinx: https://www.sphinx-doc.org/ \ No newline at end of file diff --git a/docs/developer/how-to/contribute.rst b/docs/developer/how-to/contribute.rst deleted file mode 100644 index 65b992f0..00000000 --- a/docs/developer/how-to/contribute.rst +++ /dev/null @@ -1 +0,0 @@ -.. include:: ../../../.github/CONTRIBUTING.rst diff --git a/docs/developer/how-to/lint.rst b/docs/developer/how-to/lint.rst deleted file mode 100644 index 8f4e92db..00000000 --- a/docs/developer/how-to/lint.rst +++ /dev/null @@ -1,41 +0,0 @@ -Run linting using pre-commit -============================ - -Code linting is handled by black_, flake8_ and isort_ run under pre-commit_. - -Running pre-commit ------------------- - -You can run the above checks on all files with this command:: - - $ tox -e pre-commit - -Or you can install a pre-commit hook that will run each time you do a ``git -commit`` on just the files that have changed:: - - $ pre-commit install - -It is also possible to `automatically enable pre-commit on cloned repositories `_. -This will result in pre-commits being enabled on every repo your user clones from now on. - -Fixing issues -------------- - -If black reports an issue you can tell it to reformat all the files in the -repository:: - - $ black . - -Likewise with isort:: - - $ isort . - -If you get any flake8 issues you will have to fix those manually. - -VSCode support --------------- - -The ``.vscode/settings.json`` will run black and isort formatters as well as -flake8 checking on save. Issues will be highlighted in the editor window. - - diff --git a/docs/developer/how-to/make-release.rst b/docs/developer/how-to/make-release.rst deleted file mode 100644 index f2d8b24c..00000000 --- a/docs/developer/how-to/make-release.rst +++ /dev/null @@ -1,16 +0,0 @@ -Make a release -============== - -To make a new release, please follow this checklist: - -- Choose a new PEP440 compliant release number (see https://peps.python.org/pep-0440/) -- Go to the GitHub release_ page -- Choose ``Draft New Release`` -- Click ``Choose Tag`` and supply the new tag you chose (click create new tag) -- Click ``Generate release notes``, review and edit these notes -- Choose a title and click ``Publish Release`` - -Note that tagging and pushing to the main branch has the same effect except that -you will not get the option to edit the release notes. - -.. _release: https://github.com/DiamondLightSource/CATio/releases \ No newline at end of file diff --git a/docs/developer/how-to/pin-requirements.rst b/docs/developer/how-to/pin-requirements.rst deleted file mode 100644 index 89639623..00000000 --- a/docs/developer/how-to/pin-requirements.rst +++ /dev/null @@ -1,74 +0,0 @@ -Pinning Requirements -==================== - -Introduction ------------- - -By design this project only defines dependencies in one place, i.e. in -the ``requires`` table in ``pyproject.toml``. - -In the ``requires`` table it is possible to pin versions of some dependencies -as needed. For library projects it is best to leave pinning to a minimum so -that your library can be used by the widest range of applications. - -When CI builds the project it will use the latest compatible set of -dependencies available (after applying your pins and any dependencies' pins). - -This approach means that there is a possibility that a future build may -break because an updated release of a dependency has made a breaking change. - -The correct way to fix such an issue is to work out the minimum pinning in -``requires`` that will resolve the problem. However this can be quite hard to -do and may be time consuming when simply trying to release a minor update. - -For this reason we provide a mechanism for locking all dependencies to -the same version as a previous successful release. This is a quick fix that -should guarantee a successful CI build. - -Finding the lock files ----------------------- - -Every release of the project will have a set of requirements files published -as release assets. - -For example take a look at the release page for python3-pip-skeleton-cli here: -https://github.com/DiamondLightSource/python3-pip-skeleton-cli/releases/tag/3.3.0 - -There is a list of requirements*.txt files showing as assets on the release. - -There is one file for each time the CI installed the project into a virtual -environment. There are multiple of these as the CI creates a number of -different environments. - -The files are created using ``pip freeze`` and will contain a full list -of the dependencies and sub-dependencies with pinned versions. - -You can download any of these files by clicking on them. It is best to use -the one that ran with the lowest Python version as this is more likely to -be compatible with all the versions of Python in the test matrix. -i.e. ``requirements-test-ubuntu-latest-3.8.txt`` in this example. - -Applying the lock file ----------------------- - -To apply a lockfile: - -- copy the requirements file you have downloaded to the root of your - repository -- rename it to requirements.txt -- commit it into the repo -- push the changes - -The CI looks for a requirements.txt in the root and will pass it to pip -when installing each of the test environments. pip will then install exactly -the same set of packages as the previous release. - -Removing dependency locking from CI ------------------------------------ - -Once the reasons for locking the build have been resolved it is a good idea -to go back to an unlocked build. This is because you get an early indication -of any incoming problems. - -To restore unlocked builds in CI simply remove requirements.txt from the root -of the repo and push. diff --git a/docs/developer/how-to/run-tests.rst b/docs/developer/how-to/run-tests.rst deleted file mode 100644 index d2e03644..00000000 --- a/docs/developer/how-to/run-tests.rst +++ /dev/null @@ -1,12 +0,0 @@ -Run the tests using pytest -========================== - -Testing is done with pytest_. It will find functions in the project that `look -like tests`_, and run them to check for errors. You can run it with:: - - $ tox -e pytest - -It will also report coverage to the commandline and to ``cov.xml``. - -.. _pytest: https://pytest.org/ -.. _look like tests: https://docs.pytest.org/explanation/goodpractices.html#test-discovery diff --git a/docs/developer/how-to/static-analysis.rst b/docs/developer/how-to/static-analysis.rst deleted file mode 100644 index 065920e1..00000000 --- a/docs/developer/how-to/static-analysis.rst +++ /dev/null @@ -1,8 +0,0 @@ -Run static analysis using mypy -============================== - -Static type analysis is done with mypy_. It checks type definition in source -files without running them, and highlights potential issues where types do not -match. You can run it with:: - - $ tox -e mypy diff --git a/docs/developer/how-to/test-container.rst b/docs/developer/how-to/test-container.rst deleted file mode 100644 index a4a43a6f..00000000 --- a/docs/developer/how-to/test-container.rst +++ /dev/null @@ -1,25 +0,0 @@ -Container Local Build and Test -============================== - -CI builds a runtime container for the project. The local tests -checks available via ``tox -p`` do not verify this because not -all developers will have docker installed locally. - -If CI is failing to build the container, then it is best to fix and -test the problem locally. This would require that you have docker -or podman installed on your local workstation. - -In the following examples the command ``docker`` is interchangeable with -``podman`` depending on which container cli you have installed. - -To build the container and call it ``test``:: - - cd - docker build -t test . - -To verify that the container runs:: - - docker run -it test --help - -You can pass any other command line parameters to your application -instead of --help. diff --git a/docs/developer/how-to/update-tools.rst b/docs/developer/how-to/update-tools.rst deleted file mode 100644 index c1075ee8..00000000 --- a/docs/developer/how-to/update-tools.rst +++ /dev/null @@ -1,16 +0,0 @@ -Update the tools -================ - -This module is merged with the python3-pip-skeleton_. This is a generic -Python project structure which provides a means to keep tools and -techniques in sync between multiple Python projects. To update to the -latest version of the skeleton, run:: - - $ git pull --rebase=false https://github.com/DiamondLightSource/python3-pip-skeleton - -Any merge conflicts will indicate an area where something has changed that -conflicts with the setup of the current module. Check the `closed pull requests -`_ -of the skeleton module for more details. - -.. _python3-pip-skeleton: https://DiamondLightSource.github.io/python3-pip-skeleton diff --git a/docs/developer/index.rst b/docs/developer/index.rst deleted file mode 100644 index 8a6369b9..00000000 --- a/docs/developer/index.rst +++ /dev/null @@ -1,64 +0,0 @@ -Developer Guide -=============== - -Documentation is split into four categories, also accessible from links in the -side-bar. - -.. grid:: 2 - :gutter: 4 - - .. grid-item-card:: :material-regular:`directions_run;3em` - - .. toctree:: - :caption: Tutorials - :maxdepth: 1 - - tutorials/dev-install - - +++ - - Tutorials for getting up and running as a developer. - - .. grid-item-card:: :material-regular:`task;3em` - - .. toctree:: - :caption: How-to Guides - :maxdepth: 1 - - how-to/contribute - how-to/build-docs - how-to/run-tests - how-to/static-analysis - how-to/lint - how-to/update-tools - how-to/make-release - how-to/pin-requirements - how-to/test-container - - +++ - - Practical step-by-step guides for day-to-day dev tasks. - - .. grid-item-card:: :material-regular:`apartment;3em` - - .. toctree:: - :caption: Explanations - :maxdepth: 1 - - explanations/decisions - - +++ - - Explanations of how and why the architecture is why it is. - - .. grid-item-card:: :material-regular:`description;3em` - - .. toctree:: - :caption: Reference - :maxdepth: 1 - - reference/standards - - +++ - - Technical reference material on standards in use. diff --git a/docs/developer/reference/standards.rst b/docs/developer/reference/standards.rst deleted file mode 100644 index b78a719e..00000000 --- a/docs/developer/reference/standards.rst +++ /dev/null @@ -1,64 +0,0 @@ -Standards -========= - -This document defines the code and documentation standards used in this -repository. - -Code Standards --------------- - -The code in this repository conforms to standards set by the following tools: - -- black_ for code formatting -- flake8_ for style checks -- isort_ for import ordering -- mypy_ for static type checking - -.. seealso:: - - How-to guides `../how-to/lint` and `../how-to/static-analysis` - -.. _documentation_standards: - -Documentation Standards ------------------------ - -Docstrings are pre-processed using the Sphinx Napoleon extension. As such, -google-style_ is considered as standard for this repository. Please use type -hints in the function signature for types. For example: - -.. code:: python - - def func(arg1: str, arg2: int) -> bool: - """Summary line. - - Extended description of function. - - Args: - arg1: Description of arg1 - arg2: Description of arg2 - - Returns: - Description of return value - """ - return True - -.. _google-style: https://sphinxcontrib-napoleon.readthedocs.io/en/latest/index.html#google-vs-numpy - -Documentation is contained in the ``docs`` directory and extracted from -docstrings of the API. - -Docs follow the underlining convention:: - - Headling 1 (page title) - ======================= - - Heading 2 - --------- - - Heading 3 - ~~~~~~~~~ - -.. seealso:: - - How-to guide `../how-to/build-docs` \ No newline at end of file diff --git a/docs/developer/tutorials/dev-install.rst b/docs/developer/tutorials/dev-install.rst deleted file mode 100644 index 02035ea6..00000000 --- a/docs/developer/tutorials/dev-install.rst +++ /dev/null @@ -1,68 +0,0 @@ -Developer install -================= - -These instructions will take you through the minimal steps required to get a dev -environment setup, so you can run the tests locally. - -Clone the repository --------------------- - -First clone the repository locally using `Git -`_:: - - $ git clone git://github.com/DiamondLightSource/CATio.git - -Install dependencies --------------------- - -You can choose to either develop on the host machine using a `venv` (which -requires python 3.8 or later) or to run in a container under `VSCode -`_ - -.. tab-set:: - - .. tab-item:: Local virtualenv - - .. code:: - - $ cd CATio - $ python3 -m venv venv - $ source venv/bin/activate - $ pip install -e '.[dev]' - - .. tab-item:: VSCode devcontainer - - .. code:: - - $ code CATio - # Click on 'Reopen in Container' when prompted - # Open a new terminal - - .. note:: - - See the epics-containers_ documentation for more complex - use cases, such as integration with podman. - -See what was installed ----------------------- - -To see a graph of the python package dependency tree type:: - - $ pipdeptree - -Build and test --------------- - -Now you have a development environment you can run the tests in a terminal:: - - $ tox -p - -This will run in parallel the following checks: - -- `../how-to/build-docs` -- `../how-to/run-tests` -- `../how-to/static-analysis` -- `../how-to/lint` - - -.. _epics-containers: https://epics-containers.github.io/main/user/tutorials/devcontainer.html \ No newline at end of file diff --git a/docs/user/explanations/docs-structure.rst b/docs/user/explanations/docs-structure.rst deleted file mode 100644 index f25a09ba..00000000 --- a/docs/user/explanations/docs-structure.rst +++ /dev/null @@ -1,18 +0,0 @@ -About the documentation ------------------------ - - :material-regular:`format_quote;2em` - - The Grand Unified Theory of Documentation - - -- David Laing - -There is a secret that needs to be understood in order to write good software -documentation: there isn't one thing called *documentation*, there are four. - -They are: *tutorials*, *how-to guides*, *technical reference* and *explanation*. -They represent four different purposes or functions, and require four different -approaches to their creation. Understanding the implications of this will help -improve most documentation - often immensely. - -`More information on this topic. `_ diff --git a/docs/user/how-to/run-container.rst b/docs/user/how-to/run-container.rst deleted file mode 100644 index 411045f3..00000000 --- a/docs/user/how-to/run-container.rst +++ /dev/null @@ -1,15 +0,0 @@ -Run in a container -================== - -Pre-built containers with CATio and its dependencies already -installed are available on `Github Container Registry -`_. - -Starting the container ----------------------- - -To pull the container from github container registry and run:: - - $ docker run ghcr.io/DiamondLightSource/CATio:main --version - -To get a released version, use a numbered release instead of ``main``. diff --git a/docs/user/index.rst b/docs/user/index.rst deleted file mode 100644 index 2c94a0c0..00000000 --- a/docs/user/index.rst +++ /dev/null @@ -1,57 +0,0 @@ -User Guide -========== - -Documentation is split into four categories, also accessible from links in the -side-bar. - -.. grid:: 2 - :gutter: 4 - - .. grid-item-card:: :material-regular:`directions_walk;3em` - - .. toctree:: - :caption: Tutorials - :maxdepth: 1 - - tutorials/installation - - +++ - - Tutorials for installation and typical usage. New users start here. - - .. grid-item-card:: :material-regular:`directions;3em` - - .. toctree:: - :caption: How-to Guides - :maxdepth: 1 - - how-to/run-container - - +++ - - Practical step-by-step guides for the more experienced user. - - .. grid-item-card:: :material-regular:`info;3em` - - .. toctree:: - :caption: Explanations - :maxdepth: 1 - - explanations/docs-structure - - +++ - - Explanations of how the library works and why it works that way. - - .. grid-item-card:: :material-regular:`menu_book;3em` - - .. toctree:: - :caption: Reference - :maxdepth: 1 - - reference/api - ../genindex - - +++ - - Technical reference material including APIs and release notes. diff --git a/docs/user/reference/api.rst b/docs/user/reference/api.rst deleted file mode 100644 index fee83258..00000000 --- a/docs/user/reference/api.rst +++ /dev/null @@ -1,14 +0,0 @@ -API -=== - -.. automodule:: catio - - ``catio`` - ----------------------------------- - -This is the internal API reference for catio - -.. data:: catio.__version__ - :type: str - - Version number as calculated by https://github.com/pypa/setuptools_scm diff --git a/docs/user/tutorials/installation.rst b/docs/user/tutorials/installation.rst deleted file mode 100644 index 777f140a..00000000 --- a/docs/user/tutorials/installation.rst +++ /dev/null @@ -1,38 +0,0 @@ -Installation -============ - -Check your version of python ----------------------------- - -You will need python 3.8 or later. You can check your version of python by -typing into a terminal:: - - $ python3 --version - - -Create a virtual environment ----------------------------- - -It is recommended that you install into a “virtual environment” so this -installation will not interfere with any existing Python software:: - - $ python3 -m venv /path/to/venv - $ source /path/to/venv/bin/activate - - -Installing the library ----------------------- - -You can now use ``pip`` to install the library and its dependencies:: - - $ python3 -m pip install CATio - -If you require a feature that is not currently released you can also install -from github:: - - $ python3 -m pip install git+https://github.com/DiamondLightSource/CATio.git - -The library should now be installed and the commandline interface on your path. -You can check the version that has been installed by typing:: - - $ CATio --version From cc6150581bce388b8d676d2ea524d13ad5b4976a Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 10:53:20 +0000 Subject: [PATCH 03/12] fix linting --- .../actions/install_requirements/action.yml | 1 - .github/workflows/linkcheck.yml | 2 +- src/catio/__main__.py | 2 +- src/catio/client.py | 2 +- src/catio/messages.py | 4 +- src/catio/schema.json | 2 +- tests/test_boilerplate_removed.py | 1 + tests/test_symbol_notifications.py | 1 - uv.lock | 2573 +++++++++++++++++ 9 files changed, 2580 insertions(+), 8 deletions(-) diff --git a/.github/actions/install_requirements/action.yml b/.github/actions/install_requirements/action.yml index 25a146d1..6f97a589 100644 --- a/.github/actions/install_requirements/action.yml +++ b/.github/actions/install_requirements/action.yml @@ -55,4 +55,3 @@ runs: fi fi shell: bash - diff --git a/.github/workflows/linkcheck.yml b/.github/workflows/linkcheck.yml index 6b64fdea..70cba115 100644 --- a/.github/workflows/linkcheck.yml +++ b/.github/workflows/linkcheck.yml @@ -24,4 +24,4 @@ jobs: run: tox -e docs build -- -b linkcheck - name: Keepalive Workflow - uses: gautamkrishnar/keepalive-workflow@v1 \ No newline at end of file + uses: gautamkrishnar/keepalive-workflow@v1 diff --git a/src/catio/__main__.py b/src/catio/__main__.py index 84877fc3..5e332440 100644 --- a/src/catio/__main__.py +++ b/src/catio/__main__.py @@ -8,7 +8,7 @@ from typing import Annotated, Optional import typer -from fastcs.launch import FastCS, launch +from fastcs.launch import FastCS from fastcs.transport.epics.ca.transport import EpicsCATransport from fastcs.transport.epics.options import ( EpicsDocsOptions, diff --git a/src/catio/client.py b/src/catio/client.py index a41acf98..b4a330c4 100644 --- a/src/catio/client.py +++ b/src/catio/client.py @@ -596,7 +596,7 @@ async def _recv_ams_message( header = AmsHeader.from_bytes(packet[:AMS_HEADER_LENGTH]) body = packet[AMS_HEADER_LENGTH:] return header, body - except asyncio.TimeoutError as err: + except TimeoutError as err: err.add_note( f"Empty packet after {COMMUNICATION_TIMEOUT_SEC} seconds, " + "system likely disconnected." diff --git a/src/catio/messages.py b/src/catio/messages.py index 3b93f724..0a380088 100644 --- a/src/catio/messages.py +++ b/src/catio/messages.py @@ -1,8 +1,8 @@ from collections.abc import Iterator, Sequence -from typing import ClassVar, SupportsInt, get_origin +from typing import Any, ClassVar, Self, SupportsInt, get_origin import numpy as np -from typing_extensions import Any, Self, dataclass_transform, get_type_hints +from typing_extensions import dataclass_transform, get_type_hints from ._constants import ( TWINCAT_STRING_ENCODING, diff --git a/src/catio/schema.json b/src/catio/schema.json index 5ac2d245..71e398b0 100644 --- a/src/catio/schema.json +++ b/src/catio/schema.json @@ -310,4 +310,4 @@ ], "title": "CATioController", "type": "object" -} \ No newline at end of file +} diff --git a/tests/test_boilerplate_removed.py b/tests/test_boilerplate_removed.py index 5a171104..fd7aeab2 100644 --- a/tests/test_boilerplate_removed.py +++ b/tests/test_boilerplate_removed.py @@ -2,6 +2,7 @@ This file checks that all the example boilerplate text has been removed. 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src/catio/catio_connection.py | 4 +- src/catio/catio_controller.py | 52 ++++++++++--------- src/catio/catio_hardware.py | 8 +-- src/catio/client.py | 44 ++++++++-------- src/catio/messages.py | 4 +- src/catio/utils.py | 2 +- tests/test_catio_units.py | 44 ++++++++-------- 10 files changed, 93 insertions(+), 83 deletions(-) rename src/catio/{catio_attributeIO.py => catio_attribute_io.py} (99%) diff --git a/src/catio/__main__.py b/src/catio/__main__.py index 5e332440..42b6bc18 100644 --- a/src/catio/__main__.py +++ b/src/catio/__main__.py @@ -173,7 +173,9 @@ def ioc( # # TO DO: make the yaml config option work if it's preferred # # if using a yaml file config: python -m catio run ./src/catio/catio_controller.yaml # if __name__ == "__main__": -# transport = EpicsCATransport(ca_ioc=EpicsIOCOptions(pv_prefix="BLxxI-EA-CATIO-01")) +# transport = EpicsCATransport( +# ca_ioc=EpicsIOCOptions(pv_prefix="BLxxI-EA-CATIO-01") +# ) # route = CATioRemoteRoute(remote=ip, route_name="test_route", password="DIAMOND") # connection = CATioConnectionSettings(target_ip=ip, target_port=target_port) # timings = CATioScanTimings() diff --git a/src/catio/_types.py b/src/catio/_types.py index 11a70945..0b1c177f 100644 --- a/src/catio/_types.py +++ b/src/catio/_types.py @@ -138,7 +138,8 @@ def __str__(self) -> str: @dataclass class AmsAddress: """ - AmsAddress class representing the full AMS address of a TwinCAT device on the network. + AmsAddress class representing the full AMS address of a TwinCAT device on the + network. The AMS address consists of the AmsNetId and the port number on which the device \ listens for ADS messages. @@ -146,7 +147,7 @@ class AmsAddress: standard notation (netid:port). """ - netId: AmsNetId + net_id: AmsNetId """AmsNetId of the TwinCAT device""" port: int """Port number of the TwinCAT device""" @@ -175,7 +176,7 @@ def to_bytes(self): :returns: the AmsAddress expressed as a byte stream """ - return self.netId.to_bytes() + self.port.to_bytes( + return self.net_id.to_bytes() + self.port.to_bytes( length=2, byteorder="little", signed=False ) @@ -207,10 +208,10 @@ def to_string(self) -> str: :returns: the AmsAddress expressed as a string of format netid:port """ - return f"{self.netId.to_string()}:{self.port}" + return f"{self.net_id.to_string()}:{self.port}" def __str__(self): - return f"{self.netId.to_string()}:{self.port}" + return f"{self.net_id.to_string()}:{self.port}" Length = TypeVar("Length", bound=int) diff --git a/src/catio/catio_attributeIO.py b/src/catio/catio_attribute_io.py similarity index 99% rename from src/catio/catio_attributeIO.py rename to src/catio/catio_attribute_io.py index 92eb0c88..434c43c9 100644 --- a/src/catio/catio_attributeIO.py +++ b/src/catio/catio_attribute_io.py @@ -49,7 +49,8 @@ def __init__( """Cached value of the controller attributes.""" # async def send( - # self, attr: AttrW[NumberT, CATioControllerPollAttributeIORef], value: NumberT + # self, attr: AttrW[NumberT, CATioControllerPollAttributeIORef], + # value: NumberT # ) -> None: # command = f"{attr.io_ref.name}{self.suffix}={attr.dtype(value)}" # await self._connection.send_command(CATioFastCSRequest(f"{command}\r\n")) diff --git a/src/catio/catio_connection.py b/src/catio/catio_connection.py index b6067a8a..4206bebd 100644 --- a/src/catio/catio_connection.py +++ b/src/catio/catio_connection.py @@ -49,7 +49,7 @@ class CATioFastCSResponse: value: Any """The response received from the CATio client.""" - def toString(self) -> str: + def to_string(self) -> str: """Attempt to return a string representation of the CATio response. :returns: the CATio response to a query as a string @@ -380,7 +380,7 @@ async def send_query(self, message: CATioFastCSRequest) -> Any: self.log_event( "Received query response", query=message.command, - response=response.toString(), + response=response.to_string(), ) return response.value diff --git a/src/catio/catio_controller.py b/src/catio/catio_controller.py index 8b00ede8..90ce8ada 100644 --- a/src/catio/catio_controller.py +++ b/src/catio/catio_controller.py @@ -19,7 +19,7 @@ from numpy.lib import recfunctions as rfn from catio._constants import DeviceType -from catio.catio_attributeIO import ( +from catio.catio_attribute_io import ( CATioControllerAttributeIO, CATioControllerAttributeIORef, ) @@ -31,7 +31,7 @@ filetime_to_dt, get_notification_changes, process_notifications, - trim_eCAT_name, + trim_ecat_name, ) from .catio_connection import ( @@ -63,7 +63,7 @@ class CATioController(Controller, Tracer): def __init__( self, name: str = "UNKNOWN", - eCAT_name: str = "", + ecat_name: str = "", description: str | None = None, group: str = "", # comments: str = "" # TO DO: can comments attribute be written to hardware? @@ -76,12 +76,12 @@ def __init__( """The I/O object referenced by the CATio controller.""" self.name: str = name """Name of the I/O controller.""" - self.eCAT_name = eCAT_name + self.ecat_name = ecat_name """Name of the I/O controller in the EtherCAT system.""" self.group = group """Group name associated with the controller.""" - self.attr_group_name = trim_eCAT_name(eCAT_name) - """Controller attributes' group name derived from the eCAT name.""" + self.attr_group_name = trim_ecat_name(ecat_name) + """Controller attributes' group name derived from the ecat name.""" if getattr(self, "io_function", None) is None: self.io_function = "" """Function description of the I/O controller.""" @@ -92,7 +92,7 @@ def __init__( """Map of FastCS attribute names to ADS symbol names.""" logger.debug( - f"CATio controller '{self.eCAT_name}' instantiated with PV suffix " + f"CATio controller '{self.ecat_name}' instantiated with PV suffix " + f"{self.name} and registered with id {self._identifier}" ) @@ -126,7 +126,7 @@ async def _get_io_from_map(self) -> IOServer | IODevice | IOSlave: """ return await self.connection.send_query( CATioFastCSRequest( - "IO_FROM_MAP", self._identifier, self.group, self.eCAT_name + "IO_FROM_MAP", self._identifier, self.group, self.ecat_name ) ) @@ -260,12 +260,12 @@ def attribute_dict_generator( and the attribute object as value. """ attr_dict = {} - # Extract the current controller's attributes and prefix them with the eCAT name + # Extract the current controller's attributes and prefix them with the ecat name for key, attr in self.attributes.items(): if isinstance(self, CATioController): ads_name = self.ads_name_map.get(key, None) key = ads_name if ads_name is not None else key - attr_dict[".".join([f"_{self.eCAT_name.replace(' ', '')}", key])] = attr + attr_dict[".".join([f"_{self.ecat_name.replace(' ', '')}", key])] = attr logger.debug( f"Extracted {len(attr_dict)} attributes for controller {self.name}." ) @@ -405,7 +405,7 @@ def __init__( # Initialise the base controller super().__init__( name="ROOT", - eCAT_name="IOServer", + ecat_name="IOServer", description="Root controller for an ADS-based EtherCAT I/O server", group="server", ) @@ -508,7 +508,8 @@ async def get_server_generic_attributes(self) -> dict[str, Attribute]: description="I/O server registered device count", ) logger.debug( - f"Created {len(attr_dict)} generic attributes for the controller {self.name}." + f"Created {len(attr_dict)} generic attributes for the controller " + f"{self.name}." ) return attr_dict @@ -525,7 +526,8 @@ async def get_subcontrollers_from_node( Recursively register all subcontrollers available from a system node \ with their parent controller. To do so, the EtherCAT system is traversed from top to bottom, left to right. - Once registered, each subcontroller is then initialised (attributes are created). + Once registered, each subcontroller is then initialised + (attributes are created). :param node: the tree node to extract available subcontrollers from. @@ -577,7 +579,7 @@ async def _get_subcontroller_object( logger.debug(f"Implementing I/O device '{key}' as CATioSubController.") ctlr = SUPPORTED_CONTROLLERS[key]( name=node.data.get_type_name(), - eCAT_name=node.data.name, + ecat_name=node.data.name, description=f"Controller for EtherCAT device #{node.data.id}", ) await ctlr.initialise() @@ -585,11 +587,12 @@ async def _get_subcontroller_object( case IONodeType.Coupler | IONodeType.Slave: assert isinstance(node.data, IOSlave) logger.debug( - f"Implementing I/O terminal '{node.data.name}' as CATioSubController." + f"Implementing I/O terminal '{node.data.name}' as " + f"CATioSubController." ) ctlr = SUPPORTED_CONTROLLERS[node.data.type]( name=node.data.get_type_name(), - eCAT_name=node.data.name, + ecat_name=node.data.name, description=f"Controller for {node.data.category.value} terminal " + f"'{node.data.name}'", ) @@ -735,7 +738,8 @@ async def notifications(self): for name in filtered_diff.dtype.names: # Remove the '.value' from the notification name attr_name = name.rsplit(".", 1)[0] - ############### Assertion not valid until all terminal attributes have been defined; + ############### Assertion not valid until all terminal attributes have + ############### been defined; ############### use if statement instead assert attr_name in self.attribute_map.keys(), ( f"No reference to {attr_name} in the CATio attribute map; " @@ -781,12 +785,12 @@ class CATioDeviceController(CATioController): def __init__( self, name: str, - eCAT_name: str = "", + ecat_name: str = "", description: str | None = None, ) -> None: super().__init__( name=name, - eCAT_name=eCAT_name, + ecat_name=ecat_name, description=description, group="device", ) @@ -936,7 +940,7 @@ async def connect(self) -> None: """Establish the FastCS connection to the device controller.""" await super().connect() - def get_device_eCAT_id(self) -> int: + def get_device_ecat_id(self) -> int: """ Extract the id value from the EtherCAT device name (e.g. from ETH5 or EBUS12). """ @@ -956,7 +960,7 @@ async def setup_symbol_notifications(self) -> None: logger.info( f"EtherCAT Device {self.name}: subscribing to symbol notifications." ) - await self.connection.add_notifications(self.get_device_eCAT_id()) + await self.connection.add_notifications(self.get_device_ecat_id()) @scan(ONCE) async def subscribe(self) -> None: @@ -988,12 +992,12 @@ class CATioTerminalController(CATioController): def __init__( self, name: str, - eCAT_name: str = "", + ecat_name: str = "", description: str | None = None, ) -> None: super().__init__( name=name, - eCAT_name=eCAT_name, + ecat_name=ecat_name, description=description, group="terminal", ) @@ -1056,7 +1060,7 @@ async def get_terminal_generic_attributes(self) -> dict[str, Attribute]: datatype=Int(), io_ref=None, group=self.attr_group_name, - initial_value=int(self.io.states.eCAT_state), + initial_value=int(self.io.states.ecat_state), description="I/O terminal state machine", ) attr_dict["LinkStatus"] = AttrR( diff --git a/src/catio/catio_hardware.py b/src/catio/catio_hardware.py index 148a0a90..f557ce6e 100644 --- a/src/catio/catio_hardware.py +++ b/src/catio/catio_hardware.py @@ -486,7 +486,7 @@ async def get_io_attributes(self) -> dict[str, Attribute]: return attr_dict -class EL2024_0010Controller(CATioTerminalController): +class EL2024v0010Controller(CATioTerminalController): """A sub-controller for an EL2024-0010 EtherCAT digital output terminal.""" io_function: str = "4-channel digital output, 12V DC, 2A" @@ -906,7 +906,7 @@ async def get_io_attributes(self) -> dict[str, Attribute]: return attr_dict -class ELM3704_0000Controller(CATioTerminalController): +class ELM3704v0000Controller(CATioTerminalController): """A sub-controller for an ELM3704-0000 EtherCAT analog input terminal.""" io_function: str = "4-channel analog input, multi-function, 24-bit, 10 ksps" @@ -992,7 +992,7 @@ async def get_io_attributes(self) -> dict[str, Attribute]: "EL1124": EL1124Controller, "EL1502": EL1502Controller, "EL2024": EL2024Controller, - "EL2024-0010": EL2024_0010Controller, + "EL2024-0010": EL2024v0010Controller, "EL2124": EL2124Controller, "EL3104": EL3104Controller, "EL3602": EL3602Controller, @@ -1001,7 +1001,7 @@ async def get_io_attributes(self) -> dict[str, Attribute]: "EL9410": EL9410Controller, "EL9505": EL9505Controller, "EL9512": EL9512Controller, - "ELM3704-0000": ELM3704_0000Controller, + "ELM3704-0000": ELM3704v0000Controller, "ETHERCAT": EtherCATMasterController, } diff --git a/src/catio/client.py b/src/catio/client.py index b4a330c4..95081f5a 100644 --- a/src/catio/client.py +++ b/src/catio/client.py @@ -223,8 +223,9 @@ def get_netid(self, message: AdsUDPMessage) -> AmsNetId: try: response = AdsUDPResponseStream.from_bytes(self._send_recv(message)) assert response.port == SYSTEM_SERVICE_PORT, ( - f"Expected UDP response from system service port ({SYSTEM_SERVICE_PORT}), " - + f"got port {response.port} instead." + f"Expected UDP response from system service port " + f"({SYSTEM_SERVICE_PORT}), " + f"got port {response.port} instead." ) return AmsNetId.from_bytes(response.netid.tobytes()) @@ -244,8 +245,9 @@ def add_route(self, message: AdsUDPMessage) -> bool: try: response = AdsUDPResponseStream.from_bytes(self._send_recv(message)) assert response.port == SYSTEM_SERVICE_PORT, ( - f"Expected UDP response from system service port ({SYSTEM_SERVICE_PORT}), " - + f"got port {response.port} instead." + f"Expected UDP response from system service port " + f"({SYSTEM_SERVICE_PORT}), " + f"got port {response.port} instead." ) # TO DO: CAN WE CHECK RESPONSE FOR INVALID PASSWORD? for _ in range(response.count): @@ -580,9 +582,9 @@ async def _recv_ams_message( :raises ConnectionError: when the ADS client has disconnected form the server :raises ConnectionAbortedError: when the ADS client connection has completed """ - COMMUNICATION_TIMEOUT_SEC = 120 + communication_timeout_sec = 120 try: - async with asyncio.timeout(COMMUNICATION_TIMEOUT_SEC): + async with asyncio.timeout(communication_timeout_sec): msg_bytes = await self.__reader.readexactly(6) assert msg_bytes[:2] == b"\x00\x00", ( f"Received an invalid TCP header: {msg_bytes.hex()}" @@ -1567,7 +1569,7 @@ async def check_slave_states( port=ADS_MASTER_PORT, ) state = SlaveState.from_bytes(response.data) - assert state.eCAT_state == SlaveStateMachine.SLAVE_STATE_OP, ( + assert state.ecat_state == SlaveStateMachine.SLAVE_STATE_OP, ( "A slave terminal is not in operational state" ) @@ -1631,7 +1633,7 @@ def update_device_slaves_states( strict=True, ) ): - slave.states.eCAT_state = states.eCAT_state + slave.states.ecat_state = states.ecat_state slave.states.link_status = states.link_status self.check_slaves_states_validity(device.slaves, device.slaves_states) @@ -1650,13 +1652,13 @@ def check_slaves_states_validity( status = True states = np.array(slave_states, dtype=SlaveState) - if not np.all(states["eCAT_state"] == SlaveStateMachine.SLAVE_STATE_OP): + if not np.all(states["ecat_state"] == SlaveStateMachine.SLAVE_STATE_OP): status = False - bad_eCAT = np.nonzero( - states["eCAT_state"] != SlaveStateMachine.SLAVE_STATE_OP + bad_ecat = np.nonzero( + states["ecat_state"] != SlaveStateMachine.SLAVE_STATE_OP )[0] - assert bad_eCAT.size - for idx in bad_eCAT: + assert bad_ecat.size + for idx in bad_ecat: slave: IOSlave = slaves[int(idx)] logging.critical( f"Slave terminal '{slave.name}' isn't in operational state." @@ -1712,22 +1714,22 @@ async def poll_states( ) states = np.frombuffer( slave_response.data, - dtype=[("eCAT_state", np.uint8), ("link_status", np.uint8)], + dtype=[("ecat_state", np.uint8), ("link_status", np.uint8)], count=int(device.slave_count), ) # If any slave terminal is not operating as expected, update its status. - if not np.all(states["eCAT_state"] == SlaveStateMachine.SLAVE_STATE_OP): - bad_eCAT = np.nonzero( - states["eCAT_state"] != SlaveStateMachine.SLAVE_STATE_OP + if not np.all(states["ecat_state"] == SlaveStateMachine.SLAVE_STATE_OP): + bad_ecat = np.nonzero( + states["ecat_state"] != SlaveStateMachine.SLAVE_STATE_OP )[0] - assert bad_eCAT.size - for idx in bad_eCAT: + assert bad_ecat.size + for idx in bad_ecat: slave: IOSlave = (device.slaves)[int(idx)] logging.critical( f"Slave terminal '{slave.name}' isn't in operational state." ) - slave.states.eCAT_state = states["eCAT_state"][idx] + slave.states.ecat_state = states["ecat_state"][idx] if not np.all( states["link_status"] == SlaveLinkState.SLAVE_LINK_STATE_OK ): @@ -3262,7 +3264,7 @@ async def get_terminal_states_attr( if terminal is not None: assert isinstance(terminal, IOSlave) return np.array( - [terminal.states.eCAT_state, terminal.states.link_status] + [terminal.states.ecat_state, terminal.states.link_status] ) else: raise KeyError( diff --git a/src/catio/messages.py b/src/catio/messages.py index 0a380088..ff946e12 100644 --- a/src/catio/messages.py +++ b/src/catio/messages.py @@ -392,7 +392,7 @@ class SlaveState(Message): Define the EtherCAT state and link status of an EtherCAT slave. """ - eCAT_state: UINT8 + ecat_state: UINT8 """The EtherCAT state""" link_status: UINT8 """The link status for communication""" @@ -400,7 +400,7 @@ class SlaveState(Message): def __array__(self): return np.array( [ - self.eCAT_state, + self.ecat_state, self.link_status, ], dtype=np.uint8, diff --git a/src/catio/utils.py b/src/catio/utils.py index 6e1fa1e4..9dd711b6 100644 --- a/src/catio/utils.py +++ b/src/catio/utils.py @@ -162,7 +162,7 @@ def filetime_to_dt(filetime: int) -> np.datetime64: return np.datetime64(int(unix_time * 1e9), "ns") -def trim_eCAT_name(name: str) -> str: +def trim_ecat_name(name: str) -> str: """ Shorten and remove spaces from the original EtherCAT name. diff --git a/tests/test_catio_units.py b/tests/test_catio_units.py index 746ab54c..a685704c 100644 --- a/tests/test_catio_units.py +++ b/tests/test_catio_units.py @@ -47,7 +47,7 @@ get_localhost_name, get_notification_changes, process_notifications, - trim_eCAT_name, + trim_ecat_name, ) # =================================================================== @@ -328,38 +328,38 @@ def test_multiple_field_changes(self): class TestTrimEcatName: - """Test suite for trim_eCAT_name utility function.""" + """Test suite for trim_ecat_name utility function.""" def test_trim_basic_name(self): - """Test trimming basic eCAT names.""" - result = trim_eCAT_name("CX5140_Master") + """Test trimming basic ecat names.""" + result = trim_ecat_name("CX5140_Master") assert result is not None assert isinstance(result, str) assert len(result) > 0 def test_trim_name_with_underscores(self): """Test trimming name with underscores.""" - result = trim_eCAT_name("Device_Name_With_Underscores") + result = trim_ecat_name("Device_Name_With_Underscores") assert result == "DeviceNameWithUnderscores" def test_trim_name_with_spaces(self): """Test trimming name with spaces.""" - result = trim_eCAT_name(" Device Name With Spaces ") + result = trim_ecat_name(" Device Name With Spaces ") assert result == "DeviceNameWithSpaces" def test_trim_name_with_special_chars(self): """Test trimming name with special characters.""" - result = trim_eCAT_name("Device@#Name$%^&*()") + result = trim_ecat_name("Device@#Name$%^&*()") assert result == "DeviceName" def test_trim_empty_name(self): """Test trimming empty name.""" - result = trim_eCAT_name("") + result = trim_ecat_name("") assert result == "" def test_trim_single_word(self): """Test trimming single word.""" - result = trim_eCAT_name("Device") + result = trim_ecat_name("Device") assert len(result) > 0 @@ -559,9 +559,9 @@ def test_from_string_valid(self): addr = AmsAddress.from_string("192.168.1.1.1.1:851") assert isinstance(addr, AmsAddress) assert hasattr(addr, "netId") - assert isinstance(addr.netId, AmsNetId) - assert addr.netId.root == (192, 168, 1, 1) - assert addr.netId.mask == (1, 1) + assert isinstance(addr.net_id, AmsNetId) + assert addr.net_id.root == (192, 168, 1, 1) + assert addr.net_id.mask == (1, 1) assert hasattr(addr, "port") assert addr.port == 851 @@ -578,9 +578,9 @@ def test_from_bytes_conversion(self): addr = AmsAddress.from_bytes(raw_bytes) assert isinstance(addr, AmsAddress) assert hasattr(addr, "netId") - assert isinstance(addr.netId, AmsNetId) - assert addr.netId.root == (192, 168, 1, 1) - assert addr.netId.mask == (1, 1) + assert isinstance(addr.net_id, AmsNetId) + assert addr.net_id.root == (192, 168, 1, 1) + assert addr.net_id.mask == (1, 1) assert hasattr(addr, "port") assert addr.port == 851 @@ -598,8 +598,8 @@ def test_roundtrip_conversion(self): addr = AmsAddress.from_string(original) addr_bytes = addr.to_bytes() restored = AmsAddress.from_bytes(addr_bytes) - assert restored.netId.root == addr.netId.root - assert restored.netId.mask == addr.netId.mask + assert restored.net_id.root == addr.net_id.root + assert restored.net_id.mask == addr.net_id.mask assert restored.port == addr.port def test_address_attributes_signature(self): @@ -607,7 +607,7 @@ def test_address_attributes_signature(self): addr = AmsAddress.from_string("192.168.1.100.2.1:800") assert hasattr(addr, "netId") - assert isinstance(addr.netId, AmsNetId) + assert isinstance(addr.net_id, AmsNetId) assert hasattr(addr, "port") assert isinstance(addr.port, int) @@ -900,7 +900,7 @@ def test_get_type_name_for_slave_and_coupler_and_invalid(self): id = IOIdentity( vendor_id=101, product_code=200, revision_number=3, serial_number=45678 ) - states = SlaveState(eCAT_state=0, link_status=1) + states = SlaveState(ecat_state=0, link_status=1) crcs = SlaveCRC(portA_crc=1, portB_crc=1, portC_crc=0, portD_crc=0) loc = ChainLocation(node=3, position=7) slave = IOSlave( @@ -941,7 +941,7 @@ def test_get_type_name_for_different_device_types(self): vendor_id=101, product_code=400, revision_number=1, serial_number=98765 ) loc2 = ChainLocation(node=1, position=2) - states = SlaveState(eCAT_state=0, link_status=1) + states = SlaveState(ecat_state=0, link_status=1) crcs = SlaveCRC(portA_crc=1, portB_crc=1, portC_crc=0, portD_crc=0) s1 = IOSlave( @@ -1212,7 +1212,7 @@ def test_response_to_string(self): """Test converting response to string.""" # Create a response and convert to string response = CATioFastCSResponse(value=100) - str_repr = response.toString() + str_repr = response.to_string() # Verify string representation assert isinstance(str_repr, str) @@ -1228,5 +1228,5 @@ def test_response_with_complex_value(self): assert isinstance(response, CATioFastCSResponse) assert response.value == val # Verify string representation - str_repr = response.toString() + str_repr = response.to_string() assert "status" in str_repr or "ok" in str_repr From 97e4b360c3bcf81a72777cf253a93fe6e52bb6e1 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 11:51:57 +0000 Subject: [PATCH 05/12] fix type checking --- src/catio/_constants.py | 2 +- src/catio/_types.py | 11 +++---- src/catio/catio_connection.py | 2 +- src/catio/client.py | 48 +++++++++++++++++------------- src/catio/messages.py | 25 +++++++++++----- src/catio/utils.py | 6 ++-- tests/test_async_client.py | 2 +- tests/test_boilerplate_removed.py | 11 ++----- tests/test_catio_performance.py | 9 ++++-- tests/test_catio_system.py | 11 +++---- tests/test_catio_units.py | 4 +-- tests/test_coe_readwrite.py | 2 +- tests/test_symbol_notifications.py | 2 +- tests/test_symbol_readwrite.py | 8 +++-- tests/test_variable_polling.py | 2 +- 15 files changed, 81 insertions(+), 64 deletions(-) diff --git a/src/catio/_constants.py b/src/catio/_constants.py index 202b85dc..8df1b3e1 100644 --- a/src/catio/_constants.py +++ b/src/catio/_constants.py @@ -193,7 +193,7 @@ class SlaveLinkState(np.uint8, Enum): # TwinCAT 2 Reserved Index Groups # https://infosys.beckhoff.com/english.php?content=../content/1033/tcplclibsystem/11827998603.html&id= -class IndexGroup(np.uint32, Flag, boundary=EJECT): +class IndexGroup(np.uint32, Flag, boundary=EJECT): # type: ignore[misc] """ Specification of the ADS system services https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_ads_intro/117463563.html&id= diff --git a/src/catio/_types.py b/src/catio/_types.py index 0b1c177f..f6a22117 100644 --- a/src/catio/_types.py +++ b/src/catio/_types.py @@ -1,6 +1,8 @@ # ADS Data Types # https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_plc_intro/2529388939.html&id=3451082169760117126 +from __future__ import annotations + from dataclasses import dataclass from typing import ( Generic, @@ -216,12 +218,11 @@ def __str__(self): Length = TypeVar("Length", bound=int) Dtype = TypeVar("Dtype", bound=np.generic) -Coercible = TypeVar("Coercible") -ARRAY = AdsMessageDataType[np.ndarray[tuple[Length], np.dtype[Dtype]], Coercible] +ARRAY: TypeAlias = np.ndarray[tuple[Length], np.dtype[Dtype]] -BYTES6: TypeAlias = ARRAY[Literal[6], np.bytes_, bytes] -BYTES12: TypeAlias = ARRAY[Literal[12], np.bytes_, bytes] -BYTES16: TypeAlias = ARRAY[Literal[16], np.bytes_, bytes] +BYTES6: TypeAlias = AdsMessageDataType[ARRAY[Literal[6], np.bytes_], bytes] +BYTES12: TypeAlias = AdsMessageDataType[ARRAY[Literal[12], np.bytes_], bytes] +BYTES16: TypeAlias = AdsMessageDataType[ARRAY[Literal[16], np.bytes_], bytes] INT16: TypeAlias = AdsMessageDataType[np.int16, SupportsInt] INT32: TypeAlias = AdsMessageDataType[np.int32, SupportsInt] diff --git a/src/catio/catio_connection.py b/src/catio/catio_connection.py index 4206bebd..a455b2d7 100644 --- a/src/catio/catio_connection.py +++ b/src/catio/catio_connection.py @@ -173,7 +173,7 @@ async def initialise(self) -> None: If the server configuration changes, this method should be called again. """ - await self.client.introspect_IO_server() + await self.client.introspect_io_server() self._notification_symbols = await self.client.get_all_symbols() async def command(self, command: str, *args, **kwargs) -> None: diff --git a/src/catio/client.py b/src/catio/client.py index 95081f5a..0fd5e03b 100644 --- a/src/catio/client.py +++ b/src/catio/client.py @@ -594,13 +594,13 @@ async def _recv_ams_message( ) packet = await self.__reader.readexactly(length) # logging.debug(f"Received packet is: {packet.hex(' ')}") - AMS_HEADER_LENGTH = 32 - header = AmsHeader.from_bytes(packet[:AMS_HEADER_LENGTH]) - body = packet[AMS_HEADER_LENGTH:] + ams_header_length = 32 + header = AmsHeader.from_bytes(packet[:ams_header_length]) + body = packet[ams_header_length:] return header, body except TimeoutError as err: err.add_note( - f"Empty packet after {COMMUNICATION_TIMEOUT_SEC} seconds, " + f"Empty packet after {communication_timeout_sec} seconds, " + "system likely disconnected." ) raise @@ -1179,14 +1179,14 @@ async def _make_slave_objects( assert len(dev_ids) == len(dev_slave_addresses), ( "Registered device counts don't match." ) - dev_slave_parentIds: Sequence[Sequence[int]] = [] + dev_slave_parent_ids: Sequence[Sequence[int]] = [] for i in range(len(dev_ids)): num_slaves = len(dev_slave_addresses[i]) - dev_slave_parentIds.append([dev_ids[i] for _ in range(num_slaves)]) + dev_slave_parent_ids.append([dev_ids[i] for _ in range(num_slaves)]) dev_slaves: Sequence[Sequence[IOSlave]] = [] for ( - dev_slave_parentId, + dev_slave_parent_id, dev_slave_type, dev_slave_name, dev_slave_addr, @@ -1195,7 +1195,7 @@ async def _make_slave_objects( dev_slave_crc, ) in list( zip( - dev_slave_parentIds, + dev_slave_parent_ids, dev_slave_types, dev_slave_names, dev_slave_addresses, @@ -1209,7 +1209,7 @@ async def _make_slave_objects( IOSlave(*tpl) for tpl in list( zip( - dev_slave_parentId, + dev_slave_parent_id, dev_slave_type, dev_slave_name, dev_slave_addr, @@ -1224,7 +1224,7 @@ async def _make_slave_objects( return dev_slaves - async def get_EtherCAT_Master_device(self): + async def get_ethercat_master_device(self): """ Introspect the IO server for the registered Master device. Any device which cannot follow the same introspection protocol \ @@ -1267,7 +1267,7 @@ async def _get_ethercat_devices(self) -> dict[SupportsInt, IODevice]: """ devices: dict[SupportsInt, IODevice] = {} try: - dev_ids, dev_types = await self.get_EtherCAT_Master_device() + dev_ids, dev_types = await self.get_ethercat_master_device() logging.debug(f"List of device ids: {dev_ids}") logging.debug(f"List of device types: {dev_types}") @@ -1383,7 +1383,7 @@ def _print_device_chain(self, device_id: SupportsInt) -> None: + f"{slave.loc_in_chain.position}\t-> {slave.type}\t{slave.name}" ) - async def _get_EtherCAT_chains(self) -> None: + async def _get_ethercat_chains(self) -> None: """ Evaluate the position of the configured slaves in each EtherCAT device chain. Display the resulting chains on the console. @@ -1442,7 +1442,7 @@ def _generate_system_tree(self) -> IOTreeNode: return server_node - async def introspect_IO_server(self) -> None: + async def introspect_io_server(self) -> None: """ Gather information about the EtherCAT I/O server (inc. name, version and build), identify the registered EtherCAT devices and associated slaves, @@ -1469,7 +1469,7 @@ async def introspect_IO_server(self) -> None: f"Device id {self.master_device_id} registered as EtherCAT Master device." ) - await self._get_EtherCAT_chains() + await self._get_ethercat_chains() ################################################################# ### I/O MONITORS: STATES, COUNTERS, FRAMES ---------------------- @@ -2336,7 +2336,8 @@ def _get_sumreadwrite_responses( self, sum_data: bytes, read_lengths: Sequence[np.uint32] ) -> Sequence[AdsReadWriteResponse]: """ - Parse a general ADS SumReadWrite response into individual AdsReadWriteResponse objects. + Parse a general ADS SumReadWrite response into individual + AdsReadWriteResponse objects. :param sum_data: the data byte stream from the ADS SumReadWrite response @@ -2383,8 +2384,9 @@ async def sumreadwrite_symbols( logging.debug(f"SUM readwrite symbol: {symbol.name}, {value}") if isinstance(value, Sequence) and not (len(value) == symbol.size): logging.error( - f"Symbol ReadWrite Value Error: value for '{symbol.name}' expects a" - + f" collection of {symbol.size} elements, got {len(value)} instead." + f"Symbol ReadWrite Value Error: value for '{symbol.name}' " + + f"expects a collection of {symbol.size} elements, " + + f"got {len(value)} instead." ) processed_readwrites -= 1 processed_targets = filter(lambda target: target[0] != symbol, targets) @@ -2740,7 +2742,8 @@ async def _periodic_flush(self, interval_sec: float) -> None: buffer = self.__buffer self.__buffer = bytearray() # print("TEMPLATE SIZES:") - # print([(k, len(v)) for k, v in self.__notif_templates.items()]) + # print([(k, len(v)) for k, v in self.__notif_templates.items() + # ]) assert len(buffer) % len(template_data) == 0, ( "Request to flush an incomplete notification buffer " + "(size mismatch)." @@ -2997,7 +3000,8 @@ def get_system_tree(self, *args, **kwargs) -> IOTreeNode: """ Get a tree representation of the whole EtherCAT I/O system. - :returns: an IOTreeNode object representing the root server and all its child nodes + :returns: an IOTreeNode object representing the root server and all + its child nodes """ return self._generate_system_tree() @@ -3044,9 +3048,11 @@ def get_io_from_map( return terminal case _: raise NameError( - f"No valid catio reference to object id '{identifier}: {io_group}'." + f"No valid catio reference to object id " + f"'{identifier}: {io_group}'." ) - return self.fastcs_io_map[identifier] + else: + raise KeyError(f"{identifier} is already registered in the I/O map.") @_check_system async def get_device_framecounters_attr( diff --git a/src/catio/messages.py b/src/catio/messages.py index ff946e12..73f05ca6 100644 --- a/src/catio/messages.py +++ b/src/catio/messages.py @@ -1,8 +1,15 @@ from collections.abc import Iterator, Sequence -from typing import Any, ClassVar, Self, SupportsInt, get_origin +from typing import ( + Any, + ClassVar, + Self, + SupportsInt, + dataclass_transform, + get_origin, + get_type_hints, +) import numpy as np -from typing_extensions import dataclass_transform, get_type_hints from ._constants import ( TWINCAT_STRING_ENCODING, @@ -100,7 +107,8 @@ def __init__(self, buffer: bytes = b"", *, data: bytes = b"", **kwargs): if buffer: if kwargs: raise TypeError( - "Can't have a Message class instantiated with both buffer and kwargs." + "Can't have a Message class instantiated with both buffer " + "and kwargs." ) self._value = np.frombuffer(buffer, self.dtype, count=1) self.data = buffer[self._value.nbytes :] @@ -362,13 +370,13 @@ class SlaveCRC(Message): Ports B, C and D may not be used, thus potentially absent from an ADS response. """ - portA_crc: UINT32 + port_a_crc: UINT32 """CRC error counter of communication port A""" - portB_crc: UINT32 + port_b_crc: UINT32 """CRC error counter of communication port B""" - portC_crc: UINT32 + port_c_crc: UINT32 """CRC error counter of communication port C""" - portD_crc: UINT32 + port_d_crc: UINT32 """CRC error counter of communication port D""" def __array__(self): @@ -935,7 +943,8 @@ def write_symbol(cls, group: SupportsInt, offset: SupportsInt, data: bytes) -> S @classmethod def write_coe_value(cls, index: str, subindex: str, data: bytes) -> Self: """ - An ADS request to write a given value to a CAN-over-EtherCAT parameter (sdo/pdo). + An ADS request to write a given value to a CAN-over-EtherCAT parameter + (sdo/pdo). :param index: the CoE index assigned to the parameter (HIWORD=0xYYYY0000) :param subindex: the CoE subindex assigned to the parameter (LOBYTE=0x000000YY) diff --git a/src/catio/utils.py b/src/catio/utils.py index 9dd711b6..b606aa97 100644 --- a/src/catio/utils.py +++ b/src/catio/utils.py @@ -151,12 +151,12 @@ def filetime_to_dt(filetime: int) -> np.datetime64: :returns: the corresponding numpy datetime64 object """ # Difference between epochs in 100-nanosecond intervals - EPOCH_DIFF = 116444736000000000 + epoch_diff = 116444736000000000 # Number of 100-nanosecond intervals in a second - HUNDRED_NANOSECONDS = 10_000_000 + hundred_nanoseconds = 10_000_000 # Convert FILETIME to seconds since Unix epoch - unix_time = (filetime - EPOCH_DIFF) / HUNDRED_NANOSECONDS + unix_time = (filetime - epoch_diff) / hundred_nanoseconds # Convert to numpy datetime64 inc. seconds to nanoseconds conversion return np.datetime64(int(unix_time * 1e9), "ns") diff --git a/tests/test_async_client.py b/tests/test_async_client.py index f6412728..7147fdeb 100644 --- a/tests/test_async_client.py +++ b/tests/test_async_client.py @@ -20,7 +20,7 @@ async def main(): client = await make_client() try: - await client.introspect_IO_server() + await client.introspect_io_server() await client.check_ads_states() finally: diff --git a/tests/test_boilerplate_removed.py b/tests/test_boilerplate_removed.py index fd7aeab2..592af163 100644 --- a/tests/test_boilerplate_removed.py +++ b/tests/test_boilerplate_removed.py @@ -3,14 +3,9 @@ It can be deleted when all the contained tests pass """ -import sys +from importlib.metadata import metadata # noqa from pathlib import Path -if sys.version_info < (3, 8): - from importlib_metadata import metadata # noqa -else: - from importlib.metadata import metadata # noqa - ROOT = Path(__file__).parent.parent @@ -41,7 +36,7 @@ def test_module_summary(): # README -def test_changed_README_intro(): +def test_changed_readme_intro(): assert_not_contains_text( "README.rst", "This is where you should write a short paragraph", @@ -57,7 +52,7 @@ def test_removed_adopt_skeleton(): ) -def test_changed_README_body(): +def test_changed_readme_body(): assert_not_contains_text( "README.rst", "This is where you should put some images or code snippets", diff --git a/tests/test_catio_performance.py b/tests/test_catio_performance.py index 76eca0aa..4649785d 100644 --- a/tests/test_catio_performance.py +++ b/tests/test_catio_performance.py @@ -567,7 +567,8 @@ async def test_mixed_operations_throughput(self, perf_test_server: MockADSServer class TestScalability: """Test scalability with increasing load.""" - # # TO DO: if multiple clients can be mocked, test throughput with concurrent connections + # # TO DO: if multiple clients can be mocked, test throughput + # # with concurrent connections # @pytest.mark.asyncio # async def test_scalability_concurrent_clients( # self, perf_test_server: MockADSServer @@ -616,7 +617,8 @@ class TestScalability: # for num_clients, throughput in scalability_results.items(): # print( # f"Symbol read: {throughput:.1f} ops/sec " - # + f"when {num_clients} clients are concurrently connected to the server" + # + f"when {num_clients} clients are concurrently connected " + # + f"to the server" # ) @pytest.mark.asyncio @@ -1145,7 +1147,8 @@ async def test_offset_distribution_impact(self, perf_test_server: MockADSServer) "Performance test results for different symbol offset distribution " + f"based on {num_operations} read samples:\n" + f"{same_throughput:.1f} ops/sec throughput for same offset symbol\n" - + f"{varying_throughput:.1f} ops/sec throughput for varying offset symbols" + + f"{varying_throughput:.1f} ops/sec throughput for varying offset " + + "symbols" ) finally: diff --git a/tests/test_catio_system.py b/tests/test_catio_system.py index 0c186b79..330ec783 100644 --- a/tests/test_catio_system.py +++ b/tests/test_catio_system.py @@ -16,7 +16,6 @@ """ import asyncio -from typing import SupportsInt import numpy as np import pytest @@ -362,7 +361,6 @@ async def test_add_device_notification(self, system_test_server: MockADSServer): cycle_time_ms=100, ) # Verify a valid handle is returned - assert isinstance(handle, SupportsInt) assert handle > 0 # Clean up the test subscription @@ -421,7 +419,8 @@ class TestConcurrency: async def test_multiple_clients_cannot_connect_from_same_host( self, system_test_server: MockADSServer ): - """Test that multiple clients on the same host machine cannot connect to the same server.""" + """Test that multiple clients on the same host machine cannot connect + to the same server.""" clients = [] try: @@ -444,12 +443,14 @@ async def test_multiple_clients_cannot_connect_from_same_host( for client in clients: await client.close() - # TO DO: HOW CAN WE TEST THAT MULTIPLE CLIENTS IS FEASIBLE IF FROM DIFFERENT HOST MACHINES + # TO DO: HOW CAN WE TEST THAT MULTIPLE CLIENTS IS FEASIBLE IF FROM + # DIFFERENT HOST MACHINES @pytest.mark.asyncio async def test_multiple_clients_can_connect_from_different_host( self, system_test_server: MockADSServer ): - """Test that multiple clients on different machines can connect to the same server.""" + """Test that multiple clients on different machines can connect to the + same server.""" # Define multiple clients # All clients should be able to read the server states # Disconnect all clients diff --git a/tests/test_catio_units.py b/tests/test_catio_units.py index a685704c..26d2723f 100644 --- a/tests/test_catio_units.py +++ b/tests/test_catio_units.py @@ -901,7 +901,7 @@ def test_get_type_name_for_slave_and_coupler_and_invalid(self): vendor_id=101, product_code=200, revision_number=3, serial_number=45678 ) states = SlaveState(ecat_state=0, link_status=1) - crcs = SlaveCRC(portA_crc=1, portB_crc=1, portC_crc=0, portD_crc=0) + crcs = SlaveCRC(port_a_crc=1, port_b_crc=1, port_c_crc=0, port_d_crc=0) loc = ChainLocation(node=3, position=7) slave = IOSlave( parent_device=1, @@ -942,7 +942,7 @@ def test_get_type_name_for_different_device_types(self): ) loc2 = ChainLocation(node=1, position=2) states = SlaveState(ecat_state=0, link_status=1) - crcs = SlaveCRC(portA_crc=1, portB_crc=1, portC_crc=0, portD_crc=0) + crcs = SlaveCRC(port_a_crc=1, port_b_crc=1, port_c_crc=0, port_d_crc=0) s1 = IOSlave( parent_device=1, diff --git a/tests/test_coe_readwrite.py b/tests/test_coe_readwrite.py index c6c7739e..3fcbc23d 100644 --- a/tests/test_coe_readwrite.py +++ b/tests/test_coe_readwrite.py @@ -20,7 +20,7 @@ async def main(): client = await make_client() try: - await client.introspect_IO_server() + await client.introspect_io_server() # Get a slave terminal of a given type slave_type = "EL3104" diff --git a/tests/test_symbol_notifications.py b/tests/test_symbol_notifications.py index 86d39713..19fd3b8c 100644 --- a/tests/test_symbol_notifications.py +++ b/tests/test_symbol_notifications.py @@ -22,7 +22,7 @@ async def main(): notif_symbols = [] try: - await client.introspect_IO_server() + await client.introspect_io_server() symbols = await client.get_all_symbols() master_dev = next(iter(symbols)) diff --git a/tests/test_symbol_readwrite.py b/tests/test_symbol_readwrite.py index 7223fca7..d46c09e5 100644 --- a/tests/test_symbol_readwrite.py +++ b/tests/test_symbol_readwrite.py @@ -21,7 +21,7 @@ async def main(): client = await make_client() try: - await client.introspect_IO_server() + await client.introspect_io_server() symbols = await client.get_all_symbols() master_dev = next(iter(symbols)) @@ -67,12 +67,14 @@ async def main(): # n = len(write_symbols) # print( # "SUM Write -- " - # + f"{await client.sumwrite_ads_symbols(list(zip(write_symbols, [1] * n)))}" + # + f"{await client.sumwrite_ads_symbols( + # list(zip(write_symbols, [1] * n)))}" # ) # await asyncio.sleep(1) # print( # "SUM Write -- " - # + f"{await client.sumwrite_ads_symbols(list(zip(write_symbols, [0] * n)))}" + # + f"{await client.sumwrite_ads_symbols( + # list(zip(write_symbols, [0] * n)))}" # ) # # ReadWrite calls will also return 'ErrorCode.ADSERR_DEVICE_SRVNOTSUPP'. diff --git a/tests/test_variable_polling.py b/tests/test_variable_polling.py index dd97b490..8e84304d 100644 --- a/tests/test_variable_polling.py +++ b/tests/test_variable_polling.py @@ -71,7 +71,7 @@ async def main(): client = await make_client() try: - await client.introspect_IO_server() + await client.introspect_io_server() async with asyncio.TaskGroup() as tg: task0 = tg.create_task( From a69e3085e9dcf1126564360c8eda737a4e457e33 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 11:53:38 +0000 Subject: [PATCH 06/12] fix docs --- docs/genindex.rst | 5 ----- docs/index.rst | 29 ----------------------------- 2 files changed, 34 deletions(-) delete mode 100644 docs/genindex.rst delete mode 100644 docs/index.rst diff --git a/docs/genindex.rst b/docs/genindex.rst deleted file mode 100644 index 93eb8b29..00000000 --- a/docs/genindex.rst +++ /dev/null @@ -1,5 +0,0 @@ -API Index -========= - -.. - https://stackoverflow.com/a/42310803 diff --git a/docs/index.rst b/docs/index.rst deleted file mode 100644 index 88e9922b..00000000 --- a/docs/index.rst +++ /dev/null @@ -1,29 +0,0 @@ -:html_theme.sidebar_secondary.remove: - -.. include:: ../README.rst - :end-before: when included in index.rst - -How the documentation is structured ------------------------------------ - -The documentation is split into 2 sections: - -.. grid:: 2 - - .. grid-item-card:: :material-regular:`person;4em` - :link: user/index - :link-type: doc - - The User Guide contains documentation on how to install and use CATio. - - .. grid-item-card:: :material-regular:`code;4em` - :link: developer/index - :link-type: doc - - The Developer Guide contains documentation on how to develop and contribute changes back to CATio. - -.. toctree:: - :hidden: - - user/index - developer/index From 0f7797f31ca3017b753e7b5f40658bc0ce5aa281 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 12:26:28 +0000 Subject: [PATCH 07/12] fixes to work with 0.12.0a1 fastcs --- .vscode/settings.json | 3 + pyproject.toml | 4 +- src/catio/__main__.py | 6 +- src/catio/catio_attribute_io.py | 5 +- src/catio/catio_controller.py | 15 +-- uv.lock | 208 +++++++++++++++++++++++++++++++- 6 files changed, 222 insertions(+), 19 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index 101c75fa..17dca66f 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -9,4 +9,7 @@ "[python]": { "editor.defaultFormatter": "charliermarsh.ruff", }, + "cSpell.words": [ + "epicsca" + ], } diff --git a/pyproject.toml b/pyproject.toml index 2d0e86c4..cc84beab 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -17,7 +17,7 @@ dependencies = [ "numpy", "pvi", "typer", - "fastcs@git+https://github.com/DiamondLightSource/FastCS", + "fastcs[all]==0.12.0a1", "softioc@git+https://github.com/DiamondLightSource/pythonSoftIOC", ] dynamic = ["version"] @@ -43,7 +43,7 @@ dev = [ ] [project.scripts] -catio = "catio.__main__:main" +catio = "catio.__main__:app" [project.urls] GitHub = "https://github.com/DiamondLightSource/catio" diff --git a/src/catio/__main__.py b/src/catio/__main__.py index 42b6bc18..0c192a8f 100644 --- a/src/catio/__main__.py +++ b/src/catio/__main__.py @@ -9,8 +9,8 @@ import typer from fastcs.launch import FastCS -from fastcs.transport.epics.ca.transport import EpicsCATransport -from fastcs.transport.epics.options import ( +from fastcs.transports.epics.ca.transport import EpicsCATransport +from fastcs.transports.epics.options import ( EpicsDocsOptions, EpicsGUIOptions, EpicsIOCOptions, @@ -140,7 +140,7 @@ def ioc( # Define EPICS ChannelAccess/PVA transport parameters epics_transport = EpicsCATransport( - ca_ioc=EpicsIOCOptions(pv_prefix=pv_prefix), + epicsca=EpicsIOCOptions(pv_prefix=pv_prefix), docs=EpicsDocsOptions(), gui=EpicsGUIOptions( output_path=ui_path / "catio.bob", title=f"CATio - {pv_prefix}" diff --git a/src/catio/catio_attribute_io.py b/src/catio/catio_attribute_io.py index 434c43c9..1571d87b 100644 --- a/src/catio/catio_attribute_io.py +++ b/src/catio/catio_attribute_io.py @@ -2,12 +2,11 @@ from typing import Any, TypeVar import numpy as np -from fastcs.attribute_io import AttributeIO -from fastcs.attribute_io_ref import AttributeIORef -from fastcs.attributes import ONCE, AttrR +from fastcs.attributes import AttributeIO, AttributeIORef, AttrR from fastcs.datatypes import Waveform from fastcs.logging import bind_logger from fastcs.tracer import Tracer +from fastcs.util import ONCE from catio.catio_connection import CATioConnection, CATioFastCSRequest diff --git a/src/catio/catio_controller.py b/src/catio/catio_controller.py index 90ce8ada..cae5614a 100644 --- a/src/catio/catio_controller.py +++ b/src/catio/catio_controller.py @@ -10,12 +10,13 @@ import numpy as np import numpy.typing as npt -from fastcs.attributes import ONCE, Attribute, AttrR -from fastcs.controller import Controller +from fastcs.attributes import Attribute, AttrR +from fastcs.controllers import Controller from fastcs.datatypes import Int, String, Waveform from fastcs.logging import bind_logger +from fastcs.methods import scan from fastcs.tracer import Tracer -from fastcs.wrappers import scan +from fastcs.util import ONCE from numpy.lib import recfunctions as rfn from catio._constants import DeviceType @@ -1074,28 +1075,28 @@ async def get_terminal_generic_attributes(self) -> dict[str, Attribute]: datatype=Int(), io_ref=None, group=self.attr_group_name, - initial_value=int(self.io.crcs.portA_crc), + initial_value=int(self.io.crcs.port_a_crc), description="I/O terminal crc error counter on port A", ) attr_dict["CrcErrorPortB"] = AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, - initial_value=int(self.io.crcs.portB_crc), + initial_value=int(self.io.crcs.port_b_crc), description="I/O terminal crc error counter on port B", ) attr_dict["CrcErrorPortC"] = AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, - initial_value=int(self.io.crcs.portC_crc), + initial_value=int(self.io.crcs.port_c_crc), description="I/O terminal crc error counter on port C", ) attr_dict["CrcErrorPortD"] = AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, - initial_value=int(self.io.crcs.portD_crc), + initial_value=int(self.io.crcs.port_d_crc), description="I/O terminal crc error counter on port D", ) attr_dict["CrcErrorSum"] = AttrR( diff --git a/uv.lock b/uv.lock index 393ab4cf..4d5ca2d5 100644 --- a/uv.lock +++ b/uv.lock @@ -107,7 +107,7 @@ wheels = [ name = "catio" source = { editable = "." } dependencies = [ - { name = "fastcs" }, + { name = "fastcs", extra = ["all"] }, { name = "numpy" }, { name = "pvi" }, { name = "softioc" }, @@ -133,7 +133,7 @@ dev = [ [package.metadata] requires-dist = [ - { name = "fastcs", git = "https://github.com/DiamondLightSource/FastCS" }, + { name = "fastcs", extras = ["all"], specifier = "==0.12.0a1" }, { name = "numpy" }, { name = "pvi" }, { name = "softioc", git = "https://github.com/DiamondLightSource/pythonSoftIOC" }, @@ -395,6 +395,18 @@ toml = [ { name = "tomli", marker = "python_full_version <= '3.11'" }, ] +[[package]] +name = "cross-web" +version = "0.4.1" +source = { registry = "https://pypi.org/simple" } +dependencies = [ + { name = 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"${file}", - "purpose": [ - "debug-test" - ], - "console": "integratedTerminal", - }, { "name": "CATio IOC", "type": "debugpy", @@ -25,10 +14,10 @@ "args": [ "ioc", "CATIO", + "172.23.242.42", "--log-level", "debug" ] - }, + } ] -] } From deea8ce840f208a4de1df82f11ae7e8717a56c7e Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 15:13:01 +0000 Subject: [PATCH 09/12] claude refactor to use Contoller.add_attribute --- src/catio/catio_controller.py | 609 ++++++++++--------- src/catio/catio_hardware.py | 1051 ++++++++++++++++++--------------- 2 files changed, 922 insertions(+), 738 deletions(-) diff --git a/src/catio/catio_controller.py b/src/catio/catio_controller.py index cae5614a..6542d481 100644 --- a/src/catio/catio_controller.py +++ b/src/catio/catio_controller.py @@ -165,7 +165,7 @@ async def initialise(self) -> None: await self.read_configuration() # Create the controller attributes - self.attributes.update(await self.get_io_attributes()) + await self.get_io_attributes() await self.register_as_class_attributes() logger.info( f"Initialisation of FastCS attributes for CATio controller {self.name} " @@ -181,27 +181,24 @@ async def read_configuration(self) -> None: # e.g. the server won't have any specific configuration pass - async def get_generic_attributes(self) -> dict[str, Attribute]: + async def get_generic_attributes(self) -> None: """ Base method to create generic controller attributes applicable to all. - - :returns: a dictionary of generic controller attributes. """ - attr_dict: dict[str, Attribute] = {} - - attr_dict["Function"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("io_function", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io_function, - description="I/O controller function", + self.add_attribute( + "Function", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("io_function", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io_function, + description="I/O controller function", + ), ) logger.debug(f"Generic attributes for controller {self.name} created.") - return attr_dict - @abstractmethod - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """Base method to create subcontroller-specific attributes.""" ... @@ -283,6 +280,7 @@ async def connect(self) -> None: # await super().connect() if self.sub_controllers: for name, subctlr in self.sub_controllers.items(): + assert isinstance(subctlr, CATioController) await subctlr.connect() logger.debug(f"Connection to subcontroller {name} completed.") @@ -462,58 +460,64 @@ async def disconnect(self) -> None: # logger.info(">-------- Removing the existing route to the remote.") # self._route.delete() - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """Create and get all server controller attributes.""" logger.debug("No specific attributes are defined for a CATio server controller") - return await self.get_server_generic_attributes() + await self.get_server_generic_attributes() - async def get_server_generic_attributes(self) -> dict[str, Attribute]: + async def get_server_generic_attributes(self) -> None: """ Create and get all generic server attributes. - - :returns: a dictionary of generic server controller attributes. """ assert isinstance(self.io, IOServer), ( f"Wrong I/O type associated with controller {self.name}" ) # Get the generic attributes related to a CATioServerController - attr_dict = await super().get_generic_attributes() - - attr_dict["Name"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io.name, - description="I/O server name", - ) - attr_dict["Version"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("version", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io.version, - description="I/O server version number", + await super().get_generic_attributes() + + self.add_attribute( + "Name", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io.name, + description="I/O server name", + ), ) - attr_dict["Build"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("build", update_period=ONCE), - group=self.attr_group_name, - initial_value=str(self.io.build), - description="I/O server build number", + + self.add_attribute( + "Version", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("version", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io.version, + description="I/O server version number", + ), ) - attr_dict["DevCount"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("num_devices", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.num_devices), - description="I/O server registered device count", + self.add_attribute( + "Build", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("build", update_period=ONCE), + group=self.attr_group_name, + initial_value=str(self.io.build), + description="I/O server build number", + ), ) - logger.debug( - f"Created {len(attr_dict)} generic attributes for the controller " - f"{self.name}." + self.add_attribute( + "DevCount", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("num_devices", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.num_devices), + description="I/O server registered device count", + ), ) - - return attr_dict + logger.debug(f"Generic attributes for the controller {self.name} created.") async def register_subcontrollers(self) -> None: """Register all subcontrollers available in the EtherCAT system tree.""" @@ -798,144 +802,184 @@ def __init__( self.notification_ready: bool = False """Flag indicating if the device is ready to provide notifications.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """Create and get all device controller attributes.""" - return await self.get_device_generic_attributes() + await self.get_device_generic_attributes() - async def get_device_generic_attributes(self) -> dict[str, Attribute]: + async def get_device_generic_attributes(self) -> None: """ Create and get all generic device attributes. - - :returns: a dictionary of generic device controller attributes. """ assert isinstance(self.io, IODevice), ( f"Wrong I/O type associated with controller {self.name}" ) # Get the generic attributes related to a CATioDeviceController - attr_dict = await super().get_generic_attributes() - - attr_dict["Id"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("id", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.id), - description="I/O device identity number", - ) - attr_dict["Type"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("type", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.type), - description="I/O device type", - ) - attr_dict["Name"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io.name, - description="I/O device name", + await super().get_generic_attributes() + + self.add_attribute( + "Id", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("id", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.id), + description="I/O device identity number", + ), ) - attr_dict["Netid"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("netid", update_period=ONCE), - group=self.attr_group_name, - initial_value=str(self.io.netid), - description="I/O device ams netid", + self.add_attribute( + "Type", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("type", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.type), + description="I/O device type", + ), ) - attr_dict["Identity"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("identity", update_period=ONCE), - group=self.attr_group_name, - initial_value=str(self.io.identity), - description="I/O device identity", + self.add_attribute( + "Name", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io.name, + description="I/O device name", + ), ) - attr_dict["SystemTime"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.frame_counters.time), - description="I/O device, EtherCAT frame timestamp", + self.add_attribute( + "Netid", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("netid", update_period=ONCE), + group=self.attr_group_name, + initial_value=str(self.io.netid), + description="I/O device ams netid", + ), ) - attr_dict["SentCyclicFrames"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.frame_counters.cyclic_sent), - description="I/O device, sent cyclic frames counter", + self.add_attribute( + "Identity", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("identity", update_period=ONCE), + group=self.attr_group_name, + initial_value=str(self.io.identity), + description="I/O device identity", + ), ) - attr_dict["LostCyclicFrames"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.frame_counters.cyclic_lost), - description="I/O device, lost cyclic frames counter", + self.add_attribute( + "SystemTime", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.frame_counters.time), + description="I/O device, EtherCAT frame timestamp", + ), ) - attr_dict["SentAcyclicFrames"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.frame_counters.acyclic_sent), - description="I/O device, sent acyclic frames counter", + self.add_attribute( + "SentCyclicFrames", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.frame_counters.cyclic_sent), + description="I/O device, sent cyclic frames counter", + ), ) - attr_dict["LostAcyclicFrames"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.frame_counters.acyclic_lost), - description="I/O device, lost acyclic frames counter", + self.add_attribute( + "LostCyclicFrames", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.frame_counters.cyclic_lost), + description="I/O device, lost cyclic frames counter", + ), ) - attr_dict["SlaveCount"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef( - "slave_count", update_period=STANDARD_POLL_UPDATE_PERIOD + self.add_attribute( + "SentAcyclicFrames", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.frame_counters.acyclic_sent), + description="I/O device, sent acyclic frames counter", ), - group=self.attr_group_name, - initial_value=int(self.io.slave_count), - description="I/O device registered slave count", ) - attr_dict["SlavesStates"] = AttrR( - datatype=Waveform( - array_dtype=np.uint8, shape=(2 * int(self.io.slave_count),) + self.add_attribute( + "LostAcyclicFrames", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.frame_counters.acyclic_lost), + description="I/O device, lost acyclic frames counter", ), - io_ref=CATioControllerAttributeIORef( - "slaves_states", update_period=STANDARD_POLL_UPDATE_PERIOD + ) + self.add_attribute( + "SlaveCount", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef( + "slave_count", update_period=STANDARD_POLL_UPDATE_PERIOD + ), + group=self.attr_group_name, + initial_value=int(self.io.slave_count), + description="I/O device registered slave count", ), - group=self.attr_group_name, - initial_value=np.array(self.io.slaves_states, dtype=np.uint8).flatten(), - description="I/O device, states of slave terminals", ) - attr_dict["SlavesCrcCounters"] = AttrR( - datatype=Waveform(array_dtype=np.uint32, shape=(int(self.io.slave_count),)), - io_ref=CATioControllerAttributeIORef( - "slaves_crc_counters", update_period=STANDARD_POLL_UPDATE_PERIOD + self.add_attribute( + "SlavesStates", + AttrR( + datatype=Waveform( + array_dtype=np.uint8, shape=(2 * int(self.io.slave_count),) + ), + io_ref=CATioControllerAttributeIORef( + "slaves_states", update_period=STANDARD_POLL_UPDATE_PERIOD + ), + group=self.attr_group_name, + initial_value=np.array(self.io.slaves_states, dtype=np.uint8).flatten(), + description="I/O device, states of slave terminals", ), - group=self.attr_group_name, - initial_value=np.array( - self.io.slaves_crc_counters, dtype=np.uint32 - ).flatten(), - description="I/O device, slave crc error sum counters", ) - attr_dict["NodeCount"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("node_count", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.node_count), - description="I/O device registered node count", + self.add_attribute( + "SlavesCrcCounters", + AttrR( + datatype=Waveform( + array_dtype=np.uint32, shape=(int(self.io.slave_count),) + ), + io_ref=CATioControllerAttributeIORef( + "slaves_crc_counters", update_period=STANDARD_POLL_UPDATE_PERIOD + ), + group=self.attr_group_name, + initial_value=np.array( + self.io.slaves_crc_counters, dtype=np.uint32 + ).flatten(), + description="I/O device, slave crc error sum counters", + ), ) - attr_dict["timestamp"] = AttrR( - datatype=String(), - io_ref=None, - group=self.attr_group_name, - initial_value=time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()), - description="I/O device last notification timestamp", + self.add_attribute( + "NodeCount", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("node_count", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.node_count), + description="I/O device registered node count", + ), ) - logger.debug( - f"Created {len(attr_dict)} generic attributes " - + f"for the controller {self.name}." + self.add_attribute( + "timestamp", + AttrR( + datatype=String(), + io_ref=None, + group=self.attr_group_name, + initial_value=time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()), + description="I/O device last notification timestamp", + ), ) - - return attr_dict + logger.debug("Created generic attributes " + f"for the controller {self.name}.") async def connect(self) -> None: """Establish the FastCS connection to the device controller.""" @@ -1003,131 +1047,164 @@ def __init__( group="terminal", ) - async def get_io_attributes(self) -> dict[str, Attribute]: - """Create and get all terminal controller attributes. + async def get_io_attributes(self) -> None: + """Create and get all terminal controller attributes.""" + await self.get_terminal_generic_attributes() - :returns: a dictionary of terminal controller attributes. - """ - return await self.get_terminal_generic_attributes() - - async def get_terminal_generic_attributes(self) -> dict[str, Attribute]: - """Create and get all generic terminal attributes. - - :returns: a dictionary of generic terminal controller attributes. - """ + async def get_terminal_generic_attributes(self) -> None: + """Create and get all generic terminal attributes.""" assert isinstance(self.io, IOSlave), ( f"Wrong I/O type associated with controller {self.name}" ) # Get the generic attributes related to a CATioDeviceController - attr_dict = await super().get_generic_attributes() - - attr_dict["ParentDevId"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("parent_device", update_period=ONCE), - group=self.attr_group_name, - initial_value=str(self.io.parent_device), - description="I/O terminal master device id", - ) - attr_dict["Type"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("type", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io.type, - description="I/O terminal type", + await super().get_generic_attributes() + + self.add_attribute( + "ParentDevId", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef( + "parent_device", update_period=ONCE + ), + group=self.attr_group_name, + initial_value=str(self.io.parent_device), + description="I/O terminal master device id", + ), ) - attr_dict["Name"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), - group=self.attr_group_name, - initial_value=self.io.name, - description="I/O terminal name", + self.add_attribute( + "Type", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("type", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io.type, + description="I/O terminal type", + ), ) - attr_dict["Address"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("address", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.address), - description="I/O terminal EtherCAT address", + self.add_attribute( + "Name", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("name", update_period=ONCE), + group=self.attr_group_name, + initial_value=self.io.name, + description="I/O terminal name", + ), ) - attr_dict["Identity"] = AttrR( - datatype=String(), - io_ref=CATioControllerAttributeIORef("identity", update_period=ONCE), - group=self.attr_group_name, - initial_value=str(self.io.identity), - description="I/O terminal identity", + self.add_attribute( + "Address", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("address", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.address), + description="I/O terminal EtherCAT address", + ), ) - attr_dict["StateMachine"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.states.ecat_state), - description="I/O terminal state machine", + self.add_attribute( + "Identity", + AttrR( + datatype=String(), + io_ref=CATioControllerAttributeIORef("identity", update_period=ONCE), + group=self.attr_group_name, + initial_value=str(self.io.identity), + description="I/O terminal identity", + ), ) - attr_dict["LinkStatus"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.states.link_status), - description="I/O terminal communication state", + self.add_attribute( + "StateMachine", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.states.ecat_state), + description="I/O terminal state machine", + ), ) - attr_dict["CrcErrorPortA"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.crcs.port_a_crc), - description="I/O terminal crc error counter on port A", + self.add_attribute( + "LinkStatus", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.states.link_status), + description="I/O terminal communication state", + ), ) - attr_dict["CrcErrorPortB"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.crcs.port_b_crc), - description="I/O terminal crc error counter on port B", + self.add_attribute( + "CrcErrorPortA", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.crcs.port_a_crc), + description="I/O terminal crc error counter on port A", + ), ) - attr_dict["CrcErrorPortC"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.crcs.port_c_crc), - description="I/O terminal crc error counter on port C", + self.add_attribute( + "CrcErrorPortB", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.crcs.port_b_crc), + description="I/O terminal crc error counter on port B", + ), ) - attr_dict["CrcErrorPortD"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=int(self.io.crcs.port_d_crc), - description="I/O terminal crc error counter on port D", + self.add_attribute( + "CrcErrorPortC", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.crcs.port_c_crc), + description="I/O terminal crc error counter on port C", + ), ) - attr_dict["CrcErrorSum"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef( - "crc_error_sum", update_period=STANDARD_POLL_UPDATE_PERIOD + self.add_attribute( + "CrcErrorPortD", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=int(self.io.crcs.port_d_crc), + description="I/O terminal crc error counter on port D", ), - group=self.attr_group_name, - initial_value=int(self.io.crc_error_sum), - description="I/O terminal crc error sum counter", ) - attr_dict["Node"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("node", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.loc_in_chain.node), - description="I/O terminal associated node", + self.add_attribute( + "CrcErrorSum", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef( + "crc_error_sum", update_period=STANDARD_POLL_UPDATE_PERIOD + ), + group=self.attr_group_name, + initial_value=int(self.io.crc_error_sum), + description="I/O terminal crc error sum counter", + ), ) - attr_dict["Position"] = AttrR( - datatype=Int(), - io_ref=CATioControllerAttributeIORef("position", update_period=ONCE), - group=self.attr_group_name, - initial_value=int(self.io.loc_in_chain.position), - description="I/O terminal associated position", + self.add_attribute( + "Node", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("node", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.loc_in_chain.node), + description="I/O terminal associated node", + ), ) - logger.debug( - f"Created {len(attr_dict)} generic attributes " - + f"for the controller {self.name}." + self.add_attribute( + "Position", + AttrR( + datatype=Int(), + io_ref=CATioControllerAttributeIORef("position", update_period=ONCE), + group=self.attr_group_name, + initial_value=int(self.io.loc_in_chain.position), + description="I/O terminal associated position", + ), ) - - return attr_dict + logger.debug("Created generic attributes " + f"for the controller {self.name}.") async def connect(self) -> None: """Establish the FastCS connection to the terminal controller.""" diff --git a/src/catio/catio_hardware.py b/src/catio/catio_hardware.py index f557ce6e..a87ec891 100644 --- a/src/catio/catio_hardware.py +++ b/src/catio/catio_hardware.py @@ -9,7 +9,7 @@ import numpy as np -from fastcs.attributes import Attribute, AttrR +from fastcs.attributes import AttrR from fastcs.datatypes import Int, Waveform from fastcs.logging import bind_logger from fastcs.tracer import Tracer @@ -42,72 +42,94 @@ class EtherCATMasterController(CATioDeviceController): # name string should match pattern '^([A-Z][a-z0-9]*)*$' # so we map it as aliases in self.ads_name_map below - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all Master Device attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio device controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of device - attr_dict["InputsSlaveCount"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Number of slaves reached in last cycle", - ) - attr_dict["InputsDevState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="EtherCAT device input cycle frame status", - ) - attr_dict["OutputsDevCtrl"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="EtherCAT device output control value", - ) - for i in range(0, self.num_ads_streams): - attr_dict[f"InFrm{i}State"] = AttrR( + self.add_attribute( + "InputsSlaveCount", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description="Cyclic Ethernet input frame status", - ) - attr_dict[f"InFrm{i}WcState"] = AttrR( + description="Number of slaves reached in last cycle", + ), + ) + self.add_attribute( + "InputsDevState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description="Inputs accumulated working counter", - ) - attr_dict[f"InFrm{i}InpToggle"] = AttrR( + description="EtherCAT device input cycle frame status", + ), + ) + self.add_attribute( + "OutputsDevCtrl", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description="EtherCAT cyclic frame update indicator", + description="EtherCAT device output control value", + ), + ) + for i in range(0, self.num_ads_streams): + self.add_attribute( + f"InFrm{i}State", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Cyclic Ethernet input frame status", + ), ) - attr_dict[f"OutFrm{i}Ctrl"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="EtherCAT output frame control value", + self.add_attribute( + f"InFrm{i}WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Inputs accumulated working counter", + ), ) - attr_dict[f"OutFrm{i}WcCtrl"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Outputs accumulated working counter", + self.add_attribute( + f"InFrm{i}InpToggle", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="EtherCAT cyclic frame update indicator", + ), + ) + self.add_attribute( + f"OutFrm{i}Ctrl", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="EtherCAT output frame control value", + ), + ) + self.add_attribute( + f"OutFrm{i}WcCtrl", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Outputs accumulated working counter", + ), ) # Map the FastCS attribute name to the symbol name used by ADS @@ -117,8 +139,6 @@ async def get_io_attributes(self) -> dict[str, Attribute]: self.ads_name_map[f"OutFrm{i}Ctrl"] = f"Outputs.Frm{i}Ctrl" self.ads_name_map[f"OutFrm{i}WcCtrl"] = f"Outputs.Frm{i}WcCtrl" - return attr_dict - class EK1100Controller(CATioTerminalController): """A sub-controller for an EK1100 EtherCAT Coupler terminal.""" @@ -126,20 +146,16 @@ class EK1100Controller(CATioTerminalController): io_function: str = "EtherCAT coupler at the head of a segment" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all coupler terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal # n/a - return attr_dict - class EK1101Controller(CATioTerminalController): """A sub-controller for an EK1101 EtherCAT Coupler terminal.""" @@ -147,26 +163,25 @@ class EK1101Controller(CATioTerminalController): io_function: str = "EtherCAT coupler with three ID switches for variable topologies" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all coupler terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["ID"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=1, - description="Unique ID for the group of components", + self.add_attribute( + "ID", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=1, + description="Unique ID for the group of components", + ), ) - return attr_dict - class EK1110Controller(CATioTerminalController): """A sub-controller for an EK1110 EtherCAT Extension terminal.""" @@ -174,20 +189,16 @@ class EK1110Controller(CATioTerminalController): io_function: str = "EtherCAT extension coupler for line topology" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all coupler terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal # n/a - return attr_dict - class EL1004Controller(CATioTerminalController): """A sub-controller for an EL1004 EtherCAT digital input terminal.""" @@ -197,44 +208,49 @@ class EL1004Controller(CATioTerminalController): num_channels: int = 4 """Number of digital input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL1004 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated digital value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DICh{i}Value"] = AttrR( + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital input value", + description="Availability of an updated digital value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital input value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" - return attr_dict - class EL1014Controller(CATioTerminalController): """A sub-controller for an EL1014 EtherCAT wcounter input terminal.""" @@ -244,44 +260,49 @@ class EL1014Controller(CATioTerminalController): num_channels: int = 4 """Number of digital input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL1014 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated digital value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DICh{i}Value"] = AttrR( + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital input value", + description="Availability of an updated digital value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital input value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" - return attr_dict - class EL1124Controller(CATioTerminalController): """A sub-controller for an EL1124 EtherCAT digital output terminal.""" @@ -291,44 +312,49 @@ class EL1124Controller(CATioTerminalController): num_channels: int = 4 """Number of digital input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL1124 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated digital value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DICh{i}Value"] = AttrR( + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital input value", + description="Availability of an updated digital value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital input value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" - return attr_dict - class EL1084Controller(CATioTerminalController): """A sub-controller for an EL1084 EtherCAT digital input terminal.""" @@ -338,44 +364,49 @@ class EL1084Controller(CATioTerminalController): num_channels: int = 4 """Number of digital input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL1084 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated digital value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DICh{i}Value"] = AttrR( + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital input value", + description="Availability of an updated digital value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital input value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" - return attr_dict - class EL1502Controller(CATioTerminalController): """A sub-controller for an EL1502 EtherCAT digital input terminal.""" @@ -385,57 +416,73 @@ class EL1502Controller(CATioTerminalController): num_channels = 2 """Number of digital input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL1502 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated digital value", - ) - attr_dict["CNTInputStatus"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Input channel counter status", - ) - attr_dict["CNTInputValue"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Input channel counter value", - ) - attr_dict["CNTOutputStatus"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Output channel counter status", - ) - attr_dict["CNTOutputValue"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Output channel counter set value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), + ) + self.add_attribute( + "InputToggle", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Availability of an updated digital value", + ), + ) + self.add_attribute( + "CNTInputStatus", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Input channel counter status", + ), + ) + self.add_attribute( + "CNTInputValue", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Input channel counter value", + ), + ) + self.add_attribute( + "CNTOutputStatus", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Output channel counter status", + ), + ) + self.add_attribute( + "CNTOutputValue", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Output channel counter set value", + ), ) # Map the FastCS attribute names to the symbol names used by ADS self.ads_name_map["CNTInputStatus"] = "CNTInputs.Countervalue" @@ -443,8 +490,6 @@ async def get_io_attributes(self) -> dict[str, Attribute]: self.ads_name_map["CNTOutputStatus"] = "CNTInputs.Countervalue" self.ads_name_map["CNTOutputValue"] = "CNTOutputs.Setcountervalue" - return attr_dict - class EL2024Controller(CATioTerminalController): """A sub-controller for an EL2024 EtherCAT digital output terminal.""" @@ -454,37 +499,39 @@ class EL2024Controller(CATioTerminalController): num_channels: int = 4 """Number of digital output channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL2024 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DOCh{i}Value"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital output value", + description="Slave working counter state value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DOCh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital output value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" - return attr_dict - class EL2024v0010Controller(CATioTerminalController): """A sub-controller for an EL2024-0010 EtherCAT digital output terminal.""" @@ -494,37 +541,39 @@ class EL2024v0010Controller(CATioTerminalController): num_channels: int = 4 """Number of digital output channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL2024-0010 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DOCh{i}Value"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital output value", + description="Slave working counter state value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DOCh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital output value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" - return attr_dict - class EL2124Controller(CATioTerminalController): """A sub-controller for an EL2124 EtherCAT digital output terminal.""" @@ -534,37 +583,39 @@ class EL2124Controller(CATioTerminalController): num_channels: int = 4 """Number of digital output channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL2124 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"DOCh{i}Value"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} digital output value", + description="Slave working counter state value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"DOCh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} digital output value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" - return attr_dict - class EL3104Controller(CATioTerminalController): """A sub-controller for an EL3104 EtherCAT analog input terminal.""" @@ -580,52 +631,60 @@ async def read_configuration(self) -> None: # do so for all terminals print(f"CONFIGURATION FOR {self.name} NOT IMPLEMENTED YET") - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL3104 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated analog value", - ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"AICh{i}Status"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} voltage status", - ) - attr_dict[f"AICh{i}Value"] = AttrR( + description="Slave working counter state value", + ), + ) + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} analog input value", + description="Availability of an updated analog value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"AICh{i}Status", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} voltage status", + ), + ) + self.add_attribute( + f"AICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} analog input value", + ), ) # Map the FastCS attribute names to the symbol names used by ADS self.ads_name_map[f"AICh{i}Status"] = f"AIStandardChannel{i}.Status" self.ads_name_map[f"AICh{i}Value"] = f"AIStandardChannel{i}.Value" - return attr_dict - class EL3602Controller(CATioTerminalController): """A sub-controller for an EL3602 EtherCAT analog input terminal.""" @@ -635,52 +694,60 @@ class EL3602Controller(CATioTerminalController): num_channels: int = 2 """Number of analog input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL3602 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Availability of an updated analog value", - ) - - for i in range(1, self.num_channels + 1): - attr_dict[f"AICh{i}Status"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} voltage status", - ) - attr_dict[f"AICh{i}Value"] = AttrR( + description="Slave working counter state value", + ), + ) + self.add_attribute( + "InputToggle", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} analog input value", + description="Availability of an updated analog value", + ), + ) + + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"AICh{i}Status", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} voltage status", + ), + ) + self.add_attribute( + f"AICh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} analog input value", + ), ) # Map the FastCS attribute names to the symbol names used by ADS self.ads_name_map[f"AICh{i}Status"] = f"AIInputsChannel{i}" self.ads_name_map[f"AICh{i}Value"] = f"AIInputsChannel{i}.Value" - return attr_dict - class EL3702Controller(CATioTerminalController): """A sub-controller for an EL3702 EtherCAT analog input terminal.""" @@ -694,48 +761,55 @@ class EL3702Controller(CATioTerminalController): oversampling_factor: int = OVERSAMPLING_FACTOR """Oversampling factor applied to the analog input channels""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL3702 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal for i in range(1, self.operating_channels + 1): - attr_dict[f"AICh{i}CycleCount"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description=f"Record transfer counter for channel#{i}", - ) - if self.oversampling_factor == 1: - attr_dict[f"AICh{i}ValueOvsmpl"] = AttrR( + self.add_attribute( + f"AICh{i}CycleCount", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Analog sample value(s) for channel#{i}", + description=f"Record transfer counter for channel#{i}", + ), + ) + if self.oversampling_factor == 1: + self.add_attribute( + f"AICh{i}ValueOvsmpl", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Analog sample value(s) for channel#{i}", + ), ) else: - attr_dict[f"AICh{i}ValueOvsmpl"] = AttrR( - datatype=Waveform( - array_dtype=np.int16, shape=(self.oversampling_factor,) + self.add_attribute( + f"AICh{i}ValueOvsmpl", + AttrR( + datatype=Waveform( + array_dtype=np.int16, shape=(self.oversampling_factor,) + ), + io_ref=None, + group=self.attr_group_name, + initial_value=np.zeros( + (self.oversampling_factor,), dtype=np.int16 + ), + description=f"Analog sample value(s) for channel#{i}", ), - io_ref=None, - group=self.attr_group_name, - initial_value=np.zeros((self.oversampling_factor,), dtype=np.int16), - description=f"Analog sample value(s) for channel#{i}", ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"AICh{i}CycleCount"] = f"Ch{i}CycleCount" self.ads_name_map[f"AICh{i}ValueOvsmpl"] = f"Ch{i}Sample0" - return attr_dict - class EL4134Controller(CATioTerminalController): """A sub-controller for an EL4134 EtherCAT analog output terminal.""" @@ -745,36 +819,38 @@ class EL4134Controller(CATioTerminalController): num_channels: int = 4 """Number of analog output channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL4134 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - for i in range(1, self.num_channels + 1): - attr_dict[f"AOCh{i}Value"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} analog output value", + description="Slave working counter state value", + ), + ) + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"AOCh{i}Value", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"Channel#{i} analog output value", + ), ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"AOCh{i}Value"] = f"AOOutputChannel{i}.Analogoutput" - return attr_dict - class EL9410Controller(CATioTerminalController): """A sub-controller for an EL9410 EtherCAT power supply terminal.""" @@ -782,46 +858,54 @@ class EL9410Controller(CATioTerminalController): io_function: str = "2A power supply for E-bus" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL9410 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Counter for valid telegram received", - ) - attr_dict["StatusUp"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Power contacts voltage diagnostic status", - ) - attr_dict["StatusUs"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="E-bus supply voltage diagnostic status", - ) - - return attr_dict + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), + ) + self.add_attribute( + "InputToggle", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Counter for valid telegram received", + ), + ) + self.add_attribute( + "StatusUp", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Power contacts voltage diagnostic status", + ), + ) + self.add_attribute( + "StatusUs", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="E-bus supply voltage diagnostic status", + ), + ) class EL9505Controller(CATioTerminalController): @@ -830,40 +914,45 @@ class EL9505Controller(CATioTerminalController): io_function: str = "5V DC output power supply" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL9505 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Counter for valid telegram received", + self.add_attribute( + "InputToggle", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Counter for valid telegram received", + ), ) - attr_dict["StatusUo"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Output voltage status", + self.add_attribute( + "StatusUo", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Output voltage status", + ), ) - return attr_dict - class EL9512Controller(CATioTerminalController): """A sub-controller for an EL9512 EtherCAT power supply terminal.""" @@ -871,40 +960,45 @@ class EL9512Controller(CATioTerminalController): io_function: str = "12V DC output power supply" """Function description of the I/O controller.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all EL9512 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", + self.add_attribute( + "WcState", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Slave working counter state value", + ), ) - attr_dict["InputToggle"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Counter for valid telegram received", + self.add_attribute( + "InputToggle", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Counter for valid telegram received", + ), ) - attr_dict["StatusUo"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Output voltage status", + self.add_attribute( + "StatusUo", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description="Output voltage status", + ), ) - return attr_dict - class ELM3704v0000Controller(CATioTerminalController): """A sub-controller for an ELM3704-0000 EtherCAT analog input terminal.""" @@ -916,56 +1010,71 @@ class ELM3704v0000Controller(CATioTerminalController): num_channels = 4 """Number of analog input channels.""" - async def get_io_attributes(self) -> dict[str, Attribute]: + async def get_io_attributes(self) -> None: """ Get and create all ELM3704-0000 terminal attributes. - - returns: a dictionary of attribute names to Attribute objects. """ # Get the generic CATio terminal controller attributes - attr_dict: dict[str, Attribute] = await super().get_io_attributes() + await super().get_io_attributes() # Get the attributes specific to this type of terminal - attr_dict["WcState"] = AttrR( - datatype=Int(), - io_ref=None, - group=self.attr_group_name, - initial_value=0, - description="Slave working counter state value", - ) - for i in range(1, self.num_channels + 1): - attr_dict[f"AICh{i}Status"] = AttrR( + self.add_attribute( + "WcState", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"Channel#{i} Process Analog Input status", - ) - attr_dict[f"AICh{i}LatchTime"] = AttrR( - datatype=Waveform(array_dtype=np.uint32, shape=(2,)), - io_ref=None, - group=self.attr_group_name, - initial_value=np.zeros((2,), dtype=np.uint32), - description=f"Latch time for next channel#{i} samples", - ) - if self.oversampling_factor == 1: - attr_dict[f"AICh{i}ValueOvsmpl"] = AttrR( + description="Slave working counter state value", + ), + ) + for i in range(1, self.num_channels + 1): + self.add_attribute( + f"AICh{i}Status", + AttrR( datatype=Int(), io_ref=None, group=self.attr_group_name, initial_value=0, - description=f"ELM3704 terminal channel#{i} value", + description=f"Channel#{i} Process Analog Input status", + ), + ) + self.add_attribute( + f"AICh{i}LatchTime", + AttrR( + datatype=Waveform(array_dtype=np.uint32, shape=(2,)), + io_ref=None, + group=self.attr_group_name, + initial_value=np.zeros((2,), dtype=np.uint32), + description=f"Latch time for next channel#{i} samples", + ), + ) + if self.oversampling_factor == 1: + self.add_attribute( + f"AICh{i}ValueOvsmpl", + AttrR( + datatype=Int(), + io_ref=None, + group=self.attr_group_name, + initial_value=0, + description=f"ELM3704 terminal channel#{i} value", + ), ) else: - attr_dict[f"AICh{i}ValueOvsmpl"] = AttrR( - datatype=Waveform( - array_dtype=np.int32, shape=(self.oversampling_factor,) + self.add_attribute( + f"AICh{i}ValueOvsmpl", + AttrR( + datatype=Waveform( + array_dtype=np.int32, shape=(self.oversampling_factor,) + ), + io_ref=None, + group=self.attr_group_name, + initial_value=np.zeros( + (self.oversampling_factor,), dtype=np.int32 + ), + description=f"ELM3704 terminal channel#{i} value", ), - io_ref=None, - group=self.attr_group_name, - initial_value=np.zeros((self.oversampling_factor,), dtype=np.int32), - description=f"ELM3704 terminal channel#{i} value", ) # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"AICh{i}Status"] = f"PAIStatusChannel{i}.Status" @@ -976,8 +1085,6 @@ async def get_io_attributes(self) -> dict[str, Attribute]: f"PAISamples{self.oversampling_factor}Channel{i}.Samples" ) - return attr_dict - # Map of supported controllers available to the FastCS CATio system SUPPORTED_CONTROLLERS: dict[ From 23fbda9d5727cee38fc6f51379cc41f05c09a801 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 15:30:13 +0000 Subject: [PATCH 10/12] restore count of generic attributes added in debug output --- src/catio/catio_controller.py | 30 ++++++++++++------------------ 1 file changed, 12 insertions(+), 18 deletions(-) diff --git a/src/catio/catio_controller.py b/src/catio/catio_controller.py index 6542d481..49c98d25 100644 --- a/src/catio/catio_controller.py +++ b/src/catio/catio_controller.py @@ -166,7 +166,6 @@ async def initialise(self) -> None: # Create the controller attributes await self.get_io_attributes() - await self.register_as_class_attributes() logger.info( f"Initialisation of FastCS attributes for CATio controller {self.name} " + "was successful." @@ -202,21 +201,6 @@ async def get_io_attributes(self) -> None: """Base method to create subcontroller-specific attributes.""" ... - async def register_as_class_attributes(self) -> None: - """Register all controller attributes as class instance attributes.""" - if self.attributes: - for attr_name, value in self.attributes.items(): - # setattr(self, "_" + attr_name, value) - # print(f"attr={self.attributes}") - # _{NAME} GET ADDED TO SELF.ATTRIBUTES BECAUSE OF PYTHON NAME MANGLING - # (see section 6.2.1 in https://docs.python.org/3/reference/expressions.html#private-name-mangling) - setattr(self, attr_name, value) - - logger.debug( - f"{len(self.attributes)} fastCS attributes have been registered " - + f"with the {self.name} controller." - ) - async def get_root_node(self) -> IOTreeNode: """ Get the root node of the EtherCAT system tree. @@ -815,6 +799,7 @@ async def get_device_generic_attributes(self) -> None: ) # Get the generic attributes related to a CATioDeviceController + initial_attr_count = len(self.attributes) await super().get_generic_attributes() self.add_attribute( @@ -979,7 +964,11 @@ async def get_device_generic_attributes(self) -> None: description="I/O device last notification timestamp", ), ) - logger.debug("Created generic attributes " + f"for the controller {self.name}.") + attr_count = len(self.attributes) - initial_attr_count + logger.debug( + f"Created {attr_count} generic attributes " + + f"for the controller {self.name}." + ) async def connect(self) -> None: """Establish the FastCS connection to the device controller.""" @@ -1058,6 +1047,7 @@ async def get_terminal_generic_attributes(self) -> None: ) # Get the generic attributes related to a CATioDeviceController + initial_attr_count = len(self.attributes) await super().get_generic_attributes() self.add_attribute( @@ -1204,7 +1194,11 @@ async def get_terminal_generic_attributes(self) -> None: description="I/O terminal associated position", ), ) - logger.debug("Created generic attributes " + f"for the controller {self.name}.") + attr_count = len(self.attributes) - initial_attr_count + logger.debug( + f"Created {attr_count} generic attributes " + + f"for the controller {self.name}." + ) async def connect(self) -> None: """Establish the FastCS connection to the terminal controller.""" From 1a8ed94fade1adf46c7150eb0c2d5a023966f616 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 15:36:39 +0000 Subject: [PATCH 11/12] add debug logging of added attribute count to each specific device controller --- src/catio/catio_hardware.py | 76 +++++++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) diff --git a/src/catio/catio_hardware.py b/src/catio/catio_hardware.py index a87ec891..baa289da 100644 --- a/src/catio/catio_hardware.py +++ b/src/catio/catio_hardware.py @@ -47,6 +47,7 @@ async def get_io_attributes(self) -> None: Get and create all Master Device attributes. """ # Get the generic CATio device controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of device @@ -139,6 +140,9 @@ async def get_io_attributes(self) -> None: self.ads_name_map[f"OutFrm{i}Ctrl"] = f"Outputs.Frm{i}Ctrl" self.ads_name_map[f"OutFrm{i}WcCtrl"] = f"Outputs.Frm{i}WcCtrl" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EK1100Controller(CATioTerminalController): """A sub-controller for an EK1100 EtherCAT Coupler terminal.""" @@ -168,6 +172,7 @@ async def get_io_attributes(self) -> None: Get and create all coupler terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -182,6 +187,9 @@ async def get_io_attributes(self) -> None: ), ) + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EK1110Controller(CATioTerminalController): """A sub-controller for an EK1110 EtherCAT Extension terminal.""" @@ -194,11 +202,15 @@ async def get_io_attributes(self) -> None: Get and create all coupler terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal # n/a + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL1004Controller(CATioTerminalController): """A sub-controller for an EL1004 EtherCAT digital input terminal.""" @@ -213,6 +225,7 @@ async def get_io_attributes(self) -> None: Get and create all EL1004 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -251,6 +264,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL1014Controller(CATioTerminalController): """A sub-controller for an EL1014 EtherCAT wcounter input terminal.""" @@ -265,6 +281,7 @@ async def get_io_attributes(self) -> None: Get and create all EL1014 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -303,6 +320,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL1124Controller(CATioTerminalController): """A sub-controller for an EL1124 EtherCAT digital output terminal.""" @@ -317,6 +337,7 @@ async def get_io_attributes(self) -> None: Get and create all EL1124 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -355,6 +376,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL1084Controller(CATioTerminalController): """A sub-controller for an EL1084 EtherCAT digital input terminal.""" @@ -369,6 +393,7 @@ async def get_io_attributes(self) -> None: Get and create all EL1084 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -407,6 +432,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DICh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL1502Controller(CATioTerminalController): """A sub-controller for an EL1502 EtherCAT digital input terminal.""" @@ -421,6 +449,7 @@ async def get_io_attributes(self) -> None: Get and create all EL1502 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -490,6 +519,9 @@ async def get_io_attributes(self) -> None: self.ads_name_map["CNTOutputStatus"] = "CNTInputs.Countervalue" self.ads_name_map["CNTOutputValue"] = "CNTOutputs.Setcountervalue" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL2024Controller(CATioTerminalController): """A sub-controller for an EL2024 EtherCAT digital output terminal.""" @@ -504,6 +536,7 @@ async def get_io_attributes(self) -> None: Get and create all EL2024 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -532,6 +565,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL2024v0010Controller(CATioTerminalController): """A sub-controller for an EL2024-0010 EtherCAT digital output terminal.""" @@ -546,6 +582,7 @@ async def get_io_attributes(self) -> None: Get and create all EL2024-0010 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -574,6 +611,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL2124Controller(CATioTerminalController): """A sub-controller for an EL2124 EtherCAT digital output terminal.""" @@ -588,6 +628,7 @@ async def get_io_attributes(self) -> None: Get and create all EL2124 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -616,6 +657,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"DOCh{i}Value"] = f"Channel{i}" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL3104Controller(CATioTerminalController): """A sub-controller for an EL3104 EtherCAT analog input terminal.""" @@ -636,6 +680,7 @@ async def get_io_attributes(self) -> None: Get and create all EL3104 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -685,6 +730,9 @@ async def get_io_attributes(self) -> None: self.ads_name_map[f"AICh{i}Status"] = f"AIStandardChannel{i}.Status" self.ads_name_map[f"AICh{i}Value"] = f"AIStandardChannel{i}.Value" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL3602Controller(CATioTerminalController): """A sub-controller for an EL3602 EtherCAT analog input terminal.""" @@ -699,6 +747,7 @@ async def get_io_attributes(self) -> None: Get and create all EL3602 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -748,6 +797,9 @@ async def get_io_attributes(self) -> None: self.ads_name_map[f"AICh{i}Status"] = f"AIInputsChannel{i}" self.ads_name_map[f"AICh{i}Value"] = f"AIInputsChannel{i}.Value" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL3702Controller(CATioTerminalController): """A sub-controller for an EL3702 EtherCAT analog input terminal.""" @@ -766,6 +818,7 @@ async def get_io_attributes(self) -> None: Get and create all EL3702 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -810,6 +863,9 @@ async def get_io_attributes(self) -> None: self.ads_name_map[f"AICh{i}CycleCount"] = f"Ch{i}CycleCount" self.ads_name_map[f"AICh{i}ValueOvsmpl"] = f"Ch{i}Sample0" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL4134Controller(CATioTerminalController): """A sub-controller for an EL4134 EtherCAT analog output terminal.""" @@ -824,6 +880,7 @@ async def get_io_attributes(self) -> None: Get and create all EL4134 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -851,6 +908,9 @@ async def get_io_attributes(self) -> None: # Map the FastCS attribute name to the symbol name used by ADS self.ads_name_map[f"AOCh{i}Value"] = f"AOOutputChannel{i}.Analogoutput" + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL9410Controller(CATioTerminalController): """A sub-controller for an EL9410 EtherCAT power supply terminal.""" @@ -863,6 +923,7 @@ async def get_io_attributes(self) -> None: Get and create all EL9410 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -907,6 +968,9 @@ async def get_io_attributes(self) -> None: ), ) + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL9505Controller(CATioTerminalController): """A sub-controller for an EL9505 EtherCAT power supply terminal.""" @@ -919,6 +983,7 @@ async def get_io_attributes(self) -> None: Get and create all EL9505 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -953,6 +1018,9 @@ async def get_io_attributes(self) -> None: ), ) + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class EL9512Controller(CATioTerminalController): """A sub-controller for an EL9512 EtherCAT power supply terminal.""" @@ -965,6 +1033,7 @@ async def get_io_attributes(self) -> None: Get and create all EL9512 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -999,6 +1068,9 @@ async def get_io_attributes(self) -> None: ), ) + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + class ELM3704v0000Controller(CATioTerminalController): """A sub-controller for an ELM3704-0000 EtherCAT analog input terminal.""" @@ -1015,6 +1087,7 @@ async def get_io_attributes(self) -> None: Get and create all ELM3704-0000 terminal attributes. """ # Get the generic CATio terminal controller attributes + initial_attr_count = len(self.attributes) await super().get_io_attributes() # Get the attributes specific to this type of terminal @@ -1085,6 +1158,9 @@ async def get_io_attributes(self) -> None: f"PAISamples{self.oversampling_factor}Channel{i}.Samples" ) + attr_count = len(self.attributes) - initial_attr_count + logger.debug(f"Created {attr_count} attributes for the controller {self.name}.") + # Map of supported controllers available to the FastCS CATio system SUPPORTED_CONTROLLERS: dict[ From 24c5dbd69c24a390dcc0891febc388f4536592b3 Mon Sep 17 00:00:00 2001 From: Giles Knap Date: Mon, 12 Jan 2026 15:38:40 +0000 Subject: [PATCH 12/12] remove screens from git --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 0f33bf29..1b361290 100644 --- a/.gitignore +++ b/.gitignore @@ -69,3 +69,6 @@ lockfiles/ # ruff cache .ruff_cache/ + +# generated bob screens +screens