update dockerfile; add jumps to poly; tidy

Dockerfile

@@ -27,6 +27,7 @@ FROM python:${PYTHON_VERSION}-slim AS runtime
 # Add apt-get system dependecies for runtime here if needed
 COPY --from=build /venv/ /venv/
 ENV PATH=/venv/bin:$PATH
+RUN rtc6-fastcs install-library
 
 # change this entrypoint if it is not the same as the repo
 ENTRYPOINT ["rtc6-fastcs"]

src/rtc6_fastcs/controller/rtc_controller.py

@@ -133,6 +133,7 @@ class AddJump(XYCorrectedConnectedSubController):
 
         @command(group="ListOps")
         async def proc(self):
+            print("adding jump")
             bindings = self._conn.get_bindings()
             x, y = self.correct_xy(self.x.get(), self.y.get())
             bindings.add_jump_to(x, y)
@@ -144,6 +145,7 @@ class AddArc(XYCorrectedConnectedSubController):
 
         @command()
         async def proc(self):
+            print("adding arc")
             bindings = self._conn.get_bindings()
             x, y = self.correct_xy(self.x.get(), self.y.get())
             bindings.add_arc_to(x, y, self.angle.get())
@@ -154,11 +156,9 @@ class AddLine(XYCorrectedConnectedSubController):
 
         @command()
         async def proc(self):
+            print("adding line")
             bindings = self._conn.get_bindings()
-            print(f"Current addline x: {self.x.get()}")
-            print(f"Current addline y: {self.y.get()}")
-            # x, y = self.correct_xy(self.x.get(), self.y.get())
-            bindings.add_line_to(self.x.get(), self.y.get())
+            bindings.add_line_to(*self.correct_xy(self.x.get(), self.y.get()))
 
     @command()
     async def init_list(self):

src/rtc6_fastcs/plan_stubs.py

@@ -34,35 +34,46 @@ def rectangle(rtc6: Rtc6Eth, x: int, y: int, origin: tuple[int, int] = (0, 0)):
     yield from line(rtc6, *origin)
 
 
-@bpp.run_decorator
+@bpp.run_decorator()
 def draw_square(rtc6: Rtc6Eth, size: int):
     yield from bps.stage(rtc6)
     yield from rectangle(rtc6, size, size)
     yield from bps.trigger(rtc6)
 
 
-LineInput = tuple[int, int]
+JumpOrLineInput = tuple[int, int, bool] # x, y, laser_on
 ArcInput = tuple[int, int, float]
 
 
-@bpp.run_decorator
-def draw_polygon(rtc6: Rtc6Eth, points: list[LineInput]):
+@bpp.run_decorator()
+def draw_polygon(rtc6: Rtc6Eth, points: list[JumpOrLineInput]):
     yield from bps.stage(rtc6)
-    yield from jump(rtc6, *points[0])
+    yield from jump(rtc6, *points[0][:-1])
     for point in points[1:]:
-        yield from line(rtc6, *point)
+        if point[2]:
+            yield from line(rtc6, *point[:-1])
+        else:
+            yield from jump(rtc6, *point[:-1])
     yield from bps.trigger(rtc6)
 
 
-@bpp.run_decorator
-def draw_polygon_with_arcs(rtc6: Rtc6Eth, points: list[LineInput | ArcInput]):
+@bpp.run_decorator()
+def draw_polygon_with_arcs(rtc6: Rtc6Eth, points: list[JumpOrLineInput | ArcInput]):
     yield from bps.stage(rtc6)
     if len(points[0]) != 2:
         raise ValueError("List of lines/arcs must start with a single point to jump to")
     yield from jump(rtc6, *points[0])
     for point in points[1:]:
-        if len(point) == 2:
-            yield from line(rtc6, *point)
+        if isinstance(point[2], bool):
+            if point[2]:
+                yield from line(rtc6, *point[:-1])
+            else:
+                yield from jump(rtc6, *point[:-1])
         else:
             yield from arc(rtc6, *point)
     yield from bps.trigger(rtc6)
+
+@bpp.run_decorator()
+def go_to_home(rtc6: Rtc6Eth):
+    yield from bps.stage(rtc6)
+    yield from jump(rtc6, 0,0)