unstable version bump to 0.0.17

doc/collab.puml

@@ -1,8 +1,37 @@
 @startuml
+
+note as N3  #grey
+<size:22>**Color codes:**
+<size:18><color APPLICATION >**INITIALIZATION** </color>
+<size:18><color orange >**Your App will interact heavily with** </color>
+<size:18><color LemonChiffon >**Your App might want to interact if complex** </color>
+<size:18><color yellow >**Leaf implementations/Extension points. You might need to add sibling classes** </color>
+end note
+
 class BlockingQueueWorker {
     startWorker()
     killWorker()
 }
+
+class EventDispatcher <<Singleton>> #LemonChiffon {
+multiprocessObserver: MultiprocessObserver
++ publishMainLoop(eventName, eventInfo)
++ register(eventName: list, callee): calleeId
++ unregister(calleeId)
++ getMultiprocessObserver()
++ {static} instance(multiprocessObserver=None)
+- **_dispatchMainLoop()** // Worker job consumer
+}
+
+class MultiprocessObserver #LemonChiffon {
+_eventObserver: Callable
+_eventPublisher: Callable
+observedEvent = Event()
+observerLock = Lock()
+--
++ {static} **eventObserver()** // Worker job consumer
++ {static} eventPublisher()
+}
 class UsesSingleThreadedExecutor
 class ThreadPoolExecutorStackTraced
 
@@ -13,17 +42,22 @@ class ControllerFactory #APPLICATION {
 }
 class StaticControllerFactory
 class DynamicControllerFactory
-class MultiProcessingControllerFactory {
+class MultiProcessingControllerFactory #Orange {
     +setUpProcess()
     +withDriver()
-    +spawn()
+    +spawn(): list[BipolarStepperMotorDriver] // proxies
     -Unpacker.Unpack() // init Drivers \nin childProcess
 }
 
-class Navigation
+class Navigation {
++ go()
++ {static} pulseController(motorDriver)
+}
 class StaticNavigation
 class DynamicNavigation
-class BasicSynchronizedNavigation
+class BasicSynchronizedNavigation <<Singleton>> {
+- **__doGo(pulsingController)** // Worker job consumer
+}
 
 class Benchmark #Orange {
 findMinPps()
@@ -32,16 +66,45 @@ findTransformations() // Max Accelerations
 }
 
 class BipolarStepperMotorDriver #Orange{
-    signedSteps(steps, fn=None)
-    stepClockWise(steps, fn=None)
-    stepCounterClockWise(steps, fn=None)
+     - directionGpioPin
+     - stepGpioPin
+     - sleepGpioPin=None
+     - enableGpioPin=None
+     - stepsMode="Full"
+     - modeGpioPins=[]
+     - steppingCompleteEventName="steppingComplete"
+     ## multiprocessing attributes:
+     - sharedMemory=None
+     - isProxy=False
+     --
+    + signedSteps(steps, fn=None)
+    + stepClockWise(steps, fn=None)
+    + stepCounterClockWise(steps, fn=None)
+    + pulseStart()
+    + pulseStop()
+    - **_operateStepper()** // Worker job consumer
 }
 
-class DRV8825MotorDriver
+class DRV8825MotorDriver #Yellow {
+setSleepMode(sleepOn=False)
+setEnableMode(enableOn=True)
+pulseStart()
+pulseStop()
+}
 
 class StepperMotor
-class PG35S_D48_HHC2
-class GenericStepper
+class PG35S_D48_HHC2 #Yellow {
+    ## DatasheetMax is 1500
+    LOADED_MAX_PPS = 900
+    LOADED_SLEEP = 1 / 900
+    NOLOAD_MAX_PPS = 800
+    NOLOAD_SLEEP = 1 / 800
+}
+
+class GenericStepper #Yellow {
+maxPps
+minPps
+}
 
 class AccelerationStrategy {
     decreaseSleepTime()
@@ -67,63 +130,91 @@ class DelayPlanner {
 }
 
 class StaticDelayPlanner
-class DynamicDelayPlanner
+class DynamicDelayPlanner {
+    - state: State
+}
 class State {
-    effectSpeed()
+    + effectSpeed()
+    + transition()
 }
+class Rest <<Singleton>>
+class RampingUp <<Singleton>>
+class RampingDown <<Singleton>>
+class Steady <<Singleton>>
+
+mix_actor ClientApp
 
 ''' structure
 ThreadPoolExecutorStackTraced --|> ThreadPoolExecutor
 UsesSingleThreadedExecutor --|> ThreadPoolExecutorStackTraced
 BlockingQueueWorker --|> UsesSingleThreadedExecutor
 BipolarStepperMotorDriver ---|> BlockingQueueWorker
+EventDispatcher -up-|> BlockingQueueWorker
 
 PG35S_D48_HHC2 -up-|> StepperMotor
 GenericStepper -up-|> StepperMotor
 
-StaticControllerFactory -left-|> ControllerFactory
-DynamicControllerFactory -left-|> ControllerFactory
-SynchronizedControllerFactory -left-|> ControllerFactory
-MultiProcessingControllerFactory -left-|> SynchronizedControllerFactory
+StaticControllerFactory -up-|> ControllerFactory
+DynamicControllerFactory -up-|> ControllerFactory
+SynchronizedControllerFactory -up-|> ControllerFactory
+MultiProcessingControllerFactory -down-|> SynchronizedControllerFactory
 
 DRV8825MotorDriver -up-|> BipolarStepperMotorDriver
 
 StaticDelayPlanner -down-|> DelayPlanner
-DynamicDelayPlanner -up-|> DelayPlanner
-DynamicDelayPlanner +-- State
+DynamicDelayPlanner -down-|> DelayPlanner
+DynamicDelayPlanner +-right- State
 
-Rest -up--|> State
-RampingUp -up-|> State
-RampingDown -up--|> State
-Steady -up-|> State
+Rest -down--|> State
+RampingUp -down-|> State
+RampingDown -down--|> State
+Steady -left-|> State
 
 StaticNavigation -down-|> Navigation
-DynamicNavigation -up-|> Navigation
-BasicSynchronizedNavigation -up-|> Navigation
-BasicSynchronizedNavigation -up-|> BlockingQueueWorker
-
-LinearAcceleration ---|> AccelerationStrategy
-ExponentialAcceleration --|> AccelerationStrategy
-CustomAccelerationPerPps --|> AccelerationStrategy
-InteractiveAcceleration ---|> AccelerationStrategy
+DynamicNavigation -down-|> Navigation
+BasicSynchronizedNavigation -down-|> Navigation
+BasicSynchronizedNavigation -down-|> BlockingQueueWorker
+MultiprocessObserver -up-|> BlockingQueueWorker
+MultiprocessObserver "1 " -up-* EventDispatcher
+
+LinearAcceleration -up--|> AccelerationStrategy
+ExponentialAcceleration -up-|> AccelerationStrategy
+CustomAccelerationPerPps -up--|> AccelerationStrategy
+InteractiveAcceleration -up-|> AccelerationStrategy
+BasicSynchronizedNavigation "\n    1" +-- "*  " PulsingController
+PulsingController *-- "1    \n" BipolarStepperMotorDriver
 
 ''' Relations
-BipolarStepperMotorDriver -left-> Navigation
-BipolarStepperMotorDriver -up-> AccelerationStrategy
-BipolarStepperMotorDriver -right-> StepperMotor
+EventDispatcher .down.> MultiprocessObserver : eventPublisher() / \n eventObserver()
+BipolarStepperMotorDriver *-left-  "1" Navigation
+BipolarStepperMotorDriver *-up-  "1" AccelerationStrategy
+BipolarStepperMotorDriver *-down- " 1\n"  StepperMotor
+
+Navigation::go .down.> AccelerationStrategy::computeSleepTimeUs : computeSleepTimeUs()
+Navigation .down.> BipolarStepperMotorDriver : pulseStart() \n pulseStop()
+Navigation <.down. BipolarStepperMotorDriver : go()
 
-Navigation .right.> AccelerationStrategy
-AccelerationStrategy --> DelayPlanner
+AccelerationStrategy *-up- "1" DelayPlanner
 
 State ..> AccelerationStrategy : decreaseSleepTime()/\n increaseSleepTime()
 
 Benchmark ..> InteractiveAcceleration
 
-StaticControllerFactory .right.> StaticDelayPlanner
-StaticControllerFactory .right.> StaticNavigation
+StaticControllerFactory .down..> StaticDelayPlanner
+StaticControllerFactory .down.> StaticNavigation
+
+DynamicControllerFactory .down...> DynamicDelayPlanner
+DynamicControllerFactory .down.> DynamicNavigation
+
+SynchronizedControllerFactory .down...> DynamicDelayPlanner
+SynchronizedControllerFactory *.down. "1"  BasicSynchronizedNavigation
+
+BipolarStepperMotorDriver .down.> EventDispatcher : publishMainLoop(\n"steppingComplete")
+
+ClientApp *.right.. "n < 14\n(26 GPIO pins in RPi)" BipolarStepperMotorDriver
+ClientApp .right.> BipolarStepperMotorDriver::signedSteps : signedSteps(-500, stepCallbackFn)
+ClientApp <.right. BipolarStepperMotorDriver::operateStepper : stepCallbackFn(currentPosition, \ntargetPosition, \nrealDirection, \nmultiprocessObserver)
 
-DynamicControllerFactory .right.> DynamicDelayPlanner
-DynamicControllerFactory .right.> DynamicNavigation
 
 ''' Notes
 note as N1
@@ -143,5 +234,6 @@ N1 .. Benchmark
 N1 .. CustomAccelerationPerPps
 
 N2 .. DynamicControllerFactory
+
 @enduml
 

doc/multiprocess.puml

@@ -18,10 +18,17 @@ class EventDispatcher as "EventDispatcher" <<Singleton>> {
 + register(eventName, callee)
 - _waitChildProcessEvent()
 }
-class BlockingQueueWorkerEd as "BlockingQueueWorker" <<Instance>> {
-+ work() // caller thread, puts in jobQueue
-- _doConsumeJob(_waitChildProcessEvent: Callable) // pops jobQueue
+
+class MultiprocessObserver {
+_eventObserver: Callable
+_eventPublisher: Callable
+observedEvent = Event()
+observerLock = Lock()
+--
++ {static} eventObserver()
++ {static} eventPublisher()
 }
+
 abstract class MotorDriver1 as "MotorDriver" {
 --
 ## stepping method arguments, [optional]
@@ -47,13 +54,13 @@ MotorDriver_Elevation_proxy ..> MotorDriver
 MotorDriver_Azimuth_proxy ..> MotorDriver
 
 class PolarCoordinatesSample <<User/Client code>> {
-        self.fireReadyEventsAwaited = ["azimuthAimingCompletesteppingCompleteAdvance",...]
-        self.elevationDriver  // MainProcess driver proxy
-        self.azimuthDriver  // MainProcess driver proxy
-        self.azimuthDriverEvent = Event()
-        self.elevationDriverEvent = Event()
-        self.azimuthEventsObserverWorker = None
-        self.elevationEventsObserverWorker = None
+        fireReadyEventsAwaited = ["azimuthAimingCompletesteppingCompleteAdvance",...]
+        elevationDriver  // MainProcess driver proxy
+        azimuthDriver  // MainProcess driver proxy
+        azimuthDriverEvent = Event()
+        elevationDriverEvent = Event()
+        azimuthEventsObserverWorker = None
+        elevationEventsObserverWorker = None
 --
 ## waits on shared `multiprocess.Event` set by \n## sharedDataProcessing in P2
 +ChildProcessEventObserver()
@@ -108,7 +115,7 @@ jobQueue // Shared multiprocess blocking queue
 
 }
 PolarCoordinatesSample .up.> MultiProcessingControllerFactory : 1) setUpProcess()\nwithDriver(<azimuth>)\nwithDriver(<elevation>)\nspawn()
-PolarCoordinatesSample ..> EventDispatcher : register(["steppingCompleteAdvance",\n "steppingCompleteFinalStep",...], \n self.fireReadyEventHandler)
+PolarCoordinatesSample ..> EventDispatcher : register(["steppingCompleteAdvance",\n "steppingCompleteFinalStep",...], \n fireReadyEventHandler)
 MultiProcessingControllerFactory .right..> Process2
 
 PolarCoordinatesSample ..> MotorDriver_Elevation_proxy : work()
@@ -122,14 +129,14 @@ MotorDriver_Azimuth ..> BasicSynchronizedNavigation: go(steps)
 MotorDriver_Azimuth .up.> "EventDispatcher2" : publishMainLoop([prefix]+"steppingCompleteAdvance")\npublishMainLoop([prefix]+"steppingCompleteFinalStep")
 MotorDriver_Azimuth .up.> PolarCoordinatesSample2 : sharedDataProcessing()
 
-EventDispatcher ..> EventDispatcher : publishMainLoop() \n// Proxying child process events \n Notified with sharedMemory
 EventDispatcher ..> PolarCoordinatesSample : notify("steppingCompleteAdvance")
 
 MpQueue -up-|>  multiprocess.Queue
-EventDispatcher2 .up.> "set()   \n" Event
-BlockingQueueWorkerEd ..up..* EventDispatcher : <
-BlockingQueueWorkerEd .left..> EventDispatcher : publishMainLoop("steppingCompleteAdvance" \n// proxyEventInChildPricess)
-BlockingQueueWorkerEd .down..> "clear()   \n" Event
+MultiprocessObserver ..up..* EventDispatcher : <
+MultiprocessObserver .left..> EventDispatcher : publishMainLoop("steppingCompleteAdvance" \n// proxyEventInChildPricess)
+MultiprocessObserver .down..> "clear()\n set() \n\n" Event
+MultiprocessObserver <.. EventDispatcher2 : eventPublisher()
+
 
 note as N1
 Proxy puts jobs in Queue but
@@ -138,9 +145,8 @@ end note
 
 note as N2
 EventDispatcher always notifies locally. Child Process'
-ED also updates shared memory Values with event details
- and signals with `process.Event.set()`.
-MainProcess waits on process.Event to proxy events upstream
+EventDispatcher also updates shared memory Values with
+event details and MultiprocessObserver signals MainProcess
 end note
 
 N1 .up.> MotorDriver_Azimuth_proxy

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "hatchling.build"
 [project]
 name = "stepper_motors_juanmf1"
 # I'll use the convention that even numbers are "stable" releases. Odd numbers need more testing.
-version = "0.0.15"
+version = "0.0.17"
 authors = [
   { name="Juan Manuel Fernandez", email="[email protected]" },
 ]

src/stepper_motors_juanmf1/Controller.py

@@ -450,7 +450,6 @@ def setEnableMode(self, enableOn=True):
         tprint(f"Setting Enabled pin {self.enableGpioPin} to {state}")
         GPIO.output(self.enableGpioPin, state)
 
-    @abstractmethod
     def pulseStart(self):
         """
         In most controllers this would mean set step pint to HIGH

src/stepper_motors_juanmf1/Navigation.py

@@ -47,17 +47,6 @@ def pulseController(controller: MotorDriver):
         controller.usleep(controller.PULSE_TIME_MICROS)
         controller.pulseStop()
 
-    @staticmethod
-    def pulseControllerStart(controller):
-        # tprint(f"Setting step pin {controller.stepGpioPin} HIGH.")
-        controller.pulseStart()
-        return time.monotonic_ns()
-
-    @staticmethod
-    def pulseControllerStop(controller):
-        controller.pulseStop()
-        return time.monotonic_ns()
-
     @staticmethod
     def isInterruptible():
         pass

src/stepper_motors_juanmf1/StepperMotor.py

@@ -131,13 +131,6 @@ def __init__(self, loaded: bool = True, minPps=210):
 
 
 class GenericStepper(StepperMotor):
-    MIN_PPS = None
-    # Todo: remove this one
-
-    """
-    Steps per Revolution with 1.8 deg per step
-    """
-    SPR = 360 // 1.8
 
     def __init__(self, *, maxPps, minPps=150):
         super().__init__(maxPps, 1 / maxPps, minPps)