[FX-431]-v12.0.0 (#123)

* Catches exception if close fails.

* Adds fxIsOpen, fxIsStreaming, and find_device_ports.

* Bumps version to 12.0.0.

* Adds motorStopOnDisconnect.

* Adds pyserial as a dependency.

* Fixes a bug in streaming.

* Reverted stdout redirection in find_device_ports.

* Lints.

* Adds stop_motor to the demos.

* Makes find_device_ports only work on linux.

* find_device_ports no longer raises an exception if no devices are found.

* Uses pyudev instead of pyserial to find ports.

* Adds pyudev as a dependency.

* Adds pyudev to pre-commit and lints.

---------

Co-authored-by: Jared <jcoughlin@dephy.com>

.pre-commit-config.yaml

@@ -47,7 +47,7 @@ repos:
         -   --output-format=colorized
         additional_dependencies:
         - boto3
-        - pyserial
+        - pyudev
         - semantic-version
         - seaborn
         - nox

demos/demo1.py

@@ -70,4 +70,5 @@
 
 # Once we're done using the device, we should clean up by calling the
 # close method
+device.stop_motor()
 device.close()

demos/demo2.py

@@ -117,6 +117,7 @@
     # complete the command
     sleep(commandDelay)
 
+device.stop_motor()
 device.close()
 
 

demos/demo3.py

@@ -108,4 +108,5 @@ def clear() -> None:
     device.stop_motor()
     sleep(commandDelay)
 
+device.stop_motor()
 device.close()

demos/demo4.py

@@ -97,6 +97,7 @@
 
     sleep(commandDelay)
 
+device.stop_motor()
 device.close()
 
 

flexsea/__init__.py

@@ -1 +1 @@
-__version__ = "11.0.9"
+__version__ = "12.0.0"

flexsea/device.py

@@ -88,6 +88,17 @@ class Device:
         Time, in seconds, spent trying to connect to S3 before an
         exception is raised.
 
+    stopMotorOnDisconnect : bool, optional
+        If ``True``, ``stop_motor`` is called by ``close`` (which, in
+        turn, is called by the desctructor). If ``False``, ``stop_motor``
+        is **not** called by ``close`` or the destructor. The default
+        value is ``False``. This is useful for on-device controllers
+        (controllers that are baked into the device firmware), so
+        that, should the device become disconnected from the computer it
+        is streaming data to, the controller will not suddenly shut off
+        and cause the wearer to potentially fall. If this is ``True``, you
+        must call ``stop_motor`` manually.
+
     Attributes
     ----------
 
@@ -165,19 +176,15 @@ def __init__(
         interactive: bool = True,
         debug: bool = False,
         s3Timeout: int = 60,
+        stopMotorOnDisconnect: bool = False,
     ) -> None:
         if not debug:
             sys.tracebacklimit = 0
         fxc.dephyPath.mkdir(parents=True, exist_ok=True)
-        # These are first so the destructor won't complain about the
-        # class not having connected and streaming attributes if getting
-        # and loading the C library fails (since these attrs are
-        # referenced in the destructor)
-        self.connected: bool = False
-        self.streaming: bool = False
 
         self.port: str = port
         self.interactive = interactive
+        self._stopMotorOnDisconnect = stopMotorOnDisconnect
 
         self.firmwareVersion = validate_given_firmware_version(
             firmwareVersion, self.interactive, s3Timeout
@@ -240,7 +247,13 @@ def __init__(
     # destructor
     # -----
     def __del__(self) -> None:
-        self.close()
+        if self.connected:
+            try:
+                self.close()
+            except RuntimeError:
+                print("Failed to close connection. Is the device disconnected or off?")
+            else:
+                print("Closed connection to device.")
 
     # -----
     # open
@@ -257,7 +270,7 @@ def open(self, bootloading: bool = False) -> None:
         ----------
         bootloading : bool (optional)
             This keyword is really onlymeant to be used by the
-            bootloader and a user of `flexsea` should not have to use
+            bootloader and a user of ``flexsea`` should not have to use
             it at all.
             Starting with v12.0.0, a development version number was
             introduced. We can only connect to the device if both the
@@ -285,8 +298,6 @@ def open(self, bootloading: bool = False) -> None:
         if self.id in (self._INVALID_DEVICE.value, -1):
             raise RuntimeError("Failed to connect to device.")
 
-        self.connected = True
-
         self._name = self.name
         self._side = self.side
         self._hasHabs = self._name not in fxc.noHabs
@@ -352,17 +363,19 @@ def _get_fields(self) -> None:
     # -----
     def close(self) -> None:
         """
-        Severs connection with device.
+        Severs connection with device. Does not stop the motor by
+        default. To stop the motor on a call to ``close``,
 
         Will no longer be able to send commands or receive data.
         """
-        if self.streaming:
-            self.stop_streaming()
+        if self.connected or self.streaming:
+            if self._stopMotorOnDisconnect:
+                self.stop_motor()
+            # fxClose calls fxStopStreaming for us
+            retCode = self._clib.fxClose(self.id)
 
-        if self.connected:
-            self.stop_motor()
-            self._clib.fxClose(self.id)
-            self.connected = False
+            if retCode != self._SUCCESS.value:
+                raise RuntimeError("Failed to close connection.")
 
     # -----
     # start_streaming
@@ -415,8 +428,6 @@ def start_streaming(
         else:
             self._stream_without_safety()
 
-        self.streaming = True
-
     # -----
     # _stream_with_safety
     # -----
@@ -453,8 +464,6 @@ def stop_streaming(self) -> None:
         if retCode != self._SUCCESS.value:
             raise RuntimeError("Failed to stop streaming.")
 
-        self.streaming = False
-
     # -----
     # set_gains
     # -----
@@ -1631,3 +1640,19 @@ def set_file_size(self, size) -> None:
             The desired name of the log file
         """
         return self._clib.fxSetLoggerSize(size, self.id)
+
+    # -----
+    # connected
+    # -----
+    @property
+    def connected(self) -> bool:
+        return self._clib.fxIsOpen(self.id)
+
+    # -----
+    # streaming
+    # -----
+    @property
+    def streaming(self) -> bool:
+        if self.connected:
+            return self._clib.fxIsStreaming(self.id)
+        return False

flexsea/utilities/library.py

@@ -138,6 +138,9 @@ def _set_prototypes(clib: c.CDLL, firmwareVersion: Version) -> c.CDLL:
     clib.fxOpen.argtypes = [c.c_char_p, c.c_uint, c.c_uint]
     clib.fxOpen.restype = c.c_int
 
+    clib.fxIsOpen.argtypes = [c.c_uint]
+    clib.fxIsOpen.restype = c.c_bool
+
     # Limited open
     if firmwareVersion >= Version("12.0.0"):
         try:
@@ -160,6 +163,9 @@ def _set_prototypes(clib: c.CDLL, firmwareVersion: Version) -> c.CDLL:
     clib.fxStartStreaming.argtypes = [c.c_uint, c.c_uint, c.c_bool]
     clib.fxStartStreaming.restype = c.c_int
 
+    clib.fxIsStreaming.argtypes = [c.c_uint]
+    clib.fxIsStreaming.restype = c.c_bool
+
     # Log file specification
     if firmwareVersion >= Version("12.0.0"):
         try:

flexsea/utilities/system.py

@@ -1,8 +1,12 @@
 import platform
+from typing import List
 
-# ...
+import pyudev
 
 
+# ============================================
+#                   get_os
+# ============================================
 def get_os() -> str:
     """
     Returns the operating system and "bitness" (64 or 32 bit).
@@ -26,3 +30,19 @@ def get_os() -> str:
             system = "pi"
 
     return system + "_" + platform.architecture()[0]
+
+
+# ============================================
+#               find_stm_ports
+# ============================================
+def find_stm_ports() -> List[str]:
+    if "windows" in get_os():
+        raise OSError("This function only works on Linux.")
+
+    context = pyudev.Context()
+    devicePorts = []
+
+    for device in context.list_devices(ID_VENDOR="STMicroelectronics", block="tty"):
+        devicePorts.append(device.device_node)
+
+    return devicePorts