Merge pull request #122 from Chr157i4n/dev

version 0.7.8

Author: Chr157i4n

.vscode/settings.json

@@ -5,5 +5,14 @@
         "--disable=W0012",
         "--extension-pkg-whitelist=RPi",
     ],
-    "files.trimTrailingWhitespace": true
+    "files.trimTrailingWhitespace": true,
+    "python.testing.unittestArgs": [
+        "-v",
+        "-s",
+        "./tests",
+        "-p",
+        "test_*.py"
+    ],
+    "python.testing.pytestEnabled": false,
+    "python.testing.unittestEnabled": true
 }

CHANGELOG.md

@@ -1,5 +1,10 @@
 # Changelog
 
+## version 0.7.8
+
+- fixed RPi4 using wrong gpio lib
+- changed init/deinit of classes
+
 ## version 0.7.7
 
 - fixed wrong reg adress of IOIN for TMC220X

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = PyTmcStepper
-version = 0.7.7
+version = 0.7.8
 author = Christian Köhlke
 author_email = christian@koehlke.de
 description = This is a Python libary to drive a stepper motor with a Trinamic stepper driver and a single board computer like a Raspberry Pi

src/tmc_driver/_tmc_gpio_board.py

@@ -117,7 +117,9 @@ def gpio_remove_event_detect(self, pin:int):
 class BaseRPiGPIOWrapper(BaseGPIOWrapper):
     """RPI.GPIO base wrapper"""
 
-    _gpios_pwm = [None] * 200
+    def __init__(self):
+        """constructor"""
+        self._gpios_pwm = [None] * 200
 
     def init(self, gpio_mode=None):
         """initialize GPIO library"""
@@ -185,6 +187,7 @@ class MockGPIOWrapper(BaseRPiGPIOWrapper):
 
     def __init__(self):
         """constructor, imports Mock.GPIO"""
+        super().__init__()
         self.GPIO = import_module('Mock.GPIO')
         dependencies_logger.log("using Mock.GPIO for GPIO mocking", Loglevel.INFO)
 
@@ -193,6 +196,7 @@ class RPiGPIOWrapper(BaseRPiGPIOWrapper):
 
     def __init__(self):
         """constructor, imports RPi.GPIO"""
+        super().__init__()
         self.GPIO = import_module('RPi.GPIO')
         dependencies_logger.log("using RPi.GPIO for GPIO control", Loglevel.INFO)
 
@@ -201,6 +205,7 @@ class JetsonGPIOWrapper(BaseRPiGPIOWrapper):
 
     def __init__(self):
         """constructor, imports Jetson.GPIO"""
+        super().__init__()
         self.GPIO = import_module('Jetson.GPIO')
         dependencies_logger.log("using Jetson.GPIO for GPIO control", Loglevel.INFO)
 
@@ -209,17 +214,17 @@ class OPiGPIOWrapper(BaseRPiGPIOWrapper):
 
     def __init__(self):
         """constructor, imports OPi.GPIO"""
+        super().__init__()
         self.GPIO = import_module('OPi.GPIO')
         dependencies_logger.log("using OPi.GPIO for GPIO control", Loglevel.INFO)
 
 class GpiozeroWrapper(BaseGPIOWrapper):
     """gpiozero GPIO wrapper"""
 
-    _gpios = [None] * 200
-    _gpios_pwm = [None] * 200
-
     def __init__(self):
         """constructor, imports gpiozero"""
+        self._gpios = [None] * 200
+        self._gpios_pwm = [None] * 200
         self.gpiozero = import_module('gpiozero')
         dependencies_logger.log("using gpiozero for GPIO control", Loglevel.INFO)
 
@@ -234,16 +239,20 @@ def deinit(self):
     def gpio_setup(self, pin:int, mode:GpioMode, initial:Gpio=Gpio.LOW, pull_up_down:GpioPUD=GpioPUD.PUD_OFF):
         """setup GPIO pin"""
         if mode == GpioMode.OUT:
-            self._gpios[pin] = self.gpiozero.DigitalOutputDevice(pin, initial_value =bool(initial))
+            if self._gpios[pin] is None or self._gpios[pin].closed:
+                self._gpios[pin] = self.gpiozero.DigitalOutputDevice(pin, initial_value =bool(initial))
         else:
-            self._gpios[pin] = self.gpiozero.DigitalInputDevice(pin)
+            if self._gpios[pin] is None or self._gpios[pin].closed:
+                self._gpios[pin] = self.gpiozero.DigitalInputDevice(pin)
 
     def gpio_cleanup(self, pin:int):
         """cleanup GPIO pin"""
         if self._gpios[pin] is not None:
             self._gpios[pin].close()
+            self._gpios[pin] = None
         if self._gpios_pwm[pin] is not None:
             self._gpios_pwm[pin].close()
+            self._gpios_pwm[pin] = None
 
     def gpio_input(self, pin:int) -> int:
         """read GPIO pin"""
@@ -314,7 +323,9 @@ def gpio_setup(self, pin:int, mode:GpioMode, initial:Gpio=Gpio.LOW, pull_up_down
 
     def gpio_cleanup(self, pin:int):
         """cleanup GPIO pin"""
-        self._gpios[pin].close()
+        if self._gpios[pin] is not None:
+            self._gpios[pin].close()
+            self._gpios[pin] = None
 
     def gpio_input(self, pin:int) -> int:
         """read GPIO pin"""
@@ -327,7 +338,7 @@ def gpio_output(self, pin:int, value):
 
 board_mapping = {
     "raspberry pi 5": (GpiozeroWrapper, Board.RASPBERRY_PI5, "gpiozero", "https://gpiozero.readthedocs.io/en/stable/installing.html"),
-    "raspberry": (GpiozeroWrapper, Board.RASPBERRY_PI, "RPi.GPIO", "https://sourceforge.net/p/raspberry-gpio-python/wiki/install"),
+    "raspberry": (RPiGPIOWrapper, Board.RASPBERRY_PI, "RPi.GPIO", "https://sourceforge.net/p/raspberry-gpio-python/wiki/install"),
     "jetson": (JetsonGPIOWrapper, Board.NVIDIA_JETSON, "jetson-gpio", "https://github.com/NVIDIA/jetson-gpio"),
     "luckfox": (peripheryWrapper, Board.LUCKFOX_PICO, "periphery", "https://github.com/vsergeev/python-periphery"),
     "orange": (OPiGPIOWrapper, Board.ORANGE_PI, "OPi.GPIO", "https://github.com/rm-hull/OPi.GPIO")
@@ -365,16 +376,15 @@ def handle_import_error(err, board_name, module_name, install_link):
         Loglevel.ERROR)
     raise err
 
-def initialize_gpio():
+def initialize_gpio(force_lib:Board = None) -> tuple[BaseGPIOWrapper, Board]:
     """initialize GPIO"""
     model = get_board_model_name()
     dependencies_logger.log(f"Board model: {model}", Loglevel.INFO)
     if model == "mock":
         return MockGPIOWrapper(), Board.UNKNOWN
 
-
     for key, (wrapper_class, board_enum, module_name, install_link) in board_mapping.items():
-        if key in model:
+        if (key in model and force_lib is None) or (force_lib == module_name):
             try:
                 return wrapper_class(), board_enum
             except ModuleNotFoundError as err:

src/tmc_driver/_tmc_logger.py

@@ -27,9 +27,6 @@ class TmcLogger:
     log messages from the Tmc2209 lib
     """
 
-    _loglevel: Loglevel = Loglevel.INFO
-
-
     @property
     def loglevel(self):
         """get the loglevel"""
@@ -55,6 +52,8 @@ def __init__(self,
             handlers (list): list of logging handlers, see logging.handlers (default: None)
             formatter (logging.Formatter): formatter for the log messages (default: None)
         """
+        self._loglevel: Loglevel = Loglevel.INFO
+
         if logprefix is None:
             logprefix = "TMC2209"
 
@@ -80,6 +79,16 @@ def __init__(self,
         self.logger.propagate = True
 
 
+    def __del__(self):
+        """destructor"""
+        self.deinit()
+
+
+    def deinit(self):
+        """destructor"""
+        self.remove_all_handlers()
+
+
     def set_logprefix(self, logprefix: str):
         """set the logprefix.
 

src/tmc_driver/_tmc_stallguard.py

@@ -29,12 +29,25 @@ class StallGuard():
     This class is used to control the stallguard feature of the TMC stepper driver.
     The drivers class needs to inherit from this class to use the stallguard feature (mixin).
     """
-    tmc_com:TmcCom = None
 
-    _pin_stallguard:int = None
-    _sg_callback:types.FunctionType = None
+    def __init__(self):
+        """initialize StallGuard instance variables"""
+        self._pin_stallguard:int = None
+        self._sg_callback:types.FunctionType = None
 
 
+    def __del__(self):
+        self.deinit()
+
+
+    def deinit(self):
+        """destructor"""
+        if self._deinit_finished is False:
+            if self._pin_stallguard is not None:
+                tmc_gpio.gpio_remove_event_detect(self._pin_stallguard)
+                tmc_gpio.gpio_cleanup(self._pin_stallguard)
+                self._pin_stallguard = None
+
 
     def set_stallguard_callback(self, pin_stallguard, threshold, callback,
                                 min_speed = 100):

src/tmc_driver/_tmc_stepperdriver.py

@@ -30,15 +30,6 @@ class TmcStepperDriver:
     2. move the motor via STEP/DIR pins
     """
 
-    BOARD:Board = BOARD
-    tmc_mc:TmcMotionControl = None
-    tmc_ec:TmcEnableControl = None
-    tmc_logger:TmcLogger = None
-
-
-    _deinit_finished:bool = False
-
-
 
 # Constructor/Destructor
 # ----------------------------
@@ -69,6 +60,13 @@ def __init__(self,
                 Defaults to None (messages are logged in the format
                 '%(asctime)s - %(name)s - %(levelname)s - %(message)s').
         """
+        self.BOARD:Board = BOARD
+        self.tmc_mc:TmcMotionControl = None
+        self.tmc_ec:TmcEnableControl = None
+        self.tmc_logger:TmcLogger = None
+
+        self._deinit_finished:bool = False
+
         if logprefix is None:
             logprefix = "StepperDriver"
         self.tmc_logger = TmcLogger(loglevel, logprefix, log_handlers, log_formatter)
@@ -94,6 +92,11 @@ def __init__(self,
 
 
     def __del__(self):
+        self.deinit()
+
+
+
+    def deinit(self):
         """destructor"""
         if self._deinit_finished is False:
             self.tmc_logger.log("Deinit", Loglevel.INFO)
@@ -105,11 +108,11 @@ def __del__(self):
         else:
             self.tmc_logger.log("Deinit already finished", Loglevel.INFO)
         if self.tmc_ec is not None:
-            del self.tmc_ec
+            self.tmc_ec.deinit()
         if self.tmc_mc is not None:
-            del self.tmc_mc
+            self.tmc_mc.deinit()
         if self.tmc_logger is not None:
-            del self.tmc_logger
+            self.tmc_logger.deinit()
 
 
 # TmcEnableControl Wrapper

src/tmc_driver/com/_tmc_com.py

@@ -36,15 +36,6 @@ def compute_crc8_atm(datagram, initial_value=0):
 class TmcCom:
     """TmcCom
     """
-    _tmc_logger:TmcLogger = None
-    _tmc_registers = None
-
-    mtr_id:int = 0
-    r_frame:List[int]
-    w_frame:List[int]
-    communication_pause:int = 0
-    error_handler_running:bool = False
-
     @property
     def tmc_logger(self):
         """get the tmc_logger"""
@@ -69,7 +60,7 @@ def tmc_registers(self, tmc_registers):
 
     def __init__(self,
                  mtr_id:int = 0,
-                 tmc_logger = None
+                 tmc_logger:TmcLogger = None
                  ):
         """constructor
 
@@ -79,6 +70,13 @@ def __init__(self,
         """
         self._tmc_logger = tmc_logger
         self.mtr_id = mtr_id
+        self._tmc_registers = None
+
+        self.mtr_id:int = 0
+        # self.r_frame:List[int]
+        # self.w_frame:List[int]
+        self.communication_pause:int = 0
+        self.error_handler_running:bool = False
 
 
     # def init(self):

src/tmc_driver/com/_tmc_com_spi.py

@@ -37,16 +37,13 @@ class TmcComSpi(TmcCom):
     like the current or the microsteppingmode
     """
 
-    spi = spidev.SpiDev()
-    _spi_bus: int
-    _spi_dev: int
-    _spi_speed: int
+
 
 
 
     def __init__(self,
-                 spi_bus,
-                 spi_dev,
+                 spi_bus:int,
+                 spi_dev:int,
                  spi_speed:int = 8000000,
                  mtr_id:int = 0,
                  tmc_logger = None
@@ -59,6 +56,8 @@ def __init__(self,
         """
         super().__init__(mtr_id, tmc_logger)
 
+        self.spi = spidev.SpiDev()
+
         self._spi_bus = spi_bus
         self._spi_dev = spi_dev
         self._spi_speed = spi_speed
@@ -85,6 +84,10 @@ def init(self):
 
 
     def __del__(self):
+        self.deinit()
+
+
+    def deinit(self):
         """destructor"""
 
 

src/tmc_driver/com/_tmc_com_uart.py

@@ -21,9 +21,6 @@ class TmcComUart(TmcCom):
     like the current or the microsteppingmode
     """
 
-    ser:serial.Serial = serial.Serial()
-
-
     def __init__(self,
                  serialport:str ,
                  baudrate:int = 115200,
@@ -40,6 +37,8 @@ def __init__(self,
         """
         super().__init__(mtr_id, tmc_logger)
 
+        self.ser = serial.Serial()
+
         if serialport is None:
             return
 
@@ -86,6 +85,10 @@ def init(self):
 
 
     def __del__(self):
+        self.deinit()
+
+
+    def deinit(self):
         """destructor"""
         if self.ser is not None and isinstance(self.ser, serial.Serial):
             self.ser.close()