v1: Brooks PF400: discover configuration and kinematics from the controller

pylabrobot/brooks/confirmed_firmware_versions.py

@@ -0,0 +1,102 @@
+"""PreciseFlex software stacks confirmed with this driver.
+
+This tracks the digital setup only - the GPL firmware, the TCS app, and the loaded
+TCS modules - not the physical configuration (links, rail, gripper), which is
+discovered into ``PreciseFlexConfiguration``. At setup the driver checks the
+discovered stack here:
+
+- ``SUPPORTED_ROBOT_TYPES`` gates the client-side kinematics. This driver's FK/IK
+  is the PreciseFlex 400 two-link SCARA geometry, so other models would get
+  silently-wrong joint targets and are flagged.
+- ``CONFIRMED_FIRMWARE_VERSIONS`` is the list of full (model, GPL, TCS, module-set)
+  software stacks validated against this driver; an unlisted one logs a warning
+  asking for a report so it can be added.
+
+(Which modules the driver *requires* lives in ``tcs_modules.py``, a separate concern.)
+
+Version strings keep the name and version but drop the trailing build date, which
+varies by build without changing behaviour.
+"""
+
+import re
+from dataclasses import dataclass
+
+# robot_type (DataID 116) -> model name, for the models whose kinematics this driver implements.
+SUPPORTED_ROBOT_TYPES = {
+  12: "PreciseFlex 400",
+}
+
+
+@dataclass(frozen=True)
+class ConfirmedFirmware:
+  """A full software stack validated against this driver (build dates stripped)."""
+
+  robot_type: int
+  gpl_version: str  # e.g. "GPL 5.1D4"
+  tcs_version: str  # e.g. "TCP Command Server 3.0D4"
+  modules: tuple  # one "name version" per loaded TCS module
+
+
+CONFIRMED_FIRMWARE_VERSIONS = [
+  ConfirmedFirmware(
+    robot_type=12,
+    gpl_version="GPL 5.1D4",
+    tcs_version="TCP Command Server 3.0D4",
+    modules=(
+      "IntelliGuide 1.0",
+      "Load-Save Module 3.0B2",
+      "PARobot Auto Center Module 3.0D3",
+      "PARobot Module 3.0D4",
+      "SSGrip Module 3.0D4",
+    ),
+  ),
+]
+
+# Trailing build date (e.g. "10-25-2024" or "Apr 25 2025") and anything after it.
+_DATE = re.compile(r",?\s*(\d{1,2}[-/]\d{1,2}[-/]\d{2,4}|[A-Za-z]{3,9}\.?\s+\d{1,2},?\s+\d{4}).*$")
+
+
+def strip_build_date(version: str) -> str:
+  """Reduce a version string to its name + version, dropping the build date."""
+  return _DATE.sub("", version).strip().rstrip(",").strip()
+
+
+def is_supported_model(robot_type: int) -> bool:
+  """Whether this driver's kinematics cover the given robot_type (DataID 116)."""
+  return robot_type in SUPPORTED_ROBOT_TYPES
+
+
+def is_confirmed(robot_type: int, gpl_version: str, tcs_version: str, modules: tuple) -> bool:
+  """Whether the full (model, GPL, TCS, module-set) combination has been validated."""
+  target = (
+    robot_type,
+    strip_build_date(gpl_version),
+    strip_build_date(tcs_version),
+    tuple(sorted(strip_build_date(m) for m in modules)),
+  )
+  return any(
+    (
+      c.robot_type,
+      strip_build_date(c.gpl_version),
+      strip_build_date(c.tcs_version),
+      tuple(sorted(strip_build_date(m) for m in c.modules)),
+    )
+    == target
+    for c in CONFIRMED_FIRMWARE_VERSIONS
+  )
+
+
+def suggest_entry(robot_type: int, gpl_version: str, tcs_version: str, modules: tuple) -> str:
+  """Format a discovered stack as a ``ConfirmedFirmware(...)`` literal to paste into
+  ``CONFIRMED_FIRMWARE_VERSIONS`` (build dates stripped, modules sorted)."""
+  module_lines = ",\n      ".join(f'"{m}"' for m in sorted(strip_build_date(m) for m in modules))
+  return (
+    "  ConfirmedFirmware(\n"
+    f"    robot_type={robot_type},\n"
+    f'    gpl_version="{strip_build_date(gpl_version)}",\n'
+    f'    tcs_version="{strip_build_date(tcs_version)}",\n'
+    "    modules=(\n"
+    f"      {module_lines},\n"
+    "    ),\n"
+    "  ),"
+  )

pylabrobot/brooks/data_ids.py

@@ -0,0 +1,50 @@
+"""PreciseFlex controller parameter-database identifiers (DataIDs).
+
+The Guidance controller exposes a large numbered parameter database, read with
+the TCS ``pd <id>`` command (wrapped by ``PreciseFlexArmBackend.request_parameter``).
+Naming the IDs here keeps configuration reads self-describing rather than bare
+numbers, and gives a single place to add more as the database is mapped.
+"""
+
+from enum import IntEnum
+
+
+class DataID(IntEnum):
+  """Controller parameter-database items, read via ``request_parameter`` (``pd``).
+
+  Each item's reply shape is noted below: a single value, descriptive text, or an
+  array with one element per axis (parse with ``_parse_per_axis``).
+  """
+
+  # Identity / state - single value or descriptive text.
+  MANUFACTURER = 100
+  CONTROLLER_MODEL = 101
+  HARDWARE_VERSION = 102
+  GPL_VERSION = 103
+  CONTROLLER_SERIAL = 110
+  ROBOT_TYPE = 116
+  POWER_STATE = 234
+  ROBOT_HOMED = 2800  # 1 = all axes homed; 0 = not homed (commanded motion blocked)
+  NUM_AXES = 2000
+  ROBOT_NAME = 2002
+  AXIS_MASK = 2003
+  EXTRA_AXES = 2004
+  # Per-axis arrays - one value per joint (e.g. speed differs J1..J5).
+  REFERENCE_SPEED = 2700
+  REFERENCE_ACCEL = 2702
+  HARD_LIMIT_MAX = 16075
+  HARD_LIMIT_MIN = 16076
+  SOFT_LIMIT_MAX = 16077
+  SOFT_LIMIT_MIN = 16078
+  # Kinematic geometry. LINK_LENGTHS is per-axis (l1 at the shoulder, l2 at the
+  # elbow); TOOL_OFFSET is a wrist-frame (x, y, z) transform, z = wrist->TCP.
+  LINK_LENGTHS = 16050
+  TOOL_OFFSET = 16051
+  # Cartesian reference - (translation, rotation, ...), not per-joint.
+  REFERENCE_CARTESIAN_SPEED = 2701
+  REFERENCE_CARTESIAN_ACCEL = 2703
+  # Global motion caps - one percentage applied to the whole profile (all joints
+  # the same); per-joint maxima come from REFERENCE_* x these.
+  MAX_SPEED_PERCENT = 2704
+  MAX_ACCEL_PERCENT = 2705
+  MAX_DECEL_PERCENT = 2706