Python stepper motor library with customizable acceleration strategies and responsive, interruptible motor operations.
Home Page: https://github.com/juanmf/StepperMotors
License: MIT License
Upon exit on Ctrl-C, sometimes I get.
this error occurs while handling an error.
I might be triggering this by waiting too long to print buffers. Still a bug in logging lib.
Logging error (RuntimeError("reentrant call inside <_io.BufferedWriter name='<stderr>'>"),
'Traceback (most recent call last):\n
File "/usr/lib/python3.11/logging/__init__.py", line 1113, in emit\n
stream.write(msg + self.terminator)\n
RuntimeError: reentrant call inside <_io.BufferedWriter name=\'<stderr>\'>\n\n
During handling of the above exception, another exception occurred:\n\n
Traceback (most recent call last):\n
File "/home/juanmf/projects/turret/env/lib/python3.11/site-packages/stepper_motors_juanmf1/ThreadOrderedPrint.py", line 71, in flush_streams\n
logging.info(out)\n
File "/usr/lib/python3.11/logging/__init__.py", line 2148, in info\n
root.info(msg, *args, **kwargs)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1489, in info\n
self._log(INFO, msg, args, **kwargs)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1634, in _log\n
self.handle(record)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1644, in handle\n
self.callHandlers(record)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1706, in callHandlers\n
hdlr.handle(record)\n
File "/usr/lib/python3.11/logging/__init__.py", line 978, in handle\n
self.emit(record)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1118, in emit\n
self.handleError(record)\n
File "/usr/lib/python3.11/logging/__init__.py", line 1031, in handleError\n
sys.stderr.write(\'--- Logging error ---\\n\')\n
RuntimeError: reentrant call inside <_io.BufferedWriter name=\'<stderr>\'>\n')
the error handling code in logging.Handler.handleError() [[email protected]/3.11.6_1/Frameworks/Python.framework/Versions/3.11/lib/python3.11/logging/init.py]:
if raiseExceptions and sys.stderr: # see issue 13807
t, v, tb = sys.exc_info()
try:
sys.stderr.write('--- Logging error ---\n') # <<<< This one, in prior [ line 1031, in handleError\n ]
traceback.print_exception(t, v, tb, None, sys.stderr)
sys.stderr.write('Call stack:\n') def handle(self, record):
"""
Conditionally emit the specified logging record.
Emission depends on filters which may have been added to the handler.
Wrap the actual emission of the record with acquisition/release of
the I/O thread lock. Returns whether the filter passed the record for
emission.
"""
rv = self.filter(record)
if rv:
self.acquire() # this acquire that happens 1st might be interfering with the error handle fn. [, line 978, in handle\n ]
try:
self.emit(record)
finally:
self.release()
return rvA client that is also a BlockingQueueWorker that has two motorsDrivers on StaticNavigation fails to start a job Chain, at the client BlockingQueueWorker when it has to block on both Drivers' jobs before continuing with its own job chain.
Each link in the chain starts jobs for downstream Drivers. At some point upstream BlockingQueueWorker and downstream MotorDrivers (also BlockingQueueWorker) when using static nav fails.
Sounds like Corner case since Chains are designed for non-blocking situations like DynamicNavigation, but shouldn't fail.
Chains are not being proxied correctly, Child process only run the 1st job in a chain.
def _initMpDrivers(self, controllerFactory: MultiProcessingControllerFactory):
azimuthDriverShared = Value(ctypes.c_int, 0)
elevationDriverShared = Value(ctypes.c_int, 0)
azimuthObserver = MultiprocessObserver(eventObserver=partial(self.childProcessEventObserver, "azimuth"),
eventPublisher=self.sharedDataProcessing,
sharedMemory=azimuthDriverShared)
elevationObserver = MultiprocessObserver(eventObserver=partial(self.childProcessEventObserver, "elevation"),
eventPublisher=self.sharedDataProcessing,
sharedMemory=elevationDriverShared)
nema = Nema17_42Ncm_17HS4401(True)
# This builder works on mono process only:
builder = (ControllerBuilder.getBasicBuilder(stepperMotor=nema, directionGpioPin=8, stepGpioPin=25,
enableGpioPin=1)
.withTorqueCurve(None)
.withNavigationStyleSynchronized()
.withCustomTorqueCurveAccelerationAcceleration()
.withClientMultiprocessObserver(elevationObserver))
self.azimuthDriver, self.elevationDriver = (controllerFactory
.setUpProcess()
# Todo: Add builder to MP scenario.
.withDriver(multiprocessObserver=azimuthObserver,
factoryFnReference=controllerFactory.getMpCustomTorqueCharacteristicsDRV8825With,
stepperMotor=PG35S_D48_HHC2(True), directionGpioPin=13, stepGpioPin=19, sleepGpioPin=12)
.withDriver(multiprocessObserver=elevationObserver,
factoryFnReference=controllerFactory.getMpCustomTorqueCharacteristicsTMC2209With,
stepperMotor=nema, directionGpioPin=8, stepGpioPin=25, enableGpioPin=1)
# Alternative:
# .withDriverBuilder(builder=builder, builderMethodRef=builder.buildTMC2209StandaloneDriver)
.spawn())When I run .withDriverBuilder(builder=builder, builderMethodRef=builder.buildTMC2209StandaloneDriver) nothing fails but the motor driver is not getting the jobs in child process.
misuse of OrderedDict, need to implement SortedDict instead.
OrderedDict.popitem() used in sync navigation is introducing slight timing issues in pulses due to not sorting pulse timestamps.
Step 3:
[20:22:37.329256] 3) Starting from minPPS will try to jump to greatest next PPS that you observe not to fail with.
[20:22:37.329261] 'y': Notify the system about successful Speed Boost
[20:22:37.329267] 'n': Notify the system about failed Speed Boost
[20:22:37.329273] 'r': Repeat Speed Boost
Accepting (speed bump) 'y' and rejecting 'n' has chaotic behavior now:
[20:23:22.173311] Enter pressed, setting picked True!!!
[20:23:22:685233] Max Speed: 520 <<===
@end thread dump MainThread =========================================
===================================================================================
Thread prints Dump Complete =======================================================
INFO:root:
@start thread dump MainProcess => MainThread ========================================
==========================================================================
[20:23:22.686475]
[20:23:22.686515] FINDING SPEED BOOSTS FOR MOTOR.
[20:23:22.686532]
[20:23:23.186991] stepperMotor: <stepper_motors_juanmf1.StepperMotor.PG35S_D48_HHC2 object at 0x7fb81a38d0>, steppingModeMultiple 1
[20:23:23.187153]
[20:23:23.187196] speedBoosts: [(150, 5)]
[20:23:23.187217]
@end thread dump MainThread =========================================
===================================================================================
Thread prints Dump Complete =======================================================
INFO:root:
@start thread dump MainProcess => MainThread ========================================
==========================================================================
[20:23:27.388531] PASSED speed boost: cPPs: 155 last Speed: 150
[20:23:27.388587] Restarting cycle.
[20:23:27.388641] Doubling Delta: new delta: 10
[20:23:27.388664]
[20:23:27.388679] FINDING SPEED BOOSTS FOR MOTOR.
[20:23:27.388694]
[20:23:27.889107]
[20:23:27.889201] speedBoosts: [(150, 5)]
[20:23:27.889221]
@end thread dump MainThread =========================================
===================================================================================
Thread prints Dump Complete =======================================================
INFO:root:
@start thread dump MainProcess => MainThread ========================================
==========================================================================
[20:23:29.105490] PASSED speed boost: cPPs: 160 last Speed: 150
[20:23:29.105539] Restarting cycle.
[20:23:29.105587] Doubling Delta: new delta: 20
[20:23:29.105610]
[20:23:29.105625] FINDING SPEED BOOSTS FOR MOTOR.
[20:23:29.105661]
[20:23:29.606077]
[20:23:29.606172] speedBoosts: [(150, 5)]
[20:23:29.606191]
@end thread dump MainThread =========================================
===================================================================================
Thread prints Dump Complete =======================================================
INFO:root:
start thread dump MainProcess => MainThread ========================================
=========================================================================
[20:23:30.687948] PASSED speed boost: cPPs: 170 last Speed: 150
[20:23:30.687997] Restarting cycle.
[20:23:30.688047] Doubling Delta: new delta: 40
[20:23:30.688070]
[20:23:30.688085] FINDING SPEED BOOSTS FOR MOTOR.
[20:23:30.688099]
[20:23:31.188454]
[20:23:31.188515] speedBoosts: [(150, 5)]
[20:23:31.188535]
...
currentPPS (cPPs): 387 & last Speed: 150 implies a speed jump of 237
yet new Limit: 5; newDelta: 5; prevDelta: 5.0 does not reflect it.
==========================================================================
[20:24:15.510391] FAILED speed boost: cPPs: 387 last Speed: 150
[20:24:15.510446] Restarting cycle.
[20:24:15.510497] new Limit: 5; newDelta: 5; prevDelta: 5.0
[20:24:15.510541]
[20:24:15.510559] FINDING SPEED BOOSTS FOR MOTOR.
[20:24:15.510574]
[20:24:16.010925]
[20:24:16.010983] speedBoosts: [(150, 5)]
Ordered for testing:
Drivers:
A4988
TMC2209 V1.3
DM556
TB6600
TB6560
Motors
STEPPERONLINE 0.9deg Nema 17 Stepper Motor Bipolar 1.5A 30Ncm
Nema 17 Motor 42BYGH 1.8 Degree Body 38MM 4-Lead Wire 1.5A 42N.cm (60oz.in)
STEPPERONLINE Nema 17 Stepper Motor Bipolar 2A 59Ncm(84oz.in) 48mm Body 4-Lead W
STEPPERONLINE High Torque Nema 23 CNC Stepper Motor 114mm 425oz.in/3Nm CNC Mill Lathe Router
Proxy Driver in Main process creates a job, and a proxiedJob instance, passes proxiedJob down thorugh __jobQueue
Child process creates a job with same id, and works on it. Upon completion Main process is not aware.
This is not an issue unless client needs to block on job.block job.endTime or job.startTime.
Hello,
My senior design team and I (we are seniors in an EE program) are working on a display for the game PONG using two stepper motors and the CoreXY methodology. We are using your code to run the motors simultaneously to decrease the jerkiness of the motion. We are having a hard time figuring out where the "Move Complete" flag is stored. We'd like to use it as a flag to start the next movement.
Can you help?
Do you have plans to add support for the Adafruit Motorkit?
I am using this extensively in a project, but the supplied MotorKit libraries are fairly rudimentary. I would be happy to help test on my hardware.
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