Connection manager

class mundo.api.connection.ConnectionManager(
context: mundo.api.context.ApplicationContext,
simulate=False
)

Manages connecting and keeping the connection to controllers. Once connected, the X, Y, and Z axis controllers can be accessed via the controllers property.

__init__(
context: mundo.api.context.ApplicationContext,
simulate=False
) → None

Initializes the connection manager and the underlying pyvisa resource manager.

Parameters

• context – The application context instance

• simulate – If the connection should be simulated using the pyvisa-sim backend

property controllers: Tuple[mundo.api.controller.BaseController, mundo.api.controller.BaseController, mundo.api.controller.BaseController]

Returns the connected X, Y, and Z controllers, if connected.

Returns

A tuple of connected (X, Y, Z) controllers, or None if no controllers are connected

property is_connected: bool

Checks if a connection has been successfully established with all three controllers.

Returns

True if it is connected to the X, Y, and Z controllers. False otherwise

available_controllers() → Tuple[str, ...]

Returns a list of plugged in controller device paths.

Returns

A list of serial paths to plugged in controllers

connect_single(
controller: Type[mundo.api.controller.BaseController],
path: str
) → Optional[mundo.api.controller.BaseController]

Connects to a single controller at path. This method does not update the connection state of the connection manager, and thus you should manually call the connect_using_controllers() method once you have connected to all three X, Y, and Z controllers.

The primary use-case of this method is to connect to a single controller during some sort of identification process.

Parameters

• controller – The controller class type

• path – The path to the serial device

Returns

An instantiated controller if successfull, or None if the connection failed

connect_using_config(
config: mundo.api.config.system.SystemConfig
) → bool

Attempts connection to X, Y, and Z controllers using the connection parameters stored in config. On success, the controllers will be available using the controller property.

The name of the controllers will be automatically set to the axis it corresponds to, i.e. X, Y, or Z.

Parameters

config – The system configuration to load connection parameters from

Returns

True if the connection to X, Y, and Z controllers succeeded. False otherwise

connect_using_paths(
controller: Type[mundo.api.controller.BaseController],
paths: Tuple[str, str, str]
) → bool

Attempts connection to X, Y, and Z controllers using device paths. On success, the controllers will be available using the controller property.

The name of the controllers will be automatically set to the axis it corresponds to, i.e. X, Y, or Z.

Parameters

• controller – The controller class type

• paths – A tuple containing the X, Y, and Z controller device paths, respectively

Returns

True if the connection to X, Y, and Z controllers succeeded. False otherwise

connect_using_controllers(
controllers: Tuple[mundo.api.controller.BaseController, mundo.api.controller.BaseController, mundo.api.controller.BaseController]
) → bool

Saves the connection to X, Y, and Z controllers using already connected controllers. This method should be used primarily if you have connected to devices during an identification process. On success, the controllers will be available using the controller property.

This method should be used in conjuction with the connect_single() method.

If possible, please use the connect_using_config(), or connect_using_paths() methods.

The name of the controllers will be automatically set to the axis it corresponds to, i.e. X, Y, or Z.

Parameters

controllers – A tuple containing the connected X, Y, and Z controllers

Returns

True if the connection to X, Y, and Z controllers succeeded. False otherwise

identify_controller_at_path(
controller: Type[mundo.api.controller.BaseController],
path: str
) → Optional[mundo.api.controller.BaseController]

Attempts to connect to the controller at path, and tries moving it. This allows a user to see which motor is moving, thus identifying the axis of the controller.

This method only connects to the controller and runs the identification process. Ensuring that each axis is identified correctly should be done manually. Once each axis has been assigned to a controller, you can easily setup the connection using the connect_using_controllers() method.

Once the identification process has been executed, the controller will be reset such that it is ready.

Parameters

path – The path to the controller device

Returns

The controller that has been connected to, or None, if the connection or identification process failed

disconnect() → None

Disconnects from the connected controllers.