Python wrapper for the Sensapex SDK
Project description
Sensapex SDK
This python library wraps the C SDK provided by Sensapex's umsdk. It provides general access to the functions present therein, as well as a device-based abstraction.
Installation
pip install sensapex
This library comes packaged
with the latest umsdk library for windows. All other
versions can be downloaded and/or compiled separately and configured with UMP.set_library_path
.
Usage
from sensapex import UMP
ump = UMP.get_ump()
dev_ids = ump.list_devices()
stage = ump.get_device(20)
stage.calibrate_zero_position()
manipulator = ump.get_device(4)
manipulator.goto_pos((2500.0412, 6810.0003, 15830.1419), speed=200)
pressure = ump.get_device(30)
pressure.set_pressure(1, 2.3e-4)
Also included are some simple test scripts. The following will report on all devices present:
python -m sensapex.test
Or for a more involved test of your hardware as it moves around randomly, install pyqtgraph in your environment and use e.g.:
python -m sensapex.accuracy_test <device_id>
Where <device_id>
should be replaced with the numerical ID of your device, as shown by python -m sensapex.test
.
ACQ4 Integration
Sensapex stages (uMs), manipulators (uMp) and pressure controllers (uMc) are all well integrated into the ACQ4 neurophysiology platform. To access these devices from ACQ4, simply install sensapex
into your ACQ4 environment and add appropriate configuration. In default.cfg
add:
drivers:
sensapex:
group: 0 # [default] of Group 'A' or whatever numeric index corresponds to your hardware
debug: False # [default] or True to get debug logging as described below
address: "169.254.255.255" # [default] or whatever your hardware's broadcast address is
driverPath: None # [default] to using standard OS library searches or set to a custom location
And in devices.cfg
, add any number of the following device configuration sections (named distinctly):
Stage:
driver: "Sensapex"
nAxes: 3
deviceId: 20
# ...
ObjectiveChanger:
driver: 'SensapexObjectiveChanger'
deviceId: 20
# ...
Manipulator1:
driver: "Sensapex"
isManipulator: True
deviceId: 1
# ...
Pressure1:
Driver: "SensapexPressureControl"
deviceId: 30
pressureChannel: 1
Debug
You can turn on debugging to produce detailed logs and network packet captures. First,
install Wireshark (or for linux, use your package manager
to get the pcaputils
package). Make sure the user account you use has permission to run
the dumpcap
program. Next, install the psutil python package:
pip install psutil
Once those are installed, you can turn on the debug logging for your SDK wrapper:
from sensapex import UMP
UMP.set_debug_mode(True)
ump = UMP.get_ump()
This will create a directory, sensapex-debug/
in the current working directory, populated with a
log file and a pcap file. Repeated initializations of the debug mode will create addition pcap files
and append to the log file. These can be sent to
Sensapex along with any relevant details, such as:
- A description of errant behavior
- The color of each of the relevant device lights
- A picture of the touchscreen state
- Steps to reproduce and how consistently it occurs
Authorship
Copyright (c) 2016-2021 Sensapex Oy
Thanks to the following for contributions:
- Luke Campagnola
- Ari Salmi
- Martin Chase
- Thomas Braun
Changelog
1.400.2
- Bugfix for non-simultaneous moves on stages
- SensapexDevice.is_stage is now available (and can be overridden with an init arg)
1.400.1
- Handle new python behavior https://github.com/python/cpython/issues/78997 (thanks @jhuhtamaki!)
1.400.0
- Update to latest driver
- Accuracy test for 4-axis devices (ignoring the 4th axis)
1.022.8
- Include ACQ4 integration instructions in README
1.022.7
- Packaging fix to include driver binary.
- find_library to find libum in default locations.
1.022.6
- More accuracy_test improvements.
- Handle floating point movements.
1.022.5
- The accuracy_test script now takes
--linear
to test linear movements.
1.022.4
- Binary installer works in develop mode
- Errors no longer prevent other devices from moving
- Allow init args for UMP.get_device (to avoid n_axes race)
1.022.3
- Bad MoveRequests should blow up on init, rather than during movement.
1.022.2
- A bunch of fixes from Luke.
1.022.1
- Debug mode: logs, hardware details and PCAP
- Bugfix in default library path for test scripts
1.022.0
- Setup bdist_wheel that pre-downloads the SDK
- Bump SDK version to the latest
1.021.2
- SDK version bump
1.021.1
- Move-finish error capture
- Use new windows library name
1.021.0
- Update to new version
0.920.4
- Pressure devices don't need positioning callbacks
0.920.3
- Expose more pressure functions.
0.920.2
- Workaround for sdk bug in motion planning
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