sensapex 1.22.7

Python wrapper for the Sensapex SDK

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.

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

1.022.7

• 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