Avoid resetting Alpao DM on script exit by default - #60
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The Alpao SDK resets actuators when the DM handle is destroyed unless ResetOnClose is disabled. Add reset_on_connect and reset_on_close flags so scripts can hold the last commanded shape across exit and Ctrl-C. Co-authored-by: Cursor <cursoragent@cursor.com>
Preserve existing opticalib behaviour (zero on connect and teardown) while still allowing callers to opt out and hold the last shape. Co-authored-by: Cursor <cursoragent@cursor.com>
| self, | ||
| serial_number: str | None, | ||
| n_acts: int | str | None, | ||
| use_plico: bool = False, |
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Why the use_plico variable? Please, remove it.
pietroferraiuolo
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Aug 25, 2026
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This de-initialization option (keep or don't keep last command) can be more easily handled with the __close__ dunder and a setting in the device's configuration.
This also handles the case of CTRL+D or CTRL+C in runtime, and if for some reason a public method is needed, just call de __close__ on deinitialize (though it would not make sense)
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Summary
reset_on_connectandreset_on_closeflags toAlpaoDm/BaseAlpaoMirror(both defaultTrue, preserving previous behaviour).ResetOnClosefromreset_on_closeso teardown (including Ctrl-C) respects the flag even whendeinitialize()is skipped.deinitialize(reset=...)for explicit teardown control.To hold the last commanded shape across script exit or reconnect:
Test plan
AlpaoDm(nacts=...)still zeros on connect and on normal exit /deinitialize().AlpaoDm(..., reset_on_close=False): command a non-flat shape, exit with Ctrl-C — mirror retains shape.AlpaoDm(..., reset_on_connect=False, reset_on_close=False): reconnect without clearing held shape.