First pass at inclination measurement

Author: MrClock8163

src/instrumentman/__init__.py

@@ -10,6 +10,7 @@
 from . import setup
 from . import setmeasurement
 from . import geocomtest
+from . import inclination
 
 
 @extra_group("iman", params=None)  # type: ignore[misc]
@@ -53,6 +54,7 @@ def cli_test() -> None:
 cli.add_command(terminal.cli)
 cli_measure.add_command(setmeasurement.cli_measure)
 cli_measure.add_command(setup.cli_measure)
+cli_measure.add_command(inclination.cli_measure)
 cli_calc.add_command(setmeasurement.cli_calc)
 cli_test.add_command(geocomtest.cli)
 cli_merge.add_command(setmeasurement.cli_merge)

src/instrumentman/inclination/__init__.py

@@ -0,0 +1,60 @@
+from typing import Any
+
+from click_extra import (
+    extra_command,
+    option,
+    option_group,
+    IntRange,
+    File
+)
+
+from ..utils import (
+    com_baud_option,
+    com_timeout_option,
+    com_port_argument
+)
+
+
+@extra_command(
+    "inclination",
+    params=None,
+    context_settings={"auto_envvar_prefix": None}
+)  # type: ignore[misc]
+@com_port_argument()
+@option_group(
+    "Connection options",
+    "",
+    com_baud_option(),
+    com_timeout_option()
+)
+@option(
+    "-o",
+    "--output",
+    help="file to save output to",
+    type=File("wt", encoding="utf8", lazy=True)
+)
+@option(
+    "-p",
+    "--positions",
+    help="number of positions to measure around the circle",
+    type=IntRange(1),
+    default=1
+)
+@option(
+    "-z",
+    "--zero",
+    help="start from hz==0 (otherwise start from current orientation)",
+    is_flag=True
+)
+@option(
+    "-c",
+    "--cycles",
+    help="repetition cycles",
+    type=IntRange(1),
+    default=1
+)
+def cli_measure(**kwargs: Any) -> None:
+    """Measure instrument inclination in multiple positions."""
+    from .app import main_measure
+
+    main_measure(**kwargs)

src/instrumentman/inclination/app.py

@@ -0,0 +1,66 @@
+from io import TextIOWrapper
+
+from click_extra import echo
+from geocompy.data import Angle
+from geocompy.geo import GeoCom
+from geocompy.communication import open_serial
+
+
+def run_measure(
+    tps: GeoCom,
+    output: TextIOWrapper | None = None,
+    positions: int = 1,
+    zero: bool = False,
+    cycles: int = 1
+) -> None:
+    turn = 360 // positions
+    v = Angle(90, 'deg')
+    start = 0
+
+    if not zero:
+        angles = tps.tmc.get_angle()
+        if angles.params is not None:
+            start = round(angles.params[0].asunit('deg'))
+
+    echo(
+        "hz,cross,length",
+        output
+    )
+
+    for a in range(start, start + cycles * 360, turn):
+        hz = Angle(a, 'deg').normalized()
+        tps.aut.turn_to(hz, v)
+
+        fullangles = tps.tmc.get_angle_inclination('MEASURE')
+        if fullangles.params is None:
+            continue
+
+        cross = fullangles.params[4]
+        length = fullangles.params[5]
+
+        echo(
+            f"{a % 360:d},{cross.asunit('deg') * 3600:.2f},"
+            f"{length.asunit('deg') * 3600:.2f}",
+            output
+        )
+
+
+def main_measure(
+    port: str,
+    baud: int = 9600,
+    timeout: int = 15,
+    output: TextIOWrapper | None = None,
+    positions: int = 1,
+    zero: bool = False,
+    cycles: int = 1
+) -> None:
+
+    with open_serial(
+        port,
+        retry=2,
+        sync_after_timeout=True,
+        speed=baud,
+        timeout=timeout
+    ) as com:
+        tps = GeoCom(com)
+        run_measure(tps, output, positions, zero, cycles)