Merge branch 'future'

Pull in a few useful fixes, particularly for Python 3.12

Author: petercorke

bdsim/blockdiagram.py

@@ -164,6 +164,15 @@ def connect(self, start, *ends, name=None):
 
         # start.type = 'start'
 
+        # ensure all blocks are in the blocklist
+        for x in [start, *ends]:
+            if isinstance(x, Block):
+                if x.bd is None:
+                    self.add_block(x)
+            elif isinstance(x, Plug):
+                if x.block.bd is None:
+                    self.add_block(x.block)
+
         for end in ends:
             if isinstance(start, Block):
                 if isinstance(end, Block):
@@ -764,7 +773,7 @@ def schedule_dotfile(self, filename):
     def _debugger(self, simstate=None, integrator=None):
         if simstate.t_stop is not None and simstate.t < simstate.t_stop:
             return
-        
+
         def print_output(b, t, inports, x):
             out = b.output(t, inports, x)
             if len(out) == 1:
@@ -803,7 +812,9 @@ def print_output(b, t, inports, x):
                             if b.nout > 0:
                                 print_output(b, t, b.inputs, b._x)
                 elif cmd[0] == "i":
-                    print(f"status={integrator.status}, dt={integrator.step_size:.4g}, nfev={integrator.nfev}")
+                    print(
+                        f"status={integrator.status}, dt={integrator.step_size:.4g}, nfev={integrator.nfev}"
+                    )
                 elif cmd[0] == "s":
                     # step
                     break
@@ -825,7 +836,9 @@ def print_output(b, t, inports, x):
                         print(self.debug_watch)
                         self.debug_watch = None
                     else:
-                        self.debug_watch = [self.blocklist[int(s.strip())] for s in cmd[2:].split(" ")]
+                        self.debug_watch = [
+                            self.blocklist[int(s.strip())] for s in cmd[2:].split(" ")
+                        ]
                 elif cmd == "pdb":
                     import pdb
 
@@ -845,6 +858,7 @@ def print_output(b, t, inports, x):
             except (IndexError, ValueError, TypeError):
                 print("??")
                 pass
+
     # ---------------------------------------------------------------------- #
 
     def report_summary(self, sortby="name", **kwargs):

bdsim/blocks/IO/Firmata.py

@@ -0,0 +1,96 @@
+"""
+Define real-time i/o blocks for use in block diagrams.  These are blocks that:
+
+- have inputs or outputs
+- have no state variables
+- are a subclass of ``SourceBlock`` or ``SinkBlock``
+
+"""
+# The constructor of each class ``MyClass`` with a ``@block`` decorator becomes a method ``MYCLASS()`` of the BlockDiagram instance.
+
+from bdsim.components import SinkBlock, SourceBlock
+import time
+import sys
+
+
+class FirmataIO:
+    board = None
+    port = "/dev/cu.usbmodem1441401"
+
+    def __init__(self):
+        from pyfirmata import Arduino, util
+
+        if FirmataIO.board is None:
+            print(f"connecting to Arduino/firmata node on {self.port}...", end="")
+            sys.stdout.flush()
+            FirmataIO.board = Arduino(self.port)
+            print(" done")
+
+            # start a background thread to read inputs
+            iterator = util.Iterator(FirmataIO.board)
+            iterator.start()
+            time.sleep(0.25)  # allow time for the iterator thread to start
+
+    def pin(self, name):
+        return FirmataIO.board.get_pin(name)
+
+
+class AnalogIn(SourceBlock):
+    nin = 0
+    nout = 1
+
+    def __init__(self, pin=None, scale=1.0, offset=0.0, **blockargs):
+        super().__init__(**blockargs)
+        self.board = FirmataIO()
+        self.pin = self.board.pin(f"a:{pin}:i")
+        self.scale = scale
+        self.offset = offset
+
+        # deal with random None values at startup
+        while self.pin.read() == None:
+            time.sleep(0.1)
+
+    def output(self, t, inports, x):
+        return [self.scale * self.pin.read() + self.offset]
+
+
+class AnalogOut(SinkBlock):
+    nin = 1
+    nout = 0
+
+    def __init__(self, pin=None, scale=1.0, offset=0.0, **blockargs):
+        super().__init__(**blockargs)
+        self.board = FirmataIO()
+        self.pin = self.board.pin(f"d:{pin}:p")  # PWM output
+        self.scale = scale
+        self.offset = offset
+
+    def step(self, t, inports):
+        self.pin.write(self.scale * inports[0] + self.offset)
+
+
+class DigitalIn(FirmataIO, SourceBlock):
+    nin = 0
+    nout = 1
+
+    def __init__(self, pin=None, bool=False, **blockargs):
+        super().__init__(**blockargs)
+        self.pin = self.board.get_pin(f"d:{pin}:i")
+
+    def output(self, t, inports, x):
+        if self.bool:
+            return [self.pin.read()]
+        else:
+            return [self.pin.read() > 0]
+
+
+class DigitalOut(FirmataIO, SinkBlock):
+    nin = 1
+    nout = 0
+
+    def __init__(self, pin=None, **blockargs):
+        super().__init__(**blockargs)
+        self.pin = self.board.get_pin(f"d:{pin}:o")
+
+    def step(self, t, inports):
+        self.pin.write(inports[0] > 0)

bdsim/blocks/IO/README.md

@@ -0,0 +1,19 @@
+This folder contains "drivers" for particular i/o hardware configurations.
+
+Each file contains a set of class definitions which are imported in the normal
+Python fashion, not dynamically as are most bdsim blocks.
+
+| File | Purpose |
+|------|---------|
+|Firmata.py | analog and digital i/o for Arduino + Firmata |
+
+Notes:
+
+- For [Firmata](https://github.com/firmata/protocol) you need to load a Firmata sketch onto the Arduino.  
+- For now the port and the baudrate (57600) are hardwired.  Perhaps the i/o system is initialized by a
+  separate function, or options passed through BDRealTime.
+- There are myriad Firmata variants, but StandardFirmata is provided as a built-in 
+  example with the Arduino IDE and does digital and analog i/o.  It runs fine on a Uno.
+- ConfigurableFirmata has more device options but needs to be installed, and its default
+  baud rate is 115200.  It does not include quadrature encoders :(
+- The Firmata interface is [pyfirmata](https://github.com/tino/pyFirmata), old but quite solid and efficient.

bdsim/blocks/README.md

@@ -8,7 +8,6 @@ The class definitions are grouped by block class
 |discrete.py |  discrete transfer blocks |
 |displays.py | graphical sink blocks |
 |functions.py | function blocks without state |
-|io.py | |
 |linalg.py | linear algebra blocks |
 |sinks.py | signal sink blocks |
 |sources.py | signal source blocks | 

bdsim/blocks/displays.py

@@ -13,20 +13,17 @@
 
 import matplotlib.pyplot as plt
 from matplotlib.pyplot import Polygon
-from numpy.lib.shape_base import expand_dims
-
 
 import spatialmath.base as sm
 
 from bdsim.components import SinkBlock
 from bdsim.graphics import GraphicsBlock
 
-
 # ------------------------------------------------------------------------ #
 
 
 class Scope(GraphicsBlock):
-    """
+    r"""
     :blockname:`SCOPE`
 
     Plot input signals against time.
@@ -50,7 +47,7 @@ class Scope(GraphicsBlock):
     Create a scope block that plots multiple signals against time.
 
     For each line plotted we can specify the:
-    
+
     * line style as a heterogeneous list of:
 
       * Matplotlib `fmt` string comprising a color and line style, eg. ``"k"`` or ``"r:"``
@@ -90,7 +87,7 @@ class Scope(GraphicsBlock):
         bd.SCOPE(styles=[{'color': 'blue'}, {'color': 'red', 'linestyle': '--'}])
 
     **Single input port with NumPy array**
-     
+
     The port is fed with a 1D-array, and ``vector`` is an:
 
     * int, this is the expected width of the array, all its elements will be plotted
@@ -101,11 +98,11 @@ class Scope(GraphicsBlock):
         bd.SCOPE(vector=[0,1,2]) # display elements 0, 1, 2 of array on port 0
         bd.SCOPE(vector=[0,1], styles=[{'color': 'blue'}, {'color': 'red', 'linestyle': '--'}])
 
-    .. note:: 
-        * If the vector is of width 3, by default the inputs are plotted as red, green 
-          and blue lines. 
+    .. note::
+        * If the vector is of width 3, by default the inputs are plotted as red, green
+          and blue lines.
         * If the vector is of width 6, by default the first three inputs are plotted as
-          solid red, green and blue lines and the last three inputs are plotted as 
+          solid red, green and blue lines and the last three inputs are plotted as
           dashed red, green and blue lines.
     """
 
@@ -239,7 +236,6 @@ def start(self, simstate):
             np.array([]),
         ] * self.nplots
 
-
         # create the figures
         self.fig = self.create_figure(simstate)
         self.ax = self.fig.add_subplot(111)
@@ -303,12 +299,16 @@ def start(self, simstate):
         if self.scale != "auto":
             self.ax.set_ylim(*self.scale)
         if self.labels is not None:
+
             def fix_underscore(s):
                 if s[0] == "_":
                     return "-" + s[1:]
                 else:
                     return s
-            self.ax.legend([fix_underscore(label) for label in self.labels], loc=self.loc)
+
+            self.ax.legend(
+                [fix_underscore(label) for label in self.labels], loc=self.loc
+            )
 
         if self.watch:
             for wire in self.input_wires: