Merge pull request #74 from SiboVG/catch-serial-none

Add extra checks for when serial is None

CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog
 
+## version 0.5.2
+
+- added extra error handling for when the UART serial is not set
+
 ## version 0.5.1
 
 - added toff setting

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = TMC_2209_Raspberry_Pi
-version = 0.5.1
+version = 0.5.2
 author = Christian Köhlke
 author_email = christian@koehlke.de
 description = this is a Python libary to drive a stepper motor with a Trinamic TMC2209 stepper driver and a Raspberry Pi

src/TMC_2209/_TMC_2209_move.py

@@ -85,7 +85,10 @@ def set_max_speed(self, speed):
         speed = -speed
     if self._max_speed != speed:
         self._max_speed = speed
-        self._cmin = 1000000.0 / speed
+        if speed == 0.0:
+            self._cmin = 0.0
+        else:
+            self._cmin = 1000000.0 / speed
         # Recompute _n from current speed and adjust speed if accelerating or cruising
         if self._n > 0:
             self._n = (self._speed * self._speed) / (2.0 * self._acceleration) # Equation 16

src/TMC_2209/_TMC_2209_uart.py

@@ -48,7 +48,7 @@ def __init__(self,
         if serialport is None:
             return
         try:
-            self.ser = serial.Serial (serialport, baudrate)
+            self.ser = serial.Serial(serialport, baudrate)
         except Exception as e:
             errnum = e.args[0]
             self.tmc_logger.log(f"SERIAL ERROR: {e}")
@@ -61,15 +61,18 @@ def __init__(self,
                                     with \"sudo usermod -a -G dialout pi\"""")
 
         self.mtr_id = mtr_id
+        # adjust per baud and hardware. Sequential reads without some delay fail.
+        self.communication_pause = 500 / baudrate
+
+        if self.ser is None:
+            return
+
         self.ser.BYTESIZES = 1
         self.ser.PARITIES = serial.PARITY_NONE
         self.ser.STOPBITS = 1
 
         # adjust per baud and hardware. Sequential reads without some delay fail.
         self.ser.timeout = 20000/baudrate
-        # adjust per baud and hardware. Sequential reads without some delay fail.
-        self.communication_pause = 500/baudrate
-
 
         self.ser.reset_output_buffer()
         self.ser.reset_input_buffer()
@@ -112,6 +115,9 @@ def read_reg(self, register):
         Args:
             register (int): HEX, which register to read
         """
+        if self.ser is None:
+            self.tmc_logger.log("Cannot read reg, serial is not initialized", Loglevel.ERROR)
+            return False
 
         self.ser.reset_output_buffer()
         self.ser.reset_input_buffer()
@@ -146,6 +152,9 @@ def read_int(self, register, tries=10):
             register (int): HEX, which register to read
             tries (int): how many tries, before error is raised (Default value = 10)
         """
+        if self.ser is None:
+            self.tmc_logger.log("Cannot read int, serial is not initialized", Loglevel.ERROR)
+            return -1
         while True:
             tries -= 1
             rtn = self.read_reg(register)
@@ -183,6 +192,9 @@ def write_reg(self, register, val):
             register (int): HEX, which register to write
             val (int): value for that register
         """
+        if self.ser is None:
+            self.tmc_logger.log("Cannot write reg, serial is not initialized", Loglevel.ERROR)
+            return False
 
         self.ser.reset_output_buffer()
         self.ser.reset_input_buffer()
@@ -219,6 +231,9 @@ def write_reg_check(self, register, val, tries=10):
             val: value for that register
             tries: how many tries, before error is raised (Default value = 10)
         """
+        if self.ser is None:
+            self.tmc_logger.log("Cannot write reg check, serial is not initialized", Loglevel.ERROR)
+            return False
         ifcnt1 = self.read_int(reg.IFCNT)
 
         if ifcnt1 == 255:
@@ -230,7 +245,7 @@ def write_reg_check(self, register, val, tries=10):
             ifcnt2 = self.read_int(reg.IFCNT)
             if ifcnt1 >= ifcnt2:
                 self.tmc_logger.log("writing not successful!", Loglevel.ERROR)
-                self.tmc_logger.log("ifcnt:",ifcnt1,ifcnt2, Loglevel.DEBUG)
+                self.tmc_logger.log(f"ifcnt: {ifcnt1}, {ifcnt2}", Loglevel.DEBUG)
             else:
                 return True
             if tries<=0:
@@ -304,6 +319,10 @@ def test_uart(self, register):
             register (int):  HEX, which register to read
         """
 
+        if self.ser is None:
+            self.tmc_logger.log("Cannot test UART, serial is not initialized", Loglevel.ERROR)
+            return False
+
         self.ser.reset_output_buffer()
         self.ser.reset_input_buffer()
 

tests/test_TMC_2209_uart.py

@@ -24,6 +24,7 @@ def setUp(self):
 
     def test_read_int(self):
         """test_read_int"""
+        self.tmc_uart.ser = 1 # to avoid early return, due to ser being None
         with mock.patch.object(TMC_UART, 'read_reg', return_value=
                                b'U\x00o\x03\x05\xffo\xc0\x1e\x00\x00\xca'):
             reg_ans = self.tmc_uart.read_int(0x00)