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Fixed YAMLLoadWarning when creating Dorna object #17

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Fixed YAMLLoadWarning when creating Dorna object #17

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55 changes: 27 additions & 28 deletions dorna/api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ def __init__(self):
False
sync
True
False
False
"""
def set_io(self, prm, fulfill = True, append = True, sync = True):
try:
Expand Down Expand Up @@ -249,21 +249,21 @@ def gcode(self, prm, fulfill = True, append = True):

"""
prm:
gcode = None, list, json list
gcode = None, list, json list
gcode_path = None, string, json, list
"""
def play_gcode(self, gcode_path = None, gcode = None, **kwargs):

data = False
# open gcode_path
if gcode_path:
try:
with open(gcode_path, 'r') as f:
data = f.read().splitlines()
data = f.read().splitlines()
except:
data = False

# gcode: list, str, JSON,
# gcode: list, str, JSON,
if gcode:
# str to data (dict or list)
if type(gcode) == str:
Expand All @@ -289,7 +289,7 @@ def play_gcode(self, gcode_path = None, gcode = None, **kwargs):

# xyz space
self.play({"command": "move", "prm": {"path": "line", "movement": 1, "x": 0}}, append = False)

return self.play(commands)


Expand All @@ -303,9 +303,9 @@ def play_gcode(self, gcode_path = None, gcode = None, **kwargs):
class Dorna(_port_usb, easy_method):

def __init__(self, config_path = None):

super(Dorna, self).__init__()

# =================================================================
# print
# =================================================================
Expand Down Expand Up @@ -586,7 +586,7 @@ def reset_board(self, port_name = None):
"""
self._log_add({"status": 1, "message": "Progressing..."}, "update_firmware")
print("Progressing...")


num_try = 8

Expand Down Expand Up @@ -698,7 +698,7 @@ def update_firmware(self, port_name = None, firmware_path = None):
"""
self._log_add({"status": 1, "message": "Progressing..."}, "update_firmware")
print("Progressing...")


num_try = 8

Expand Down Expand Up @@ -850,7 +850,7 @@ def _connect_percentage(self, _init_nom, denom, command_list, max_time):
# add to the log
self._log_add({"nom":_init_nom, "denom": denom}, "connect_percentage")
else:
time.sleep(0.02)
time.sleep(0.02)
except Exception as e:
time.sleep(0.02)

Expand All @@ -866,7 +866,7 @@ def _connect_percentage_backup(self, _init_nom, denom, command_list, max_time):
# add to the log
self._log_add({"nom":_init_nom, "denom": denom}, "connect_percentage")
else:
time.sleep(0.02)
time.sleep(0.02)

def _command_mask(self, command):
#_allowed_keys = ["id", "state", "error", "message", "command","prm","fulfill", "key"]
Expand Down Expand Up @@ -1225,7 +1225,7 @@ def _connect(self,port_name,file_init):
job.append([{"command": "g2core", "prm": "c"} for c in content])
except:
pass

# number of jobs
_init_num = [0]
for j in job:
Expand Down Expand Up @@ -1596,7 +1596,7 @@ def calibrate(self, prm):
# not empty
if not prm:
return None


# set_joint
if not self.set_joint(prm):
Expand Down Expand Up @@ -1629,12 +1629,12 @@ def calibrate(self, prm):
with open(self._device["config"], 'w') as yaml_file:
yaml.dump(_config_tmp, yaml_file, default_flow_style=False)
"""

# add to log
self.config()

return self.position("joint")

def calibrate_backup(self, prm):

# robot is homed
Expand Down Expand Up @@ -2363,7 +2363,7 @@ def _home_update(self, response):
def _init_config(self):
# Read YAML file
with open(self._device["config"], 'r') as stream:
self._config = yaml.load(stream)
self._config = yaml.load(stream, Loader=yaml.SafeLoader)

if self._config["unit"]["length"] == "mm":
# speed_xyz
Expand Down Expand Up @@ -2562,7 +2562,7 @@ def set_limit(self, limit):
except:
pass


if "j0" in limit and len(limit["j0"]) == 2 and limit["j0"][0]<= limit["j0"][1] :
self._config["limit"]["j0"] = limit["j0"]

Expand All @@ -2576,7 +2576,7 @@ def set_limit(self, limit):
#self.save_config()

return self.limit()

def set_limit_backup(self, limit):
# json
try:
Expand Down Expand Up @@ -2662,12 +2662,12 @@ def i_k(self, xyz):
x = xyz[0]
y = xyz[1]
z = xyz[2]

if self._config["unit"]["length"] == "mm":
x = self._mm_to_inch(x)
y = self._mm_to_inch(y)
z = self._mm_to_inch(z)
z = self._mm_to_inch(z)


alpha = xyz[3]
beta = xyz[4]
Expand Down Expand Up @@ -2863,7 +2863,7 @@ def _joint_validate(self, joint_init, joint_final):
joint_achieve[i] = max(joint_final[i], self._config["limit"]["j"+ str(i)][0])
message = "initial position (joint: "+str(joint_init)+") is out of limit"
status = 100

elif self._config["limit"]["j"+ str(i)][0] <= joint_init[i] <= self._config["limit"]["j"+ str(i)][1]:
# between
joint_achieve[i] = min(max(joint_final[i], self._config["limit"]["j"+ str(i)][0]),self._config["limit"]["j"+ str(i)][1] )
Expand Down Expand Up @@ -3096,12 +3096,12 @@ def _form_io(self,prm):
prm = prm_tmp

prm = json.dumps(prm)
return prm.replace('"', "")
return prm.replace('"', "")

def _M100 (self, prm):
prm = self._form_io(prm)
return {'gc_list': ["M100("+prm+")"], 'status':0}

def _M100_backup (self, prm):
"""
prm = json.dumps(prm)
Expand Down Expand Up @@ -3555,7 +3555,7 @@ def _set_io_async(self, prm):
if "servo" in prm:
result["gc_list"] += self._servo(prm["servo"])["gc_list"]

return result
return result

# {"command": "input", "prm":{"in1": 0, "in2":1, "in3":1}}
def _wait_for_input(self, prm):
Expand Down Expand Up @@ -3621,4 +3621,3 @@ def toolhead(self):
# log toolhead
#self._log_add({"toolhead": json.loads(result)}, "config")
return self.config(["toolhead"])