Archive for the 'Traits' category

Enthought Tool Suite Release 4.4 (Traits, Chaco, and more)

Authors: The ETS Developers

We’re happy to announce the release of multiple major projects, including:

  • Traits 4.4.0
  • Chaco 4.4.1
  • TraitsUI 4.4.0
  • Envisage 4.4.0
  • Pyface 4.4.0
  • Codetools 4.2.0
  • ETS 4.4.1

These packages form the core of the Enthought Tool Suite (ETS, http://code.enthought.com/projects), a collection of free, open-source components developed by Enthought and our partners to construct custom scientific applications. ETS includes a wide variety of components, including:

  • an extensible application framework (Envisage)

  • application building blocks (Traits, TraitsUI, Enaml, Pyface, Codetools)

  • 2-D and 3-D graphics libraries (Chaco, Mayavi, Enable)

  • scientific and math libraries (Scimath)

  • developer tools (Apptools)

You can install any of the packages using Canopy‘s package manager, using the Canopy or EPD ‘enpkg \’ command, from PyPI (using pip or easy_install),  or by building them from source code on github. For more details, see the ETS intallation page.

Contributors

==================

This set of releases was an 8-month effort of Enthought developers along with:

  • Yves Delley
  • Pieter Aarnoutse
  • Jordan Ilott
  • Matthieu Dartiailh
  • Ian Delaney
  • Gregor Thalhammer

Many thanks to them!

General release notes

==================

  1. The major new feature in this Traits release is a new adaptation mechanism in the “traits.adaptation“ package.  The new mechanism is intended to replace the older traits.protocols package.  Code written against “traits.protocols“ will continue to work, although the “traits.protocols“ API has been deprecated, and a warning will be logged on first use of “traits.protocols“.  See the ‘Advanced Topics’ section of the user manual for more details.

  2. These new releases of TraitsUI, Envisage, Pyface and Codetools include an update to this new adaptation mechanism.

  3. All ETS projects are now on TravisCI, making it easier to contribute to them.

  4. As of this release, the only Python versions that are actively supported are 2.6 and 2.7. As we are moving to future-proof ETS over the coming months, more code that supported Python 2.5 will be removed.

  5. We will retire chaco-users@enthought.com since it is lightly used and are now recommending all users of Chaco to send questions, requests and comments to enthought-dev@enthought.com or to StackOverflow (tag “enthought” and possibly “chaco”).

More details about the release of each project are given below. Please see the CHANGES.txt file inside each project for full details of the changes.

Happy coding!

The ETS developers

Traits 4.4.0 release notes

=====================

The Traits library enhances Python by adding optional type-checking and an event notification system, making it an ideal platform for writing data-driven applications.  It forms the foundation of the Enthought Tool Suite.

In addition to the above-mentioned rework of the adaptation mechanism, the release also includes improved support for using Cython with `HasTraits` classes, some new helper utilities for writing unit tests for Traits events, and a variety of bug fixes, stability enhancements, and internal code improvements.

Chaco 4.4.0 release notes

=====================

Chaco is a Python package for building efficient, interactive and custom 2-D plots and visualizations. While Chaco generates attractive static plots, it works particularly well for interactive data visualization and exploration.

This release introduces many improvements and bug fixes, including fixes to the generation of image files from plots, improvements to the ArrayPlotData to change multiple arrays at a time, and improvements to multiple elements of the plots such as tick labels and text overlays.

TraitsUI 4.4.0 release notes

======================

The TraitsUI project contains a toolkit-independent GUI abstraction layer, which is used to support the “visualization” features of the Traits package. TraitsUI allows developers to write against the TraitsUI API (views, items, editors, etc.), and let TraitsUI and the selected toolkit and back-end take care of the details of displaying them.

In addition to the above-mentioned update to the new Traits 4.4.0 adaptation mechanism, there have also been a number of improvements to drag and drop support for the Qt backend and some modernization of the use of WxPython to support Wx 2.9.  This release also includes a number of bug-fixes and minor functionality enhancements.

Envisage 4.4.0 release notes

=======================

Envisage is a Python-based framework for building extensible applications, providing a standard mechanism for features to be added to an

application, whether by the original developer or by someone else.

In addition to the above-mentioned update to the new Traits 4.4.0 adaptation mechanism, this release also adds a new method to retrieve a service that is required by the application and provides documentation and test updates.

Pyface 4.4.0 release notes

======================

The pyface project provides a toolkit-independent library of Traits-aware widgets and GUI components, which are used to support the “visualization” features of Traits.

The biggest change in this release is support for the new adaptation mechanism in Traits 4.4.0. This release also includes Tasks support for Enaml 0.8 and a number of other minor changes, improvements and bug-fixes.

Codetools release notes

====================

The codetools project includes packages that simplify meta-programming and help the programmer separate data from code in Python. This library provides classes for performing dependency-analysis on blocks of Python code, and Traits-enhanced execution contexts that can be used as execution namespaces.

In addition to the above-mentioned update to the new Traits 4.4.0 adaptation mechanism, this release also includes a number of modernizations of the code base, including the consistent use of absolute imports, and a new execution manager for deferring events from Contexts.

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Raspberry Pi Sensor and Actuator Control

Jul 09 2013 Published by under Conferences, Enaml, General, Python, SciPy, Testing & Measurement, Traits

Author: Jack Minardi

I gave a talk at SciPy 2013 titled open('dev/real_world') Raspberry Pi Sensor and Actuator Control. You can find the video on youtube, the slides on google drive and I will summarize the content here.

Typically as a programmer you will work with data on disk, and if you are lucky you will draw pictures on the screen. This is in contrast to physical computing which allows you as a programmer to work with data sensed from the real world and with data sent to control devices that move in the real world.

Mars Rover

physical computing at work. (source)

Goal

Use a Raspberry Pi to read in accelerometer value and to control a servo motor.

Definitions

  • Raspberry Pi
    • Small $35 Linux computer with 2 USB ports, HDMI out, Ethernet, and most importantly…
  • GPIO Pins
    • General Purpose Input/Output Pins
    • This is the component that truly enables “physical computing”. You as a programmer can set the voltage high or low on each pin, which is how you will talk to actuators. You can also read what the voltage is currently on each pin. This is how sensors will talk back to you. It is important to note that each pin represents a binary state, you can only output a 0 or a 1, nothing in between.

In this article I will go over four basic Python projects to demonstrate the hardware capabilities of the Raspberry Pi. Those projects are:

  • Blink an LED.
  • Read a pot (potentiometer).
  • Stream data.
  • Control a servo.

Blink an LED.

An LED is a Light Emitting Diode. A diode is a circuit element that allows current to flow in one direction but not the other. Light emitting means … it emits light. Your typical LED needs current in the range of 10-30 mA and will drop about 2-3 volts. If you connect an LED directly to your Pi’s GPIO it will source much more than 30 mA and will probably fry your LED. To prevent this we have to put a resistor. If you want to do math you can calculate the appropriate resistance using the following equation:

R = (Vs - Vd) / I

But if you don’t want to do math then pick a resistor between 500-1500 ohms. Once you’ve gathered up all your circuit elements (LED and resistor), build this circuit on a breadboard:

LED Circuit

thats not so bad, is it?

The code is also pretty simple. But first you will need to install RPi.GPIO. (It might come preinstalled on your OS.)

import time
from itertools import cycle
import RPi.GPIO as io

io.setmode(io.BCM)
io.setup(12, io.OUT)

o = cycle([1, 0])
while True:
    io.output(12, o.next())
    time.sleep(0.5)

The important lines basically are:

io.setup(12, io.OUT)
io.output(12, 1)

These lines of code setup pin 12 as an output, and then output a 1 (3.3 volts). Run the above code connected to the circuit and you should see your LED blinking on and off every half second.


Read a pot.

A pot is short for potentiometer, which is a variable resistor. This is just a fancy word for knob. Basically by turning the knob you affect the resistance, which affects the voltage across the pot. (V = IR, remember?). Changing voltage relative to some physical value is how many sensors work, and this class of sensor is known as an analog sensor. Remember when I said the GPIO pins can only represent a binary state? We will have to call in the aide of some more silicon to convert that analog voltage value into a binary stream of bits our Pi can handle.

That chunk of silicon is refered to as an Analog-to-Digital Converter (ADC). The one I like is called MCP3008, it has 8 10-bit channels, meaning we can read 8 sensors values with a resolution of 1024 each (2^10). This will map our input voltage of 0 – 3.3 volts to an integer between 0 and 1023.

LED Circuit

I’ve turned the Pi into ephemeral yellow labels to simplify the diagram

To talk to the chip we will need a python package called spidev. For more information about the package and how it works with the MCP3008 check out this great blog post

With spidev installed and the circuit built, run the following program to read live sensor values and print them to stdout.

import spidev
import time

spi = spidev.SpiDev()
spi.open(0,0)

def readadc(adcnum):
    if not 0 <= adcnum <= 7:
        return -1
    r = spi.xfer2([1, (8+adcnum)<<4, 0])
    adcout = ((r[1] & 3) << 8) + r[2]
    return adcout

while True:
    val = readadc(0)
    print val
    time.sleep(0.5)

The most important parts are these two lines:

r = spi.xfer2([1, (8+adcnum)<<4, 0])
adcout = ((r[1] & 3) << 8) + r[2]

They send the read command and extract the relevant returned bits. See the blog post I linked above for more information on what is going on here.


Stream data.

To stream data over the wire we will be using the ØMQ networking library and implementing the REQUEST/REPLY pattern. ØMQ makes it super simple to set up a client and server in Python. The following is a complete working example.

Server

import zmq

context = zmq.Context()
socket = context.socket(
    zmq.REP)
socket.bind('tcp://*:1980')

while True:
    message = socket.recv()
    print message
    socket.send("I'm here")

Client

import zmq

context = zmq.Context()
socket = context.socket(
    zmq.REQ)
a = 'tcp://192.168.1.6:1980'
socket.connect(a)

for request in range(10):
    socket.send('You home?')
    message = socket.recv()
    print message

Now we can use traits and enaml to make a pretty UI on the client side. Check out the acc_plot demo in the github repo to see an example of the Pi streaming data over the wire to be plotted by a client.


Control a servo

Servos are (often small) motors which you can drive to certain positions. For example, for a given servo you may be able to set the drive shaft from 0 to 18o degrees, or anywhere in between. As you can imagine, this could be useful for a lot of tasks, not least of which is robotics.

Shaft rotation is controlled by Pulse Width Modulation (PWM) in which you encode information in the duration of a high voltage pulse on the GPIO pins. Most hobby servos follow a standard pulse width meaning. A 0.5 ms pulse means go to your min position and a 2.5 ms pulse means go to your max position. Now repeat this pulse every 20 ms and you’re controlling a servo.

PWM Diagram

The pulse width is much more critical than the frequency

These kind of timings are not possible with Python. In fact, they aren’t really possible with a modern operating system. An interrupt could come in at any time in your control code, causing a longer than desired pulse and a jitter in your servo. To meet the timing requirements we have to enter the fun world of kernel modules. ServoBlaster is a kernel module that makes use of the DMA control blocks to bypass the CPU entirely. When loaded, the kernel module opens a device file at /dev/servoblaster that you can write position commands to.

I’ve written a small object oriented layer around this that makes servo control simpler. You can find my library here:

https://github.com/jminardi/RobotBrain

Simple connect the servo to 5v and ground on your Pi and then connect the control wire to pin 4.

Servo Diagram

The python code is quite simple:

import time
import numpy as np
from robot_brain.servo import Servo

servo = Servo(0, min=60, max=200)

for val in np.arange(0, 1, 0.05):
    servo.set(val)
    time.sleep(0.1)

All you have to do is instantiate a servo and call its set() method with a floating point value between 0 and 1. Check out the servo_slider demo on github to see servo control implemented over the network.

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