diff options
| author | Christian Kolset <ckolset@colostate.edu> | 2026-08-17 10:02:28 -0600 |
|---|---|---|
| committer | Christian Kolset <ckolset@colostate.edu> | 2026-08-17 10:02:28 -0600 |
| commit | 2014b045fc62567aeb06ea610a98aa03a43b7142 (patch) | |
| tree | 1370aa2ccf4f8b946910881556a00a0885637152 /api_layers | |
| parent | abab8f7938dada9a2abff31e719186b99934601a (diff) | |
Fix control panel freeze and CM1 motor not moving
ControlWidget._write() called dev.write_channel() directly on the GUI
thread from Qt signal handlers — for CML (CoolMuscle), write() does 2-3
blocking serial round-trips, and a slider fires valueChanged on every drag
tick, so each tick froze the whole app until the device responded or timed
out. Replaced with a coalescing background dispatch: writes are keyed by
(device, channel) in a dict instead of a plain FIFO queue, so re-writing
the same channel while a write is still pending updates its value in place
rather than piling up — a strict FIFO was observed backing up 30+ deep
during a single drag, meaning the motor kept "moving" to seconds-old
positions long after the slider stopped, which looked like a freeze even
once off the GUI thread.
Separately, the motor never actually moved because it was never enabled:
per docs/CM1-C_ASCII_Command_Cheatsheet.md, a CM1-C motor stays disabled
("shaft free") until sent "(", and nothing in CMLLayer.write()'s VS/MA
handling ever sent it — enable only existed as a separate M1_ME channel
the generic MotorControl widget has no concept of. VS/MA now send enable
unconditionally before the move sequence (a no-op if already enabled).
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Diffstat (limited to 'api_layers')
| -rw-r--r-- | api_layers/protocols/cml.py | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/api_layers/protocols/cml.py b/api_layers/protocols/cml.py index 113afe7..e085adf 100644 --- a/api_layers/protocols/cml.py +++ b/api_layers/protocols/cml.py @@ -149,6 +149,16 @@ class CMLLayer(BaseProtocol): self._send(motor.address, "]") self._read_reply() elif cmd == "VS": + # Motor must be enabled ("(") or the shaft stays free and + # every move command below is silently accepted but + # produces no motion — see docs/CM1-C_ASCII_Command_ + # Cheatsheet.md "Safety and enable commands". Enabling + # an already-enabled motor is a no-op, so it's safe to + # send unconditionally on every move rather than relying + # on the operator to have pressed a separate M1_ME + # control first. + self._send(motor.address, "(") + self._read_reply() self._send(motor.address, "P0", _CONTINUOUS_POSITION) self._read_reply() self._send(motor.address, "S0", int(value)) @@ -156,6 +166,8 @@ class CMLLayer(BaseProtocol): self._send(motor.address, "^") self._read_reply() elif cmd == "MA": + self._send(motor.address, "(") + self._read_reply() self._send(motor.address, "P0", int(value)) self._read_reply() self._send(motor.address, "^") |