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CHANGELOG.md

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Changelog

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[1.0.2] - 2022-01-19

Fixed

  • Unnecessary PCAN patch causes errors on Darwin

[1.0.1] - 2022-01-19

Fixed

  • Missing templates package data

[1.0.0] - 2022-01-19

Added

  • Notify user that Being is running when invoking awake()
  • AudioBackend and Mic block for audio onset detection.
  • Stop ongoing homing when pressing homing button again
  • Finalizing documentation
  • audio and rpi extra requirements

Changed

  • DummySensor now resides in being.sensors module.
  • Changed being config file to YAML
  • Alphabetical instead of most recently modified order for motion curves
  • Max height for behavior and editor widget
  • Deactivate power and homing button when there are no motors
  • Resize editor when new content messages arrive
  • Only display widgets when the corresponding blocks exist

Removed

  • Relay connectables

Fixed

  • Installation issue. patch_pcan_on_darwin() only when can & canopen are installed.

[0.3.6] - 2021-12-23

Changed

  • Default PDO mapping: TARGET_POSITION and TARGET_VELOCITY both over PDO 2.
  • Current Actual Value via PDO instead of SDO.
  • Controller now tries to restore node's state after homing.

Removed

  • Homing's capture, restore and teardown methods.
  • Replaced switch_off_drives method CanBackend with turn_off_motors method (which disables drives with a timeout).

Fixed

  • CrudeHoming with timeout during homing

[0.3.5] - 2021-12-14

Fixed

  • Bugfix for named_tuple_from_dict. With Python 3.7 named tuples without default values have no _field_defaults attribute.

[0.3.4] - 2021-11-29

Fixed

  • Unselected / wrong knots got deleted because Array.sort() defaults to lexicographic order for numbers. See further resources.

[0.3.3] - 2021-11-29

Added

  • Draggable selection. Knots / paths can be selected and dragged around. Also horizontal selection rectangle.
  • Drawer with keyboard shortcuts

Changed

  • Improved snapping to grid. Selected knots are excluded from grid.
  • Drawer drag navigation secondary with shift key.
  • make_draggable() helper functions with callback object as argument. Also click / dblclick suppression when moved.
  • Plotter / Drawer: Separation of draw_canvas() and draw_svg() (formerly _draw_curve_elements()).

Fixed

  • Do not redraw SVG elements on each being state message.

[0.3.2] - 2021-11-24

Fixed

  • Wrong maximum current value during crude homing lead to motors getting stuck
  • Expand software position limits by default

[0.3.1] - 2021-11-24

Changed

  • CiA402Node state switching. The state switching job now continuously tries to replan the state trajectory if anything changes.
  • Default motor settings as ordered dictionaries
  • Drawer refactor: Control points inside group with fading out effect.
  • UI buttons now hold an <i></i> element holding the icon (so that we can rotate it independently from button). change_icon(newIcon) button "method" for changing the icon later on.
  • Viewport not resizing when making a change and already zoomed in
  • JS arange() array function with start, stop, step arguments

Added

  • Scan for node ids network helper method
  • Timeout is now mandatory for state switching job. Controller / Homing both catch TimeoutErrors
  • Editor flip curve horizontally / vertically buttons.
  • New pathos_being.py program which scans for available nodes and initializes a LinearMotor for each one.

Fixed

  • Hanging state transition during crude homing. Single SDO based state transition seemed to clash with PDO based ones. To be tested...
  • get_logger() not returning being root logger for some arguments
  • Plotting lines order did not correspond with motor id order

[0.3.0] - 2021-11-18

Changed

  • Splines became curves
  • Web socket broker via aiohttp on startup
  • Behavior.associate() method deprecated
  • Content methods
  • EC 45 default settings
  • API changes for curves
  • Signal handling via aiohttp application
  • Motion editor rework with curves and support for simultaneous playback on multiple motion players

Added

  • Content with Files instance handling file system access

Fixed

  • Missing position profile support for WindupMotor block
  • Web socket connection reset error
  • JS safari compatibility issues

Removed

  • Old JS curver widget

[0.2.5] - 2021-10-07

Changed

  • Being CONFIG instance now resides in module being.configuration (renamed being.config -> being.configuration)
  • Block value and message connection helper methods return created inputs / outputs for concatenation

Added

  • Config / ConfigFile implementations for TOML, YAML, JSON and INI formats
  • Parameter blocks: Slider, SingleSelection, MultiSelection and MotionSelection. With UI integration
  • NestedDict mutable mapping

[0.2.4] - 2021-09-16

Added

  • Profiled position mode via message connections
  • New motor blocks: BeltDriveMotor, LeadScrewMotor and WindupMotor
  • Some CiA 402 test cases

Changed

  • Pacemaker separate from Being object
  • MotorBlock base class with ABC method get_length() .
  • Change node operation mode via Controller
  • Motor with deviceUnits

Fixed

  • Stuck in SDO state change job

Removed

  • Sawtooth block
  • Old scripts

[0.2.3] - 2021-09-14

Added

  • Support for generator based CiA402Node state switching
  • Node settings path now support int parts
  • MotorInterface ABC, MotorState
  • CiA402Node move_to() / move_with() methods

Changed

  • SYNC thread now in Pacemaker class
  • Homing
  • Being root logger

Fixed

  • Typo State.OPERATION_ENABLE -> State.OPERATION_ENABLED

Removed

  • Deactivating PDO communication during state switching

[0.2.2] - 2021-09-07

Added

  • Dedicated SYNC message sender thread
  • Enabling / disabling motor with optional timeout
  • Motor blocks done homing event
  • Software side position controller for Epos4

Changed

  • proper_homing() routine

Fixed

  • Motor state change timeout issues
  • Wrong NMT state causing on errors on some controllers
  • Wrong CiA 402 state change command

[0.2.1] - 2021-09-02

Fixed

  • Reset software position limits on Faulhaber motors
  • No overlap with plotting lines

[0.2.0] - 2021-09-01

Added

  • License
  • CiA 402 homings
  • Choreo to spline conversion
  • EPOS4 support
  • Web UI control panel with block diagram
  • Web UI notifications
  • Some third-party JS libraries

Changed

  • Readme
  • Motor blocks, controllers, motors
  • Motion players / motors web API
  • Web UI console moved to control panel