remove TCP, use existing io.socket

Author: rickwierenga

pylabrobot/arms/arm.py

@@ -57,9 +57,7 @@ async def move_to_safe(self):
     return await self.backend.move_to_safe()
 
   async def approach(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Move the arm to an approach position (offset from target).
 
@@ -71,9 +69,7 @@ async def approach(
     return await self.backend.approach(position, access)
 
   async def pick_plate(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Pick a plate from the specified position.
 
@@ -85,9 +81,7 @@ async def pick_plate(
     return await self.backend.pick_plate(position, access)
 
   async def place_plate(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Place a plate at the specified position.
 

pylabrobot/arms/backend.py

@@ -21,6 +21,7 @@ class VerticalAccess:
     gripper_offset_mm: Additional vertical offset added when holding a plate,
                       accounts for gripper thickness (default: 10mm)
   """
+
   approach_height_mm: float = 100
   clearance_mm: float = 100
   gripper_offset_mm: float = 10
@@ -43,6 +44,7 @@ class HorizontalAccess:
     gripper_offset_mm: Additional vertical offset added when holding a plate,
                       accounts for gripper thickness (default: 10mm)
   """
+
   approach_distance_mm: float = 50
   clearance_mm: float = 50
   lift_height_mm: float = 100
@@ -97,9 +99,7 @@ async def move_to_safe(self):
 
   @abstractmethod
   async def approach(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Move the arm to an approach position (offset from target).
 
@@ -112,9 +112,7 @@ async def approach(
 
   @abstractmethod
   async def pick_plate(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Pick a plate from the specified position.
 
@@ -127,9 +125,7 @@ async def pick_plate(
 
   @abstractmethod
   async def place_plate(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Place a plate at the specified position.
 

pylabrobot/arms/precise_flex/precise_flex_api.py

@@ -2,7 +2,7 @@
 from typing import Optional
 
 from pylabrobot.arms.precise_flex.error_codes import ERROR_CODES
-from pylabrobot.io.tcp import TCP
+from pylabrobot.io.socket import Socket
 
 
 class PreciseFlexError(Exception):
@@ -31,7 +31,7 @@ def __init__(self, host: str = "192.168.0.1", port: int = 10100, timeout=20) ->
     self.host = host
     self.port = port
     self.timeout = timeout
-    self.io = TCP(host=self.host, port=self.port)
+    self.io = Socket(host=self.host, port=self.port)
 
   async def setup(self):
     """Connect to the PreciseFlex backend."""

pylabrobot/arms/precise_flex/precise_flex_backend.py

@@ -291,9 +291,7 @@ async def version(self) -> str:
     return await self.api.get_version()
 
   async def approach(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Move the arm to an approach position (offset from target).
 
@@ -329,10 +327,8 @@ async def approach(
       raise ValueError("Position must be of type JointSpace or CartesianSpace.")
 
   async def pick_plate(
-      self,
-      position: Union[CartesianCoords, JointCoords],
-      access: Optional[AccessPattern] = None
-    ):
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
+  ):
     """Pick a plate from the specified position.
 
     Args:
@@ -372,9 +368,7 @@ async def pick_plate(
       raise ValueError("Position must be of type JointSpace or CartesianSpace.")
 
   async def place_plate(
-    self,
-    position: Union[CartesianCoords, JointCoords],
-    access: Optional[AccessPattern] = None
+    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
   ):
     """Place a plate at the specified position.
 
@@ -449,9 +443,7 @@ async def _approach_j(
     await self.api.move_appro(self.location_index, self.profile_index)
 
   async def _pick_plate_j(
-    self,
-    joint_position: tuple[float, float, float, float, float, float],
-    access: AccessPattern
+    self, joint_position: tuple[float, float, float, float, float, float], access: AccessPattern
   ):
     """Pick a plate from the specified position using joint coordinates."""
     await self.api.set_location_angles(self.location_index, *joint_position)
@@ -461,9 +453,7 @@ async def _pick_plate_j(
     )
 
   async def _place_plate_j(
-    self,
-    joint_position: tuple[float, float, float, float, float, float],
-    access: AccessPattern
+    self, joint_position: tuple[float, float, float, float, float, float], access: AccessPattern
   ):
     """Place a plate at the specified position using joint coordinates."""
     await self.api.set_location_angles(self.location_index, *joint_position)
@@ -484,7 +474,7 @@ async def _approach_c(
     self,
     cartesian_position: tuple[float, float, float, float, float, float],
     orientation: int,
-    access: AccessPattern
+    access: AccessPattern,
   ):
     """Move the arm to a position above the specified coordinates.
 
@@ -501,7 +491,7 @@ async def _pick_plate_c(
     self,
     cartesian_position: tuple[float, float, float, float, float, float],
     orientation: int,
-    access: AccessPattern
+    access: AccessPattern,
   ):
     """Pick a plate from the specified position using Cartesian coordinates."""
     await self.api.set_location_xyz(self.location_index, *cartesian_position)
@@ -515,7 +505,7 @@ async def _place_plate_c(
     self,
     cartesian_position: tuple[float, float, float, float, float, float],
     orientation: int,
-    access: AccessPattern
+    access: AccessPattern,
   ):
     """Place a plate at the specified position using Cartesian coordinates."""
     await self.api.set_location_xyz(self.location_index, *cartesian_position)
@@ -556,7 +546,7 @@ async def _set_grip_detail(self, access: AccessPattern):
         0,  # location_type: 0 = normal single location
         access.clearance_mm,  # z_clearance: vertical retract distance
         0,  # z_above: not used for vertical access
-        access.gripper_offset_mm  # z_grasp_offset: added when holding plate
+        access.gripper_offset_mm,  # z_grasp_offset: added when holding plate
       )
     else:  # HorizontalAccess
       # Horizontal access: access_type=0, z_clearance is horizontal distance
@@ -566,5 +556,5 @@ async def _set_grip_detail(self, access: AccessPattern):
         0,  # location_type: 0 = normal single location
         access.clearance_mm,  # z_clearance: horizontal retract distance
         access.lift_height_mm,  # z_above: vertical lift for horizontal access
-        access.gripper_offset_mm  # z_grasp_offset: added when holding plate
-      )
+        access.gripper_offset_mm,  # z_grasp_offset: added when holding plate
+      )