Bring the latest stage API changes. Updated the test scripts to use it without hardcoded ports. Small Readme for them.

software/PythonAPI/calibration_plotter.py

@@ -1,7 +1,12 @@
-from open_micro_stage_api import OpenMicroStageInterface
+import argparse
+
 import matplotlib.pyplot as plt
+
+from open_micro_stage_api import OpenMicroStageInterface
+
 plt.rcParams['figure.dpi'] = 200
 
+
 def plot_calibration_data(ax_encoder_counts, ax_field_angel, label, data):
     # Plot on the provided Axes object
     if ax_encoder_counts is not None:
@@ -21,20 +26,92 @@ def plot_calibration_data(ax_encoder_counts, ax_field_angel, label, data):
         ax_field_angel.legend()
         ax_field_angel.grid(True)
 
+
+def list_available_ports():
+    devices = OpenMicroStageInterface.enumerate_devices()
+    if not devices:
+        print('No serial devices detected.')
+        return devices
+
+    print('Available serial devices:')
+    for device in devices:
+        print(f"  {device['label']}")
+
+    return devices
+
+
+def resolve_port(port):
+    if port:
+        return port
+
+    devices = OpenMicroStageInterface.enumerate_devices()
+    pico_devices = [device for device in devices if 'pico' in device['label'].lower()]
+
+    if len(pico_devices) == 1:
+        print(f"Using detected Pico serial device: {pico_devices[0]['label']}")
+        return pico_devices[0]['port']
+
+    if len(pico_devices) > 1:
+        print('Multiple Pico serial devices detected. Pass --port to choose one:')
+        for device in pico_devices:
+            print(f"  {device['label']}")
+        raise SystemExit(1)
+
+    if len(devices) == 1:
+        print(f"Using detected serial device: {devices[0]['label']}")
+        return devices[0]['port']
+
+    if devices:
+        print('Multiple serial devices detected. Pass --port to choose one:')
+        for device in devices:
+            print(f"  {device['label']}")
+    else:
+        print('No serial devices detected.')
+
+    raise SystemExit(1)
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description='Run joint calibration and plot the measured data.',
+    )
+    parser.add_argument(
+        '--port',
+        help='Serial port to use (for example /dev/ttyACM0 or COM3).',
+    )
+    parser.add_argument(
+        '--list-ports',
+        action='store_true',
+        help='List detected serial devices and exit.',
+    )
+    return parser.parse_args()
+
+
 def main():
-    # create interface and connect
+    args = parse_args()
+    if args.list_ports:
+        list_available_ports()
+        return
+
+    port = resolve_port(args.port)
     oms = OpenMicroStageInterface(show_communication=True, show_log_messages=True)
-    oms.connect('/dev/ttyACM0')
+    if not oms.connect(port):
+        raise SystemExit(f'Could not connect to {port}.')
 
-    # Create subplots
-    fig, ax = plt.subplots(1, 1, figsize=(10, 7), sharex='all')
+    try:
+        # Create subplots
+        fig, ax = plt.subplots(1, 1, figsize=(10, 7), sharex='all')
 
-    for i in range(3):
-        res, data = oms.calibrate_joint(i, save_result=False)
-        plot_calibration_data(ax, None, f'Actuator {i}', data)
+        for i in range(3):
+            res, data = oms.calibrate_joint(i, save_result=False)
+            plot_calibration_data(ax, None, f'Actuator {i}', data)
 
-    # Adjust layout and show
-    plt.tight_layout()
-    plt.show()
+        # Adjust layout and show
+        plt.tight_layout()
+        plt.show()
+    finally:
+        oms.disconnect()
 
-main()
+
+if __name__ == '__main__':
+    main()