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

software/PythonAPI/usage_example.py

@@ -1,18 +1,95 @@
+import argparse
+
 from open_micro_stage_api import OpenMicroStageInterface
 
-# create interface and connect
-oms = OpenMicroStageInterface(show_communication=True, show_log_messages=True)
-oms.connect('/dev/ttyACM0')
 
-# run this once to calibrate joints
-# for i in range(3): oms.calibrate_joint(i, save_result=True)
+def list_available_ports():
+    devices = OpenMicroStageInterface.enumerate_devices()
+    if not devices:
+        print('No serial devices detected.')
+        return devices
 
-# home device
-oms.home()
+    print('Available serial devices:')
+    for device in devices:
+        print(f"  {device['label']}")
 
-# move and wait
-oms.move_to(0, 0, 0, f=10)
-oms.wait_for_stop()
+    return devices
 
-# print some info
-oms.read_device_state_info()
+
+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='Basic OpenMicroManipulator serial API example.',
+    )
+    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():
+    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)
+    if not oms.connect(port):
+        raise SystemExit(f'Could not connect to {port}.')
+
+    try:
+        # run this once to calibrate joints
+        # for i in range(3): oms.calibrate_joint(i, save_result=True)
+
+        # home device
+        oms.home()
+
+        # move and wait
+        oms.move_to(0, 0, 0, f=10)
+        oms.wait_for_stop()
+
+        # print some info
+        oms.read_device_state_info()
+    finally:
+        oms.disconnect()
+
+
+if __name__ == '__main__':
+    main()