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feat: RoboticArm CSV import/export #256

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Merged
merged 4 commits into from
Jul 17, 2025
+60 −2
Merged

feat: RoboticArm CSV import/export #256

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b818e43
CSV import/export
rahul31124 Jul 16, 2025
da23f88
Header name
rahul31124 Jul 16, 2025
cf2c370
header name
rahul31124 Jul 16, 2025
7edfdff
import-null
rahul31124 Jul 17, 2025
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62 changes: 60 additions & 2 deletions pslab/external/motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,11 @@
import time
from typing import List
from typing import Union
import csv
import os

from pslab.instrument.waveform_generator import PWMGenerator
from datetime import datetime

MICROSECONDS = 1e6

Expand Down Expand Up @@ -96,7 +99,7 @@ def run_schedule(self, timeline: List[List[int]], time_step: float = 1.0) -> Non
with angles corresponding to each servo.

time_step : float, optional
Delay in seconds between each timestep. Default is 1.0.
Delay in seconds between each timestep. Default is 1.0.
"""
if len(timeline[0]) != len(self.servos):
raise ValueError("Each timestep must specify an angle for every servo")
Expand All @@ -107,5 +110,60 @@ def run_schedule(self, timeline: List[List[int]], time_step: float = 1.0) -> Non

for tl in timeline:
for i, s in enumerate(self.servos):
s.angle = tl[i]
if tl[i] is not None:
s.angle = tl[i]
time.sleep(time_step)

def import_timeline_from_csv(self, filepath: str) -> List[List[int]]:
"""Import timeline from a CSV file.

Parameters
----------
filepath : str
Absolute or relative path to the CSV file to be read.

Returns
-------
List[List[int]]
A timeline consisting of servo angle values per timestep.
"""
timeline = []

with open(filepath, mode="r", newline="") as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
angles = []
for key in ["Servo1", "Servo2", "Servo3", "Servo4"]:
value = row[key]
if value == "null":
angles.append(None)
else:
angles.append(int(value))
timeline.append(angles)

return timeline

def export_timeline_to_csv(
self, timeline: List[List[Union[int, None]]], folderpath: str
) -> None:
"""Export timeline to a CSV file.

Parameters
----------
timeline : List[List[Union[int, None]]]
A list of timesteps where each sublist contains servo angles.

folderpath : str
Directory path where the CSV file will be saved. The filename
will include a timestamp to ensure uniqueness.
"""
timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
filename = f"Robotic_Arm{timestamp}.csv"
filepath = os.path.join(folderpath, filename)

with open(filepath, mode="w", newline="") as csvfile:
writer = csv.writer(csvfile)
writer.writerow(["Timestep", "Servo1", "Servo2", "Servo3", "Servo4"])
for i, row in enumerate(timeline):
pos = ["null" if val is None else val for val in row]
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suggestion: Inconsistent handling of None values between import and export.

Consider using a single representation for None values (e.g., always 'null') in both import and export, and document this behavior for clarity.

Suggested implementation:

        # Export timeline to CSV, using 'null' to represent None values.
        # When importing, 'null' will be interpreted as None.
        with open(filepath, mode="w", newline="") as csvfile:
            writer = csv.writer(csvfile)
            writer.writerow(["Timestamp", "Servo1", "Servo2", "Servo3", "Servo4"])
            for i, row in enumerate(timeline):
                pos = ["null" if val is None else val for val in row]
                writer.writerow([i] + pos)
def import_timeline_from_csv(filepath):
    """
    Import a timeline from a CSV file, interpreting 'null' as None.

    Args:
        filepath (str): Path to the CSV file.

    Returns:
        list: Timeline data as a list of lists, with None for 'null' values.
    """
    timeline = []
    with open(filepath, mode="r", newline="") as csvfile:
        reader = csv.reader(csvfile)
        headers = next(reader)  # Skip header
        for row in reader:
            # row[0] is the timestamp/index, skip or store as needed
            positions = [None if val == "null" else float(val) for val in row[1:]]
            timeline.append(positions)
    return timeline
  • If there is already an import function, update its logic to use None if val == "null" else ... for consistency.
  • Ensure that all documentation and usage of import/export functions mention that 'null' is the standard representation for missing values.
  • If the import function is used elsewhere, update those usages to use the new or updated function.

writer.writerow([i] + pos)
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