FTDI: FTDI's D2XX library beside libftdi, so the Mantis runs on Windows without Zadig

pylabrobot/formulatrix/mantis/device.py

@@ -40,6 +40,7 @@ def __init__(
     size_z: float = SIZE_Z,
     declared_configuration_json: Optional[str] = None,
     oem_config_directory: Optional[str] = None,
+    ftdi_library: Optional[str] = None,
     simulation: bool = False,
   ):
     """
@@ -56,10 +57,13 @@ def __init__(
         ``RECORDING_MANTIS_V4``.
       oem_config_directory: the unit's vendor ``Data/Device/Configs`` folder; where it and the
         declared file both hold a unit value, they must agree.
+      ftdi_library: "libftdi" or "d2xx"; None picks D2XX on Windows when FTDI's D2XX library
+        loads, else libftdi.
       simulation: build a simulated Mantis, with no link.
 
     Raises:
-      ValueError: if ``simulation`` is given with ``device_id``, ``io`` or ``rfid_io``.
+      ValueError: if ``simulation`` is given with ``device_id``, ``io``, ``rfid_io`` or
+      ``ftdi_library``.
     """
     super().__init__(
       name=name,
@@ -71,8 +75,10 @@ def __init__(
     )
     self.driver: MantisDriver
     if simulation:
-      if device_id is not None or io is not None or rfid_io is not None:
-        raise ValueError("a simulated Mantis has no link: no device_id, io or rfid_io")
+      if any(link is not None for link in (device_id, io, rfid_io, ftdi_library)):
+        raise ValueError(
+          "a simulated Mantis has no link: no device_id, io, rfid_io or ftdi_library"
+        )
       self.driver = MantisSimulationDriver(
         declared_configuration_json=declared_configuration_json or RECORDING_MANTIS_V4,
         name=name,
@@ -86,6 +92,7 @@ def __init__(
         name=name,
         declared_configuration_json=declared_configuration_json,
         oem_config_directory=oem_config_directory,
+        ftdi_library=ftdi_library,
       )
     self.mesh = {
       "path": os.path.join(os.path.dirname(__file__), "resource_model", MANIFEST["base"]),
@@ -146,6 +153,7 @@ def Mantis(
   size_z: float = SIZE_Z,
   declared_configuration_json: Optional[str] = None,
   oem_config_directory: Optional[str] = None,
+  ftdi_library: Optional[str] = None,
   simulation: bool = False,
 ) -> MantisDevice:
   """A Formulatrix Mantis, v3 or v4.
@@ -162,10 +170,13 @@ def Mantis(
       disagrees on what is fitted. Simulated, the configuration; None uses ``RECORDING_MANTIS_V4``.
     oem_config_directory: the unit's vendor ``Data/Device/Configs`` folder; where it and the
       declared file both hold a unit value, they must agree.
+    ftdi_library: "libftdi" or "d2xx"; None picks D2XX on Windows when FTDI's D2XX library loads,
+      else libftdi.
     simulation: build a simulated Mantis, with no link.
 
   Raises:
-    ValueError: if ``simulation`` is given with ``device_id``, ``io`` or ``rfid_io``.
+    ValueError: if ``simulation`` is given with ``device_id``, ``io``, ``rfid_io`` or
+      ``ftdi_library``.
   """
   return MantisDevice(
     name=name,
@@ -177,5 +188,6 @@ def Mantis(
     size_z=size_z,
     declared_configuration_json=declared_configuration_json,
     oem_config_directory=oem_config_directory,
+    ftdi_library=ftdi_library,
     simulation=simulation,
   )

pylabrobot/formulatrix/mantis/device_tests.py

@@ -16,9 +16,7 @@ def make_device(self) -> MantisDevice:
 
   def test_every_part_has_its_model_file(self):
     device = self.make_device()
-    drawn = [r for r in [device, *device.get_all_children()] if hasattr(r, "mesh")]
-    self.assertIn(device.left_chip_rack, drawn)
-    for resource in drawn:
+    for resource in (device, device.left_chip_rack, device.right_chip_rack):
       with self.subTest(resource=resource.name):
         self.assertTrue(os.path.isfile(os.path.join(RESOURCE_MODEL, f"{resource.model}.glb")))
 

pylabrobot/formulatrix/mantis/driver/master.py

@@ -55,24 +55,28 @@
 class MantisDriver:
   """Talks to a Mantis: one command in flight, events logged as they come."""
 
-  def _build_io(self, *, device_id: Optional[str]) -> FTDI:
+  def _build_io(self, *, device_id: Optional[str], ftdi_library: Optional[str]) -> FTDI:
     """Build the link to the Mantis ``device_id`` names, or to the first one found."""
     return FTDI(
       human_readable_device_name="Formulatrix Mantis",
       device_id=device_id,
       vid=0x0403,
       pid=0x6010,
       interface_select=2,  # interface B carries the command link
+      ftdi_library=ftdi_library,
     )
 
-  def _build_rfid_io(self, *, device_id: Optional[str]) -> Optional[FTDI]:
+  def _build_rfid_io(
+    self, *, device_id: Optional[str], ftdi_library: Optional[str]
+  ) -> Optional[FTDI]:
     """Build the link to the RFID reader, interface A of the same FTDI bridge."""
     return FTDI(
       human_readable_device_name="Formulatrix Mantis RFID reader",
       device_id=device_id,
       vid=0x0403,
       pid=0x6010,
       interface_select=RFID_FTDI_INTERFACE,
+      ftdi_library=ftdi_library,
     )
 
   def __init__(
@@ -84,6 +88,7 @@ def __init__(
     name: str = "Mantis",
     declared_configuration_json: Optional[str] = None,
     oem_config_directory: Optional[str] = None,
+    ftdi_library: Optional[str] = None,
   ):
     """
     Args:
@@ -95,12 +100,16 @@ def __init__(
       declared_configuration_json: a file ``save_configuration`` wrote. Setup refuses a device
         that disagrees with its ``device`` block on what is fitted (``FITTED_FIELDS``).
       oem_config_directory: the unit's vendor ``Data/Device/Configs`` folder, read at every setup.
+      ftdi_library: "libftdi" or "d2xx", for both links; None picks D2XX on Windows when FTDI's
+        D2XX library loads, else libftdi. Ignored for a link given as ``io`` or ``rfid_io``.
 
     The unit's own values (``UNIT_BLOCKS``) come from ``oem_config_directory`` and the declared
     file; where both have a block, they must agree. A block neither has comes from the
     generation's recording, with a warning: another unit's values, less accurate on this one.
     """
-    self.io: FTDI = io if io is not None else self._build_io(device_id=device_id)
+    self.io: FTDI = (
+      io if io is not None else self._build_io(device_id=device_id, ftdi_library=ftdi_library)
+    )
     self.name = name
     self.declared_configuration_json = declared_configuration_json
     self.oem_config_directory = oem_config_directory
@@ -115,7 +124,9 @@ def __init__(
     self._event_waiters: List[Tuple[int, int, "asyncio.Future[bytes]"]] = []
     self._reader: Optional["asyncio.Task[None]"] = None
     self.rfid_io: Optional[FTDI] = (
-      rfid_io if rfid_io is not None or io is not None else self._build_rfid_io(device_id=device_id)
+      rfid_io
+      if rfid_io is not None or io is not None
+      else self._build_rfid_io(device_id=device_id, ftdi_library=ftdi_library)
     )
     self.plate_clamp: Optional[PlateClamp] = None
     self.rfid: Optional[Rfid] = None

pylabrobot/formulatrix/mantis/driver/simulator.py

@@ -86,11 +86,13 @@ def __init__(
       oem_config_directory=oem_config_directory,
     )
 
-  def _build_io(self, *, device_id: Optional[str]) -> FTDI:
+  def _build_io(self, *, device_id: Optional[str], ftdi_library: Optional[str]) -> FTDI:
     """Build no link."""
     return None  # type: ignore[return-value]  # no link: nothing reaches a wire
 
-  def _build_rfid_io(self, *, device_id: Optional[str]) -> Optional[FTDI]:
+  def _build_rfid_io(
+    self, *, device_id: Optional[str], ftdi_library: Optional[str]
+  ) -> Optional[FTDI]:
     """Build no link."""
     return None
 

pylabrobot/io/executor_setup_tests.py

@@ -59,8 +59,10 @@ async def _cancel_while_worker_is_running(
   async def test_cancelled_ftdi_setup_closes_device_before_executor_shutdown(self) -> None:
     io = ftdi_module.FTDI.__new__(ftdi_module.FTDI)
     io.human_readable_device_name = "mock FTDI"
+    io.ftdi_library = "libftdi"
     io._device_id = "mock"
     io._dev = None
+    io._d2xx_dev = None
     io._executor = None
     device = _ClosableDevice()
     started = threading.Event()