[seb5g]

Before: the cookbook (lot 1) showed text protocols (pymeasure, serial, VISA) but nothing for the most common way to drive an instrument: a C library (DLL, shared object) supplied by the manufacturer and called with ctypes, and no recipe showed several axes of one controller in one plugin.

After:

• A recipe CookbookDll: a multi-axis actuator (X, Y, Z, the library numbers its axes 0 to 2) and a 0D detector that reads the positions. Leave the port to MOCK to run on the simulated library. Axes and detector share one library handle (same controller ID: the first is the master, the others are slaves).
• The simulated vendor library MockMotionLibrary (hardware/mock_dll_controller.py) is used exactly like a loaded ctypes.CDLL, so the real ctypes code of the driver (hardware/dll_controller.py) runs: argtypes/restype, an opaque handle received through byref, a structure, integer error codes turned into exceptions with the message of the library, and a CFUNCTYPE callback kept alive in an attribute.
• The end of a move is reported by that callback, called from a thread of the library. The plugin only emits a Qt signal from it; the slot runs in the plugin thread and the position polling also waits for the event (user_condition_to_reach_target). The homing is not polled, so move_done is called by the slot.
• load_library (hardware/native_library.py): names per platform, path from a setting or an environment variable, cdecl or stdcall, and an error that lists everything that was tried.
• hardware/system_library_demo.py calls the real C library of the system (strlen, frexp with byref, qsort with a Python callback) on Linux, macOS and Windows.
• The README has two new rows in the cookbook table. A vendor Python binding is packaged like the drivers of hardware/, which the README says.

How: tests in tests/test_cookbook_dll.py (27): loading, the real system library, the simulated library, the driver (callback from another thread, stop, error codes, closed handle), and the plugins with the harness of pymodaq.utils.plugin_testing (master and slave axes, detector sharing the controller, events of other axes ignored). The call into the system library is exercised on Linux by the shared CI; the Windows and macOS names are written but not run there yet (the shared tests workflow only runs on Ubuntu, the compatibility one also on Windows). check_plugin reports both new plugins ok.

No change to PyMoDAQ itself. Builds on the merged lot 1.

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