1 files changed, 96 insertions, 0 deletions
diff --git a/MotionControl/Action.py b/MotionControl/Action.py
new file mode 100644
index 0000000..963f34b
--- /dev/null
+++ b/MotionControl/Action.py
@@ -0,0 +1,96 @@
+# -*- coding: utf8 -*-
+
+class Action(object):
+	def __init__(self):
+		self.aborted = False
+		self.started = False
+
+	def execute(self):
+		self.aborted = False
+		self.started = True
+		self.do_execute()
+	
+	def ended(self):
+		if not self.started:
+			False
+		if self.aborted:
+			return True
+		return self.do_ended()
+
+	def abort(self):
+		self.aborted = True
+		self.do_abort()
+	
+	def do_execute(self):
+		raise NotImplementedError
+
+	def do_ended(self):
+		raise NotImplementedError
+	
+	def do_abort(self):
+		pass
+
+class NullAction(Action):
+	def do_execute(self):
+		pass
+	
+	def do_ended(self):
+		return True
+
+class Initiate(Action):
+	def __init__(self, axes):
+		Action.__init__(self)
+		self.axes = axes
+	
+	def do_execute(self):
+		for axis in self.axes:
+			axis.initiate()
+
+	def do_ended(self):
+		all_stopped = not (True in [axis.running for axis in self.axes])
+		if all_stopped and False in [axis.initialized for axis in self.axes]:
+			raise CycleAbort()
+		return all_stopped
+	
+	def do_abort(self):
+		for axis in self.axes:
+			axis.halt()
+
+class GotoAbsolute(Action):
+	def __init__(self, axes, target, speed = None):
+		Action.__init__(self)
+		if len(axes) != len(target):
+			raise ValueError()
+		if speed and len(speed) != len(axes):
+			raise ValueError()
+
+		self.axes = axes
+		self.target = target
+		self.speed = speed
+
+	def do_execute(self):
+		for i, axis in enumerate(self.axes):
+			speed = None
+			if self.speed:
+				speed = self.speed[i]
+			axis.goto_absolute(self.target[i], speed)
+
+	def do_abort(self):
+		for axis in self.axes:
+			axis.halt()
+
+	def do_ended(self):
+		return not (True in [axis.running for axis in self.axes])
+		
+
+class EmergencyStop(Action):
+	def __init__(self, axes):
+		Action.__init__(self)
+		self.axes = axes
+	
+	def do_execute(self):
+		for a in axes:
+			a.emergency_stop()
+
+	def do_ended(self):
+		return not (True in [axis.running for axis in self.axes])