1 files changed, 31 insertions, 0 deletions
diff --git a/MotionControl/Service.py b/MotionControl/Service.py
new file mode 100644
index 0000000..241d141
--- /dev/null
+++ b/MotionControl/Service.py
@@ -0,0 +1,31 @@
+# -*- coding: utf-8 -*-
+
+import rpyc
+
+class Service(rpyc.Service):
+	stage = None
+	def on_connect(self):
+		Service.stage.onPositionChanged.connect(self.onPosition)
+		
+		for i,p in enumerate(Service.stage.position):
+			self.onPosition(None, i, p)
+	
+	def on_disconnect(self):
+		Service.stage.onPositionChanged.disconnect(self.onPosition)
+	
+	def onPosition(self, sender, axis, position):
+		rpyc.async(self._conn.root.onPosition)(axis, position)
+
+	def exposed_set_destination(self, destination):
+		Service.stage.set_destination(destination)
+	def exposed_cycle_start(self):
+		Service.stage.cycle_start()
+	def exposed_abort(self):
+		Service.stage.abort()
+
+	def exposed_reference(self):
+		Service.stage.reference()
+
+	def exposed_getAxisLimits(self, axis):
+		return Service.stage.axes[axis].limits
+