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# -*- 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 self.axes:
a.emergency_stop()
def do_ended(self):
return not (True in [axis.running for axis in self.axes])
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