initial commit

2 files changed, 121 insertions, 0 deletions

diff --git a/.Phytron.py.swp b/.Phytron.py.swp
new file mode 100644
index 0000000..1d873e0
--- /dev/null
+++ b/.Phytron.py.swp
diff --git a/Phytron.py b/Phytron.py
new file mode 100644
index 0000000..52cb096
--- /dev/null
+++ b/Phytron.py
@@ -0,0 +1,121 @@
+import serial, string, exceptions
+
+class ReceiveTimeout(exceptions.Exception):
+	pass
+
+class ReceiveChecksumError(exceptions.Exception):
+	def __init__(self, expected, received):
+		self.expected = expected
+		self.received = received
+		self.message = "Checksum Error: expected %x, got %x" % (expected, received)
+
+class Axis:
+	def __init__(self, ipcomm, address):
+		self.ipcomm = ipcomm
+		self.address = address
+
+	def goToAbs(self, position):
+		pass
+	
+	def goToRelative(self, offset):
+		pass
+	
+	def goFree(self, direction):
+		pass
+
+	def setAccelerationCurrent(self, current):
+		pass
+	def getAccelerationCurrent(self, current):
+		pass
+	
+	def setPosition(self, position):
+		pass
+	def getPosition(self, position):
+		pass
+
+def checksum(data):
+	chksm = 0
+	for d in data:
+		chksm = chksm ^ ord(d)
+	return chksm
+
+class IPCOMM:
+	def __init__(self, url, baudrate = 38400):
+		self.conn = serial.serial_for_url(url)
+		self.conn.baudrate = baudrate
+		self.conn.parity = serial.PARITY_NONE
+		self.conn.rtscts = False
+		self.conn.dsrdtr = False
+		self.conn.xonxoff = False
+		self.conn.timeout = 0.1
+
+	def enumerate(self, names):
+		for n in range(0x10):
+			try:
+				address = self.execute(n, 'IS?')[0]
+				assert address == n
+			except ReceiveTimeout:
+				continue
+			print("Axis %d found" % n)
+
+	def send(self, data):
+		self.conn.write('\x02' + data + ':' + ('%02X' % checksum(data + ':')) + '\x03')
+		self.conn.flush()
+		return self
+	
+	def recv(self):
+		buf = ''
+
+		c = None
+		while c != '\x02':
+			c = self.conn.read(1)
+			if not c:
+				raise ReceiveTimeout
+
+		c = None
+		while c != '\x03':
+			c = self.conn.read(1)
+			if not c:
+				raise ReceiveTimeout
+			buf += c
+
+		status, data, chksm = buf[:-1].split(':')
+		expected_chksm = checksum(status + ':' + data + ':')
+		chksm = string.atoi(chksm, 0x10)
+		if expected_chksm != chksm:
+			raise ReceiveChecksumError(expected_chksm, chksm)
+
+		return string.atoi(status[0], 0x10), string.atoi(status[1:], 0x10), data
+
+	def broadcast(self, cmd):
+		self.conn.flushInput()
+		self.send( '@' + cmd )
+	
+	def execute(self, address, cmd):
+		self.conn.flushInput()
+		self.send( ('%X' % address) + cmd )
+
+		recv_data = None
+		while not recv_data:
+			try:
+				recv_data = self.recv()
+			except ReceiveChecksumError:
+				self.send( ('%X' % address) + 'R')
+		# self.parseStatus(recv_status)
+		return recv_data
+	
+	def goToAbs(self, positions):
+		pass
+	
+	def goToRelative(self, offset):
+		pass
+	
+	def goFree(self, direction):
+		pass
+
+	def setAccelerationCurrent(self, currents):
+		pass
+	
+	def setPosition(self, positions):
+		pass
+