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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
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