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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, ID):
self.ipcomm = ipcomm
self.ID = ID
def execute(self, cmd):
result = self.ipcomm.execute(self.ID, cmd)
assert result['ID'] == self.ID
del result['ID']
return result
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 Status:
def __init__(self, bitvector):
self.coldboot = not not (bitvector & (1<<7))
self.any_error = not not (bitvector & (1<<6))
self.rx_error = not not (bitvector & (1<<5))
self.SFI_error = not not (bitvector & (1<<4))
self.outputstage_error = not not (bitvector & (1<<3))
self.initiator_m = not not (bitvector & (1<<2))
self.initiator_p = not not (bitvector & (1<<1))
self.running = not not (bitvector & (1<<0))
def __str__(self):
status = list()
if self.coldboot:
status += ['Cold Boot']
if self.any_error:
status += ['Any Error']
if self.rx_error:
status += ['RX Error']
if self.SFI_error:
status += ['SFI Error']
if self.outputstage_error:
status += ['Output Stage Error']
if self.initiator_m:
status += ['Initiator -']
if self.initiator_p:
status += ['Initiator +']
if self.running:
status += ['Running']
return '{'+ ('|'.join(status)) + '}'
class IPCOMM:
def __init__(self, url, baudrate = 38400, axisnames = None):
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
self.axisByID = dict()
self.axisByName = dict()
self.enumerate(axisnames)
def axis(self, nameOrID):
if isinstance(nameOrID, str) and nameOrID.isalpha():
return self.axisByName[nameOrID]
return self.axisByID[int(nameOrID)]
def enumerate(self, names=None):
self.axisByID.clear()
self.axisByName.clear()
for ID in range(0x10):
try:
assert self.execute(ID, 'IS?')['ID'] == ID
axis = Axis(self, ID)
self.axisByID[ID] = axis
if (isinstance(names, dict) and names.haskey(ID)) or (isinstance(names, list) and ID < len(names)):
assert names[ID].isalpha()
self.axisByName[str(names[ID])] = axis
except ReceiveTimeout:
continue
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 {'ID': string.atoi(status[0], 0x10),
'status': Status(string.atoi(status[1:], 0x10)),
'data': data}
def broadcast(self, cmd):
self.conn.flushInput()
self.send( '@' + cmd )
def execute(self, ID, cmd):
self.conn.flushInput()
self.send( ('%X' % ID) + cmd )
recv_data = None
while not recv_data:
try:
recv_data = self.recv()
except ReceiveChecksumError:
self.send( ('%X' % ID) + '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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