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authorNicolas Schodet2011-03-30 22:12:22 +0200
committerNicolas Schodet2011-03-30 23:52:36 +0200
commita663069b33a6ed5344187dcd1ab48022a681ae1b (patch)
tree0a89ad459cea95d9d5f971c3b93692cefeaf0806 /digital/asserv/tools/asserv
parent915ee1c2d7244733726e71126cb7d38bffbf55fa (diff)
digital/asserv: use message type registry, refs #157
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/mex.py24
1 files changed, 10 insertions, 14 deletions
diff --git a/digital/asserv/tools/asserv/mex.py b/digital/asserv/tools/asserv/mex.py
index 6257fb0d..059a29ce 100644
--- a/digital/asserv/tools/asserv/mex.py
+++ b/digital/asserv/tools/asserv/mex.py
@@ -25,10 +25,6 @@
from utils.observable import Observable
-ID_POSITION = 0xa0
-ID_PWM = 0xa1
-ID_AUX = 0xa8
-
class Mex:
"""Handle communications with simulated asserv."""
@@ -40,11 +36,11 @@ class Mex:
"""
- def __init__ (self, node):
+ def __init__ (self, node, instance):
Observable.__init__ (self)
self.pos = None
self.angle = None
- node.register (ID_POSITION, self.__handle)
+ node.register (instance + ':position', self.__handle)
def __handle (self, msg):
x, y, a = msg.pop ('hhl')
@@ -59,10 +55,10 @@ class Mex:
"""
- def __init__ (self, node):
+ def __init__ (self, node, instance):
Observable.__init__ (self)
self.pwm = None
- node.register (ID_PWM, self.__handle)
+ node.register (instance + ':pwm', self.__handle)
def __handle (self, msg):
self.pwm = msg.pop ('hhhh')
@@ -82,9 +78,9 @@ class Mex:
class Pack:
"""Handle reception of several Aux for one message."""
- def __init__ (self, node, list):
+ def __init__ (self, node, instance, list):
self.__list = list
- node.register (ID_AUX, self.__handle)
+ node.register (instance + ':aux', self.__handle)
def __handle (self, msg):
angles = msg.pop ('%dl' % len (self.__list))
@@ -92,9 +88,9 @@ class Mex:
aux.angle = float (angle) / 1024
aux.notify ()
- def __init__ (self, node):
- self.position = self.Position (node)
- self.pwm = self.PWM (node)
+ def __init__ (self, node, instance = 'asserv0'):
+ self.position = self.Position (node, instance)
+ self.pwm = self.PWM (node, instance)
self.aux = (self.Aux (), self.Aux ())
- self.__aux_pack = self.Aux.Pack (node, self.aux)
+ self.__aux_pack = self.Aux.Pack (node, instance, self.aux)