From a663069b33a6ed5344187dcd1ab48022a681ae1b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Mar 2011 22:12:22 +0200 Subject: digital/asserv: use message type registry, refs #157 --- digital/asserv/tools/asserv/mex.py | 24 ++++++++++-------------- 1 file changed, 10 insertions(+), 14 deletions(-) (limited to 'digital/asserv/tools/asserv') 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) -- cgit v1.2.3