From 17cd185559320a20f09ccb3cd7743b96b79dcc4c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 4 Apr 2008 20:29:50 +0200 Subject: * digital/io/src, host/inter: - added host support to io. --- host/inter/inter_node.py | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) (limited to 'host') diff --git a/host/inter/inter_node.py b/host/inter/inter_node.py index 14be6908..131df874 100644 --- a/host/inter/inter_node.py +++ b/host/inter/inter_node.py @@ -29,6 +29,7 @@ if __name__ == '__main__': from inter import Inter from Tkinter import * from mex.node import Node +from mex.msg import Msg class InterNode (Inter): """Inter, coupled with a mex Node.""" @@ -37,11 +38,18 @@ class InterNode (Inter): # period. TICK = 900.0 + IO_JACK = 0xb0 + IO_COLOR = 0xb1 + IO_SERVO = 0xb2 + def __init__ (self): Inter.__init__ (self) self.node = Node () self.node.register (0xa0, self.handle_asserv_0) self.node.register (0xa8, self.handle_asserv_8) + self.node.register (self.IO_JACK, self.handle_IO_JACK) + self.node.register (self.IO_COLOR, self.handle_IO_COLOR) + self.node.register (self.IO_SERVO, self.handle_IO_SERVO) self.tk.createfilehandler (self.node, READABLE, self.read) self.step_after = None @@ -102,6 +110,21 @@ class InterNode (Inter): self.actuatorview.arm.angle = float (a) / 1024 self.update (self.actuatorview.arm) + def handle_IO_JACK (self, msg): + m = Msg (self.IO_JACK) + m.push ('B', self.jackVar.get ()) + self.node.response (m) + + def handle_IO_COLOR (self, msg): + m = Msg (self.IO_COLOR) + m.push ('B', self.colorVar.get ()) + self.node.response (m) + + def handle_IO_SERVO (self, msg): + for t in self.actuatorview.rear.traps: + t.pos = float (msg.pop ('B')[0]) / 255 + self.update (self.actuatorview.rear) + if __name__ == '__main__': import mex.hub import mex.forked -- cgit v1.2.3