# simu - Robot simulation. {{{ # # Copyright (C) 2013 Nicolas Schodet # # APBTeam: # Web: http://apbteam.org/ # Email: team AT apbteam DOT org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} """MEX ADC link.""" from utils.observable import Observable import mex.msg class MexAdcChannel (Observable): """Analog to Digital Converter channel. - value: input value, in range [0.0, 1.0]. """ def __init__ (self, pack, name): Observable.__init__ (self) self.pack = pack assert name not in self.pack.channels self.pack.channels[name] = self self.name = name self.value = 0.0 self.register (self.__notified) def __notified (self): self.pack.send (self) class Pack: """Centralise ADC handling.""" def __init__ (self, node, instance): self.node = node self.mtype = node.reserve (instance + ':adc_channel') self.channels = { } def send (self, channel): ivalue = int ((1 << 31) * channel.value) ivalue = min (ivalue, (1 << 31) - 1) ivalue = max (ivalue, 0) m = mex.msg.Msg (self.mtype) namelen = len (channel.name) m.push ('l%ds' % namelen, ivalue, channel.name) self.node.send (m)