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authorNicolas Schodet2013-03-26 20:55:36 +0100
committerNicolas Schodet2013-03-26 21:03:14 +0100
commitd691fdbb4816d5dc68b53437d7a915ca0c487322 (patch)
tree1e61b01d6e1cdbbf053fa0edde0f81e351f69434 /host/simu/link/mex_adc_channel.py
parent9ee19a4d7c2abfcf73001c391687250961597337 (diff)
digital/ucoolib/ucoolib: add ADC driver
Diffstat (limited to 'host/simu/link/mex_adc_channel.py')
-rw-r--r--host/simu/link/mex_adc_channel.py63
1 files changed, 63 insertions, 0 deletions
diff --git a/host/simu/link/mex_adc_channel.py b/host/simu/link/mex_adc_channel.py
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+++ b/host/simu/link/mex_adc_channel.py
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+# 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)
+