# mimot - Mini motor control, with motor driver. {{{ # # Copyright (C) 2010 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 interface to mimot.""" from utils.observable import Observable import simu.mex.msg class Mex: """Handle communications with simulated mimot.""" class Aux (Observable): """Auxiliary motor angle. - angle: radian. """ def __init__ (self): Observable.__init__ (self) self.angle = None class Pack: """Handle reception of several Aux for one message.""" def __init__ (self, node, instance, list): self.__list = list node.register (instance + ':aux', self.__handle) def __handle (self, msg): angles = msg.pop ('%dl' % len (self.__list)) for aux, angle in zip (self.__list, angles): aux.angle = float (angle) / 1024 aux.notify () class Limits (Observable): """Motor limits. - min, max: limits in radian. """ def __init__ (self, pack, index): Observable.__init__ (self) self.pack = pack self.index = index self.min = None self.max = None self.register (self.__notified) def __notified (self): self.pack.set (self.index, self.min, self.max) class Pack: """Handle emission of several limits for one message.""" def __init__ (self, node, instance): self.node = node self.mtype = node.reserve (instance + ':limits') self.limits = [ None, None, None, None ] def set (self, index, min, max): self.limits[index * 2] = min self.limits[index * 2 + 1] = max self.__send () def __send (self): m = simu.mex.msg.Msg (self.mtype) for l in self.limits: if l is None: li = -1 else: li = int (l * 1024) m.push ('l', li) self.node.send (m) def __init__ (self, node, instance = 'mimot0'): self.aux = (self.Aux (), self.Aux ()) self.__aux_pack = self.Aux.Pack (node, instance, self.aux) self.__limits_pack = self.Limits.Pack (node, instance) for index, aux in enumerate (self.aux): aux.limits = self.Limits (self.__limits_pack, index)