#!/usr/bin/env python2
# -*- coding: utf-8 -*-
#
# Copyright 2012-2017 Frédéric Magniette, Miguel Rubio-Roy
# This file is part of Pyrame.
#
# Pyrame is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Pyrame 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 Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with Pyrame. If not, see <http://www.gnu.org/licenses/>
import conf_strings,pools,apipools
motion_pool=pools.pool("motion")
api_pool=apipools.api_pool()
def check_param(param,valid_list,default_param,map_func,unique=True):
if param=="undef" or param=="":
param=default_param
if len(param)!=len(default_param) or any(c not in valid_list for c in param):
return 0,"invalid param"
result=map(map_func,param)
if unique and len(set(result))!=len(result):
return 0,"repeated characters"
return 1,result
[docs]def init_motion(motion_id,conf_string):
"Initialize axis of motion system with *conf_string*"
motion={}
try:
conf=conf_strings.parse(conf_string)
except Exception as e:
return 0,str(e)
motion["id"]="motion_%s"%(motion_id)
motion["model"]=conf.name
# Get API of the module and add it to the api_pool, if it's not already there
if not api_pool.is_present(conf.name):
retcode,res=submod_execcmd("getapi@"+conf.name)
if retcode==0:
return 0,"Can't get API for %s <- %s"%(conf.name,res)
api_pool.add_api_from_string(conf.name,res)
retcode,res=submod_execcmd("init@"+conf.name,motion["id"],conf_string)
if retcode==0:
return 0,"error initializing motion %s <- %s"%(motion["id"],res)
motion_pool.new(motion_id,motion)
return 1,"ok"
[docs]def deinit_motion(motion_id):
"Deinitialize motion system"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 1,str(e)
retcode,res=submod_execcmd("deinit@"+motion["model"],motion["id"])
if retcode==0:
return 0,"error deinitializing motion %s <- %s"%(motion["id"],res)
motion_pool.remove(motion_id)
return 1,"ok"
[docs]def config_motion(motion_id,pos_max,pos_min):
"Configure the motion system to use the maximum and minimum values *pos_max* and *pos_min*."
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
motion["pos_max"]=float(pos_max)
motion["pos_min"]=float(pos_min)
if motion["pos_max"]<motion["pos_min"]:
return 0,"max must be greater than min"
retcode,res=submod_execcmd("config@"+motion["model"],motion["id"],str(motion["pos_max"]),str(motion["pos_min"]))
if retcode==0:
return 0,"error configuring axis <- %s"%(res)
motion["configured"]=1
return 1,"ok"
[docs]def inval_motion(motion_id):
"Invalidate motion system"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
if "configured" not in motion:
return 1,"not configured"
retcode,res=submod_execcmd("inval@"+motion["model"],motion["id"])
if retcode==0:
return 0,"error invalidating axis %d <- %s"%(i+1,res)
del motion["configured"]
return 1,"ok"
def relay(motion_id,func,*params):
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
if "configured" not in motion:
return 0,"not configured"
function=func+"@"+motion["model"]
api=api_pool.get_api(motion["model"],function)
if api==None:
return 0,"The selected MOTION model does not support this function"
retcode,res=submod_execcmd(function,motion["id"],*params)
if retcode==0:
return 0,"error in %s <- %s"%(func,res)
return 1,res
[docs]def home_motion(motion_id,direction,speed):
"Home motion system at *speed*"
return relay(motion_id,"home",direction,speed)
[docs]def is_homed_motion(motion_id):
"Get the homed status of the system. Returns 1 if is homed, 0 otherwise."
return relay(motion_id,"is_homed")
[docs]def set_origin_motion(motion_id):
"Set a local coordinate origin other than the default 0 for all axis"
return relay(motion_id,"set_origin")
[docs]def move_motion(motion_id,displacement,speed,acceleration):
"Move along a *displacement* with *speed* and *acceleration*"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
real_displacement=float(displacement)
return relay(motion_id,"move",str(real_displacement),speed,acceleration)
[docs]def goto_motion(motion_id,pos,speed,acceleration):
"Go to position *pos* with *speed* and *acceleration*"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
function="goto@"+motion["model"]
api=api_pool.get_api(motion["model"],function)
if api==None:
retcode,res=get_pos_motion(motion_id)
if retcode==0:
return 0,res
current_pos=float(res)
real_displacement=float(pos) - current_pos
return relay(motion_id,"move",str(real_displacement),speed,acceleration)
return relay(motion_id,"goto",pos,speed,acceleration)
[docs]def get_pos_motion(motion_id):
"Get the position of the system"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
retcode,res=relay(motion_id,"get_pos")
if retcode==0:
return 0,res
return 1,str(float(res))
[docs]def get_limits_motion(motion_id,real="undef"):
"Get the limits of the motion system. *real* determines whether local (0, default) or real (1) coordinates are used. Returns max_1,max_2,max_3;min_1,min_2,min3"
try:
motion=motion_pool.get(motion_id)
except Exception as e:
return 0,str(e)
if "configured" not in motion:
return 0,"not configured"
pos_max=motion["pos_max"]
pos_min=motion["pos_min"]
return 1,"%f,%f"%(pos_min,pos_max)
[docs]def go_min_motion(motion_id,speed,acceleration):
"Go to the minimum configured"
return relay(motion_id,"go_min",speed,acceleration)
[docs]def go_max_motion(motion_id,speed,acceleration):
"Go to the maximum configured"
return relay(motion_id,"go_max",speed,acceleration)
