89 lines
3.2 KiB
Python
89 lines
3.2 KiB
Python
# -*- coding: utf-8 -*-
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# *****************************************************************************
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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# *****************************************************************************
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"""generic 3D vector"""
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from frappy.core import Attached, Drivable, Readable, Parameter, Done
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from frappy.datatypes import FloatRange, TupleOf, StatusType, Enum
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class VectorRd(Readable):
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"""generic readable vector"""
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value = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
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x = Attached()
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y = Attached()
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z = Attached()
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pollFuncs = None
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components = None
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def initModule(self):
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super().initModule()
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members = []
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status_codes = {} # collect all possible status codes
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components = []
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for name in 'xyz':
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component = getattr(self, name)
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members.append(component.parameters['value'].datatype.copy())
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components.append(component)
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for code in component.status[0].enum.members:
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status_codes[int(code)] = code.name
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self.parameters['value'].datatype = TupleOf(*members)
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self.parameters['status'].datatype = StatusType(Enum(
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'status', **{k: v for v, k in status_codes.items()}))
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self.components = components
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def doPoll(self):
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for component in self.components:
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component.doPoll()
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# update
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component.pollInfo.last_main = self.pollInfo.last_main
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self.value = self.merge_value()
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self.status = self.merge_status()
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def merge_value(self):
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return [c.value for c in self.components]
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def merge_status(self):
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status = -1, ''
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for c in self.components:
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if c.status[0] > status[0]:
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status = c.status
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return status
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def read_value(self):
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return tuple((c.read_value() for c in self.components))
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def read_status(self):
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[c.read_status() for c in self.components]
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return self.merge_status()
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class Vector(Drivable, VectorRd):
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"""generic drivable vector"""
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target = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
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def initModule(self):
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super().initModule()
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members = []
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for component in self.components:
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members.append(component.parameters['target'].datatype.copy())
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self.parameters['target'].datatype = TupleOf(*members)
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def write_target(self, value):
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return tuple((c.write_target(v) for v, c in zip(value, self.components))) |