Closedown

script/local.py

@@ -6,7 +6,7 @@
 from ch.psi.pshell.serial import TcpDevice
 from ch.psi.pshell.modbus import ModbusTCP
 
-
+"""
 class RobotTCP(TcpDevice):
     def __init__(self, name, server):
          TcpDevice.__init__(self, name, server)
@@ -26,9 +26,52 @@ class RobotTCP(TcpDevice):
 
     def mount(self, puck, sample):
         return self.execute('1', '1', puck, sample)
+add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)   
+"""     
+
+
+class RobotModbus(DeviceBase):
+    def __init__(self, namer):
+         DeviceBase.__init__(self, name)
+         robot_req.write(0)
+
+    def execute(self, system, command, *argv):
+        #print "Done"
+        if robot_req.read() != 0:
+            raise Exception("Ongoing command")
+        if robot_ack.read() != 0:
+            raise Exception("Robot is not ready")
+        robot_cmd.write(cmd)
+        args = [0,0,0,0,0,0]
+        index = 0        
+        for arg in argv:
+            args[index++] = arg
+        robot_args.write(args)
+        robot_req.write(1)
+        try:           
+            self.request()         
+            ret = robot_ret.read()            
+        finally:
+            self.cancel_request()
+        return ret
+    
+    def request():
+        robot_req.write(1)
+        while robot_ack.read() == 0:
+            time.sleep(0.01)
+
+    def cancel_request():
+        robot_req.write(0)
+        while robot_ack.read() == 1:
+            time.sleep(0.01)
+        
+    def mount(self, puck, sample):
+        return self.execute('1', '1', puck, sample)        
+
+add_device(RobotModbus("robot"), force = True)                
         
 
-add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)
+
 
 
 add_device(img.getContrast(), force = True)