Python abstractAxisPlugin.AbstractAxisPlugin類代碼示例

    def deactivate(self):
        Logger().trace("MerlinOrionPlugin.deactivate()")

        # Stop the thread
        self._stopThread()

        AbstractAxisPlugin.deactivate(self)

 def configure(self):
     AbstractAxisPlugin.configure(self)
     AbstractHardwarePlugin.configure(self)
     if self._config['OVERWRITE_ENCODER_FULL_CIRCLE']:
         self._hardware.overwriteEncoderFullCircle(self._config['ENCODER_FULL_CIRCLE'])
     else:
         self._hardware.useFirmwareEncoderFullCircle()

 def shutdown(self):
     Logger().trace("ClaussAxis.shutdown()")
     self.stop()
     if self._config["PARK_ENABLE"]:
         self._hardware.drive(float(self._config["PARK_POSITION"]), self.__getSpeed())
     AbstractHardwarePlugin.shutdown(self)
     AbstractAxisPlugin.shutdown(self)

    def shutdown(self):
        Logger().trace("MerlinOrionAxis.shutdown()")
        self.stop()
        AbstractHardwarePlugin.shutdown(self)
        AbstractAxisPlugin.shutdown(self)

        # Disconnect Spy update signal
        self.disconnect(Spy(), QtCore.SIGNAL("update"), self.__onPositionUpdate)

 def _defineConfig(self):
     AbstractAxisPlugin._defineConfig(self)
     AbstractHardwarePlugin._defineConfig(self)
     self._addConfigKey('_alternateDrive', 'ALTERNATE_DRIVE', default=DEFAULT_ALTERNATE_DRIVE)
     self._addConfigKey('_alternateDrive', 'ALTERNATE_DRIVE_ANGLE', default=DEFAULT_ALTERNATE_DRIVE_ANGLE)
     self._addConfigKey('_inertiaAngle', 'INERTIA_ANGLE', default=DEFAULT_INERTIA_ANGLE)
     self._addConfigKey('_overwriteEncoderFullCircle', 'OVERWRITE_ENCODER_FULL_CIRCLE', default=DEFAULT_OVERWRITE_ENCODER_FULL_CIRCLE)
     self._addConfigKey('_encoderFullCircle', 'ENCODER_FULL_CIRCLE', default=DEFAULT_ENCODER_FULL_CIRCLE)

 def _init(self):
     Logger().trace("MerlinOrionAxis._init()")
     AbstractHardwarePlugin._init(self)
     AbstractAxisPlugin._init(self)
     self._hardware = MerlinOrionHardware()
     self.__run = False
     self.__driveEvent = threading.Event()
     self.__setPoint = None
     self.__currentPos = None

 def _init(self):
     AbstractAxisPlugin._init(self)
     self.__pos = 0.
     self.__jog = False
     self.__drive = False
     self.__setpoint = None
     self.__dir = None
     self.__time = None
     self.__run = False

 def _defineConfig(self):
     AbstractAxisPlugin._defineConfig(self)
     AbstractHardwarePlugin._defineConfig(self)
     self._addConfigKey('_speed', 'SPEED', default=DEFAULT_SPEED[self.capacity])
     self._addConfigKey('_acceleration', 'ACCEL', default=DEFAULT_ACCEL[self.capacity])
     self._addConfigKey('_channel', 'CHANNEL', default=DEFAULT_CHANNEL[self.capacity])
     self._addConfigKey('_direction', 'DIRECTION', default=DEFAULT_DIRECTION[self.capacity])
     self._addConfigKey('_angle1ms', 'ANGLE_1MS', default=DEFAULT_ANGLE_1MS[self.capacity])
     self._addConfigKey('_neutralPos', 'NEUTRAL_POSITION', default=DEFAULT_NEUTRAL_POSITION[self.capacity])
     self._addConfigKey('_additionalDelay', 'ADDITIONAL_DELAY', default=DEFAULT_ADDITIONAL_DELAY)

    def _checkLimits(self, position):
        """ Check if the position can be reached.

        First check if the position in degres is in the user limits
        (done in parent class), then check if the servo can mechanically
        reach the position.
        """
        AbstractAxisPlugin._checkLimits(self, position)
        value = self.__angleToServo(position)
        if not VALUE_MIN <= value <= VALUE_MAX:
            raise HardwareError("Servo limit reached: %.2f not in [%d-%d]" % (value, VALUE_MIN, VALUE_MAX))

 def _defineConfig(self):
     AbstractAxisPlugin._defineConfig(self)
     AbstractHardwarePlugin._defineConfig(self)
     self._addConfigKey("_speedSlow", "SPEED_SLOW", default=DEFAULT_SPEED_SLOW)
     self._addConfigKey("_speedNormal", "SPEED_NORMAL", default=DEFAULT_SPEED_NORMAL)
     self._addConfigKey("_speedFast", "SPEED_FAST", default=DEFAULT_SPEED_FAST)
     self._addConfigKey("_parkPosition", "PARK_POSITION", default=DEFAULT_PARK_POSITION)
     if self.capacity == "yawAxis":
         self._addConfigKey("_parkEnable", "PARK_ENABLE", default=False)
     else:
         self._addConfigKey("_parkEnable", "PARK_ENABLE", default=True)

 def _init(self):
     Logger().trace("PanoduinoAxis._init()")
     AbstractHardwarePlugin._init(self)
     AbstractAxisPlugin._init(self)
     self._hardware = PololuMicroMaestroHardware()

 def shutdown(self):
     Logger().trace("PanoduinoAxis.shutdown()")
     self.stop()
     self._hardware.shutdown()
     AbstractHardwarePlugin.shutdown(self)
     AbstractAxisPlugin.shutdown(self)

 def __init__(self, *args, **kwargs):
     AbstractHardwarePlugin.__init__(self, *args, **kwargs)  # Only 1?
     AbstractAxisPlugin.__init__(self, *args, **kwargs)
     QtCore.QThread.__init__(self)

 def configure(self):
     Logger().trace("PixOrbAxis.configure()")
     AbstractAxisPlugin.configure(self)
     self._hardware.configure(self._config['SPEED_INDEX'])

 def shutdown(self):
     Logger().trace("PixOrbAxis.shutdown()")
     self.stop()
     AbstractAxisPlugin.shutdown(self)