76 lines
2.2 KiB
Python
76 lines
2.2 KiB
Python
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"""
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Arcus controller python interface.
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Only works if one ARCUS device is connected.
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Including Arcus Configuration cables.
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Open ArcusDevice.py in Python IDE --> Run --> Enter Terminal Commands
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"""
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import threading
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import Arcus
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import copy
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import sys
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class ArcusDevice(object):
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"""
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This is interface class to Arcus stepper controller
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@author Lukas Zubal
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@version 1.0
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"""
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def __init__(self):
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"""
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@brief Constructor
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@param self object instance
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"""
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self.device = Arcus.Arcus()
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if self.device.Connect() == 1:
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print ' '
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else:
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print "Cannot open stepper device on port "
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sys.exit()
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self.outputBuffer = " "
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self.lock = threading.Lock() # thread safety
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self.verbose = 0
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def close(self):
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"""
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@brief Closes Arcus device connection
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@param self object instance
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@return bool Returns a 1 if successful
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"""
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self.lock.acquire()
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self.device.Close()
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self.lock.release()
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del self.device
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return 1
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def write(self, data):
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"""
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@brief Command-response call to Arcus device
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@see Arcus controller manual for complete list of interactive commands
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@param self object instance
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@param data string containing interactive commands to arcus
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@return str Returns string containing response of controller
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"""
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self.lock.acquire()
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self.device.SendAndRecive(data, self.outputBuffer)
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resp = copy.deepcopy(self.outputBuffer[:])
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self.lock.release()
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resp = resp.split('\x00')[0]
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if self.verbose == 1:
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print resp
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return resp
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arc = ArcusDevice()
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arc.write('DN') # Send Terminal Command to return device name.
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# print "Connected to device: " + response # Notify user
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for i in range(len(sys.argv)-1):
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response = arc.write(sys.argv[i+1]) # Process Command and save Controller Response
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while response != 'OK':
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response = arc.write(sys.argv[i+1])
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if sys.argv[i+1] == 'HSPD':
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print response
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arc.close() # Close Device.
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del arc
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