def wait_for_completion(self):
message_type = c_word()
message_id = c_word()
message_data = c_dword()
kcdc.CC_WaitForMessage(self._serialno, byref(message_type), byref(message_id), byref(message_data))
while int(message_type.value) != 2 or int(message_id.value) != 0:
kcdc.CC_WaitForMessage(self._serialno, byref(message_type), byref(message_id), byref(message_data))
MOT_TravelModes = c_int # enum MOT_LimitsSoftwareApproachPolicy DisallowIllegalMoves = c_short(0x00) AllowPartialMoves = c_short(0x01) AllowAllMoves = c_short(0x02) MOT_LimitsSoftwareApproachPolicy = c_short # enum MOT_HomeLimitSwitchDirection MOT_LimitSwitchDirectionUndefined = c_short(0x00) MOT_ReverseLimitSwitch = c_short(0x01) MOT_ForwardLimitSwitch = c_short(0x02) MOT_HomeLimitSwitchDirection = c_short # enum MOT_LimitSwitchModes MOT_LimitSwitchModeUndefined = c_word(0x00) MOT_LimitSwitchIgnoreSwitch = c_word(0x01) MOT_LimitSwitchMakeOnContact = c_word(0x02) MOT_LimitSwitchBreakOnContact = c_word(0x03) MOT_LimitSwitchMakeOnHome = c_word(0x04) MOT_LimitSwitchBreakOnHome = c_word(0x05) MOT_PMD_Reserved = c_word(0x06) MOT_LimitSwitchIgnoreSwitchSwapped = c_word(0x81) MOT_LimitSwitchMakeOnContactSwapped = c_word(0x82) MOT_LimitSwitchBreakOnContactSwapped = c_word(0x83) MOT_LimitSwitchMakeOnHomeSwapped = c_word(0x84) MOT_LimitSwitchBreakOnHomeSwapped = c_word(0x85) MOT_LimitSwitchModes = c_word # enum MOT_LimitSwitchSWModes MOT_LimitSwitchSWModeUndefined = c_word(0)
MOT_DirectionSense = c_short # enum MOT_JogModes MOT_JogModeUndefined = c_short(0x00) MOT_Continuous = c_short(0x01) MOT_SingleStep = c_short(0x02) MOT_JogModes = c_short # enum MOT_StopModes MOT_StopModeUndefined = c_short(0x00) MOT_Immediate = c_short(0x01) MOT_Profiled = c_short(0x02) MOT_StopModes = c_short # enum MOT_ButtonModes MOT_ButtonModeUndefined = c_word(0x00) MOT_JogMode = c_word(0x01) MOT_Preset = c_word(0x02) MOT_ButtonModes = c_word # enum MOT_LimitSwitchModes MOT_LimitSwitchModeUndefined = c_word(0x00) MOT_LimitSwitchIgnoreSwitch = c_word(0x01) MOT_LimitSwitchMakeOnContact = c_word(0x02) MOT_LimitSwitchBreakOnContact = c_word(0x03) MOT_LimitSwitchMakeOnHome = c_word(0x04) MOT_LimitSwitchBreakOnHome = c_word(0x05) MOT_PMD_Reserved = c_word(0x06) MOT_LimitSwitchIgnoreSwitchSwapped = c_word(0x81) MOT_LimitSwitchMakeOnContactSwapped = c_word(0x82) MOT_LimitSwitchBreakOnContactSwapped = c_word(0x83)
MOT_HomeLimitSwitchDirection = c_short # enum MOT_JogModes MOT_JogModeUndefined = c_short(0x00) MOT_Continuous = c_short(0x01) MOT_SingleStep = c_short(0x02) MOT_JogModes = c_short # enum MOT_StopModes MOT_StopModeUndefined = c_short(0x00) MOT_Immediate = c_short(0x01) MOT_Profiled = c_short(0x02) MOT_StopModes = c_short # enum MOT_ButtonModes MOT_ButtonModeUndefined = c_word(0x00) MOT_JogMode = c_word(0x01) MOT_Preset = c_word(0x02) MOT_ButtonModes = c_word # enum MOT_VelocityProfileModes MOT_Trapezoidal = c_word(0x00) MOT_SCurve = c_word(0x02) MOT_VelocityProfileModes = c_word # enum MOT_LimitSwitchModes MOT_LimitSwitchModeUndefined = c_word(0x00) MOT_LimitSwitchIgnoreSwitch = c_word(0x01) MOT_LimitSwitchMakeOnContact = c_word(0x02) MOT_LimitSwitchBreakOnContact = c_word(0x03) MOT_LimitSwitchMakeOnHome = c_word(0x04)
def wait_for_completion(self, id="homed", MAX_WAIT_TIME=5):
"""
A blocking function to ensure a task has been finished.
Used to for the following functions: homing, moving, stopping, or
updating limits. The id parameter must be specificed for the correct
operation ("homed", "moved", "stopped", or "limit_updated").
If the task is not finished after MAX_WAIT_TIME, a RuntimeError is
raised. If the id is "homed", MAX_WAIT_TIME is ignored.
Parameters
----------
id : str, optional
must be either "homed", "moved", "stopped", or "limit_updated"
(default is "homed").
MAX_WAIT_TIME : int, optional
The maximum time to wait for the task to complete. Defaults to 5
seconds. Ignored if id is "homed" or if value is 0.
Raises
------
RuntimeError
If the task is not finished after MAX_WAIT_TIME seconds.
"""
log.debug("Entering `wait_for_completion()`")
# TODO: "id" is a reserved keyword in Python. Change this!
message_type = c_word()
message_id = c_word()
message_data = c_dword()
cond = self.CONDITIONS.index(id)
log.debug(f"Condition index: {cond} - {id} ")
# If the motor is already stopped, perhaps because it reached a limit,
# it will wait forever for a message! So just return.
if id == "stopped":
if not self.is_moving():
log.debug("Exiting `wait_for_completion()`")
return
elif id == "homed":
# Homing might take a while.
MAX_WAIT_TIME = 0
while kcdc.CC_MessageQueueSize(self._serialno) <= 0:
log.debug(f"Waiting for message (KDC101 '{self.serialno}')")
time.sleep(0.2)
kcdc.CC_WaitForMessage(
self._serialno,
byref(message_type),
byref(message_id),
byref(message_data)
)
log.debug("Entering wait loop")
start = time.time()
while int(message_type.value) != 2 or int(message_id.value) != cond:
end = time.time()
if (end - start > MAX_WAIT_TIME) and (MAX_WAIT_TIME != 0):
log.debug(f"Message queue size: {kcdc.CC_MessageQueueSize(self._serialno)}")
raise RuntimeError(
f"Waited for {MAX_WAIT_TIME} seconds for {id} to complete. "
f"Message type: {message_type.value}, Message ID: {message_id.value}")
if kcdc.CC_MessageQueueSize(self._serialno) <= 0:
log.debug(f"Waiting for message (KDC101 '{self.serialno}')")
time.sleep(0.2)
continue
kcdc.CC_WaitForMessage(
self._serialno,
byref(message_type),
byref(message_id),
byref(message_data))
log.debug("Exiting `wait_for_completion()`")
KMOT_WheelDirectionSense = c_short # enum MOT_JogModes MOT_JogModeUndefined = c_short(0x00) MOT_Continuous = c_short(0x01) MOT_SingleStep = c_short(0x02) MOT_JogModes = c_short # enum MOT_StopModes MOT_StopModeUndefined = c_short(0x00) MOT_Immediate = c_short(0x01) MOT_Profiled = c_short(0x02) MOT_StopModes = c_short # enum MOT_ButtonModes MOT_ButtonModeUndefined = c_word(0x00) MOT_JogMode = c_word(0x01) MOT_Preset = c_word(0x02) MOT_ButtonModes = c_word # enum MOT_LimitSwitchModes MOT_LimitSwitchModeUndefined = c_word(0x00) MOT_LimitSwitchIgnoreSwitch = c_word(0x01) MOT_LimitSwitchMakeOnContact = c_word(0x02) MOT_LimitSwitchBreakOnContact = c_word(0x03) MOT_LimitSwitchMakeOnHome = c_word(0x04) MOT_LimitSwitchBreakOnHome = c_word(0x05) MOT_PMD_Reserved = c_word(0x06) MOT_LimitSwitchIgnoreSwitchSwapped = c_word(0x81) MOT_LimitSwitchMakeOnContactSwapped = c_word(0x82) MOT_LimitSwitchBreakOnContactSwapped = c_word(0x83)