def fixSettings(self, settings):
warnings = []
if len(settings) > self.servoCount:
warnings.append('The settings loaded include settings for %s channels, '
'but this device has only %s channels. The extra channel settings will be ignored.'
% (len(settings), self.servoCount))
del settings.channelSettings[self.servoCount:]
if len(settings) < self.servoCount:
warnings.append('The settings loaded include settings for only %s channels, '
'but this device has %s channels. '
'The other channels will be initialized with default settings.'
% (len(settings), self.servoCount))
while len(settings) < self.servoCount:
cs = ChannelSetting()
if not self.isMiniMaestro and settings.servosAvailable <= len(settings):
cs.mode = ChannelMode.Input
settings.channelSettings.append(cs)
for cs in settings.channelSettings:
if cs.mode == ChannelMode.Input:
cs.homeMode = HomeMode.Ignore
cs.minimum = 0
cs.maximum = 1024
cs.speed = 0
cs.acceleration = 0
cs.neutral = 1024
cs.range = 1905
elif cs.mode == ChannelMode.Output:
cs.minimum = 3986
cs.maximum = 8000
cs.speed = 0
cs.acceleration = 0
cs.neutral = 6000
cs.range = 1905
if settings.serialDeviceNumber >= 128:
settings.serialDeviceNumber = 12
warnings.append('The serial device number must be less than 128. It will be changed to 12.')
def getUscSettings(self):
settings = UscSettings()
settings.serialMode = self.getRawParameter(uscParameter.PARAMETER_SERIAL_MODE)
settings.fixedBaudRate = self.convertSpbrgToBps(
self.getRawParameter(uscParameter.PARAMETER_SERIAL_FIXED_BAUD_RATE))
settings.enableCrc = self.getRawParameter(uscParameter.PARAMETER_SERIAL_ENABLE_CRC) != 0
settings.neverSuspend = self.getRawParameter(uscParameter.PARAMETER_SERIAL_NEVER_SUSPEND) != 0
settings.serialDeviceNumber = self.getRawParameter(uscParameter.PARAMETER_SERIAL_DEVICE_NUMBER)
settings.miniSscOffset = self.getRawParameter(uscParameter.PARAMETER_SERIAL_MINI_SSC_OFFSET)
settings.serialTimeout = self.getRawParameter(uscParameter.PARAMETER_SERIAL_TIMEOUT)
settings.scriptDone = self.getRawParameter(uscParameter.PARAMETER_SCRIPT_DONE) != 0
if not self.isMiniMaestro:
settings.servosAvailable = self.getRawParameter(uscParameter.PARAMETER_SERVOS_AVAILABLE)
settings.servoPeriod = self.getRawParameter(uscParameter.PARAMETER_SERVO_PERIOD)
else:
tmp = self.getRawParameter(uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_HU) << 8
tmp |= self.getRawParameter(uscParameter.PARAMETER_MINI_MAESTRO_SERVO_PERIOD_L)
settings.miniMaestroServoPeriod = tmp
settings.servoMultiplier = self.getRawParameter(uscParameter.PARAMETER_SERVO_MULTIPLIER) + 1
if self.servoCount > 18:
settings.enablePullups = self.getRawParameter(uscParameter.PARAMETER_ENABLE_PULLUPS) != 0
ioMask = 0
outputMask = 0
channelModeBytes = []
if not self.isMiniMaestro:
ioMask = self.getRawParameter(uscParameter.PARAMETER_IO_MASK_C)
outputMask = self.getRawParameter(uscParameter.PARAMETER_OUTPUT_MASK_C)
else:
for i in range(6):
channelModeBytes.append(self.getRawParameter(uscParameter.PARAMETER_CHANNEL_MODES_0_3 + i))
for i in range(self.servoCount):
setting = ChannelSetting()
if not self.isMiniMaestro:
bitmask = 1 << Usc.channelToPort(i)
if (ioMask & bitmask) == 0:
setting.mode = ChannelMode.Servo
elif (outputMask & bitmask) == 0:
setting.mode = ChannelMode.Input
else:
setting.mode = ChannelMode.Output
else:
setting.mode = (channelModeBytes[i >> 2] >> ((i & 3) << 1)) & 3
home = self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_HOME, i))
if home == 0:
setting.homeMode = HomeMode.Off
setting.home = 0
elif home == 1:
setting.homeMode = HomeMode.Ignore
setting.home = 0
else:
setting.homeMode = HomeMode.Goto
setting.home = home
setting.minimum = 64 * self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_MIN, i))
setting.maximum = 64 * self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_MAX, i))
setting.neutral = self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_NEUTRAL, i))
setting.range = 127 * self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_RANGE, i))
setting.speed = self.exponentialSpeedToNormalSpeed(
self.getRawParameter(self.specifyServo(uscParameter.PARAMETER_SERVO0_SPEED, i)))
setting.acceleration = self.getRawParameter(
self.specifyServo(uscParameter.PARAMETER_SERVO0_ACCELERATION, i))
settings.channelSettings.append(setting)
return settings
