def do_abort(get_steps_taken):
if (get_steps_taken):
send_c4_command(command, False)
motor_position_response = send_single_command(
commands.REQUEST_MOTOR_POSITION + commands.CR)
return motor_position_response
else:
return send_c4_command(commands.ABORT)
def get(self):
product_info = send_c4_command(commands.FIRMWARE_INFO_PRODUCT)
description = send_c4_command(commands.FIRMWARE_INFO_DESCRIPTION)
version = send_c4_command(commands.FIRMWARE_INFO_VERSION)
return {
'product_info': product_info,
'description': description,
'version': version
}, 200
def do_multiaxis_movement(parameters, acknowledge):
if (parameters):
parameters += "n" if (acknowledge) else ""
return send_c4_command(parameters)
else:
abort(
422,
message="No movements information has been given, command ignored")
def do_return_home_list(motor_list):
if (motor_list):
motors = ""
for motor in motor_list:
motors += str(motor)
return send_c4_command(commands.HOME + motors)
else:
abort(
422,
message="No movements information has been given, command ignored")
def do_single_movement(motor_number, direction, steps, acknowledge):
acknowledge_flag = "n" if (acknowledge) else ""
pre_parameters = str(motor_number) + direction + str(
steps) + acknowledge_flag
return send_c4_command(commands.MOVE + pre_parameters)
def get(self):
serial_return = send_c4_command(commands.FIRMWARE_INFO_VERSION)
return {'response': serial_return}, 200
def get(self):
serial_return = send_c4_command(commands.COPYRIGHT)
return {'response': serial_return}, 200
def post(self, id):
serial_return = send_c4_command(commands.HOME + str(id))
return {'response': serial_return}, 200