def send(self, opcode, opType, motor, value, moduleID=None):
"""
Send a TMCL datagram and read back a reply. This function blocks until
the reply has been received
"""
if not (type(opcode) == type(opType) == type(motor) == type(value) ==
int):
raise TypeError("Expected integer values")
# If no module ID is given, use the default one
if not moduleID:
moduleID = self._MODULE_ID
request = TMCL_Request(moduleID, opcode, opType, motor, value)
if self._debug:
request.dump()
# Send the request
self._send(self._HOST_ID, moduleID, request.toBuffer())
# Read out the reply
reply = TMCL_Reply(self._recv(self._HOST_ID, moduleID))
if self._debug:
reply.dump()
return reply
def sendBoot(self, moduleID=None):
"""
Send the command for entering bootloader mode. This TMCL command does
result in a reply.
"""
# If no module ID is given, use the default one
if not moduleID:
moduleID = self._MODULE_ID
request = TMCL_Request(moduleID, TMCL_Command.BOOT, 0x81, 0x92, 0xA3B4C5D6)
if self._debug:
request.dump()
# Send the request
self._send(self._HOST_ID, moduleID, request.toBuffer())
def send ( self, address, command, commandType, motorbank, value ):
"""
Send a message to the specified module. This is a blocking function that
will not return until a reply has been received from the module.
"""
"prepare TMCL request"
request = TMCL_Request(address, command, commandType, motorbank, value)
if self.debugEnabled:
request.dump()
"send request, wait, and handle reply"
self.serial.write(request.toBuffer())
reply = TMCL_Reply(struct.unpack(TMCL.PACKAGE_STRUCTURE, self.serial.read(TMCL.PACKAGE_LENGTH)))
if self.debugEnabled:
reply.dump()
return reply
