class TMCL_Bridge(object):
'''
Initialize the TMCL bridge.
Parameters:
host_connection: tmcl_interface to the main host.
module_connection: tmcl_interface to the module.
module_id: module ID to be used in control mode.
host_id: host ID to be used in control mode.
'''
def __init__(self, host_connection, module_connections, module_id=3, host_id=2):
self.__host = host_connection
self.__modules = module_connections
self.__slave = TMCL_Slave_Bridge(module_id, host_id)
self.__logger = logging.getLogger(self.__module__)
def process(self):
'''
1. Receive request from host
2. Send request to module
3. Receive reply from module
4. Send reply to host
'''
if(self.__host.request_available()):
request = self.receive_request()
self.__logger.debug("Processing request ({}).".format(str(request)))
if(self.__slave.filter(request)): # Control request
self.__logger.debug("Request is a control request.")
reply = self.__slave.handle_request(request)
self.__logger.debug("Control reply ({}).".format(str(reply)))
self.send_reply(reply)
else: # Passthrough request
self.__logger.debug("Request is not a control request. Passing through.")
for module in self.__modules:
if(module.get("request_callback")):
request = module["request_callback"](request)
try:
module["module"].send_request_only(request)
except:
continue
time.sleep(0.1)
for module in self.__modules:
if(module["module"].data_available()):
reply = module["module"].receive_reply()
self.__logger.debug("Passthrough reply ({}).".format(str(reply)))
if(module.get("reply_callback")):
reply = module["reply_callback"](reply)
self.send_reply(reply)
break
return self.__slave.status.stop
def receive_request(self):
return self.__host.receive_request()
def send_request(self, request):
return self.__module.send_request(request)
def send_reply(self, reply):
self.__host.send_reply(reply)
def __init__(self,
host_connection,
module_connections,
module_id=3,
host_id=2):
self.__host = host_connection
self.__modules = module_connections
self.__slave = TMCL_Slave_Bridge(module_id, host_id)
self.__logger = logging.getLogger(self.__module__)
# Constants
MODULE_ADDRESS = 1
HOST_ADDRESS = 2
MODULE_ID_STRING = "0960"
VERSION_STRING = MODULE_ID_STRING + "V100"
BUILD_VERSION = 0
# Prepare Logger
logger = logging.getLogger(__name__)
logger.info("TMCL Slave on RS485 interface")
# Main program
logger.info("Initializing interface ...")
con = rs485_tmcl_interface()
slave = TMCL_Slave_Bridge(MODULE_ADDRESS, HOST_ADDRESS, VERSION_STRING,
BUILD_VERSION)
logger.info("Interface initialized.")
while (not (slave.status.stop)):
if (con.request_available()):
logger.debug("Request available.")
request = con.receive_request()
if (not (slave.filter(request))):
continue
logger.debug("Request for this slave detected.")
reply = slave.handle_request(request)
con.send_reply(reply)
logger.info("Closing interface ...")
con.close()
logger.info("Interface closed.")