def get_version_ascii(self, request, reply):
self.__logger.debug("get_version_ascii")
reply_data = bytearray(1) + self.__version_string.encode("ascii")
reply_data[0] = self.__host_address
reply = TMCL_Reply.from_buffer(reply_data)
reply.special = True
return reply
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()
self._send(self._HOST_ID, moduleID, request.toBuffer())
reply = TMCL_Reply.from_buffer(self._recv(self._HOST_ID, moduleID))
if self._debug:
reply.dump()
return reply
def send_request(self, request, moduleID=None):
"""
Send a TMCL_Request and read back a TMCL_Reply. This function blocks until
the reply has been received.
"""
if not moduleID:
moduleID = self._MODULE_ID
if self._debug:
request.dump()
self._send(self._HOST_ID, moduleID, request.toBuffer())
reply = TMCL_Reply.from_buffer(self._recv(self._HOST_ID, moduleID))
if self._debug:
reply.dump()
return reply