async def request_complete(self):
"""Send a Reset command to message receivers."""
logger.info('Resetting connection...')
message = Message(self.name_path, 1)
await self.issue_command(
Command(
message,
additional_events=[self.connection_synchronizer.disconnected]))
logger.debug('Reset command acknowledged, connection lost!')
await self.connection_synchronizer.connected.wait()
logger.debug('Connection fully reset!')
async def request_complete(self, periods: int):
"""Send a BuiltinLED/Blink request command to message receivers.
Blink the built-in LED for a finite number of periods.
"""
# TODO: validate periods
message = Message(self.name_path, 1)
wait_channels = [self.name_path, self.name_path, self.name_path + 'p']
await self.periods.request(periods)
logger.debug('Starting to blink the LED...')
await self.issue_command(Command(message, wait_channels))
logger.debug('Finished blinking the LED...')
async def request_complete_iterations_interval(self, number: int,
iterations_interval: int):
"""Send a LA/_Notify request command to message receivers.
Receives a finite number of notifications.
"""
message = Message(self.name_path, 1)
wait_channels = [self.name_path, self.number.name_path, self.name_path]
await self.number.request(number)
await self.interval.request(iterations_interval)
logger.debug('Starting to notify on {}...'.format(
self.parent.channel_path))
await self.issue_command(Command(message, wait_channels))
logger.debug('Finished notifying on {}...'.format(
self.parent.channel_path))
async def request_complete(self, position: Optional[int] = None):
"""Send a LA/FC request command to message receivers."""
# TODO: validate the state
message = Message(self.name_path, position)
wait_channels = [
# Initial responses
self.name_path,
self.parent.name_path,
# Responses after actuator stops
self.parent.position.name_path,
self.name_path,
self.parent.name_path
]
logger.debug('Starting feedback control...')
await self.issue_command(Command(message, wait_channels))
logger.debug('Finished feedback control!')
async def request(self):
"""Send a Version command to message receivers."""
message = Message('v')
wait_channels = ['v0', 'v1', 'v2']
await self.issue_command(Command(message, wait_channels))
async def request(self):
"""Send a Version/_ request command to message receivers."""
message = Message(self.name_path)
await self.issue_command(Command(message))
async def request(self, state: Optional[int]=None):
"""Send a LinearActuator request command to message receivers."""
# TODO: validate the state
message = Message(self.name_path, state)
await self.issue_command(Command(message))
async def request(self, periods: Optional[int]=None):
"""Send a BuiltinLED/Blink/Notify request command to message receivers."""
# TODO: validate the periods
message = Message(self.name_path, periods)
await self.issue_command(Command(message))
async def request(self, number: Optional[int] = None):
"""Send a LA/_/Notify/Number request command to message receivers."""
# TODO: validate the number
message = Message(self.name_path, number)
await self.issue_command(Command(message))
async def request(self, timeout: Optional[int] = None):
"""Send a LA/FC/ConvergenceTimeout request command to message receivers."""
# TODO: validate the timeout
message = Message(self.name_path, timeout)
await self.issue_command(Command(message))
async def request(self, coefficient: Optional[int] = None):
"""Send a LA/FC/PID/_ request command to message receivers."""
# TODO: validate the coefficient
message = Message(self.name_path, coefficient)
await self.issue_command(Command(message))
async def request(self, position_difference: Optional[int] = None):
"""Send a LA/SP/ActivityThreshold request command to message receivers."""
# TODO: validate the multiplier
message = Message(self.name_path, position_difference)
await self.issue_command(Command(message))
async def request(self, position: Optional[int] = None):
"""Send a LA/SP/RangeHigh request command to message receivers."""
# TODO: validate the multiplier
message = Message(self.name_path, position)
await self.issue_command(Command(message))
async def request(self, multiplier: Optional[int] = None):
"""Send a LA/SP/SnapMultiplier request command to message receivers."""
# TODO: validate the multiplier
message = Message(self.name_path, multiplier)
await self.issue_command(Command(message))
async def request(self, interval: Optional[int] = None):
"""Send a LA/_/Notify/Interval request command to message receivers."""
# TODO: validate the timeout
message = Message(self.name_path, interval)
await self.issue_command(Command(message))
async def request(self, state: Optional[int] = None):
"""Send a LA/_/Notify/ChangeOnly request command to message receivers."""
# TODO: validate the state
message = Message(self.name_path, state)
await self.issue_command(Command(message))
async def request(self, position: Optional[int] = None):
"""Send a LA/FC/Limits/Motor/_/_ request command to message receivers."""
# TODO: validate the position
message = Message(self.name_path, position)
await self.issue_command(Command(message))
async def request(self):
"""Send a Reset command to message receivers."""
logger.info('Resetting connection...')
message = Message(self.name_path, 1)
await self.issue_command(Command(message))
logger.debug('Reset command acknowledged!')
async def request(self, pin: int):
"""Send a IOPins/_/_ request command to message receivers."""
# TODO: validate the pin number
message = Message('{}{}'.format(self.name_path, pin))
await self.issue_command(Command(message))
async def request(self):
"""Send a LA/Position request command to message receivers."""
# TODO: validate the state
message = Message(self.name_path)
await self.issue_command(Command(message))
async def request(self, interval: Optional[int]=None):
"""Send a BuiltinLED/Blink/LowInterval request command to message receivers."""
# TODO: validate the interval
message = Message(self.name_path, interval)
await self.issue_command(Command(message))
