def read_dac_limit_status_rtn(board_id: int) -> List[DACLimitStatus]:
p_positive_status = ffi.new('unsigned char *')
p_negative_status = ffi.new('unsigned char *')
status = lib.flex_read_dac_rtn(board_id, p_positive_status,
p_negative_status)
value_high, value_low = p_positive_status[0], p_negative_status[0]
return status, DACLimitStatus.from_flags(value_high, value_low)
def read_error_msg_detail_rtn(board_id: int):
p_command_id = ffi.new('unsigned short *')
p_resource_id = ffi.new('unsigned short *')
p_error_code = ffi.new('int *')
p_line_number = ffi.new('unsigned short *')
p_file_number = ffi.new('unsigned short *')
status = lib.flex_read_error_msg_rtn(board_id, p_command_id, p_resource_id,
p_error_code, p_line_number,
p_file_number)
return status, (p_command_id[0], p_resource_id[0], p_error_code[0],
p_line_number[0], p_file_number[0])
def read_error_msg_rtn(board_id: int):
p_command_id = ffi.new('unsigned short *')
p_resource_id = ffi.new('unsigned short *')
p_error_code = ffi.new('int *')
status = lib.flex_read_error_msg_rtn(board_id, p_command_id, p_resource_id,
p_error_code)
return status, (
p_command_id[0],
p_resource_id[0],
p_error_code[0],
)
def read_velocity_rtn(board_id: int, which_axis_or_vector_space: int) -> int:
with ffi.new('int *') as p_velocity:
status = lib.flex_read_velocity_rtn(board_id,
which_axis_or_vector_space,
p_velocity)
value = p_velocity[0]
return status, value
def read_follow_error_rtn(board_id: int,
which_axis_or_vector_space: int) -> int:
with ffi.new('short *') as p_following_error:
status = lib.flex_read_follow_error_rtn(board_id,
which_axis_or_vector_space,
p_following_error)
value = p_following_error[0]
return status, value
def read_blend_status_rtn(
board_id: int,
axis_or_vector_space: AxisOrVectorSpace) -> List[BlendStatus]:
with ffi.new('unsigned short *') as p_blend_status:
status = lib.flex_read_blend_status_rtn(board_id,
axis_or_vector_space.value,
p_blend_status)
value = p_blend_status[0]
return status, BlendStatus.from_flags(value, axis_or_vector_space)
def into_c(self):
p_struct = ffi.new('struct PID *')
_direct_map_fields(
self, p_struct,
['kp', 'ki', 'ilim', 'kd', 'td', 'kv', 'aff', 'vff'])
return p_struct
def to_c(self):
p_struct = ffi.new('struct NIMC_DATA *')
p_struct.longData = self.long_data
p_struct.boolData = 1 if self.bool_data else 0
p_struct.doubleData = self.float_data
return p_struct
def to_c(self):
p_struct = ffi.new('struct NIMC_CAMMING_ENABLE_DATA *')
p_struct.axisIndex = self.axis_index
p_struct.enable = 1 if self.enable else 0
p_struct.position = self.position
return p_struct
def to_c(self):
p_struct = ffi.new('struct REGISTRY *')
_direct_map_fields(self, p_struct,
['device', 'type', 'pstart', 'size'])
return p_struct
def read_csr_rtn(board_id: int) -> int:
with ffi.new('unsigned short *') as p_csr:
status = lib.flex_read_csr_rtn(board_id, p_csr)
value = p_csr[0]
return status, value
def read_mcs_status_rtn(board_id: int) -> List[MotionStatus]:
with ffi.new('unsigned short *') as p_motion_complete:
status = lib.flex_read_mcs_status_rtn(board_id, p_motion_complete)
value = p_motion_complete[0]
return status, MotionStatus.from_flags(value)
def read_axis_status_rtn(board_id: int, axis: int) -> AxisStatus:
with ffi.new('unsigned short *') as p_axis_status:
status = lib.flex_read_axis_status_rtn(board_id, axis, p_axis_status)
value = p_axis_status[0]
return status, AxisStatus.from_flags(value)
def read_rpm_rtn(board_id: int, axis: int) -> float:
with ffi.new('double *') as p_rpm:
status = lib.flex_read_rpm_rtn(board_id, axis, p_rpm)
value = p_rpm[0]
return status, value
def read_dac_rtn(board_id: int, which_axis_or_dac: int) -> int:
with ffi.new('short *') as p_dac_output:
status = lib.flex_read_dac_rtn(board_id, which_axis_or_dac,
p_dac_output)
value = p_dac_output[0]
return status, value
def read_target_pos_rtn(board_id: int, axis: int) -> int:
with ffi.new('int *') as p_target_position:
status = lib.flex_read_target_pos_rtn(board_id, axis,
p_target_position)
value = p_target_position[0]
return status, value