def init(self):
RobodiffMotor.init(self)
self.predefinedPositions = {}
self.predefinedPositionsNamesList = []
self.delta = self.get_property("delta") or 0
try:
positions = self["positions"]
except Exception:
logging.getLogger("HWR").error("%s does not define positions.",
str(self.name()))
else:
for definedPosition in positions:
positionUsername = definedPosition.get_property("username")
try:
offset = float(definedPosition.get_property("offset"))
except Exception:
logging.getLogger("HWR").warning(
"%s, ignoring position %s: invalid offset.",
str(self.name()),
positionUsername,
)
else:
self.predefinedPositions[positionUsername] = offset
self.sortPredefinedPositionsList()
def init(self):
RobodiffMotor.init(self)
self.predefinedPositions = {}
self.predefinedPositionsNamesList = []
self.delta = self.getProperty("delta") or 0
try:
positions = self["positions"]
except BaseException:
logging.getLogger("HWR").error(
"%s does not define positions.", str(self.name())
)
else:
for definedPosition in positions:
positionUsername = definedPosition.getProperty("username")
try:
offset = float(definedPosition.getProperty("offset"))
except BaseException:
logging.getLogger("HWR").warning(
"%s, ignoring position %s: invalid offset.",
str(self.name()),
positionUsername,
)
else:
self.predefinedPositions[positionUsername] = offset
self.sortPredefinedPositionsList()
def connect_notify(self, signal):
RobodiffMotor.connect_notify(self, signal)
if signal == "predefinedPositionChanged":
positionName = self.get_current_position_name()
try:
pos = self.predefinedPositions[positionName]
except KeyError:
self.emit(signal, ("", None))
else:
self.emit(signal, (positionName, pos))
def connectNotify(self, signal):
RobodiffMotor.connectNotify(self, signal)
if signal == "predefinedPositionChanged":
positionName = self.getCurrentPositionName()
try:
pos = self.predefinedPositions[positionName]
except KeyError:
self.emit(signal, ("", None))
else:
self.emit(signal, (positionName, pos))
def updateState(self, state=None, emit=False):
RobodiffMotor.updateState(self, state)
if self.motorState == RobodiffMotor.READY:
pos = self.get_value()
for positionName in self.predefinedPositions:
if (self.predefinedPositions[positionName] >= pos - self.delta
and self.predefinedPositions[positionName] <=
pos + self.delta):
self.emit("predefinedPositionChanged", (positionName, pos))
return
self.emit("predefinedPositionChanged", ("", None))
def updateState(self, state=None, emit=False):
RobodiffMotor.updateState(self, state)
if self.motorState == RobodiffMotor.READY:
pos = self.getPosition()
for positionName in self.predefinedPositions:
if (
self.predefinedPositions[positionName] >= pos - self.delta
and self.predefinedPositions[positionName] <= pos + self.delta
):
self.emit("predefinedPositionChanged", (positionName, pos))
return
self.emit("predefinedPositionChanged", ("", None))
def __init__(self, name):
RobodiffMotor.__init__(self, name)
def __init__(self, name):
RobodiffMotor.__init__(self, name)
