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# COPYRIGHT(c) 2018 STMicroelectronics #
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# IMPORT
from enum import Enum
import struct
from bluepy.btle import BTLEException
from blue_st_sdk.feature import Feature
from blue_st_sdk.feature import Sample
from blue_st_sdk.feature import ExtractedData
from blue_st_sdk.features.field import Field
from blue_st_sdk.features.field import FieldType
from blue_st_sdk.utils.number_conversion import NumberConversion
from blue_st_sdk.utils.blue_st_exceptions import BlueSTInvalidOperationException
from blue_st_sdk.utils.blue_st_exceptions import BlueSTInvalidDataException
# CLASSES
[docs]class StepperMotorStatus(Enum):
"""This class lists the types of status in which a stepper motor can found
itself."""
MOTOR_INACTIVE = 0 # The motor is not running.
MOTOR_RUNNING = 1 # The motor is running.
[docs]class StepperMotorCommands(Enum):
"""This class lists the types of commands that can be given to a stepper
motor."""
MOTOR_STOP_RUNNING_WITHOUT_TORQUE = 0 # Stops running with HiZ.
MOTOR_STOP_RUNNING_WITH_TORQUE = 1 # Stops running with torque applied.
MOTOR_RUN_FORWARD = 2 # Runs forward indefinitely.
MOTOR_RUN_BACKWARD = 3 # Runs backward indefinitely.
MOTOR_MOVE_STEPS_FORWARD = 4 # Moves steps forward.
MOTOR_MOVE_STEPS_BACKWARD = 5 # Moves steps backward.
[docs]class FeatureStepperMotor(Feature):
"""The feature handles a stepper motor.
It can be read or written and behaves differently depending on this.
When read, the data read is the status of the motor, and is one byte long.
When written, the data written is the command to be executed, and can be
either one or five bytes long (see
:meth:`blue_st_sdk.features.feature_stepper_motor.FeatureStepperMotor.write_motor_command`
method).
"""
FEATURE_NAME = "Stepper Motor"
STATUS_FEATURE_FIELDS = Field(
"Status",
None,
StepperMotorStatus,
len(StepperMotorStatus),
0)
STATUS_DATA_LENGTH_BYTES = 1
COMMAND_FEATURE_FIELDS = Field(
"Command",
None,
StepperMotorCommands,
len(StepperMotorCommands),
0)
COMMAND_DATA_LENGTH_BYTES = 5
[docs] def __init__(self, node):
"""Constructor.
Args:
node (:class:`blue_st_sdk.node.Node`): Node that will send data to
this feature.
"""
super(FeatureStepperMotor, self).__init__(
self.FEATURE_NAME, node, [self.STATUS_FEATURE_FIELDS])
return ExtractedData(sample, self.STATUS_DATA_LENGTH_BYTES)
[docs] @classmethod
def get_motor_status(self, sample):
"""Get the motor status.
Args:
sample (:class:`blue_st_sdk.feature.Sample`): Sample data.
Returns:
:class:`StepperMotorStatus`: The motor status if the sample is valid,
"None" otherwise.
"""
if sample is not None:
if sample._data:
if sample._data[0] is not None:
return StepperMotorStatus(sample._data[0])
return None
[docs] def read_motor_status(self):
"""Read the motor status.
Returns:
:class:`StepperMotorStatus`: The motor status.
Raises:
:exc:`blue_st_sdk.utils.blue_st_exceptions.BlueSTInvalidOperationException`
is raised if the feature is not enabled or the operation
required is not supported.
:exc:`blue_st_sdk.utils.blue_st_exceptions.BlueSTInvalidDataException`
if the data array has not enough data to read.
"""
try:
self._read_data()
return self.get_motor_status(self._get_sample())
except (BlueSTInvalidOperationException, BlueSTInvalidDataException) as e:
raise e
[docs] def write_motor_command(self, command, steps=0):
"""Write the motor command.
Args:
command (:class:`StepperMotorCommands`):
The command to be written.
steps (int): The number of steps to perform, if required by the
command.
Raises:
:exc:`blue_st_sdk.utils.blue_st_exceptions.BlueSTInvalidOperationException`
is raised if the feature is not enabled or the operation
required is not supported.
"""
# The command string can be:
# + Either one byte long: for the command itself;
# + Or five bytes long: one byte for the command and four bytes for the
# number of steps, if required by the command itself.
if not steps:
command_str = struct.pack('B', int(command.value))
else:
command_str = struct.pack('=BH', int(command.value), steps)
try:
self._write_data(command_str)
# To clean the BLE buffer read the feature and throw away the data.
#if self._parent.characteristic_can_be_read(self.get_characteristic()):
# self.read_data()
characteristic = self.get_characteristic()
char_handle = characteristic.getHandle()
data = self._parent.readCharacteristic(char_handle)
except BlueSTInvalidOperationException as e:
raise e
except BTLEException as e:
self._parent._unexpected_disconnect()
def __str__(self):
"""Get a string representing the last sample.
Return:
str: A string representing the last sample.
"""
with lock(self):
sample = self._last_sample
if sample is None:
return self._name + ': Unknown'
if not sample._data:
return self._name + ': Unknown'
if len(sample._data) == 1:
if self.get_motor_status(sample):
status = 'MOTOR_RUNNING'
else:
status = 'MOTOR_INACTIVE'
result = '%s(%d): %s' \
% (self._name,
sample._timestamp,
status)
return result