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import PyTango
import socket
import MotorController
nb_call = 0
class IcePapController(MotorController.MotorController):
MaxDevice = 4
def __init__(self,inst,props):
print "PYTHON -> IcePapController ctor for instance",inst
MotorController.MotorController.__init__(self,inst,props)
self.nb_call = 0;
self.socket_connected = False;
self.db = PyTango.Database()
self.ct_name = "IcePapController/" + self.inst_name
#
# Get controller properties
#
prop_list = ['host','port','timeout']
prop = self.db.get_property(self.ct_name,prop_list)
if len(prop["host"]) != 0:
self.host = prop["host"][0]
else:
print "Property host not defined for controller",self.ct_name
self.host = "nada"
if len(prop["port"]) != 0:
self.port = int(prop["port"][0])
else:
print "Property port not defined for controller",self.ct_name
self.port = 0
if len(prop["timeout"]) != 0:
self.timeout = int(prop["timeout"][0])
else:
print "Property timeout not defined for controller",self.ct_name
self.timeout = 3
#
# Connect to the icepap
#
print "PYTHON -> IcePap on",self.host," and port",self.port," with timeout = ",self.timeout
global nb_call
if nb_call <= 1:
nb_call = nb_call + 1
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.settimeout(self.timeout)
self.sock.connect((self.host, self.port))
self.socket_connected = True
print "PYTHON -> Connected to", self.host, " on port", self.port
#
# Check that the Icepap is OK
#
# ans = self.IceWriteRead("?ID")
def AddDevice(self,axis):
print "PYTHON -> IcePapController/",self.inst_name,": In AddDevice method for axis",axis
# raise RuntimeError,"Hola la la"
def DeleteDevice(self,axis):
print "PYTHON -> IcePapController/",self.inst_name,": In DeleteDevice method for axis",axis
def StateOne(self,axis):
print "PYTHON -> IcePapController/",self.inst_name,": In StateOne method for axis",axis
tup = (PyTango.DevState.ON,0)
return tup
def PreReadAll(self):
print "PYTHON -> IcePapController/",self.inst_name,": In PreReadAll method"
def PreReadOne(self,axis):
print "PYTHON -> IcePapController/",self.inst_name,": In PreReadOne method for axis",axis
def ReadAll(self):
print "PYTHON -> IcePapController/",self.inst_name,": In ReadAll method"
def ReadOne(self,axis):
print "PYTHON -> IcePapController/",self.inst_name,": In ReadOne method for axis",axis
return 123
def PreStartAll(self):
print "PYTHON -> IcePapController/",self.inst_name,": In PreStartAll method"
def PreStartOne(self,axis,pos):
print "PYTHON -> IcePapController/",self.inst_name,": In PreStartOne method for axis",axis," with pos",pos
return True
def StartOne(self,axis,pos):
print "PYTHON -> IcePapController/",self.inst_name,": In StartOne method for axis",axis," with pos",pos
def StartAll(self):
print "PYTHON -> IcePapController/",self.inst_name,": In StartAll method"
def SetPar(self,axis,name,value):
print "PYTHON -> IcePapController/",self.inst_name,": In SetPar method for axis",axis," name=",name," value=",value
def GetPar(self,axis,name):
print "PYTHON -> IcePapController/",self.inst_name,": In GetPar method for axis",axis," name=",name
return 12.34
def IceWrite(self,data):
data = data + "\n"
byteSent = self.sock.send(data)
print "PYTHON -> Sent", byteSent, "bytes to icepap"
def IceWriteRead(self,data):
self.IceWrite(data)
byteReceived = self.sock.recv(1024)
print "PYTHON -> Icepap answered:",byteReceived
return byteReceived
def IceResetFifo(self):
self.IceWrite("fiforst")
def IceCheckError(self,ice_answer):
if (ice_answer.find("ERROR") != -1):
new_ans = self.IceWriteRead("?ERR 1")
print "Error from IcePap =",new_ans
def __del__(self):
print "PYTHON -> IcePapController/",self.inst_name,": Aarrrrrg, I am dying"
#
# Reset IcePap FIFO
#
if (self.socket_connected == True):
print "PYTHON -> Closing connection"
self.IceResetFifo()
self.sock.close()
if __name__ == "__main__":
obj = IcePapController('test')
# obj.AddDevice(2)
# obj.DeleteDevice(2)
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