Source code for morse.middleware.pocolibs.overlays.platine_overlay

import logging; logger = logging.getLogger("morse." + __name__)
#logger.setLevel(logging.DEBUG)
from morse.core.services import service, async_service, interruptible
from morse.core.overlay import MorseOverlay
from morse.core import status
from functools import partial

from morse.middleware.pocolibs.actuators.platine import PlatinePoster
from morse.middleware.pocolibs_datastream import PosterNotFound, DummyPoster

import math

[docs]class PlatineModule(MorseOverlay): def __init__(self, overlaid_object): # Call the constructor of the parent class MorseOverlay.__init__(self, overlaid_object) self._clean_track = False self._rot = 1.0 self.cntrl = DummyPoster("platineCntrl") def _dummy_completion(self, *args): logger.debug("enter in _dummy_completion") pass def _compute_real_angle(self, deg, absolute, pan, tilt): if deg == 'PLATINE_DEG' or deg == '1': logger.debug("converting degree to radian") tilt = math.radians(tilt) pan = math.radians(pan) if absolute == 'PLATINE_RELATIVE' or absolute == '0': logger.debug("calculing absolute coordinate") current_pan, current_tilt = self.overlaid_object.get_pan_tilt() tilt = current_tilt + tilt pan = current_pan + pan return (self._rot * pan), tilt def _set_pan_tilt(self, pan, tilt, wait): if wait == 'PLATINE_TRUE' or wait == '1': self.overlaid_object.set_pan_tilt(self.chain_callback(), pan, tilt) else: self.overlaid_object.set_pan_tilt(partial(self._dummy_completion), pan, tilt) self.completed(status.SUCCESS) def _interrupt(self): pan, tilt = self.overlaid_object.get_pan_tilt() self.overlaid_object.local_data['tilt'] = tilt self.overlaid_object.local_data['pan'] = pan
[docs] def interrupt(self): if self._clean_track: self.overlaid_object.input_functions.pop() self.completed(status.PREEMPTED) self._interrupt() MorseOverlay.interrupt(self)
@service
[docs] def InitDriver(self, serial, baud, rot): self._serial = serial self._baud = baud self._rot = float(rot)
@service
[docs] def GetSerialParams(self): return self._serial, self._baud, self._rot
@interruptible @async_service
[docs] def CmdPosCoord(self, deg, absolute, pan, tilt, wait, dummy): r_pan, r_tilt = self._compute_real_angle(deg, absolute, float(pan), - float(tilt)) self._set_pan_tilt(r_pan, r_tilt, wait)
@interruptible @async_service
[docs] def CmdPosTilt(self, deg, absolute, tilt, wait, dummy): c_pan, c_tilt = self.overlaid_object.get_pan_tilt() r_pan, r_tilt = self._compute_real_angle(deg, absolute, 0.0, - float(tilt)) self._set_pan_tilt(c_pan, r_tilt, wait)
@interruptible @async_service
[docs] def CmdPosPan(self, deg, absolute, pan, wait, dummy): c_pan, c_tilt = self.overlaid_object.get_pan_tilt() r_pan, r_tilt = self._compute_real_angle(deg, absolute, float(pan), 0.0) self._set_pan_tilt(r_pan, c_tilt, wait)
@interruptible @async_service
[docs] def AimAtTargetPoint(self, p1, p2, p3, p4, p5, p6, frame, p7, x, y, z): self.overlaid_object.look_at_point(self.chain_callback(), float(x), float(y), float(z))
@interruptible @async_service
[docs] def TrackPos(self, poster_name): try: poster = PlatinePoster(self.overlaid_object, {'poster': poster_name, 'delay': False }) except PosterNotFound: return self.completed(status.FAILED, ["POSTER_NOT_FOUND"]) self._clean_track = True self.overlaid_object.input_functions.append(poster.read)
@interruptible @async_service
[docs] def Stop(self): self._interrupt() self.completed(status.SUCCESS)
[docs] def name(self): return "platine"