Add functions to C library wrapper

acspy/acsc.py

@@ -217,6 +217,29 @@ def getMotorState(hcomm, axis, wait=SYNCHRONOUS):
     return mst
 
 
+def getMotorError(hcomm, axis, wait=SYNCHRONOUS):
+    """Get the motor error for disabling."""
+    error = ctypes.c_int()
+    call_acsc(acs.acsc_GetMotorError, hcomm, axis, byref(error), wait)
+    error = error.value
+    return error    
+
+def getErrorString(hcomm, error:int):
+    """Retrieves the explanation of an error code."""
+    err_lng = int32()
+    s = create_string_buffer(256)
+    call_acsc(
+        acs.acsc_GetErrorString, 
+        hcomm, 
+        error, 
+        s, 
+        int32(ctypes.sizeof(s)), 
+        byref(err_lng)
+    )
+    error_string = s.value.decode("ascii")
+    return error_string
+
+
 def getAxisState(hcomm, axis, wait=SYNCHRONOUS):
     """Gets the axis state. Returns a dictionary with the following keys
     * "lead"
@@ -277,27 +300,20 @@ def toPointM(hcomm, flags, axes, target, wait=SYNCHRONOUS):
     call_acsc(acs.acsc_ToPointM, hcomm, flags, axes_c, target_c, wait)
 
 
-def enable(hcomm, axis, wait=SYNCHRONOUS):
+def enableMotor(hcomm, axis:int, wait=SYNCHRONOUS):
+    """The function activates a motor."""
     call_acsc(acs.acsc_Enable, hcomm, int32(axis), wait)
 
 
-def commutate(
-    hcomm,
-    axis,
-    current=DEFAULT,
-    settle=DEFAULT,
-    slope=DEFAULT,
-    wait=SYNCHRONOUS,
-):
-    call_acsc(
-        acs.acsc_CommutExt,
-        hcomm,
-        int32(axis),
-        float_(current),
-        int32(settle),
-        int32(slope),
-        wait,
-    )
+def enableMotors(hcomm, axes:list, wait=SYNCHRONOUS):
+    """The function activates several motors."""
+    axes_array = (ctypes.c_int * len(axes))(*axes)
+    call_acsc(acs.acsc_EnableM, hcomm, axes_array, wait)
+
+
+def commutateMotor(hcomm, axis:int, current=DEFAULT, settle=DEFAULT, slope=DEFAULT, wait=SYNCHRONOUS):
+    """This function initiates a motor commutation."""
+    call_acsc(acs.acsc_CommutExt, hcomm, int32(axis), float_(current), int32(settle), int32(slope), wait)
 
 
 def waitCommutated(hcomm, axis, timeout=INFINITE):
@@ -310,10 +326,21 @@ def waitCommutated(hcomm, axis, timeout=INFINITE):
     )
 
 
-def disable(hcomm, axis, wait=SYNCHRONOUS):
+def disableMotor(hcomm, axis, wait=SYNCHRONOUS):
+    """The function shuts off a motor."""
     call_acsc(acs.acsc_Disable, hcomm, int32(axis), wait)
 
 
+def disableAllMotors(hcomm,wait=SYNCHRONOUS):
+    """The function shuts off all motors."""
+    call_acsc(acs.acsc_DisableAll, hcomm, wait)
+
+
+def disableMotors(hcomm, axes:list, wait=SYNCHRONOUS):
+    """The function shuts off several specified motors."""
+    axes_array = (ctypes.c_int * len(axes))(*axes)
+    call_acsc(acs.acsc_DisableM, hcomm, axes_array, wait)
+
 def getRPosition(hcomm, axis, wait=SYNCHRONOUS):
     pos = double()
     call_acsc(acs.acsc_GetRPosition, hcomm, axis, p(pos), wait)
@@ -586,9 +613,7 @@ def uploadDataFromController(
 def loadBuffer(hcomm, buffnumber, program, count=512, wait=SYNCHRONOUS):
     """Load a buffer into the ACS controller."""
     prgbuff = ctypes.create_string_buffer(str(program).encode(), count)
-    call_acsc(
-        acs.acsc_LoadBuffer, hcomm, buffnumber, byref(prgbuff), count, wait
-    )
+    call_acsc(acs.acsc_LoadBuffer, hcomm, buffnumber, byref(prgbuff), count, wait)
 
 
 def loadBuffersFromFile(hcomm, filename, wait=SYNCHRONOUS):
@@ -704,6 +729,9 @@ def call_acsc(func, *args, **kwargs):
             raise AcscError(err)
     return rv
 
+def cancelOperation(hcomm, wait=SYNCHRONOUS):
+    """Cancels all of the waiting and non-waiting calls."""
+    call_acsc(acs.acsc_CancelOperation, hcomm, wait)
 
 if __name__ == "__main__":
     """Some testing can go here"""
@@ -712,4 +740,4 @@ def call_acsc(func, *args, **kwargs):
     print(getOutput(hc, 1, 16))
     closeComm(hc)
 
-    call_acsc(acs.acsc_Halt, hc, 0, SYNCHRONOUS)
+    call_acsc(acs.acsc_Halt, hc, 0, SYNCHRONOUS)