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Add functions to C library wrapper #23

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merged 11 commits into from
Nov 18, 2023
Merged

Add functions to C library wrapper #23

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18055c5
adding couple of functions to wrapper
fchiesad Sep 2, 2023
e604b89
adding couple of Motor functions
fchiesad Sep 2, 2023
115dd62
adding more functions
francdoc Sep 2, 2023
9f49d28
fixed details related to open/closed principle
francdoc Sep 3, 2023
2c12e32
adding hint type notation
francdoc Sep 3, 2023
5ef8cdd
running black autoformat
francdoc Sep 7, 2023
01ed7a3
adding getfposition and setrpos
francdoc Sep 10, 2023
4cbc317
Add floats in Python function signatures
petebachant Nov 18, 2023
a8d2f05
Remove blank line
petebachant Nov 18, 2023
117dd4b
Tweak formatting
petebachant Nov 18, 2023
a91b773
Increment patch version no
petebachant Nov 18, 2023
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12 changes: 12 additions & 0 deletions acspy/acsc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,11 @@ def setJerk(hcomm, axis: int, jerk: double, wait=SYNCHRONOUS):
call_acsc(acs.acsc_SetJerk, hcomm, axis, double(jerk), wait)


def setRPosition(hcomm, axis: int, rpos: double, wait=SYNCHRONOUS):
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The type hints for these should be Python types, since we convert to ctypes internally

Suggested change
def setRPosition(hcomm, axis: int, rpos: double, wait=SYNCHRONOUS):
def setRPosition(hcomm, axis: int, rpos: float, wait=SYNCHRONOUS):

"""Asigns a current value of reference position."""
call_acsc(acs.acsc_SetRPosition, hcomm, axis, double(rpos), wait)


def getMotorEnabled(hcomm, axis: int, wait=SYNCHRONOUS):
"""Checks if motor is enabled."""
state = ctypes.c_int()
Expand Down Expand Up @@ -272,6 +277,13 @@ def getAxisState(hcomm, axis: int, wait=SYNCHRONOUS):
return ast


def getFPosition(hcomm, axis:int, wait=SYNCHRONOUS):
"""Retrieves an instant value of the motor feedback position."""
fposition = ctypes.c_double()
call_acsc(acs.acsc_GetFPosition, hcomm, axis, byref(fposition), wait)
fposition = fposition.value
return fposition

def registerEmergencyStop():
"""Register the software emergency stop."""
call_acsc(acs.acsc_RegisterEmergencyStop)
Expand Down