添加运行hpi必须的文件

record_system_v27/data/ArcusDevice.py

@@ -0,0 +1,83 @@
+"""
+Arcus controller python interface.
+Only works if one ARCUS device is connected.
+Including Arcus Configuration cables.
+Open ArcusDevice.py in Python IDE --> Run --> Enter Terminal Commands
+"""
+import threading
+import Arcus
+import copy
+import sys
+
+class ArcusDevice(object):
+    """
+    This is interface class to Arcus stepper controller
+    @author Lukas Zubal
+    @version 1.0
+    """
+    def __init__(self):
+        """
+        @brief Constructor
+        @param self object instance
+        """
+        self.device = Arcus.Arcus()
+        if self.device.Connect() == 1:
+            print ' '
+        else:
+            print "Cannot open stepper device on port "
+            sys.exit()
+        self.outputBuffer = "                                                                "
+        self.lock = threading.Lock()  # thread safety
+        self.verbose = 0
+
+    def close(self):
+        """
+        @brief Closes Arcus device connection
+        @param self object instance
+        @return bool Returns a 1 if successful
+        """
+        self.lock.acquire()
+        self.device.Close()
+        self.lock.release()
+        del self.device
+        return 1
+
+    def write(self, data):
+        """
+        @brief Command-response call to Arcus device
+        @see Arcus controller manual for complete list of interactive commands
+        @param self object instance
+        @param data string containing interactive commands to arcus
+        @return str Returns string containing response of controller
+        """
+        self.lock.acquire()
+        self.device.SendAndRecive(data, self.outputBuffer)
+        resp = copy.deepcopy(self.outputBuffer[:])
+        self.lock.release()
+        resp = resp.split('\x00')[0]
+        if self.verbose == 1:
+            print resp
+        return resp
+
+arc = ArcusDevice()
+
+arc.write('DN')  # Send Terminal Command to return device name.
+# print "Connected to device: " + response # Notify user
+
+for i in range(len(sys.argv)-1):  # The first param is the name of this file.
+    response = arc.write(sys.argv[i+1])   # Process Command and save Controller Response
+    print sys.argv[i+1], response
+    if sys.argv[i+1] == 'DN':  # Command 'DN' whose response is not 'OK'(actually is JSA00) is used to test if arcus is connected.
+        pass
+    elif sys.argv[i+1] == 'PX':  # Command 'PX' is used to test if the position of arcus is return to 0(initial position);
+        if int(response) == 0:
+            print 'arcus is return to initial position'
+        if int(response) != 0:
+            print 'arcus is still returning'
+    else:
+        while response != 'OK':
+            response = arc.write(sys.argv[i+1])
+
+
+arc.close() # Close Device.
+del arc