Changeset 2298 for trunk/papywizard/hardware/gigaPanBotHardware.py

Timestamp:

02/15/10 17:14:19 (7 months ago)

Author:

fma

Message:

Added shutdown() method

Files:

• trunk/papywizard/hardware/gigaPanBotHardware.py (modified) (3 diffs)

trunk/papywizard/hardware/gigaPanBotHardware.py

@@ -189 +189 @@
             except IOError:
                 Logger().exception("GigaPanBotHardware.__sendCmd")
-                Logger().warning("GigaPanBotHardware.__sendCmd(): %s axis %d can't sent command %s. Retrying..." % (NAME, self._axis, repr(cmd)))
+                Logger().warning("GigaPanBotHardware.__sendCmd(): axis %d can't sent command %s. Retrying..." % (self._axis, repr(cmd)))
             else:
                 break
         else:
-            raise HardwareError("%s axis %d can't send command %s" % (NAME, self._axis, repr(cmd)))
+            raise HardwareError("Axis %d can't send command %s" % (self._axis, repr(cmd)))
         #Logger().debug("GigaPanBotHardware.__sendCmd(): axis %d ans=%s" % (self._axis, repr(answer)))
 
@@ -199 +199 @@
 
     def init(self):
-        """ Init the GigaPanBot hardware.
-
-        Done only once per axis.
-        """
         self._driver.acquireBus()
         try:
@@ -217 +213 @@
             self.__encoderFullCircle = self.__decodeAxisValue(value)
             Logger().debug("GigaPanBotHardware.init(): full circle count=%s" % hex(self.__encoderFullCircle))
+
+            # Tell the controller we are connected
+            self.__sendCmd("F", "1")
+
+        finally:
+            self._driver.releaseBus()
+
+    def shutdown(self):
+        self._driver.acquireBus()
+        try:
+
+            # Tell the controller we are disconnected
+            self.__sendCmd("F", "0")
 
         finally: