Package ckbot :: Module hitec :: Class Protocol

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Class Protocol

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TBD

Instance Methods

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__init__(self, bus=None, nodes=None, *args, **kw)
Initialize a hitec.Protocol

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scan(self)
Do a low-level scan for all nodes

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hintNodes(self, nodes)
*PURE* use hint that specified nodes are available

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write(self, *args, **kw)
Write out a command --> redirected to Bus.write

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read(self)
Read a response; redirected to Bus.read

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send_cmd_sync(self, *argv, **kw)

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request(self, cmd, tx0, tx1, nid=None, **kw)
Write out a command and record incomplete reply

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_completeResponses(self, now, timeout=0.05, retries=4)
(private) Retries another request of incomplete message if timed out, and completes any request for which a response arrived.

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_pingAsNeeded(self, now)

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update(self)
Complete any outstanding async requests and collect heartbeats

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generatePNA(self, nid)
Generates a pololu.ProtocolNodeAdaptor, associating a pololu protocol with a specific node id and returns it

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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self, bus=None, nodes=None, *args, **kw)
(Constructor)

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Initialize a hitec.Protocol

INPUT: bus -- hitec.Bus -- Serial bus used to communicate with Hitec servos nodes -- list -- list of hitec ids

ATTRIBUTES: heartbeats -- dictionary -- nid : (timestamp, last message) pnas -- dictionary -- table of NodeID to ProtocolNodeAdaptor mappings

Overrides: object.__init__

hintNodes(self, nodes)

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*PURE* use hint that specified nodes are available

Overrides: ckmodule.AbstractProtocol.hintNodes: (inherited documentation)

request(self, cmd, tx0, tx1, nid=None, **kw)

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Write out a command and record incomplete reply

return promise

_completeResponses(self, now, timeout=0.05, retries=4)

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(private)
Retries another request of incomplete message if timed out, and
completes any request for which a response arrived.

After several retries puts a ProtocolError in the result

INPUT:
  now -- current time
  timeout -- retry rate in seconds
  retries -- number of retries
OUTPUT:
  num_failed -- number of failed requests

update(self)

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Complete any outstanding async requests and collect heartbeats

Overrides: ckmodule.AbstractProtocol.update

generatePNA(self, nid)

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Generates a pololu.ProtocolNodeAdaptor, associating a pololu protocol with a specific node id and returns it

Overrides: ckmodule.AbstractProtocol.generatePNA

Class Protocol

__init__(self, bus=None, nodes=None, *args, **kw) (Constructor)

hintNodes(self, nodes)

request(self, cmd, tx0, tx1, nid=None, **kw)

_completeResponses(self, now, timeout=0.05, retries=4)

update(self)

generatePNA(self, nid)

init(self, bus=None, nodes=None, *args, **kw)
(Constructor)