Source Code for Module ckbot.nobus

 1  from time import time as now 
 2  from ckmodule import AbstractProtocol, AbstractBus, AbstractNodeAdaptor, MissingModule 
 3   
 4  # If you want to use non-default MissingModule replacements, first 
 5  #   map their NIDs to their module classes, e.g. 
 6  #   >>> import nobus as NB, dynamixel as DX 
 7  #   >>> NB.NID_CLASS[0x32] = DX.MissingDynamixel 
 8  NID_CLASS = {} 
 9   
10 -class Protocol( AbstractProtocol ): 
11    """abstract superclass of all Protocol classes 
12     
13    AbstractProtocol subclasses must implement the following methods: 
14      p.update() 
15      p.hintNodes(nodes) 
16      p.generatePNA( nid ) 
17     
18    AbstractProtocol instances must have the following data attributes: 
19      p.heartbeats -- dict -- nid to last heartbeat 
20    """ 
21 -  def __init__(self,*args,**kw): 
22      AbstractProtocol.__init__(self,*args,**kw) 
23      self.hintNodes([]) 
24       
25 -  def update(self): 
26      self._ts[0] = now() 
27     
28 -  def hintNodes( self, nodes ): 
29      self._ts = [now(),"No message"] 
30      h = {} 
31      for nd in nodes: 
32        h[nd] = self._ts 
33      self.heartbeats = h  
34     
35 -  def generatePNA( self, nid ): 
36      return NodeAdaptor( nid ) 
37   
38 -class Bus( AbstractBus ): 
39    """abstract superclass of all Bus classes 
40     
41    """ 
42 -  def __init__(self,*args,**kw): 
43      AbstractBus.__init__(self,*args,**kw) 
44     
45 -class NodeAdaptor( AbstractNodeAdaptor ): 
46    """abstract superclass of all ProtocolNodeAdaptor classes 
47     
48    AbstractNodeAdaptor subclasses must implement the get_typecode() 
49    method, returning the module's type identification string 
50    """ 
51 -  def __init__(self,nid): 
52      AbstractNodeAdaptor.__init__(self) 
53      self.nid = nid 
54     
55 -  def get_typecode( self ): 
56      cls = NID_CLASS.get(self.nid,MissingModule) 
57      return cls.TYPECODE 
58