mountutils_eqmod.py
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# -*- coding: utf-8 -*-
# #####################################################################
# #####################################################################
# #####################################################################
# Class Mountutils_eqmod
# #####################################################################
# #####################################################################
# This class add utilities for EQMOD protocol
# #####################################################################
class Mountutils_eqmod():
# ==self.= Constant for error codes
NO_ERROR = 0
# === Current status for the command :f
# --- current motions
MOTION_JOG_FAST_POSITIVE = 0
MOTION_JOG_FAST_NEGATIVE = 1
MOTION_JOG_SLOW_POSITIVE = 2
MOTION_JOG_SLOW_NEGATIVE = 3
MOTION_STOPPED_POSITIVE = 4
MOTION_STOPPED_NEGATIVE = 5
# --- current moving
MOTION_STOPPED = 0
MOTION_MOVING = 1
# --- current motor
MOTOR_OFF = 0
MOTOR_ON = 1
# === Current parameters for the command :G
# --- motion types
G_OFFSET_FAST = 0
G_CONTINUOUS_SLOW = 1
G_OFFSET_SLOW = 2
G_CONTINUOUS_FAST = 3
# --- last motion senses
# NB: increasing means diurnal or toward north pole for north hemisphere.
G_SENSE_POSITIVE = 0 # increasing
G_SENSE_NEGATIVE = 1 # decreasing
def hexa2int(self, hexa_str):
a1 = hexa_str[0:2]
a2 = hexa_str[2:4]
a3 = hexa_str[4:6]
hexa = a3+a2+a1
dec = int(hexa,16)
return dec
def int2hexa(self, dec):
dec = int(dec)
hexa_str = "{:06X}".format(dec)
a1 = hexa_str[0:2]
a2 = hexa_str[2:4]
a3 = hexa_str[4:6]
hexa = a3+a2+a1
return hexa
def decode_G(self, lastG:str):
"""
If we get ":G100", then input lastG="00"
This function will return the last motion_type and motion_sense
"""
digit = int(lastG[0])
motion_type = self.G_OFFSET_FAST
if digit==0:
motion_type = self.G_OFFSET_FAST
if digit==1:
motion_type = self.G_CONTINUOUS_SLOW
if digit==2:
motion_type = self.G_OFFSET_SLOW
if digit==3:
motion_type = self.G_CONTINUOUS_FAST
digit = int(lastG[1])
if digit==0:
motion_sense = self.G_SENSE_POSITIVE
else:
motion_sense = self.G_SENSE_NEGATIVE
return motion_type, motion_sense
def encode_G(self, motion_type, motion_sense):
"""
From the last motion type and the last motion sense
this function will return the digits xy to add to the ":G?xy" command.
e.g. The output lastG="00"
"""
lastG = ""
digit = 0
if motion_type == self.G_OFFSET_FAST:
digit = 0
elif motion_type == self.G_CONTINUOUS_SLOW:
digit = 1
elif motion_type == self.G_OFFSET_SLOW:
digit = 2
elif motion_type == self.G_CONTINUOUS_FAST:
digit = 3
lastG += str(digit)
if motion_sense == self.G_SENSE_POSITIVE:
digit = 0
else:
digit = 1
lastG += str(digit)
return lastG
def decode_f(self, f:str):
"""
If we get "=101", then input f="101"
This function will return the the current motion, moving and motor
"""
f_x = int(f[0])
if f_x==0:
current_motion = self.MOTION_JOG_SLOW_POSITIVE
elif f_x==1:
current_motion = self.MOTION_STOPPED_POSITIVE # or MOTION_JOG_SLOW_POSITIVE
elif f_x==2:
current_motion = self.MOTION_JOG_SLOW_NEGATIVE
elif f_x==3:
current_motion = self.MOTION_STOPPED_NEGATIVE # or MOTION_JOG_SLOW_POSITIVE
elif f_x==4:
current_motion = self.MOTION_JOG_FAST_POSITIVE
elif f_x==5:
current_motion = self.MOTION_JOG_FAST_POSITIVE
elif f_x==6:
current_motion = self.MOTION_JOG_FAST_NEGATIVE
elif f_x==7:
current_motion = self.MOTION_JOG_FAST_NEGATIVE
f_y = int(f[1])
if f_y==0:
current_moving = self.MOTION_STOPPED
else:
current_moving = self.MOTION_JOGGING
f_z = int(f[2])
if f_z==0:
current_motor = self.MOTOR_OFF
else:
current_motor = self.MOTOR_ON
return current_motion, current_moving, current_motor
def encode_f(self, motion_type:int, current_motion:int, current_moving:int, current_motor:int)->str:
"""
From the last motion_type, current motion, moving, motor
this function will return the answer of a ":f?" command.
e.g. The output = "101"
"""
#print(f"(0) motion_type={motion_type} current_motion={current_motion}")
f_x = 1
if motion_type==self.G_OFFSET_FAST or motion_type==self.G_OFFSET_SLOW:
if current_motion==self.MOTION_JOG_SLOW_POSITIVE:
f_x = 0
elif current_motion==self.MOTION_STOPPED_POSITIVE:
f_x = 1
elif current_motion==self.MOTION_JOG_SLOW_NEGATIVE:
f_x = 2
elif current_motion==self.MOTION_STOPPED_NEGATIVE:
f_x = 3
elif current_motion==self.MOTION_JOG_FAST_POSITIVE:
f_x = 4
elif current_motion==self.MOTION_JOG_FAST_NEGATIVE:
f_x = 6
#print(f"(1) f_x={f_x}")
elif motion_type==self.G_CONTINUOUS_SLOW:
if current_motion==self.MOTION_JOG_SLOW_POSITIVE or current_motion==self.MOTION_STOPPED_POSITIVE:
f_x = 1
elif current_motion==self.MOTION_JOG_SLOW_NEGATIVE or current_motion==self.MOTION_STOPPED_NEGATIVE:
f_x = 3
elif motion_type==self.G_CONTINUOUS_FAST:
if current_motion==self.MOTION_STOPPED_POSITIVE:
f_x = 1
elif current_motion==self.MOTION_STOPPED_NEGATIVE:
f_x = 3
elif current_motion==self.MOTION_JOG_FAST_POSITIVE:
f_x = 5
elif current_motion==self.MOTION_JOG_FAST_NEGATIVE:
f_x = 7
# ---
#print(f"(2) current_motion={current_motion}")
if current_moving==self.MOTION_STOPPED:
f_y = 0
else:
f_y = 1 # MOTION_MOVING
if current_motor==self.MOTOR_OFF:
f_z = 0
else:
f_z = 1 # MOTOR_ON
f = str(f_x) + str(f_y) + str(f_z)
#print(f"(3) f_x={f_x} f_y={f_y} f={f}")
return f