camera/smartactmot.py at master · julienGautier77/camera · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
import ctypes
import time
import logging
from PyQt6.QtCore import QSettings

dll_file = 'DLL64/MCSControl'
SMART = ctypes.cdll.LoadLibrary(dll_file)
confSmart = QSettings('./fichiersConfig/configMoteurSmartAct.ini', QSettings.Format.IniFormat) # motor configuration  files

def openCom(ipAdress):
    options = 'sync'.encode('ascii') # synchronus mode
    controller_index = ctypes.c_ulong()
    status = SMART.SA_OpenSystem(ctypes.byref(controller_index),
            ipAdress.encode('ascii'),options)
    if status != 0:
            raise Exception('SmarAct communication to ', ipAdress,' failed')
    else :
          mode=0# " SA_HCM_DISABLED"
          result=SMART.SA_SetHCMEnabled(controller_index,mode)

          return (controller_index.value)

def stopConnexion():
     print('stop smaract')


#### Def IP adress or usb usb:id:3118167233
# or usb:ix:<n> where the number <n> selects the nth device in the list of all currently attached MCS with a USB interface.
# The drawback of identifying an MCS with this method is, that the number and the order of connected MCS
# can change between sessions

Controller_index=[]
ipAdress0="network:192.168.1.200:5000"
ipList=[ipAdress0]
for ipAdress in ipList :
    controller_index0=openCom(ipAdress)
    Controller_index.append(controller_index0)
    print('controller index', Controller_index, 'connected to',ipAdress)


def stopConnexion():
     i=0
     for index in Controller_index:
        result=SMART.SA_SetHCMEnabled(index,1)
        status = SMART.SA_CloseSystem(ctypes.c_ulong(index))
        if status==0:
            print('stop smarAct',ipList[i],'index controler',index)

        i+=1

class MOTORSMART():
    def __init__(self, mot1='',parent=None):
        self.moteurname=mot1

        self.numControleur=int(confSmart.value(self.moteurname+'/numControleur'))
        self.numMoteur=int(confSmart.value(self.moteurname+'/numMoteur'))

        date=time.strftime("%Y_%m_%d")
        fileNameLog='logMotor_'+date+'.log'
        #logging.basicConfig(filename=fileNameLog, encoding='utf-8', level=logging.INFO,format='%(asctime)s %(message)s')

        self.controller_index=Controller_index[self.numControleur]


    def position(self):
        """
        position(motor): Get position actuelle
        """

        position = ctypes.c_long()

        status = SMART.SA_GetPosition_S(
            ctypes.c_ulong(self.controller_index),
            ctypes.c_ulong(self.numMoteur),
            ctypes.byref(position)
        )
        if status==0:
            return position.value

    def stopMotor(self) :
        """
        stopmot(motor) : Stop motor
        """
        SMART.SA_Stop_S(self.controller_index,self.numMoteur)
        print( self.moteurname, "STOP")

    def rmove(self,pos,vitesse=10000):
        """
         rmove(motor,pos):Mouvement relatif en nm
        """
        status = SMART.SA_GotoPositionRelative_S(
            ctypes.c_ulong(self.controller_index),
            ctypes.c_ulong(self.numMoteur),
            ctypes.c_long(int(pos)),
            ctypes.c_ulong(60000))

        if status==0:
            print (time.strftime("%A %d %B %Y %H:%M:%S"))
            print (self.moteurname, "position before moving :", self.position(),"(step)")
            print (self.moteurname, "relative move of :",pos,"(step)")
            tx='motor ' +self.moteurname +' rmove  of ' + str(pos) + ' step  ' + '  position is :  ' + str(self.position())
        else:
            print ('error relative move of ',self.moteurname )
            tx='error relative move of ',self.moteurname
        logging.info(tx)

    def move(self,pos,vitesse=10000):
        """
        ## Mouvement Absolue en nm : move(motor,pos)
        """
        Status=SMART.SA_GotoPositionAbsolute_S(self.controller_index,self.numMoteur,int(pos),0)
        if Status==0:
            print (time.strftime("%A %d %B %Y %H:%M:%S"))
            print (self.moteurname, "position before moving :", self.position(),"(step)")
            print (self.moteurname, "move at :",pos,"(step)")
            tx='motor ' +self.moteurname +'  absolute move to ' + str(pos) + ' step  ' + '  position is :  ' + str(self.position())
        else :
            print ('error absolue move of ',self.moteurname )
            tx='error relative move of ',self.moteurname
        logging.info(tx)


#e=MOTORSMART(mot1='mot1')
#print(e.position(),e.rmove(100000))
# time.sleep(1)
# print(e.position())
# stopConnexion()