Source code for spynnaker.pyNN.external_devices_models.push_bot.push_bot_ethernet.push_bot_ethernet_motor_device
# Copyright (c) 2017-2019 The University of Manchester
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
from spinn_utilities.overrides import overrides
from spinn_front_end_common.abstract_models import (
AbstractSendMeMulticastCommandsVertex)
from spinn_front_end_common.abstract_models.impl import (
ProvidesKeyToAtomMappingImpl)
from spinn_front_end_common.utilities.exceptions import ConfigurationException
from .push_bot_ethernet_device import PushBotEthernetDevice
from spynnaker.pyNN.external_devices_models.push_bot.push_bot_parameters \
import (
PushBotMotor)
[docs]class PushBotEthernetMotorDevice(
PushBotEthernetDevice, AbstractSendMeMulticastCommandsVertex,
ProvidesKeyToAtomMappingImpl):
""" The motor of a PushBot
"""
def __init__(self, motor, protocol, timesteps_between_send=None):
"""
:param motor: a PushBotMotor value to indicate the motor to control
:type motor: PushBotMotor
:param protocol: The protocol used to control the device
:type protocol: MunichIoEthernetProtocol
:param timesteps_between_send:
The number of timesteps between sending commands to the device,
or None to use the default
"""
if not isinstance(motor, PushBotMotor):
raise ConfigurationException(
"motor parameter must be a PushBotMotor value")
super(PushBotEthernetMotorDevice, self).__init__(
protocol, motor, True, timesteps_between_send)
self.__command_protocol = protocol
[docs] @overrides(PushBotEthernetDevice.set_command_protocol)
def set_command_protocol(self, command_protocol):
self.__command_protocol = command_protocol
@property
@overrides(AbstractSendMeMulticastCommandsVertex.start_resume_commands)
def start_resume_commands(self):
commands = list()
# add mode command if not done already
if not self.protocol.sent_mode_command():
commands.append(self.protocol.set_mode())
# device specific commands
commands.append(self.__command_protocol.generic_motor_enable())
return commands
@property
@overrides(AbstractSendMeMulticastCommandsVertex.pause_stop_commands)
def pause_stop_commands(self):
return [self.__command_protocol.generic_motor_disable()]
@property
@overrides(AbstractSendMeMulticastCommandsVertex.timed_commands)
def timed_commands(self):
return []