Go to the documentation of this file.00001 import struct
00002
00003 __author__ = 'tom1231'
00004 from BAL.Header.RiCHeader import RiCHeader
00005
00006 SERVO_NUM_PLACE = 7
00007 SERVO_POSITION_PLACE = 11
00008
00009
00010 class ServoPublishResponse(RiCHeader):
00011 def __init__(self):
00012 RiCHeader.__init__(self)
00013 self._servoNum = 0
00014 self._position = 0.0
00015
00016 def buildRequest(self, data):
00017 RiCHeader.buildRequest(self, data)
00018 bytes = bytearray()
00019 while self.index < SERVO_NUM_PLACE:
00020 bytes.append(data[self.index])
00021 self.index += 1
00022 self._servoNum = struct.unpack('<B', bytes)[0]
00023 bytes = bytearray()
00024 while self.index < SERVO_POSITION_PLACE:
00025 bytes.append(data[self.index])
00026 self.index += 1
00027 self._position = struct.unpack('<f', bytes)[0]
00028
00029 def getServoNum(self): return self._servoNum
00030
00031 def getServoPos(self): return self._position
00032