Go to the documentation of this file.00001 __author__ = 'tom1231'
00002 from BAL.Header.RiCHeader import RiCHeader
00003 import struct
00004
00005 MOTOR_ID = 7
00006 MOTOR_RAD = 11
00007 MOTOR_RAD_S = 15
00008
00009
00010 class CloseLoopPublishResponse(RiCHeader):
00011 def __init__(self):
00012 RiCHeader.__init__(self)
00013 self._devId = 0
00014 self._rad = 0
00015 self._rad_s = 0
00016
00017 def buildRequest(self, data):
00018 RiCHeader.buildRequest(self, data)
00019 bytes = bytearray()
00020 while self.index < MOTOR_ID:
00021 bytes.append(data[self.index])
00022 self.index += 1
00023 self._devId = struct.unpack('<B', bytes)[0]
00024 bytes = bytearray()
00025 while self.index < MOTOR_RAD:
00026 bytes.append(data[self.index])
00027 self.index += 1
00028 self._rad = struct.unpack('<f', bytes)[0]
00029 bytes = bytearray()
00030 while self.index < MOTOR_RAD_S:
00031 bytes.append(data[self.index])
00032 self.index += 1
00033 self._rad_s = struct.unpack('<f', bytes)[0]
00034
00035 def getMotorId(self):
00036 return self._devId
00037
00038 def getMotorRad(self):
00039 return self._rad
00040
00041 def getMotorRadS(self):
00042 return self._rad_s
00043
00044 def getMotorMsg(self):
00045 return [self.getMotorRad(), self.getMotorRadS()]