Adds ERROR_BYTE and MACRO_STATUS requests.

rustyducks · Feb 12, 2019 · 305d5ae · 305d5ae
1 parent 16cc134
commit 305d5ae
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Showing 2 changed files with 23 additions and 3 deletions.
diff --git a/armothy.py b/armothy.py
@@ -103,6 +103,12 @@ def start_pump(self):
 
     def execute_macro(self, macro, args):
         self.communication.send_macro_command(macro.value, args)
+
+    def get_macro_status(self):
+        return self.communication.get_macro_status()
+
+    def get_error_byte(self):
+        return self.communication.get_error_byte()
 
     def update(self):
         self._pump_state = ePumpState(self.communication.is_pump_on())

diff --git a/communication.py b/communication.py
@@ -21,7 +21,9 @@
 AXIS_3_POSITION_RQST = 0x0D  # 4 bytes(float)
 PUMP_STATE_RQST = 0x0E  # 1 byte(0: stopped; 1: started)
 VALVE_STATE_RQST = 0x0F  # 1 byte(0: closed; 1: opened)
-PRESSURE_RQST = 0x10  # 4 bytes(float)
+ERROR_BYTE_RQST = 0x10  # 1byte ?????
+MACRO_STATUS_RQST = 0x11   # 1 byte
+PRESSURE_RQST = 0x12  # 4 bytes(float)
 
 
 class Communication:
@@ -98,17 +100,29 @@ def get_axis_value(self, axis):
     def is_pump_off(self):
         self.i2c.write_byte(self.armothy_address, PUMP_STATE_RQST)
         block = self.i2c.read_i2c_block_data(self.armothy_address, PUMP_STATE_RQST, 1)
-        value = bitstring.pack('uint:8', block)
+        value = bitstring.pack('uint:8', *block)
         return value.int
 
     def is_valve_closed(self):
         self.i2c.write_byte(self.armothy_address, VALVE_STATE_RQST)
         block = self.i2c.read_i2c_block_data(self.armothy_address, VALVE_STATE_RQST, 1)
-        value = bitstring.pack('uint:8', block)
+        value = bitstring.pack('uint:8', *block)
         return value.int
 
     def get_pressure_value(self):
         self.i2c.write_byte(self.armothy_address, PRESSURE_RQST)  # Needed because we need to specify twice the command
         block = self.i2c.read_i2c_block_data(self.armothy_address, PRESSURE_RQST, 4)
         value = bitstring.pack('4*uint:8', *block)
         return value.floatle
+
+    def get_macro_status(self):
+        self.i2c.write_byte(self.armothy_address, MACRO_STATUS_RQST)
+        block = self.i2c.read_i2c_block_data(self.armothy_address, MACRO_STATUS_RQST, 1)
+        value = bitstring.pack('uint:8', *block)
+        return value.int
+
+    def get_error_byte(self):
+        self.i2c.write_byte(self.armothy_address, ERROR_BYTE_RQST)
+        block = self.i2c.read_i2c_block_data(self.armothy_address, ERROR_BYTE_RQST, 1)
+        value = bitstring.pack('uint:8',* block)
+        return value.int