snipet kuim

class Axis(object):
    """IcePAP emulated axis"""

    def __init__(self, icepap, address=None, **opts):
        """ COSICAS DE LA CLASSE """

    # --- Axis level commands
     def move(self, args=(), cmd_result=None, **kwargs):
        self._destination = float(args)
        velocity = float(getattr(self, "velocity", None)())
        acctime = float(getattr(self, "acctime", None)())
        position = float(getattr(self, "posaxis", None)())

        acceleration = velocity / acctime
        self._sign = 1
        if position > self._destination:
            self._sign = -1

        self._t1 = velocity / acceleration

        self._x0 = position
        self._x1 = self._x0 + self._sign * acceleration * (self._t1 ** 2) / 2
        if self._t1 == self._t2:
            self._x2 = self._x1
        else:
            self._x2 = self._x1 + self._sign * (abs(self._x0 - self._destination) - 2 *
                                                abs(self._x0 - self._x1))

        self._t2 = self._t1 + abs(self._x2 - self._x1) / velocity
        self._t3 = self._t1 + self._t2
        if 2 * self._t1 > self._t3:
            raise RuntimeError("Acceleration time too slow")

        """ NECESITO QUE TODOS LOS MOTORES HAGAN ESTA LINEA CASI AL MISMO TIEMPO """
        self._start_time = time.time()

        self._log.debug("move %r to %r", self.address, self._destination)
        # setattr(self, "_posaxis", destination)
        return " OK"

    posaxis = fpos = axis_command(position)
    pos = axis_command("pos", default=0)
    velocity = axis_command("velocity", default=1000)
    acctime = axis_command("acctime", default=0.25)

    move = axis_command(move)

    """ ... MUCHO CODIGO ... """

def command(f_or_name=None, mode="rw", axes_arg_parser=None, default=None):

    """ ... MUCHO CODIGO ... """

    @functools.wraps(f)
    def wraps(self, **kwargs):

    """ ... MUCHO CODIGO ... """

            else:
                for axis, arg in zip(axes, args):
                    axis = self._get_axis(axis, system=True)


                    """ MI INTENTO DE THREAD """
                    thread = lambda a, n, ar: result.append(str(getattr(a, n)(ar)))
                    x = threading.Thread(target=thread, args=(axis, name, arg))
                    x.start()

                    """ EL VERDADERO CODIGO A THREDEAR QUE LLAMA EL WRAPPER EN LA CLASSE ANTERIOR CON LA FUNCION """
                    # result.append(str(getattr(axis, name)(arg)))

""" ... MUCHO CODIGO ... """

    return wraps


read_command = functools.partial(command, mode="r")

axes_command = functools.partial(command, axes_arg_parser=axis_value_parse_args)
axes_read_command = functools.partial(axes_command, mode="r")