[add Servo control
warner@lothar.com**20060826102939] {
hunk ./_phidgetmodule.c 13
+static PyTypeObject PHIDGETSERVOHANDLEType;
hunk ./_phidgetmodule.c 647
+// -------------------- CPhidgetServo
+
+
+typedef struct {
+    PyObject_HEAD;
+    CPhidgetServoHandle phid;
+} phidgetservohandle_t;
+
+static PyObject *
+phidgetservohandle_new(PyTypeObject *type, PyObject *args, PyObject* kwargs)
+{
+    // this creates a new CPhidgetServoHandle and wraps it with a python
+    // object.
+    int rc;
+    phidgetservohandle_t *self;
+
+    self = (phidgetservohandle_t *)PyObject_New(phidgetservohandle_t,
+                                                &PHIDGETSERVOHANDLEType);
+    if (!self)
+        return NULL;
+    rc = CPhidgetServo_create(&(self->phid));
+    if (rc)
+        return raisePhidgetError(rc);
+    
+    return (PyObject *)self;
+}
+
+static PyObject *
+servo_getNumMotors(phidgetservohandle_t *self, PyObject *args) {
+    int rc, numMotors;
+    if (!PyArg_ParseTuple(args,"")) return NULL;
+    rc = CPhidgetServo_getNumMotors(self->phid, &numMotors);
+    if (rc)
+        return raisePhidgetError(rc);
+    return PyInt_FromLong(numMotors);
+}
+
+static PyObject *
+servo_getMotorPosition(phidgetservohandle_t *self, PyObject *args) {
+    int rc, index;
+    double pVal;
+    if (!PyArg_ParseTuple(args,"i", &index))
+        return NULL;
+    rc = CPhidgetServo_getMotorPosition(self->phid, index, &pVal);
+    if (rc)
+        return raisePhidgetError(rc);
+    return PyFloat_FromDouble(pVal);
+}
+
+static PyObject *
+servo_setMotorPosition(phidgetservohandle_t *self, PyObject *args) {
+    int rc, index;
+    double newVal;
+    if (!PyArg_ParseTuple(args,"id", &index, &newVal))
+        return NULL;
+    rc = CPhidgetServo_setMotorPosition(self->phid, index, newVal);
+    if (rc)
+        return raisePhidgetError(rc);
+    Py_INCREF(Py_None);
+    return Py_None;
+}
+
+static PyMethodDef servo_methods[] = {
+    // these are the generic methods which work on all phidget handles
+    {"getDeviceName", (PyCFunction)phidget_getDeviceName, METH_VARARGS},
+    {"getSerialNumber", (PyCFunction)phidget_getSerialNumber, METH_VARARGS},
+    {"getDeviceVersion", (PyCFunction)phidget_getDeviceVersion, METH_VARARGS},
+    {"getDeviceStatus", (PyCFunction)phidget_getDeviceStatus, METH_VARARGS},
+    {"open", (PyCFunction)phidget_open, METH_VARARGS|METH_KEYWORDS},
+#if 0
+    {"close", (PyCFunction)phidget_close, METH_VARARGS},
+    {"set_OnDetach_Handler", (PyCFunction)phidget_set_OnDetach_Handler, METH_VARARGS},
+    {"set_OnAttach_Handler", (PyCFunction)phidget_set_OnAttach_Handler, METH_VARARGS},
+    {"set_OnError_Handler", (PyCFunction)phidget_set_OnError_Handler, METH_VARARGS},
+    {"getTag", (PyCFunction)phidget_getTag, METH_VARARGS},
+    {"setTag", (PyCFunction)phidget_setTag, METH_VARARGS},
+#endif
+    // these are servo -specific methods
+
+    {"getNumMotors", (PyCFunction)servo_getNumMotors, METH_VARARGS},
+    {"getMotorPosition", (PyCFunction)servo_getMotorPosition, METH_VARARGS},
+    {"setMotorPosition", (PyCFunction)servo_setMotorPosition, METH_VARARGS},
+#if 0
+    {"set_OnMotorPositionChange_Handler",
+     (PyCFunction)servo_set_OnMotorPositionChange_Handler, METH_VARARGS},
+#endif
+
+    {NULL, NULL}
+};
+
+static PyObject *
+servo_getattr(phidgethandle_t *self, char *name) {
+  return Py_FindMethod(servo_methods, (PyObject *)self, name);
+}
+
+static PyTypeObject PHIDGETSERVOHANDLEType = {
+  PyObject_HEAD_INIT(&PyType_Type)
+  0,                              /*ob_size*/
+  "phidget.servohandle",          /*tp_name*/
+  sizeof(phidgetservohandle_t),   /*tp_basicsize*/
+  0,                              /*tp_itemsize*/
+  /* methods */    
+  (destructor) phidgethandle_dealloc,   /*tp_dealloc*/  // generic
+  0,                              /*print*/
+  (getattrfunc)servo_getattr,     /*tp_getattr*/
+  0,                              /*tp_setattr*/
+  0,                              /*tp_compare*/ 
+  0,                              /*tp_repr*/
+  0,                              /*tp_as_number*/
+  0,                              /*tp_as_sequence*/
+  0,                              /*tp_as_mapping*/
+  0,                              /*tp_hash*/
+  0,                              /*tp_call*/
+  0,                              /*tp_str*/
+  0,                              /*tp_getattro*/
+  0,                              /*tp_setattro*/
+  0,                              /*tp_as_buffer*/
+  Py_TPFLAGS_DEFAULT,             /*tp_flags*/
+  "CPhidgetServoHandle wrapper",       /*tp_doc*/
+};
+
hunk ./_phidgetmodule.c 902
+    PHIDGETSERVOHANDLEType.tp_new = phidgetservohandle_new;
hunk ./_phidgetmodule.c 921
+    Py_INCREF(&PHIDGETSERVOHANDLEType);
+    PyModule_AddObject(m, "Servo", (PyObject *)&PHIDGETSERVOHANDLEType);
+
}