_tmc_ec_pin.py

"""Enable Control base module."""

from ._tmc_ec import TmcEnableControl
from ..tmc_gpio import Gpio, GpioMode
from .. import tmc_gpio
from ..tmc_logger import TmcLogger, Loglevel


class TmcEnableControlPin(TmcEnableControl):
    """Enable Control base class."""

    @property
    def pin_en(self):
        """pin_en property."""
        return self._pin_en

    def __init__(self, pin_en: int):
        """constructor."""
        super().__init__()
        self._pin_en = pin_en

    def init(self, tmc_logger: TmcLogger):
        """Init: called by the Tmc class."""
        super().init(tmc_logger)
        self._tmc_logger.log(f"EN Pin: {self._pin_en}", Loglevel.DEBUG)
        tmc_gpio.tmc_gpio.gpio_setup(self._pin_en, GpioMode.OUT, initial=Gpio.HIGH)

    def __del__(self):
        """Destructor."""
        self.deinit()

    def deinit(self):
        """Destructor."""
        super().deinit()
        if hasattr(self, "_pin_en"):
            tmc_gpio.tmc_gpio.gpio_cleanup(self._pin_en)
            del self._pin_en

    def set_motor_enabled(self, en):
        """Enables or disables the motor current output.

        Args:
            en (bool): whether the motor current output should be enabled
        """
        if hasattr(self, "_pin_en"):
            tmc_gpio.tmc_gpio.gpio_output(self._pin_en, not en)
            self._tmc_logger.log(f"Motor output active: {en}", Loglevel.INFO)