Merge pull request #92 from openUC2/mergemaster

adding homing a, minor issue

Author: beniroquai

uc2rest/UC2Client.py

@@ -196,4 +196,4 @@ def setDebugging(self, debug=False):
         self.serial.DEBUG = debug
 
     def close(self):
-        self.serial.closeDevice()
+        self.serial.close()

uc2rest/home.py

@@ -44,6 +44,17 @@ def home_z(self, speed = None, direction = None, endposrelease = None, endstoppo
                   endstoppolarity=endstoppolarity,
                   isBlocking=isBlocking)    
 
+    def home_a(self, speed = None, direction = None, endposrelease = None, endstoppolarity=None, timeout=None, isBlocking=False):
+        # axis = 0 corresponds to 'A'
+        axis = 0
+        self.home(axis=axis,
+                  timeout=timeout, 
+                  speed = speed, 
+                  direction = direction, 
+                  endposrelease=endposrelease, 
+                  endstoppolarity=endstoppolarity,
+                  isBlocking=isBlocking)    
+    
     def home(self, axis=None, timeout=None, speed=None, direction=None, endposrelease=None, endstoppolarity=None, isBlocking=False):
         '''
         axis = 0,1,2,3 or 'A, 'X','Y','Z'

uc2rest/mserial.py

@@ -409,11 +409,11 @@ def sendMessage(self, command, nResponses=1, timeout = 20):
                 self._logger.debug("It takes too long to get a response, we will resend the last command: "+str(self.commands[identifier]))
                 try:
                     ERROR="We have a queue, so after a while we need to resend the wrong command!"
+                    iRetry += 1
                     raise Exception(ERROR)
                     self.serialdevice.write(json.dumps(self.commands[identifier]).encode('utf-8'))
                     t0 = time.time()
                     time.sleep(0.1)
-                    iRetry += 1
                 except Exception as e:
                     self._logger.error("Failed to write the line in serial: "+str(e))
 
@@ -430,6 +430,9 @@ def closeSerial(self):
         self.stop()
         self.running = False
 
+    def close(self):
+        self.closeSerial()
+        
     def reconnect(self, baudrate=None):
         self._logger.debug("Reconnecting to the serial device")
         self.running = False