Fixed moving after enable bug
When a MasterMacs motor is powered for the first time, it does not have a target set. Therefore, the targetReached bit is 0, which the driver used to interpret as "moving". This is solved now by an additional flag which checks if the motor did a handshake. Additionally, the communication module was simplified and new utility scripts were added. It is now made sure that the communication timeout for enabling and sending move commands is now at least equal to PowerCycleTimeout defined in src/masterMacsAxis.cpp.
This commit is contained in:
171
utils/writeRead.py
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171
utils/writeRead.py
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#!/usr/bin/env python3
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"""
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This script allows direct interaction with a MasterMACS-Controller over an ethernet connection.
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To read the manual, simply run this script without any arguments.
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Stefan Mathis, April 2025
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"""
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import struct
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import socket
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import curses
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def packMasterMacsCommand(command):
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# 0x0D = Carriage return
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buf = struct.pack('B',0x0D)
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buf = bytes(command,'utf-8') + buf
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return bytes(command,'utf-8')
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def readMasterMacsReply(input):
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msg = bytearray()
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expectAck = True
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while True:
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b = input.recv(1)
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bint = int.from_bytes(b,byteorder='little')
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if bint == 2 or bint == 7: #STX or BELL
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expectAck = False
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continue
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if expectAck and bint == 6: # ACK
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return bytes(msg)
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else:
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if bint == 13 and not expectAck: # CR
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return bytes(msg)
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else:
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msg.append(bint)
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if __name__ == "__main__":
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from sys import argv
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try:
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addr = argv[1].split(':')
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s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
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s.connect((addr[0],int(addr[1])))
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if len(argv) == 3:
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buf = packMasterMacsCommand(argv[2])
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s.send(buf)
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reply = readMasterMacsReply(s)
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print(reply.decode('utf-8') + '\n')
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else:
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try:
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stdscr = curses.initscr()
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curses.noecho()
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curses.cbreak()
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stdscr.keypad(True)
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stdscr.scrollok(True)
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stdscr.addstr(">> ")
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stdscr.refresh()
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history = [""]
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ptr = len(history) - 1
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while True:
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c = stdscr.getch()
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if c == curses.KEY_RIGHT:
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(y, x) = stdscr.getyx()
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if x < len(history[ptr]) + 3:
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stdscr.move(y, x+1)
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stdscr.refresh()
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elif c == curses.KEY_LEFT:
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(y, x) = stdscr.getyx()
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if x > 3:
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stdscr.move(y, x-1)
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stdscr.refresh()
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elif c == curses.KEY_UP:
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if ptr > 0:
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ptr -= 1
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stdscr.addch("\r")
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stdscr.clrtoeol()
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stdscr.addstr(">> " + history[ptr])
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elif c == curses.KEY_DOWN:
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if ptr < len(history) - 1:
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ptr += 1
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stdscr.addch("\r")
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stdscr.clrtoeol()
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stdscr.addstr(">> " + history[ptr])
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elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
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if history[ptr] == 'quit':
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break
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# because of arrow keys move back to the end of the line
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(y, x) = stdscr.getyx()
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stdscr.move(y, 3+len(history[ptr]))
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if history[ptr]:
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buf = packMasterMacsCommand(history[ptr])
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s.send(buf)
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reply = readMasterMacsReply(s)
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stdscr.addstr("\n" + reply.decode('utf-8')[0:-1])
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if ptr == len(history) - 1 and history[ptr] != "":
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history += [""]
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else:
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history[-1] = ""
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ptr = len(history) - 1
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stdscr.addstr("\n>> ")
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stdscr.refresh()
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else:
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if ptr < len(history) - 1: # Modifying previous input
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if len(history[-1]) == 0:
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history[-1] = history[ptr]
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ptr = len(history) - 1
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else:
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history += [history[ptr]]
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ptr = len(history) - 1
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if c == curses.KEY_BACKSPACE:
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if len(history[ptr]) == 0:
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continue
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(y, x) = stdscr.getyx()
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history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
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stdscr.addch("\r")
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stdscr.clrtoeol()
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stdscr.addstr(">> " + history[ptr])
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stdscr.move(y, x-1)
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stdscr.refresh()
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else:
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(y, x) = stdscr.getyx()
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history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
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stdscr.addch("\r")
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stdscr.clrtoeol()
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stdscr.addstr(">> " + history[ptr])
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stdscr.move(y, x+1)
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stdscr.refresh()
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finally:
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# to quit
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curses.nocbreak()
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stdscr.keypad(False)
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curses.echo()
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curses.endwin()
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except:
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print("""
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Invalid Arguments
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Option 1: Single Command
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------------------------
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Usage: writeRead.py pmachost:port command
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This then returns the response for command.
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Option 2: CLI Mode
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------------------
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Usage: writeRead.py pmachost:port
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You can then type in a command, hit enter, and the response will see
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the reponse, before being prompted to again enter a command. Type
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'quit' to close prompt.
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""")
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