Fully-featured version of the masterMACS driver
This commit is contained in:
120
utils/decodeCommon.py
Normal file
120
utils/decodeCommon.py
Normal file
@ -0,0 +1,120 @@
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"""
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Code shared by "decodeError.py" and "decodeStatus.py"
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"""
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def decode(value: int, interpretation):
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bit_list = [int(char) for char in bin(value)[2:]]
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bit_list.reverse()
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interpreted = []
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for (bit, interpretations) in zip(bit_list, interpretation):
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interpreted.append(interpretations[bit])
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return (bit_list, interpreted)
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def print_decoded(bit_list, interpreted):
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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print(f"Bit {idx} = {bit_value}: {msg}")
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def interactive():
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# Imported here, because curses is not available in Windows. Using the
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# interactive mode therefore fails on Windows, but at least the single
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# command mode can be used (which would not be possible if we would import
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# curses at the top level)
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import curses
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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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(bit_list, interpreted) = decode(history[ptr])
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
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stdscr.refresh()
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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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# 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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81
utils/decodeError.py
Executable file
81
utils/decodeError.py
Executable file
@ -0,0 +1,81 @@
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#!/usr/bin/env python3
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"""
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The R11 error read command returns an integer, which needs to be interpreted
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bitwise for various error flags. This script prints out these status flags in
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human-readable formatting.
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To read the manual, simply run this script without any arguments.
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Stefan Mathis, January 2025
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"""
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from decodeCommon import interactive, decode, print_decoded
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# List of tuples which encodes the states given in the file description.
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# Index first with the bit index, then with the bit value
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interpretation = [
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("Not specified", "Not specified"), # Bit 0
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("Ok", "Short circuit"), # Bit 1
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("Ok", "Encoder error"), # Bit 2
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("Ok", "Following error"), # Bit 3
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("Ok", "Communication error"), # Bit 4
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("Ok", "Feedback error"), # Bit 5
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("Ok", "Positive limit switch hit"), # Bit 6
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("Ok", "Negative limit switch hit"), # Bit 7
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("Ok", "Positive software limit hit"), # Bit 8
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("Ok", "Negative software limit hit"), # Bit 9
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("Ok", "Over-current"), # Bit 10
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("Ok", "Over-temperature drive"), # Bit 11
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("Ok", "Over-voltage"), # Bit 12
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("Ok", "Under-voltage"), # Bit 13
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("Not specified", "Not specified"), # Bit 14
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("Ok", "STO fault (STO input is on disable state)"), # Bit 15
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]
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if __name__ == "__main__":
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from sys import argv
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if len(argv) == 1:
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# Start interactive mode
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interactive()
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else:
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number = None
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try:
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number = int(float(argv[1]))
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except:
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print("""
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Decode R11 message of MasterMACs
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------------------
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MasterMACs returns its error message (R11) as a floating-point number.
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The bits of this float encode different states. These states are stored
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in the interpretation variable.
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This script can be used in two different ways:
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Option 1: Single Command
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------------------------
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Usage: decodeError.py value
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'value' is the return value of a R11 command. This value is interpreted
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bit-wise and the result is printed out.
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Option 2: CLI Mode
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------------------
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Usage: decodeError.py
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A prompt will be opened. Type in the return value of a R11 command, hit
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enter and the interpretation will be printed in the prompt. After that,
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the next value can be typed in. Type 'quit' to close the prompt.
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""")
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if number is not None:
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print("Motor error")
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print("============")
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(bit_list, interpreted) = decode(number, interpretation)
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print_decoded(bit_list, interpreted)
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81
utils/decodeStatus.py
Normal file → Executable file
81
utils/decodeStatus.py
Normal file → Executable file
@ -9,6 +9,7 @@ To read the manual, simply run this script without any arguments.
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Stefan Mathis, December 2024
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"""
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from decodeCommon import interactive, decode, print_decoded
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# List of tuples which encodes the states given in the file description.
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# Index first with the bit index, then with the bit value
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@ -20,35 +21,17 @@ interpretation = [
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("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
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("Motor performs quick stop", "Ok"), # Bit 5
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("Switch on enabled", "Switch on disabled"), # Bit 6
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("Ok", "RWarning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
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("Motor is idle", "Motor is currently moving"), # Bit 8
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("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
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("Not specified", "Not specified"), # Bit 8
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("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
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("Target not reached", "Target reached"), # Bit 10
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("Ok", "Internal limit active"), # Bit 11
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("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
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("Not specified", "Not specified"), # Bit 12
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("Not specified", "Not specified"), # Bit 13
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("No event set or event has not occurred yet", "Set event has occurred"), # Bit 14
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("Axis off (power disabled)", "Axis on (power enabled)"), # Bit 15
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("Not specified", "Not specified"), # Bit 14
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("Not specified", "Not specified"), # Bit 15
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]
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def decode(value, big_endian: bool = False):
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interpreted = []
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bit_list = [(value >> shift_ind) & 1
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for shift_ind in range(value.bit_length())] # little endian
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if big_endian:
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bit_list.reverse() # big endian
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for (bit, interpretations) in zip(bit_list, interpretation):
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interpreted.append(interpretations[bit])
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return (bit_list, interpreted)
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def print_decoded(bit_list, interpreted):
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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print(f"Bit {idx} = {bit_value}: {msg}")
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def interactive():
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# Imported here, because curses is not available in Windows. Using the
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@ -102,15 +85,10 @@ def interactive():
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stdscr.move(y, 3+len(history[ptr]))
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if history[ptr]:
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result = interpret_inputs(history[ptr].split())
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if result is None:
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stdscr.addstr(f"\nBAD INPUT: Expected input of 'value [big_endian]', where 'value' is an int or a float and 'big_endian' is an optional boolean argument.")
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else:
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(arg, big_endian) = result
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(bit_list, interpreted) = decode(arg, big_endian)
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
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stdscr.refresh()
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(bit_list, interpreted) = decode(history[ptr])
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
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stdscr.refresh()
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if ptr == len(history) - 1 and history[ptr] != "":
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history += [""]
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@ -157,24 +135,6 @@ def interactive():
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curses.echo()
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curses.endwin()
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def interpret_inputs(inputs):
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number = None
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big_endian = False
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try:
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number = int(float(inputs[0]))
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if len(inputs) > 1:
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second_arg = inputs[1]
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if second_arg == "True" or second_arg == "true":
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big_endian = True
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elif second_arg == "False" or second_arg == "false":
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big_endian = False
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else:
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big_endian = bool(int(second_arg))
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return (number, big_endian)
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except:
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return None
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if __name__ == "__main__":
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from sys import argv
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@ -183,9 +143,11 @@ if __name__ == "__main__":
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interactive()
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else:
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result = interpret_inputs(argv[1:])
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number = None
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try:
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number = int(float(argv[1]))
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if result is None:
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except:
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print("""
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Decode R10 message of MasterMACs
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------------------
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@ -199,25 +161,24 @@ if __name__ == "__main__":
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Option 1: Single Command
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------------------------
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Usage: decodeMasterMACStatusR10.py value [big_endian]
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Usage: decodeStatus.py value
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'value' is the return value of a R10 command. This value is interpreted
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bit-wise and the result is printed out. The optional second argument can
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be used to specify whether the input value needs to be interpreted as
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little or big endian. Default is False.
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bit-wise and the result is printed out.
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Option 2: CLI Mode
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------------------
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Usage: decodeMasterMACStatusR10.py
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Usage: decodeStatus.py
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A prompt will be opened. Type in the return value of a R10 command, hit
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enter and the interpretation will be printed in the prompt. After that,
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the next value can be typed in. Type 'quit' to close the prompt.
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""")
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else:
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if number is not None:
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print("Motor status")
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print("============")
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(arg, big_endian) = result
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(bit_list, interpreted) = decode(arg, big_endian)
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(bit_list, interpreted) = decode(number, interpretation)
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print_decoded(bit_list, interpreted)
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