Fully-featured version of the masterMACS driver

2025-02-14 16:42:43 +01:00
parent ea8c34ab84
commit 6321a78b78
8 changed files with 972 additions and 349 deletions
--- a/utils/decodeError.py
+++ b/utils/decodeError.py
@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+"""
+The R11 error read command returns an integer, which needs to be interpreted
+bitwise for various error flags. This script prints out these status flags in
+human-readable formatting.
+
+To read the manual, simply run this script without any arguments.
+
+Stefan Mathis, January 2025
+"""
+
+from decodeCommon import interactive, decode, print_decoded
+
+# List of tuples which encodes the states given in the file description.
+# Index first with the bit index, then with the bit value
+interpretation = [
+    ("Not specified", "Not specified"), # Bit 0
+    ("Ok", "Short circuit"), # Bit 1
+    ("Ok", "Encoder error"), # Bit 2
+    ("Ok", "Following error"), # Bit 3
+    ("Ok", "Communication error"), # Bit 4
+    ("Ok", "Feedback error"), # Bit 5
+    ("Ok", "Positive limit switch hit"), # Bit 6
+    ("Ok", "Negative limit switch hit"), # Bit 7
+    ("Ok", "Positive software limit hit"), # Bit 8
+    ("Ok", "Negative software limit hit"), # Bit 9
+    ("Ok", "Over-current"), # Bit 10
+    ("Ok", "Over-temperature drive"), # Bit 11
+    ("Ok", "Over-voltage"), # Bit 12
+    ("Ok", "Under-voltage"), # Bit 13
+    ("Not specified", "Not specified"), # Bit 14
+    ("Ok", "STO fault (STO input is on disable state)"), # Bit 15
+]
+
+if __name__ == "__main__":
+    from sys import argv
+
+    if len(argv) == 1:
+        # Start interactive mode
+        interactive()
+    else:
+
+        number = None
+        try:
+            number = int(float(argv[1]))
+
+        except:
+            print("""
+            Decode R11 message of MasterMACs
+            ------------------
+                
+            MasterMACs returns its error message (R11) as a floating-point number.
+            The bits of this float encode different states. These states are stored 
+            in the interpretation variable.
+            
+            This script can be used in two different ways:
+                
+            Option 1: Single Command
+            ------------------------
+
+            Usage: decodeError.py value
+                
+            'value' is the return value of a R11 command. This value is interpreted
+            bit-wise and the result is printed out.
+
+            Option 2: CLI Mode
+            ------------------       
+
+            Usage: decodeError.py
+            
+            A prompt will be opened. Type in the return value of a R11 command, hit
+            enter and the interpretation will be printed in the prompt. After that,
+            the next value can be typed in. Type 'quit' to close the prompt.
+            """)
+
+        
+        if number is not None:
+            print("Motor error")
+            print("============")
+            (bit_list, interpreted) = decode(number, interpretation)
+            print_decoded(bit_list, interpreted)