Fully-featured version of the masterMACS driver
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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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