Fully-featured version of the masterMACS driver

Makefile

@@ -7,11 +7,13 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Additional module dependencies
-REQUIRED+=asynMotor
 REQUIRED+=sinqMotor
 
+# Specify the version of asynMotor we want to build against
+motorBase_VERSION=7.2.2
+
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.6.3
+sinqMotor_VERSION=0.7.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacs.dbd

@@ -1,4 +1,5 @@
 #---------------------------------------------
 # SINQ specific DB definitions
 #---------------------------------------------
-registrar(masterMacsRegister) 
+registrar(masterMacsControllerRegister) 
+registrar(masterMacsAxisRegister) 

src/masterMacsAxis.h

@@ -70,7 +70,7 @@ class masterMacsAxis : public sinqAxis {
                       double max_velocity, double acceleration);
 
     /**
-     * @brief Implementation of the `atFirstPoll` function from sinqAxis.
+     * @brief Readout of some values from the controller at IOC startup
      *
      * The following steps are performed:
      * - Read out the motor status, motor position, velocity and acceleration
@@ -79,7 +79,7 @@ class masterMacsAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus atFirstPoll();
+    asynStatus init();
 
     /**
      * @brief Enable / disable the axis.
@@ -100,9 +100,10 @@ class masterMacsAxis : public sinqAxis {
   protected:
     masterMacsController *pC_;
     double lastSetSpeed_;
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
 
     asynStatus readConfig();
-    bool initial_poll_;
 
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -134,10 +135,7 @@ class masterMacsAxis : public sinqAxis {
      */
     bool switchedOn() { return axisStatus_[1]; }
 
-    /**
+    // Bit 2 is unused
-     * @brief Read the property from axisStatus_
-     */
-    bool enabled() { return axisStatus_[2]; }
 
     /**
      * @brief Read the property from axisStatus_
@@ -162,12 +160,9 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool newMoveCommandWhileMoving() { return axisStatus_[7]; }
+    bool warning() { return axisStatus_[7]; }
 
-    /**
+    // Bit 8 is unused
-     * @brief Read the property from axisStatus_
-     */
-    bool isMoving() { return axisStatus_[8]; }
 
     /**
      * @brief Read the property from axisStatus_
@@ -209,6 +204,76 @@ class masterMacsAxis : public sinqAxis {
     boolean.
     */
 
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool shortCircuit() { return axisError_[1]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool encoderError() { return axisError_[2]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool followingError() { return axisError_[3]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool communicationError() { return axisError_[4]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool feedbackError() { return axisError_[5]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool positiveLimitSwitch() { return axisError_[6]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool negativeLimitSwitch() { return axisError_[7]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool positiveSoftwareLimit() { return axisError_[8]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool negativeSoftwareLimit() { return axisError_[9]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overCurrent() { return axisError_[10]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overTemperature() { return axisError_[11]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool overVoltage() { return axisError_[12]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool underVoltage() { return axisError_[13]; }
+
+    /**
+     * @brief Read the property from axisError_
+     */
+    bool stoFault() { return axisError_[15]; }
+
   private:
     friend class masterMacsController;
 };

src/masterMacsController.cpp

@@ -75,10 +75,9 @@ masterMacsController::masterMacsController(const char *portName,
     */
     pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
     if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf(
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
-            "%s => line %d:\nFATAL ERROR (cannot connect to MCU controller).\n"
+                     "connect to MCU controller).\nTerminating IOC",
-            "Terminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
-            __PRETTY_FUNCTION__, __LINE__);
         exit(-1);
     }
 
@@ -93,20 +92,21 @@ masterMacsController::masterMacsController(const char *portName,
         lowLevelPortUser_, message_from_device, strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nFATAL ERROR (setting input EOS failed "
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (setting "
-                  "with %s).\nTerminating IOC",
+                  "input EOS failed with %s).\nTerminating IOC",
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
         pasynOctetSyncIO->disconnect(lowLevelPortUser_);
         exit(-1);
     }
 
     status = callParamCallbacks();
     if (status != asynSuccess) {
-        asynPrint(
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-            this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (executing "
-            "%s => line %d:\nFATAL ERROR (executing ParamLib callbacks failed "
+                  "ParamLib callbacks failed with %s).\nTerminating IOC",
-            "with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
-            __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+                  stringifyAsynStatus(status));
         pasynOctetSyncIO->disconnect(lowLevelPortUser_);
         exit(-1);
     }
@@ -144,10 +144,10 @@ masterMacsAxis *masterMacsController::castToAxis(asynMotorAxis *asynAxis) {
     // an instance of Axis
     masterMacsAxis *axis = dynamic_cast<masterMacsAxis *>(asynAxis);
     if (axis == nullptr) {
-        asynPrint(
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-            this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
-            "%s => line %d:\nAxis %d is not an instance of masterMacsAxis",
+                  "an instance of masterMacsAxis",
-            __PRETTY_FUNCTION__, __LINE__, axis->axisNo_);
+                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
     }
     return axis;
 }
@@ -248,9 +248,10 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     fullCommand[2] = lenWithMetadataSep.quot; // MSB
 
     adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+    asynPrint(
-              "%s => line %d:\nSending command %s\n", __PRETTY_FUNCTION__,
+        this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-              __LINE__, printableCommand);
+        "Controller \"%s\", axis %d => %s, line %d:\nSending command %s\n",
+        portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableCommand);
 
     // Send out the command
     status =
@@ -276,25 +277,28 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                 }
             } else {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "%s => line %d:\nError %s while reading from the "
+                          "Controller \"%s\", axis %d => %s, line %d:\nError "
-                          "controller\n",
+                          "%s while reading from the controller\n",
-                          __PRETTY_FUNCTION__, __LINE__,
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                           stringifyAsynStatus(status));
                 break;
             }
 
             if (i + 1 == maxTrials && status == asynError) {
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(
-                          "%s => line %d:\nFailed %d times to get the "
+                    this->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "correct response. Aborting read.\n",
+                    "Controller \"%s\", axis %d => %s, line %d:\nFailed "
-                          __PRETTY_FUNCTION__, __LINE__, maxTrials);
+                    "%d times to get the correct response. Aborting read.\n",
+                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__, maxTrials);
             }
         }
 
     } else {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s => line %d:\nError %s while writing to the controller\n",
+                  "Controller \"%s\", axis %d => %s, line %d:\nError %s while "
-                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+                  "writing to the controller\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
     }
 
     // MasterMACS needs a bit of time between messages, therefore thr program
@@ -341,9 +345,10 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
         adjustForPrint(printableResponse, fullResponse, MAXBUF_);
-        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
+        asynPrint(
-                  "%s => line %d:\nReturn value: %s\n", __PRETTY_FUNCTION__,
+            lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  __LINE__, printableResponse);
+            "Controller \"%s\", axis %d => %s, line %d:\nReturn value: %s\n",
+            portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableResponse);
         pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
 
@@ -355,26 +360,29 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (pl_status != asynSuccess) {
             return paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                        __PRETTY_FUNCTION__, __LINE__);
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (motorStatusProblem == 0) {
             pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
             if (pl_status != asynSuccess) {
                 return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                            __PRETTY_FUNCTION__, __LINE__);
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
             }
 
             pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
             if (pl_status != asynSuccess) {
                 return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            __PRETTY_FUNCTION__, __LINE__);
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
             }
 
             pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
             if (pl_status != asynSuccess) {
                 return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            __PRETTY_FUNCTION__, __LINE__);
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
             }
         }
     }
@@ -414,9 +422,10 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '\x15') {
             // NAK
             snprintf(drvMessageText, MAXBUF_, "Communication failed.");
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                      "%s => line %d:\nCommunication failed\n",
+                      "Controller \"%s\", axis %d => %s, line "
-                      __PRETTY_FUNCTION__, __LINE__);
+                      "%d:\nCommunication failed\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
             break;
         } else if (fullResponse[i] == '\x18') {
             // CAN
@@ -424,9 +433,10 @@ asynStatus masterMacsController::parseResponse(
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
             asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "%s => line %d:\nTried to write with the read-only "
+                      "Controller \"%s\", axis %d => %s, line %d:\nTried to "
-                      "command %s\n",
+                      "write with the read-only command %s\n",
-                      __PRETTY_FUNCTION__, __LINE__, printableCommand);
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      printableCommand);
             responseValid = false;
             break;
         }
@@ -452,11 +462,11 @@ asynStatus masterMacsController::parseResponse(
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             adjustForPrint(printableResponse, fullResponse, MAXBUF_);
 
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+            asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                      "%s => line %d:\nMismatched response %s to "
+                      "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
-                      "command %s\n",
+                      "response %s to command %s\n",
-                      __PRETTY_FUNCTION__, __LINE__, printableResponse,
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      printableCommand);
+                      printableResponse, printableCommand);
 
             snprintf(drvMessageText, MAXBUF_,
                      "Mismatched response %s to command %s. Please call the "
@@ -511,72 +521,6 @@ asynStatus masterMacsCreateController(const char *portName,
     return asynSuccess;
 }
 
-/*
-C wrapper for the axis constructor. Please refer to the masterMacsAxis
-constructor documentation. The controller is read from the portName.
-*/
-asynStatus masterMacsCreateAxis(const char *portName, int axis) {
-    masterMacsAxis *pAxis;
-
-    /*
-    findAsynPortDriver is a asyn library FFI function which uses the C ABI.
-    Therefore it returns a void pointer instead of e.g. a pointer to a
-    superclass of the controller such as asynPortDriver. Type-safe upcasting
-    via dynamic_cast is therefore not possible directly. However, we do know
-    that the void pointer is either a pointer to asynPortDriver (if a driver
-    with the specified name exists) or a nullptr. Therefore, we first do a
-    nullptr check, then a cast to asynPortDriver and lastly a (typesafe)
-    dynamic_upcast to Controller
-    https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
-     */
-    void *ptr = findAsynPortDriver(portName);
-    if (ptr == nullptr) {
-        /*
-        We can't use asynPrint here since this macro would require us
-        to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
-        However, the given pointer is a nullptr and therefore doesn't
-        have a lowLevelPortUser_! printf is an EPICS alternative which
-        works w/o that, but doesn't offer the comfort provided
-        by the asynTrace-facility
-        */
-        errlogPrintf("%s => line %d:\nPort %s not found.", __PRETTY_FUNCTION__,
-                     __LINE__, portName);
-        return asynError;
-    }
-    // Unsafe cast of the pointer to an asynPortDriver
-    asynPortDriver *apd = (asynPortDriver *)(ptr);
-
-    // Safe downcast
-    masterMacsController *pC = dynamic_cast<masterMacsController *>(apd);
-    if (pC == nullptr) {
-        errlogPrintf("%s => line %d:\ncontroller on port %s is not a "
-                     "masterMacsController.",
-                     __PRETTY_FUNCTION__, __LINE__, portName);
-        return asynError;
-    }
-
-    // Prevent manipulation of the controller from other threads while we
-    // create the new axis.
-    pC->lock();
-
-    /*
-    We create a new instance of the axis, using the "new" keyword to
-    allocate it on the heap while avoiding RAII.
-    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
-    https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
-
-    The created object is registered in EPICS in its constructor and can
-    safely be "leaked" here.
-    */
-#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
-#pragma GCC diagnostic ignored "-Wunused-variable"
-    pAxis = new masterMacsAxis(pC, axis);
-
-    // Allow manipulation of the controller again
-    pC->unlock();
-    return asynSuccess;
-}
-
 /*
 This is boilerplate code which is used to make the FFI functions
 CreateController and CreateAxis "known" to the IOC shell (iocsh).
@@ -613,30 +557,13 @@ static void configMasterMacsCreateControllerCallFunc(const iocshArgBuf *args) {
                                args[3].dval, args[4].dval, args[5].dval);
 }
 
-/*
-Same procedure as for the CreateController function, but for the axis
-itself.
-*/
-static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mmacs1)",
-                                        iocshArgString};
-static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
-static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
-                                                 &CreateAxisArg1};
-static const iocshFuncDef configMasterMacsCreateAxis = {"masterMacsAxis", 2,
-                                                        CreateAxisArgs};
-static void configMasterMacsCreateAxisCallFunc(const iocshArgBuf *args) {
-    masterMacsCreateAxis(args[0].sval, args[1].ival);
-}
-
 // This function is made known to EPICS in masterMacs.dbd and is called by
 // EPICS in order to register both functions in the IOC shell
-static void masterMacsRegister(void) {
+static void masterMacsControllerRegister(void) {
     iocshRegister(&configMasterMacsCreateController,
                   configMasterMacsCreateControllerCallFunc);
-    iocshRegister(&configMasterMacsCreateAxis,
-                  configMasterMacsCreateAxisCallFunc);
 }
-epicsExportRegistrar(masterMacsRegister);
+epicsExportRegistrar(masterMacsControllerRegister);
 
 #endif
 

utils/decodeCommon.py

@@ -0,0 +1,120 @@
+"""
+Code shared by "decodeError.py" and "decodeStatus.py"
+"""
+
+def decode(value: int, interpretation):
+
+    bit_list = [int(char) for char in bin(value)[2:]]    
+    bit_list.reverse()
+
+    interpreted = []
+    for (bit, interpretations) in zip(bit_list, interpretation):
+        interpreted.append(interpretations[bit])
+    return (bit_list, interpreted)
+
+def print_decoded(bit_list, interpreted):
+    for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
+        print(f"Bit {idx} = {bit_value}: {msg}")
+
+def interactive():
+
+    # Imported here, because curses is not available in Windows. Using the 
+    # interactive mode therefore fails on Windows, but at least the single 
+    # command mode can be used (which would not be possible if we would import
+    # curses at the top level)
+    import curses
+
+    stdscr = curses.initscr()
+    curses.noecho()
+    curses.cbreak()
+    stdscr.keypad(True)
+    stdscr.scrollok(True)
+
+    stdscr.addstr(">> ")
+    stdscr.refresh()
+
+    history = [""]
+    ptr = len(history) - 1
+
+    while True:
+        c = stdscr.getch()
+        if c == curses.KEY_RIGHT:
+            (y, x) = stdscr.getyx()
+            if x < len(history[ptr]) + 3:
+                stdscr.move(y, x+1)
+                stdscr.refresh()
+        elif c == curses.KEY_LEFT:
+            (y, x) = stdscr.getyx()
+            if x > 3:
+                stdscr.move(y, x-1)
+                stdscr.refresh()
+        elif c == curses.KEY_UP:
+            if ptr > 0:
+                ptr -= 1
+                stdscr.addch("\r")
+                stdscr.clrtoeol() 
+                stdscr.addstr(">> " + history[ptr])
+        elif c == curses.KEY_DOWN:
+            if ptr < len(history) - 1:
+                ptr += 1
+                stdscr.addch("\r")
+                stdscr.clrtoeol() 
+                stdscr.addstr(">> " + history[ptr])
+        elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
+            if history[ptr] == 'quit':
+                break
+
+            # because of arrow keys move back to the end of the line
+            (y, x) = stdscr.getyx()
+            stdscr.move(y, 3+len(history[ptr]))
+
+            if history[ptr]:
+                (bit_list, interpreted) = decode(history[ptr])
+                for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
+                    stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
+                stdscr.refresh()
+
+            if ptr == len(history) - 1 and history[ptr] != "":
+                history += [""]
+            else:
+                history[-1] = ""
+            ptr = len(history) - 1
+
+            stdscr.addstr("\n>> ")
+            stdscr.refresh()
+
+        else:
+            if ptr < len(history) - 1: # Modifying previous input
+                if len(history[-1]) == 0:
+                    history[-1] = history[ptr]
+                    ptr = len(history) - 1
+
+                else:
+                    history += [history[ptr]]
+                    ptr = len(history) - 1
+
+            if c == curses.KEY_BACKSPACE:
+                if len(history[ptr]) == 0:
+                    continue
+                (y, x) = stdscr.getyx()
+                history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                stdscr.addch("\r")
+                stdscr.clrtoeol() 
+                stdscr.addstr(">> " + history[ptr])
+                stdscr.move(y, x-1)
+                stdscr.refresh()
+
+            else:
+                (y, x) = stdscr.getyx()
+                history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
+                stdscr.addch("\r")
+                stdscr.clrtoeol() 
+                stdscr.addstr(">> " + history[ptr])
+                stdscr.move(y, x+1)
+                stdscr.refresh()
+
+    # to quit
+    curses.nocbreak()
+    stdscr.keypad(False)
+    curses.echo()
+    curses.endwin()

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)

utils/decodeStatus.py

@@ -9,6 +9,7 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, December 2024
 """
 
+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
@@ -20,35 +21,17 @@ interpretation = [
     ("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
     ("Motor performs quick stop", "Ok"), # Bit 5
     ("Switch on enabled", "Switch on disabled"), # Bit 6
-    ("Ok", "RWarning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
+    ("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
-    ("Motor is idle", "Motor is currently moving"), # Bit 8
+    ("Not specified", "Not specified"), # Bit 8
     ("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
     ("Target not reached", "Target reached"), # Bit 10
-    ("Ok", "Internal limit active"), # Bit 11
+    ("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
     ("Not specified", "Not specified"), # Bit 12
     ("Not specified", "Not specified"), # Bit 13
-    ("No event set or event has not occurred yet", "Set event has occurred"), # Bit 14
+    ("Not specified", "Not specified"), # Bit 14
-    ("Axis off (power disabled)", "Axis on (power enabled)"), # Bit 15
+    ("Not specified", "Not specified"), # Bit 15
 ]
 
-def decode(value, big_endian: bool = False):
-
-    interpreted = []
-
-    bit_list = [(value >> shift_ind) & 1
-                for shift_ind in range(value.bit_length())] # little endian
-    
-    if big_endian:
-        bit_list.reverse() # big endian
-    
-    for (bit, interpretations) in zip(bit_list, interpretation):
-        interpreted.append(interpretations[bit])
-    return (bit_list, interpreted)
-
-def print_decoded(bit_list, interpreted):
-    for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
-        print(f"Bit {idx} = {bit_value}: {msg}")
-
 def interactive():
 
     # Imported here, because curses is not available in Windows. Using the 
@@ -102,15 +85,10 @@ def interactive():
             stdscr.move(y, 3+len(history[ptr]))
 
             if history[ptr]:
-                result = interpret_inputs(history[ptr].split())
+                (bit_list, interpreted) = decode(history[ptr])
-                if result is None:
+                for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
-                    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.")
+                    stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
-                else: 
+                stdscr.refresh()
-                    (arg, big_endian) = result
-                    (bit_list, interpreted) = decode(arg, big_endian)
-                    for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
-                        stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
-                    stdscr.refresh()
 
             if ptr == len(history) - 1 and history[ptr] != "":
                 history += [""]
@@ -157,24 +135,6 @@ def interactive():
     curses.echo()
     curses.endwin()
 
-def interpret_inputs(inputs):
-
-    number = None
-    big_endian = False
-    try:
-        number = int(float(inputs[0]))
-        if len(inputs) > 1:
-            second_arg = inputs[1]
-            if second_arg == "True" or second_arg == "true":
-                big_endian = True
-            elif second_arg == "False" or second_arg == "false":
-                big_endian = False
-            else:
-                big_endian = bool(int(second_arg))
-        return (number, big_endian)
-    except:
-        return None
-
 if __name__ == "__main__":
     from sys import argv
 
@@ -183,9 +143,11 @@ if __name__ == "__main__":
         interactive()
     else:
 
-        result = interpret_inputs(argv[1:])
+        number = None
+        try:
+            number = int(float(argv[1]))
 
-        if result is None:
+        except:
             print("""
             Decode R10 message of MasterMACs
             ------------------
@@ -199,25 +161,24 @@ if __name__ == "__main__":
             Option 1: Single Command
             ------------------------
 
-            Usage: decodeMasterMACStatusR10.py value [big_endian]
+            Usage: decodeStatus.py value
                 
             'value' is the return value of a R10 command. This value is interpreted
-            bit-wise and the result is printed out. The optional second argument can
+            bit-wise and the result is printed out.
-            be used to specify whether the input value needs to be interpreted as
-            little or big endian. Default is False.
 
             Option 2: CLI Mode
             ------------------       
 
-            Usage: decodeMasterMACStatusR10.py
+            Usage: decodeStatus.py
             
             A prompt will be opened. Type in the return value of a R10 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.
             """)
-        else:
+
+        
+        if number is not None:
             print("Motor status")
             print("============")
-            (arg, big_endian) = result
+            (bit_list, interpreted) = decode(number, interpretation)
-            (bit_list, interpreted) = decode(arg, big_endian)
             print_decoded(bit_list, interpreted)