Improved script docs and script usage description in README.md
Also introduced graceful error handling when trying to access interactive mode on Windows.
This commit is contained in:
@@ -9,73 +9,82 @@ 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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import platform
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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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("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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help = """
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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 (Linux-only)
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-------------------------------
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Usage: decodeError.py
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ONLY AVAILABLE ON LINUX!
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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 __name__ == "__main__":
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from sys import argv
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if "-h" or "--help" in argv:
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print(help)
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if len(argv) == 1:
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# Start interactive mode
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interactive()
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if platform.system() == "Linux":
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interactive()
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else:
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print(help)
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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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print(help)
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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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print("===========")
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(bit_list, interpreted) = decode(number, interpretation)
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print_decoded(bit_list, interpreted)
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@@ -9,71 +9,81 @@ 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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import platform
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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 ready to be switched on", "Ready to be switched on"), # Bit 0
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("Not switched on", "Switched on"), # Bit 1
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("Disabled", "Enabled"), # Bit 2
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("Ok", "Fault condition set"), # Bit 3
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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", "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 (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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("Not specified", "Not specified"), # Bit 14
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("Not specified", "Not specified"), # Bit 15
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("Not ready to be switched on", "Ready to be switched on"), # Bit 0
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("Not switched on", "Switched on"), # Bit 1
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("Disabled", "Enabled"), # Bit 2
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("Ok", "Fault condition set"), # Bit 3
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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", "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)",
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"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 (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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("Not specified", "Not specified"), # Bit 14
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("Not specified", "Not specified"), # Bit 15
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]
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help = """
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Decode R10 message of MasterMACs
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------------------
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MasterMACs returns its status message (R10) 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: 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.
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Option 2: CLI Mode (Linux-only)
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-------------------------------
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Usage: decodeStatus.py
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ONLY AVAILABLE ON LINUX!
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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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if __name__ == "__main__":
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from sys import argv
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if "-h" or "--help" in argv:
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print(help)
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if len(argv) == 1:
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# Start interactive mode
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interactive()
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if platform.system() == "Linux":
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interactive()
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else:
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print(help)
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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 R10 message of MasterMACs
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------------------
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MasterMACs returns its status message (R10) 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: 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.
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Option 2: CLI Mode
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------------------
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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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print(help)
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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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@@ -6,51 +6,72 @@ 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 platform
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import struct
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import socket
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import curses
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help = """
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Send commands to and receive replies from MasterMACS controllers
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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 (Linux-only)
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-------------------------------
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Usage: writeRead.py pmachost:port
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ONLY AVAILABLE ON LINUX!
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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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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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# 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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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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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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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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if "-h" or "--help" in argv:
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print(help)
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else:
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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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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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if len(argv) == 2:
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else:
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try:
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if platform.system() == "Linux":
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import curses
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stdscr = curses.initscr()
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curses.noecho()
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@@ -80,13 +101,13 @@ if __name__ == "__main__":
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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.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.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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@@ -112,7 +133,7 @@ if __name__ == "__main__":
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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 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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@@ -125,47 +146,34 @@ if __name__ == "__main__":
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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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history[ptr] = history[ptr][0:x-4] + \
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history[ptr][x-3:]
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stdscr.addch("\r")
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stdscr.clrtoeol()
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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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history[ptr] = history[ptr][0:x-3] + \
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chr(c) + history[ptr][x-3:]
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stdscr.addch("\r")
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stdscr.clrtoeol()
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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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||||
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Option 2: CLI Mode
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||||
------------------
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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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# 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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else:
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print(help)
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elif 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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print(help)
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Reference in New Issue
Block a user