maxVelocity is not unused!

Also introduced graceful error handling when trying to access
interactive mode on Windows.

.gitignore

@@ -0,0 +1,4 @@
+O.*
+.cvsignore
+.vscode
+utils/__pycache__

Makefile

@@ -29,7 +29,8 @@ TEMPLATES += db/masterMacs.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Wextra -Werror
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result
 
 # These flags define the expected firmware version. See README.md, section
 # "Firmware version checking" for details.

README.md

@@ -17,23 +17,50 @@ The folder "utils" contains utility scripts for working with masterMacs motor co
 - decodeError.py: Take the return message of a R11 (read error) command and print it in human-readable form.
 - writeRead.py: Send messages to the controller and receive answers.
 
-## Developer guide
+These scripts can be run from anywhere. On Linux, the shebang (#!) automatically
+calls the system Python 3 executable:
 
-### Usage in IOC shell
+```bash
+# To show the help, use either flag -h or --help (works on all scripts)
+/path/to/mastermacs_repo/utils/decodeStatus.py -h 
+/path/to/mastermacs_repo/utils/decodeError.py --help
+/path/to/mastermacs_repo/utils/writeRead.py -h
 
-masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
+# To run in non-interactive mode, give the value as an argument
+/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+/path/to/mastermacs_repo/utils/decodeError.py 5678
+/path/to/mastermacs_repo/utils/writeRead.py "R11"
+
+# To run in interactive mode, don't give any argument. This only works on Linux
+/path/to/mastermacs_repo/utils/decodeStatus.py
+/path/to/mastermacs_repo/utils/decodeError.py
+/path/to/mastermacs_repo/utils/writeRead.py
+```
+
+To use these scripts on Windows, prefix the Python 3 executable:
+```bash
+C:/path/to/python3.exe C:/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+```
+
+### IOC startup script
+
+masterMacs exposes the following IOC shell functions:
 - `masterMacsController`: Create a new controller object.
 - `masterMacsAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full masterMacsX.cmd file looks like this:
 
-```
+```bash
 # Define the name of the controller and the corresponding port
 epicsEnvSet("NAME","mcu")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
-# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
+# Create the TCP/IP socket used to talk with the controller. The socket can be
-drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+# adressed from within the IOC shell via the port name
+# We do not use the standard asyn port driver here, but a PMAC-specific one
+# which enables the usage of StreamDevices for
+# communicating with the controller directly.
+masterMacsAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 
 # Create the controller object with the defined name and connect it to the socket via the port name.
 # The other parameters are as follows:
@@ -62,6 +89,8 @@ dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLE
 dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
+## Developer guide
+
 ### Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

db/masterMacs.db

@@ -4,4 +4,14 @@ record(longout, "$(INSTR)$(M):NodeReset") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) NODE_RESET")
     field(PINI, "NO")
+}
+
+# Overrides the default value for the "Connected" record provided by sinqMotor.
+record(longin, "$(INSTR)$(M):Connected")
+{
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_CONNECTED")
+    field(SCAN, "I/O Intr")
+    field(PINI, "NO")
+    field(VAL, "0")
 }

src/masterMacsAxis.cpp

@@ -85,7 +85,14 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
 }
 
 masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
-    : sinqAxis(pC, axisNo), pC_(pC) {
+    : sinqAxis(pC, axisNo), pC_(pC),
+      pMasterMacsA_(std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
+          .axisStatus = std::bitset<16>(0),
+          .axisError = std::bitset<16>(0),
+          .waitForHandshake = false,
+          .timeAtHandshake = 0,
+          .targetReachedUninitialized = true,
+      })) {
 
     asynStatus status = asynSuccess;
 
@@ -118,14 +125,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
-        .axisStatus = std::bitset<16>(0),
-        .axisError = std::bitset<16>(0),
-        .waitForHandshake = false,
-        .timeAtHandshake = 0,
-        .targetReachedUninitialized = true,
-    });
-
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
@@ -216,6 +215,10 @@ asynStatus masterMacsAxis::init() {
         }
     }
 
+    // Initially assume that the axis is disconnected. It will be set to
+    // connected after the first communication attempted succeeded.
+    setAxisParamChecked(this, motorConnected, false);
+
     // Read out the current position
     pl_status = pC_->read(axisNo_, 12, response);
     if (pl_status != asynSuccess) {
@@ -328,12 +331,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // =========================================================================
 
-    // Does the axis need to be intialized?
+    // Does the axis need to be initialized?
     if (needInit()) {
-        rw_status = init();
+        // Perform the rest of the poll, but remember if sth. failed in the
-        if (rw_status != asynSuccess) {
+        // init.
-            return rw_status;
+        poll_status = init();
-        }
     }
 
     // Are we currently waiting for a handshake?
@@ -688,6 +690,10 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double minVelocity, double maxVelocity,
                                   double acceleration) {
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)acceleration;
+
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
@@ -790,6 +796,9 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
 asynStatus masterMacsAxis::stop(double acceleration) {
 
+    // Suppress unused variable warning
+    (void)acceleration;
+
     asynStatus status = pC_->write(axisNo_, 00, "8");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
@@ -845,13 +854,19 @@ asynStatus masterMacsAxis::nodeReset() {
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
-asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
+asynStatus masterMacsAxis::doHome(double minVelocity, double maxVelocity,
                                   double acceleration, int forwards) {
 
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
+
     getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
@@ -905,7 +920,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     /*
     Defined encoder IDs:
-    0=INC (Incremental)
+    0=INC (Incremental or no encoder)
     1=SSI (Absolute encoder with SSI interface)
     2=SSI (Absolute encoder with BiSS interface)
      */
@@ -942,9 +957,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
-    // command and inform the user. We check the last known status of the
+    // command and inform the user.
-    // axis instead of "moving", since status -6 is also moving, but the
-    // motor can actually be disabled in this state!
     if (moving) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
@@ -1246,8 +1259,9 @@ static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mmacs1)",
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};
-static const iocshFuncDef configMasterMacsCreateAxis = {"masterMacsAxis", 2,
+static const iocshFuncDef configMasterMacsCreateAxis = {
-                                                        CreateAxisArgs};
+    "masterMacsAxis", 2, CreateAxisArgs,
+    "Create a new instance of a MasterMACS axis."};
 static void configMasterMacsCreateAxisCallFunc(const iocshArgBuf *args) {
     masterMacsCreateAxis(args[0].sval, args[1].ival);
 }

src/masterMacsAxis.h

@@ -16,6 +16,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     masterMacsAxis(masterMacsController *pController, int axisNo);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsAxis(const masterMacsAxis &) = delete;
+    masterMacsAxis &operator=(const masterMacsAxis &) = delete;
+
     /**
      * @brief Destroy the masterMacsAxis
      *
@@ -50,13 +57,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
+     * @param minVelocity
-     * @param max_velocity
+     * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    asynStatus doMove(double position, int relative, double minVelocity,
-                      double max_velocity, double acceleration);
+                      double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -141,163 +148,191 @@ class HIDDEN masterMacsAxis : public sinqAxis {
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store
-     * the result in axisStatus_
+     * the result in axisStatus (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus
+    The functions below read the specified status bit from the axisStatus (see
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    boolean.
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool readyToBeSwitchedOn();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchedOn();
 
     // Bit 2 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool faultConditionSet();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool voltagePresent();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool quickStopping();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchOnDisabled();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool warning();
 
     // Bit 8 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool remoteMode();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool targetReached();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool setEventHasOcurred();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool powerEnabled();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store
+     * @brief Read the Master MACS error with the xR10 command and store
-     * the result in axisStatus_
+     * the result in axisError (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisError();
 
     /*
-    The functions below read the specified error bit from the axisError_
+    The functions below read the specified error bit from the axisError (see
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    boolean.
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool shortCircuit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool encoderError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool followingError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool communicationError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool feedbackError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overCurrent();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overTemperature();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool underVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool stoFault();
 

src/masterMacsController.cpp

@@ -81,7 +81,12 @@ masterMacsController::masterMacsController(const char *portName,
     : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
                      idlePollPeriod,
                      // No additional parameter library entries
-                     0)
+                     0),
+      pMasterMacsC_(
+          std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+              .comTimeout = comTimeout,
+              .nodeReset = 0, // Overwritten later
+          }))
 
 {
 
@@ -89,11 +94,6 @@ masterMacsController::masterMacsController(const char *portName,
     asynStatus status = asynSuccess;
     char response[MAXBUF_] = {0};
 
-    pMasterMacsC_ =
-        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
-            .comTimeout = comTimeout,
-        });
-
     // =========================================================================
     // Create additional parameter library entries
 
@@ -231,7 +231,7 @@ asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
 }
 
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
-                                      double comTimeout) {
+                                      double /*comTimeout*/) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
@@ -429,8 +429,6 @@ asynStatus masterMacsController::parseResponse(
         getAxisParamChecked(axis, motorConnected, &prevConnected);
     }
 
-    // We don't use strlen here since the C string terminator 0x00
-    // occurs in the middle of the char array.
     for (uint32_t i = 0; i < MAXBUF_; i++) {
         if (fullResponse[i] == '\x19') {
             responseStart = i;
@@ -639,7 +637,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configMasterMacsCreateController = {
-    "masterMacsController", 6, CreateControllerArgs};
+    "masterMacsController", 6, CreateControllerArgs,
+    "Create a new instance of a MasterMACS controller."};
 static void configMasterMacsCreateControllerCallFunc(const iocshArgBuf *args) {
     masterMacsCreateController(args[0].sval, args[1].sval, args[2].ival,
                                args[3].dval, args[4].dval, args[5].dval);

src/masterMacsController.h

@@ -38,6 +38,13 @@ class HIDDEN masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsController(const masterMacsController &) = delete;
+    masterMacsController &operator=(const masterMacsController &) = delete;
+
     /**
      * @brief Overloaded version of the sinqController version
      *

utils/decodeError.py

@@ -9,73 +9,82 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, January 2025
 """
 
+import platform
+
 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
+    ("Not specified", "Not specified"),  # Bit 0
-    ("Ok", "Short circuit"), # Bit 1
+    ("Ok", "Short circuit"),  # Bit 1
-    ("Ok", "Encoder error"), # Bit 2
+    ("Ok", "Encoder error"),  # Bit 2
-    ("Ok", "Following error"), # Bit 3
+    ("Ok", "Following error"),  # Bit 3
-    ("Ok", "Communication error"), # Bit 4
+    ("Ok", "Communication error"),  # Bit 4
-    ("Ok", "Feedback error"), # Bit 5
+    ("Ok", "Feedback error"),  # Bit 5
-    ("Ok", "Positive limit switch hit"), # Bit 6
+    ("Ok", "Positive limit switch hit"),  # Bit 6
-    ("Ok", "Negative limit switch hit"), # Bit 7
+    ("Ok", "Negative limit switch hit"),  # Bit 7
-    ("Ok", "Positive software limit hit"), # Bit 8
+    ("Ok", "Positive software limit hit"),  # Bit 8
-    ("Ok", "Negative software limit hit"), # Bit 9
+    ("Ok", "Negative software limit hit"),  # Bit 9
-    ("Ok", "Over-current"), # Bit 10
+    ("Ok", "Over-current"),  # Bit 10
-    ("Ok", "Over-temperature drive"), # Bit 11
+    ("Ok", "Over-temperature drive"),  # Bit 11
-    ("Ok", "Over-voltage"), # Bit 12
+    ("Ok", "Over-voltage"),  # Bit 12
-    ("Ok", "Under-voltage"), # Bit 13
+    ("Ok", "Under-voltage"),  # Bit 13
-    ("Not specified", "Not specified"), # Bit 14
+    ("Not specified", "Not specified"),  # Bit 14
-    ("Ok", "STO fault (STO input is on disable state)"), # Bit 15
+    ("Ok", "STO fault (STO input is on disable state)"),  # Bit 15
 ]
 
+help = """
+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 (Linux-only)
+-------------------------------
+
+Usage: decodeError.py
+
+ONLY AVAILABLE ON LINUX!
+
+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 __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
+            print(help)
-            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("============")
+            print("===========")
             (bit_list, interpreted) = decode(number, interpretation)
             print_decoded(bit_list, interpreted)

utils/decodeStatus.py

@@ -9,71 +9,81 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, December 2024
 """
 
+import platform
+
 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 ready to be switched on", "Ready to be switched on"), # Bit 0
+    ("Not ready to be switched on", "Ready to be switched on"),  # Bit 0
-    ("Not switched on", "Switched on"), # Bit 1
+    ("Not switched on", "Switched on"),  # Bit 1
-    ("Disabled", "Enabled"), # Bit 2
+    ("Disabled", "Enabled"),  # Bit 2
-    ("Ok", "Fault condition set"), # Bit 3
+    ("Ok", "Fault condition set"),  # Bit 3
-    ("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
+    ("Motor supply voltage absent ", "Motor supply voltage present"),  # Bit 4
-    ("Motor performs quick stop", "Ok"), # Bit 5
+    ("Motor performs quick stop", "Ok"),  # Bit 5
-    ("Switch on enabled", "Switch on disabled"), # Bit 6
+    ("Switch on enabled", "Switch on disabled"),  # Bit 6
-    ("Ok", "Warning: 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
-    ("Not specified", "Not specified"), # 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
+    ("Motor does not execute command messages (local mode)",
-    ("Target not reached", "Target reached"), # Bit 10
+     "Motor does execute command messages (remote mode)"),  # Bit 9
-    ("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
+    ("Target not reached", "Target reached"),  # Bit 10
-    ("Not specified", "Not specified"), # Bit 12
+    ("Ok", "Internal limit active (current, voltage, velocity or position)"),  # Bit 11
-    ("Not specified", "Not specified"), # Bit 13
+    ("Not specified", "Not specified"),  # Bit 12
-    ("Not specified", "Not specified"), # Bit 14
+    ("Not specified", "Not specified"),  # Bit 13
-    ("Not specified", "Not specified"), # Bit 15
+    ("Not specified", "Not specified"),  # Bit 14
+    ("Not specified", "Not specified"),  # Bit 15
 ]
 
+help = """
+Decode R10 message of MasterMACs
+------------------
+    
+MasterMACs returns its status message (R10) 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: decodeStatus.py value
+    
+'value' is the return value of a R10 command. This value is interpreted
+bit-wise and the result is printed out.
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: decodeStatus.py
+
+ONLY AVAILABLE ON LINUX!
+
+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.
+"""
+
 if __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
+            print(help)
-            Decode R10 message of MasterMACs
-            ------------------
-                
-            MasterMACs returns its status message (R10) 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: decodeStatus.py value
-                
-            'value' is the return value of a R10 command. This value is interpreted
-            bit-wise and the result is printed out.
-
-            Option 2: CLI Mode
-            ------------------       
-
-            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.
-            """)
-
-        
         if number is not None:
             print("Motor status")
             print("============")

utils/writeRead.py

@@ -6,51 +6,72 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, April 2025
 """
 
+import platform
+
 import struct
 import socket
-import curses
+
+help = """
+Send commands to and receive replies from MasterMACS controllers
+
+Option 1: Single Command
+------------------------
+
+Usage: writeRead.py pmachost:port command
+This then returns the response for command. 
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: writeRead.py pmachost:port
+
+ONLY AVAILABLE ON LINUX!
+
+You can then type in a command, hit enter, and the response will see
+the reponse, before being prompted to again enter a command. Type
+'quit' to close prompt.
+"""
+
 
 def packMasterMacsCommand(command):
-    # 0x0D = Carriage return 
+    # 0x0D = Carriage return
-    buf = struct.pack('B',0x0D)
+    buf = struct.pack('B', 0x0D)
-    buf = bytes(command,'utf-8') + buf
+    buf = bytes(command, 'utf-8') + buf
-    return bytes(command,'utf-8')
+    return bytes(command, 'utf-8')
+
 
 def readMasterMacsReply(input):
     msg = bytearray()
     expectAck = True
     while True:
         b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
+        bint = int.from_bytes(b, byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        if bint == 2 or bint == 7:  # STX or BELL
             expectAck = False
             continue
-        if expectAck and bint == 6: # ACK
+        if expectAck and bint == 6:  # ACK
             return bytes(msg)
         else:
-            if bint == 13 and not expectAck: # CR
+            if bint == 13 and not expectAck:  # CR
                 return bytes(msg)
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
-    try:
+    if "-h" or "--help" in argv:
-
+        print(help)
+    else:
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s.connect((addr[0], int(addr[1])))
 
-        if len(argv) == 3:
+        if len(argv) == 2:
-            buf = packMasterMacsCommand(argv[2])
-            s.send(buf)
-            reply = readMasterMacsReply(s)
-            print(reply.decode('utf-8') + '\n')
 
-        else:
+            if platform.system() == "Linux":
-
+                import curses
-            try:
 
                 stdscr = curses.initscr()
                 curses.noecho()
@@ -80,13 +101,13 @@ if __name__ == "__main__":
                         if ptr > 0:
                             ptr -= 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_DOWN:
                         if ptr < len(history) - 1:
                             ptr += 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
                         if history[ptr] == 'quit':
@@ -112,7 +133,7 @@ if __name__ == "__main__":
                         stdscr.refresh()
 
                     else:
-                        if ptr < len(history) - 1: # Modifying previous input
+                        if ptr < len(history) - 1:  # Modifying previous input
                             if len(history[-1]) == 0:
                                 history[-1] = history[ptr]
                                 ptr = len(history) - 1
@@ -125,47 +146,34 @@ if __name__ == "__main__":
                             if len(history[ptr]) == 0:
                                 continue
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-4] + \
+                                history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            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:]
+                            history[ptr] = history[ptr][0:x-3] + \
+                                chr(c) + history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
-
+                    # to quit
-            finally:
+                    curses.nocbreak()
-
+                    stdscr.keypad(False)
-                # to quit
+                    curses.echo()
-                curses.nocbreak()
+                    curses.endwin()
-                stdscr.keypad(False)
+            else:
-                curses.echo()
+                print(help)
-                curses.endwin()
+        elif len(argv) == 3:
-
+            buf = packMasterMacsCommand(argv[2])
-    except:
+            s.send(buf)
-        print("""
+            reply = readMasterMacsReply(s)
-        Invalid Arguments
+            print(reply.decode('utf-8') + '\n')
-
+        else:
-        Option 1: Single Command
+            print(help)
-        ------------------------
-
-        Usage: writeRead.py pmachost:port command
-        This then returns the response for command. 
-
-        Option 2: CLI Mode
-        ------------------
-
-        Usage: writeRead.py pmachost:port
-
-        You can then type in a command, hit enter, and the response will see
-        the reponse, before being prompted to again enter a command. Type
-        'quit' to close prompt.
-        """)
-