185 lines
6.2 KiB
Python
Executable File
185 lines
6.2 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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The R10 status read command returns an integer, which needs to be interpreted
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bitwise for various status flags. This script prints out these status flags in
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human-readable formatting.
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To read the manual, simply run this script without any arguments.
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Stefan Mathis, December 2024
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"""
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from decodeCommon import interactive, decode, print_decoded
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# List of tuples which encodes the states given in the file description.
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# Index first with the bit index, then with the bit value
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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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]
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def interactive():
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# Imported here, because curses is not available in Windows. Using the
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# interactive mode therefore fails on Windows, but at least the single
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# command mode can be used (which would not be possible if we would import
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# curses at the top level)
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import curses
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stdscr = curses.initscr()
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curses.noecho()
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curses.cbreak()
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stdscr.keypad(True)
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stdscr.scrollok(True)
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stdscr.addstr(">> ")
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stdscr.refresh()
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history = [""]
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ptr = len(history) - 1
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while True:
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c = stdscr.getch()
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if c == curses.KEY_RIGHT:
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(y, x) = stdscr.getyx()
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if x < len(history[ptr]) + 3:
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stdscr.move(y, x+1)
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stdscr.refresh()
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elif c == curses.KEY_LEFT:
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(y, x) = stdscr.getyx()
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if x > 3:
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stdscr.move(y, x-1)
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stdscr.refresh()
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elif c == curses.KEY_UP:
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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.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.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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break
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# because of arrow keys move back to the end of the line
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(y, x) = stdscr.getyx()
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stdscr.move(y, 3+len(history[ptr]))
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if history[ptr]:
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(bit_list, interpreted) = decode(history[ptr])
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for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
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stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
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stdscr.refresh()
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if ptr == len(history) - 1 and history[ptr] != "":
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history += [""]
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else:
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history[-1] = ""
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ptr = len(history) - 1
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stdscr.addstr("\n>> ")
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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 len(history[-1]) == 0:
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history[-1] = history[ptr]
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ptr = len(history) - 1
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else:
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history += [history[ptr]]
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ptr = len(history) - 1
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if c == curses.KEY_BACKSPACE:
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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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stdscr.addch("\r")
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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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stdscr.addch("\r")
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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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# 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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if __name__ == "__main__":
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from sys import argv
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if len(argv) == 1:
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# Start interactive mode
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interactive()
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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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if number is not None:
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print("Motor status")
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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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