smathis
4ad842c097
Correspondingly, the minimum version requirement for sinqMotor has been bumped to 0.8.0.
82 lines
3.0 KiB
Python
Executable File
82 lines
3.0 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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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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