First working version of the MasterMACS EPICS driver

Also added some test code

utils/macmaster.py

@@ -0,0 +1,53 @@
+"""
+  Usage: macmaster.py  macmasterhost port
+    Listen for commands to send and returns reponse
+    until exit has been typed
+
+    Mark Koennecke, March 2023
+"""
+
+import socket
+import struct
+
+
+class MasterMACS():
+    def __init__(self, host, port):
+        self._socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._socke.connect((host, int(port)))
+
+    def send(self, command):
+        buf = struct.pack('BBBB', 0x05, len(command) + 4, 0,  0x19)
+        buf += bytes(command, 'utf-8')
+        buf += struct.pack('BB', 0x0D, 0x03)
+        self._socke.send(buf)
+
+    def receive(self):
+        buf = self._socke.recv(35, socket.MSG_WAITALL)
+        if len(buf) < 35:
+            raise  EOFException('Master MACS returned only %d bytes, 30 expected' % len(buf))
+        idx = buf.find(0x0D)
+        ackbyte = buf[idx-1]
+        if ackbyte == 0x06:
+            ack = 'ACK'
+        elif ackbyte == 0x15:
+            ack = 'NAK',
+        else:
+            ack = 'NO'
+        reply = buf[4:idx-1].decode('utf-8')
+        return ack, reply
+
+if __name__ == "__main__":
+    from sys import argv, exit, stdin
+    if len(argv) < 3:
+        print('Usage:\n\tmacmaster.py machost macport')
+        exit(1)
+    mac = MasterMACS(argv[1], argv[2])
+    while(True):
+        # import pdb; pdb.set_trace()
+        line = stdin.readline()
+        if line.find('exit') >= 0:
+            exit(0)
+        mac.send(line.strip())
+        ack, reply = mac.receive()
+        print('%s, %s' %(ack, reply))
+

utils/syncMasterMAC.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+"""
+This little program synchronizes an EPICS substitutions file with values read
+from a MasterMAC motor controller. 
+
+Mark Koennecke, February 2023
+"""
+import sys
+
+from macmaster import MasterMACS
+
+def find_commas(rawline):
+    comma_list = []
+    for i in range(len(rawline)):
+        if rawline[i] == ',':
+            comma_list.append(i)
+    return comma_list
+
+def pretty_line(newlist, comma_list):
+    """
+    adds spaces to match the tabbing of the patter line
+    """
+    newline = ''
+    for item, idx in zip(newlist, comma_list):
+        length = len(newline) + 1 + len(item)
+        if length < idx:
+            newline += ' ' * (idx - length)
+        newline += item
+        newline += ','
+    newline += newlist[-1]
+    return newline[0:-1]
+
+def transact(command):
+    global mac
+    mac.send(command)
+    return mac.receive()
+
+def fix_line(par_list, index_list):
+    # import pdb; pdb.set_trace()
+    addridx = index_list.index('ADDR')
+    motNo = int(par_list[addridx])
+    ack, reply = transact('%dR24' % motNo)
+    idx = reply.find('=')
+    lowlim = reply[idx+1:]
+    lowidx = index_list.index('DLLM')
+    par_list[lowidx] = lowlim.strip()
+    ack, reply = transact('%dR23' % motNo)
+    idx = reply.find('=')
+    highlim =  reply[idx+1:]
+    highidx = index_list.index('DHLM')
+    par_list[highidx] = highlim.strip()
+    # speed = transact('Q%d03' % motNo)
+    # speedidx = index_list['VELO']
+    # par_list[speedidx] = speed.trim()
+    return par_list
+
+def scan_substitution_file(filename):
+    index_list = None
+    # import pdb; pdb.set_trace()
+    with open(filename, 'r') as fin:
+        rawline = fin.readline()
+        while rawline:
+            line = rawline.replace(' ','')
+            line = line.strip('{}')
+            l = line.split(',')
+            if line.find('DHLM') > 0:
+                index_list = l
+                comma_list = find_commas(rawline)
+                sys.stdout.write(rawline)
+            elif  not index_list:
+                sys.stdout.write(rawline)
+            else:
+                if len(l) == len(index_list):
+                    newlist = fix_line(l, index_list)
+                    # newline =  ','.join(newlist)
+                    newline = pretty_line(newlist, comma_list)
+                    sys.stdout.write('{' + newline + '\n')
+                else:
+                    sys.stdout.write(rawline)
+            rawline = fin.readline()
+
+#------------------ main
+if len(sys.argv) < 4:
+    print('Usage:\n\tsyncMMACSub.py <host> <port> <substitutions-file>\n')
+    sys.exit(1)
+
+mac = MasterMACS(sys.argv[1], sys.argv[2])
+scan_substitution_file(sys.argv[3])
+
+