52 lines
1.5 KiB
Python
Executable File
52 lines
1.5 KiB
Python
Executable File
"""
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This is some code for communicating with a Delta-Tau PMAC motor
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controller as used at SINQ from python. Python 3 is assumed and
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tested. We use the ethernet protocol of the Pmac. This code benefits
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from the SICS driver for Pmac which in turn benefits from the driver
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written by Pete Leicester at Diamond.
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Usage: python36 deltatau.py pmachost:port command
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Then returns the response for command.
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Mark Koennecke, October 2019
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"""
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import struct
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import socket
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def packPmacCommand(command):
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# 0x40 = VR_DOWNLOAD
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# 0xBF = VR_PMAC_GETRESPONSE
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buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
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buf = buf + bytes(command,'utf-8')
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return buf
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def readPmacReply(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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expectAck = False
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continue
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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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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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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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buf = packPmacCommand(argv[2])
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s.send(buf)
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reply = readPmacReply(s)
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print(reply.decode('utf-8') + '\n')
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