From 58b0e9fc777a718d290e0fed66edbc4ab27794f8 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Mon, 9 Mar 2026 11:37:02 +0100
Subject: [PATCH] Updated sinqMotor

---
 sinqMotor          |  2 +-
 utils/writeRead.py | 51 ++++++++++++++++++++++++++++------------------
 2 files changed, 32 insertions(+), 21 deletions(-)

diff --git a/sinqMotor b/sinqMotor
index 92c264d..0e6c77b 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 92c264d0f688a5cd903d3f66f0e3aaa85410df22
+Subproject commit 0e6c77b456c22b3c3d2fe882c5dab838a4f5846c
diff --git a/utils/writeRead.py b/utils/writeRead.py
index 34eef0a..7248d12 100644
--- a/utils/writeRead.py
+++ b/utils/writeRead.py
@@ -9,45 +9,55 @@ Stefan Mathis, December 2024
 import struct
 import socket
 import curses
+import time
+
 
 def packPmacCommand(command):
-    # 0x40 = VR_DOWNLOAD 
+    # 0x40 = VR_DOWNLOAD
     # 0xBF = VR_PMAC_GETRESPONSE
-    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
-    buf = buf + bytes(command,'utf-8')
+    buf = struct.pack('BBHHH', 0x40, 0xBF, 0, 0, socket.htons(len(command)))
+    buf = buf + command.encode('utf-8')
     return buf
 
-def readPmacReply(input):
+
+def readPmacReply(sock):
     msg = bytearray()
     expectAck = True
+    sock.settimeout(2.0)
     while True:
-        b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        try:
+            b = sock.recv(1)
+        except socket.timeout:
+            print('Timed out')
+            return None
+        bint = int.from_bytes(b, byteorder='little')
+        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:
 
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        s.connect((addr[0], int(addr[1])))
 
         if len(argv) == 3:
             buf = packPmacCommand(argv[2])
             s.send(buf)
             reply = readPmacReply(s)
-            print(reply.decode('utf-8') + '\n')
+            if reply:
+                print(reply.decode('utf-8') + '\n')
 
         else:
 
@@ -81,13 +91,13 @@ 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':
@@ -113,7 +123,7 @@ 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
@@ -126,18 +136,20 @@ 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()
@@ -169,4 +181,3 @@ if __name__ == "__main__":
         the reponse, before being prompted to again enter a command. Type
         'quit' to close prompt.
         """)
-