Reindent *.py with reindent.py
This commit is contained in:
Douglas Clowes
@@ -82,236 +82,236 @@ _POSDIR = _CW
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# Some descriptive names for default register values per chopper.
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# The values are indexed by UID.
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RVAL = {
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'mode': {1: _RPM, 2: _PHASE, 3: _PHASE},
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'dir' : {1: _POSDIR, 2: _POSDIR, 3: _POSDIR}
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'mode': {1: _RPM, 2: _PHASE, 3: _PHASE},
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'dir' : {1: _POSDIR, 2: _POSDIR, 3: _POSDIR}
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}
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class Fermi_Prot(LineReceiver):
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def __init__(self):
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self.flags = INFO
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self.mbhlen = 7
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self.fcbyte = 7
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self.datstart=8
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self.MBAP = namedtuple('MBAP','TID PID len UID')
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self.MBFN={1:self.rcoils,3:self.rhregs,5:self.wcoil,16:self.wmregs}
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self.setRawMode()
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self.RegVal = {}
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self.FermiCoil = {}
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for uid in [1,2,3]:
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self.FermiCoil[uid] = [0,0,0,0]
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mode = RVAL['mode'][uid]
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dir = RVAL['dir'][uid]
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sys_stat = _AVC_ON|_OK
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self.RegInfo = {
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10: ['U16', 'System Status Information (R)'],
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12: ['U16', 'Interlock Status Information (R)'],
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14: ['U16', 'Rotational Speed (R)'],
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16: ['F32', 'Encoder Angle (MB350PC/R ONLY) (R)'],
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18: ['U32', 'Phase Veto Count (R)'],
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20: ['U32', 'Read and Clear Phase Veto Count (R)'],
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22: ['U32', 'Read and Clear Phase Veto Count (R)' ],
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24: ['F32', 'Read PHASE ACCURACY (R)'],
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26: ['F32', 'Read PHASE REPEATABILITY (R)'],
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28: ['F32', 'Read PHASE OK (R)'],
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30: ['U32', 'Set VETO WINDOW 100ns (RW)'],
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32: ['U32', 'Set VETO WINDOW 50ns (RW)'],
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34: ['U32', 'Set MOTOR CONTROL MODE (RW)'],
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1000: ['U32', 'Set ROTATIONAL SPEED SETPOINT (RW)'],
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1002: ['F32', 'Set HOMING ANGLE SETPOINT (MB350PC/R ONLY) (RW)'],
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1004: ['F32', 'Set MOTOR KP (RW)'],
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1006: ['F32', 'Set MOTOR KI (RW)'],
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1008: ['F32', 'Set MOTOR KPhase (RW)'],
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1010: ['F32', 'Set REFERENCE DELAY (RW)'],
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1012: ['F32', 'Set REFERENCE PERIOD (RW)'],
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1014: ['U32', 'Set SYNC SOURCE (RW)'],
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1016: ['U32', 'Set MOTOR DIRECTION (RW)']
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}
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self.RegVal[uid] = {
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10: sys_stat,
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12: 0x0,
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14: 0,
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16: 0,
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18: 0,
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20: 0,
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22: 0,
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24: 0,
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26: 0,
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28: 0,
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30: 0,
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32: 0,
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34: mode,
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1000: 0,
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1002: 0,
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1004: 0,
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1006: 0,
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1008: 0,
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1010: 0,
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1012: 400000,
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1014: 0,
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1016: dir
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}
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self.flags = INFO
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self.mbhlen = 7
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self.fcbyte = 7
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self.datstart=8
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self.MBAP = namedtuple('MBAP','TID PID len UID')
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self.MBFN={1:self.rcoils,3:self.rhregs,5:self.wcoil,16:self.wmregs}
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self.setRawMode()
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self.RegVal = {}
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self.FermiCoil = {}
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for uid in [1,2,3]:
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self.FermiCoil[uid] = [0,0,0,0]
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mode = RVAL['mode'][uid]
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dir = RVAL['dir'][uid]
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sys_stat = _AVC_ON|_OK
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self.RegInfo = {
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10: ['U16', 'System Status Information (R)'],
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12: ['U16', 'Interlock Status Information (R)'],
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14: ['U16', 'Rotational Speed (R)'],
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16: ['F32', 'Encoder Angle (MB350PC/R ONLY) (R)'],
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18: ['U32', 'Phase Veto Count (R)'],
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20: ['U32', 'Read and Clear Phase Veto Count (R)'],
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22: ['U32', 'Read and Clear Phase Veto Count (R)' ],
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24: ['F32', 'Read PHASE ACCURACY (R)'],
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26: ['F32', 'Read PHASE REPEATABILITY (R)'],
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28: ['F32', 'Read PHASE OK (R)'],
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30: ['U32', 'Set VETO WINDOW 100ns (RW)'],
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32: ['U32', 'Set VETO WINDOW 50ns (RW)'],
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34: ['U32', 'Set MOTOR CONTROL MODE (RW)'],
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1000: ['U32', 'Set ROTATIONAL SPEED SETPOINT (RW)'],
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1002: ['F32', 'Set HOMING ANGLE SETPOINT (MB350PC/R ONLY) (RW)'],
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1004: ['F32', 'Set MOTOR KP (RW)'],
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1006: ['F32', 'Set MOTOR KI (RW)'],
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1008: ['F32', 'Set MOTOR KPhase (RW)'],
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1010: ['F32', 'Set REFERENCE DELAY (RW)'],
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1012: ['F32', 'Set REFERENCE PERIOD (RW)'],
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1014: ['U32', 'Set SYNC SOURCE (RW)'],
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1016: ['U32', 'Set MOTOR DIRECTION (RW)']
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}
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self.RegVal[uid] = {
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10: sys_stat,
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12: 0x0,
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14: 0,
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16: 0,
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18: 0,
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20: 0,
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22: 0,
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24: 0,
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26: 0,
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28: 0,
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30: 0,
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32: 0,
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34: mode,
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1000: 0,
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1002: 0,
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1004: 0,
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1006: 0,
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1008: 0,
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1010: 0,
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1012: 400000,
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1014: 0,
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1016: dir
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}
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def debug(self, flags, *args):
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if (self.flags & flags):
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print args
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if (self.flags & flags):
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print args
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def getFR(self, SA,QR):
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uid = self.mbap.UID
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type = self.RegInfo[SA][0]
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if (type == 'U32' or type == 'F32'):
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NE = QR/2
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else:
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NE = QR
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EA = 2*NE + SA
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self.debug(RREG, 'NE = %d EA = %d ' % (NE,EA))
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data = []
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for a in range(SA, EA, 2):
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self.debug(RREG, 'reg %d = %s' % (a, self.RegInfo[a][1]))
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data += [self.RegVal[uid][a]]
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return data
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uid = self.mbap.UID
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type = self.RegInfo[SA][0]
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if (type == 'U32' or type == 'F32'):
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NE = QR/2
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else:
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NE = QR
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EA = 2*NE + SA
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self.debug(RREG, 'NE = %d EA = %d ' % (NE,EA))
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data = []
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for a in range(SA, EA, 2):
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self.debug(RREG, 'reg %d = %s' % (a, self.RegInfo[a][1]))
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data += [self.RegVal[uid][a]]
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return data
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def setFR(self, SA, QR, data):
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uid = self.mbap.UID
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type = self.RegInfo[SA][0]
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if (type == 'U32' or type == 'F32'):
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NE = QR/2
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fs = '>%dI'
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else:
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NE = QR
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fs = '>%dH'
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EA = 2*NE + SA
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self.debug(WREG, 'NE = %d EA = %d ' % (NE,EA))
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t = unpack(fs % NE,data)
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self.debug(WREG, 'setFR(): t = ', map(hex, t))
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i = 0
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for a in range(SA, EA, 2):
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n = t[i]
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self.debug(WREG, 'setFR() a = ', a, ' i = ', i, 'setFR() n = ', n)
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self.debug(INFO, 'set reg %d = %s' % (a, self.RegInfo[a][1]), ' to ', hex(n))
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self.RegVal[uid][a] = n
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i += 1
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return
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uid = self.mbap.UID
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type = self.RegInfo[SA][0]
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if (type == 'U32' or type == 'F32'):
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NE = QR/2
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fs = '>%dI'
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else:
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NE = QR
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fs = '>%dH'
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EA = 2*NE + SA
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self.debug(WREG, 'NE = %d EA = %d ' % (NE,EA))
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t = unpack(fs % NE,data)
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self.debug(WREG, 'setFR(): t = ', map(hex, t))
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i = 0
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for a in range(SA, EA, 2):
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n = t[i]
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self.debug(WREG, 'setFR() a = ', a, ' i = ', i, 'setFR() n = ', n)
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self.debug(INFO, 'set reg %d = %s' % (a, self.RegInfo[a][1]), ' to ', hex(n))
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self.RegVal[uid][a] = n
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i += 1
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return
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def rawDataReceived(self, ADU):
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self.debug(COMS, "Received ADU ", ADU.encode('hex'))
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self.ADU = ADU
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dl = len(ADU)
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self.mbap = self.MBAP._make(unpack('>3HB',ADU[:self.mbhlen]))
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self.fcode = unpack('>B', ADU[self.fcbyte])[0]
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self.debug(COMS, self.mbap, 'fcode = ', self.fcode)
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self.MBFN[self.fcode]()
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self.debug(COMS, "Received ADU ", ADU.encode('hex'))
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self.ADU = ADU
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dl = len(ADU)
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self.mbap = self.MBAP._make(unpack('>3HB',ADU[:self.mbhlen]))
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self.fcode = unpack('>B', ADU[self.fcbyte])[0]
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self.debug(COMS, self.mbap, 'fcode = ', self.fcode)
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self.MBFN[self.fcode]()
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def connectionMade(self):
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self.debug(INFO, "Connection made")
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self.debug(INFO, "Connection made")
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def getPDU(self):
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return self.ADU[self.datstart:]
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return self.ADU[self.datstart:]
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def rcoils(self):
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# FC = Function Code
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# SA = Start Address, QC = Quantity of Coils
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# BC = Byte Count, CS = Coil Status (each bit = status of one coil)
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# Request: FC<1B>, SA<2B>, QC<2B>
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# Response: FC<1B>, BC<1B>, CS<n*B>
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# n = number of eights in QC plus 1 if there is a remainder.
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# ie n = QC // 8 + (1 if QC % 8 else 0)
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uid = self.mbap.UID
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PDU = self.getPDU()
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(SA, QC) = unpack('>2H',PDU)
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self.debug(RCOIL, 'rcoils:SA=%d, QC=%d' % (SA,QC))
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hdr = self.mbap._replace(len = 4)
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BC = 1 # ByteCount
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#TODO Coil values should be an array of bytes with each bit representing a coil
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if (self.FermiCoil[uid][SA] == 0xFF00):
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data = 1
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else:
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data = 0
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resp = pack('>3HB', *hdr) + pack('>2B%dB' % BC, self.fcode, BC, data)
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self.debug(RCOIL, 'resp = ', resp.encode('hex'))
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self.sendLine(resp)
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# FC = Function Code
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# SA = Start Address, QC = Quantity of Coils
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# BC = Byte Count, CS = Coil Status (each bit = status of one coil)
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# Request: FC<1B>, SA<2B>, QC<2B>
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# Response: FC<1B>, BC<1B>, CS<n*B>
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# n = number of eights in QC plus 1 if there is a remainder.
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# ie n = QC // 8 + (1 if QC % 8 else 0)
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uid = self.mbap.UID
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PDU = self.getPDU()
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(SA, QC) = unpack('>2H',PDU)
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self.debug(RCOIL, 'rcoils:SA=%d, QC=%d' % (SA,QC))
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hdr = self.mbap._replace(len = 4)
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BC = 1 # ByteCount
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#TODO Coil values should be an array of bytes with each bit representing a coil
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if (self.FermiCoil[uid][SA] == 0xFF00):
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data = 1
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else:
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data = 0
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resp = pack('>3HB', *hdr) + pack('>2B%dB' % BC, self.fcode, BC, data)
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self.debug(RCOIL, 'resp = ', resp.encode('hex'))
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self.sendLine(resp)
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def wcoil(self):
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uid = self.mbap.UID
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PDU = self.getPDU()
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(OA, OV) = unpack('>2H', self.ADU[self.datstart:])
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self.debug(WCOIL, 'wcoil:OA=%d, OV=%X' % (OA,OV))
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# TODO This really just toggles IDLE speed so it's only correct for OA=2 (ie coil 3)
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self.FermiCoil[uid][OA] ^= OV
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if (OA == CSTART):
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self.debug(INFO, "START")
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self.RegVal[uid][10] |= (_RUN|_LEV)
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self.debug(INFO, 'RUNNING, LEVITATING')
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# Don't set speed if idling
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if (self.FermiCoil[uid][2] == 0x0000):
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# Set RotSpeed value
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self.RegVal[uid][14] = self.RegVal[uid][1000]
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if (self.RegVal[uid][34] == _PHASE):
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self.debug(INFO, 'PHASELOCKED')
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self.RegVal[uid][10] |= _PHLOCK
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else:
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self.debug(INFO, 'UP TO SPEED')
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self.RegVal[uid][10] |= _UP_TO_SPEED
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elif (OA == CSTOP):
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self.debug(INFO, "STOP")
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self.RegVal[uid][14] = 0
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if (self.RegVal[uid][34] == _PHASE):
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self.debug(INFO, 'NOT UP TO SPEED, NOT RUNNING, NOT LEVITATING, NOT PHASELOCKED')
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self.RegVal[uid][10] &= ~(_UP_TO_SPEED|_RUN|_LEV|_PHLOCK)
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else:
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self.debug(INFO, 'NOT UP TO SPEED, NOT RUNNING, NOT LEVITATING')
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self.RegVal[uid][10] &= ~(_UP_TO_SPEED|_RUN|_LEV)
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elif (OA == CIDLE):
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self.debug(INFO, "TOGGLE IDLE")
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if (self.RegVal[uid][34] == _PHASE):
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lockflag = _PHLOCK
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flagname = '_PHLOCK'
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else:
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lockflag = _UP_TO_SPEED
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flagname = '_UP_TO_SPEED'
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if ( (self.RegVal[uid][10] & lockflag) > 0):
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self.debug(INFO, "SET IDLE SPEED")
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self.RegVal[uid][14] = 0
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self.debug(INFO, "UNSET %s" % flagname)
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self.RegVal[uid][10] &= ~(lockflag)
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else:
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self.debug(INFO, "SET RUN SPEED")
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self.RegVal[uid][14] = self.RegVal[uid][1000]
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self.debug(INFO, "SET %s" % flagname)
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self.RegVal[uid][10] |= lockflag
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elif (OA == CRESET):
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self.debug(INFO, "RESET")
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self.debug(WCOIL, 'resp = ', self.ADU.encode('hex'))
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self.sendLine(self.ADU)
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uid = self.mbap.UID
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PDU = self.getPDU()
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(OA, OV) = unpack('>2H', self.ADU[self.datstart:])
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self.debug(WCOIL, 'wcoil:OA=%d, OV=%X' % (OA,OV))
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# TODO This really just toggles IDLE speed so it's only correct for OA=2 (ie coil 3)
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self.FermiCoil[uid][OA] ^= OV
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if (OA == CSTART):
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self.debug(INFO, "START")
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self.RegVal[uid][10] |= (_RUN|_LEV)
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self.debug(INFO, 'RUNNING, LEVITATING')
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# Don't set speed if idling
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if (self.FermiCoil[uid][2] == 0x0000):
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# Set RotSpeed value
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self.RegVal[uid][14] = self.RegVal[uid][1000]
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if (self.RegVal[uid][34] == _PHASE):
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self.debug(INFO, 'PHASELOCKED')
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self.RegVal[uid][10] |= _PHLOCK
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else:
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self.debug(INFO, 'UP TO SPEED')
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self.RegVal[uid][10] |= _UP_TO_SPEED
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elif (OA == CSTOP):
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self.debug(INFO, "STOP")
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self.RegVal[uid][14] = 0
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if (self.RegVal[uid][34] == _PHASE):
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self.debug(INFO, 'NOT UP TO SPEED, NOT RUNNING, NOT LEVITATING, NOT PHASELOCKED')
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self.RegVal[uid][10] &= ~(_UP_TO_SPEED|_RUN|_LEV|_PHLOCK)
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else:
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self.debug(INFO, 'NOT UP TO SPEED, NOT RUNNING, NOT LEVITATING')
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self.RegVal[uid][10] &= ~(_UP_TO_SPEED|_RUN|_LEV)
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elif (OA == CIDLE):
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self.debug(INFO, "TOGGLE IDLE")
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if (self.RegVal[uid][34] == _PHASE):
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lockflag = _PHLOCK
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flagname = '_PHLOCK'
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else:
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lockflag = _UP_TO_SPEED
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flagname = '_UP_TO_SPEED'
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if ( (self.RegVal[uid][10] & lockflag) > 0):
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self.debug(INFO, "SET IDLE SPEED")
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self.RegVal[uid][14] = 0
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self.debug(INFO, "UNSET %s" % flagname)
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self.RegVal[uid][10] &= ~(lockflag)
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else:
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self.debug(INFO, "SET RUN SPEED")
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self.RegVal[uid][14] = self.RegVal[uid][1000]
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self.debug(INFO, "SET %s" % flagname)
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self.RegVal[uid][10] |= lockflag
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elif (OA == CRESET):
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self.debug(INFO, "RESET")
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self.debug(WCOIL, 'resp = ', self.ADU.encode('hex'))
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self.sendLine(self.ADU)
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||||
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def rhregs(self):
|
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uid = self.mbap.UID
|
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PDU = self.getPDU()
|
||||
(SA, QR) = unpack('>2H', self.ADU[self.datstart:])
|
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self.debug(RHREGS, 'rhregs:SA=%d, QR=%d' % (SA,QR))
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||||
regval = self.getFR(SA,QR)
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||||
self.debug(RHREGS, 'rhregs:data = ', regval)
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||||
hdr = self.mbap._replace(len = 3 + 2*QR)
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||||
self.debug(RHREGS, 'hdr = ', hdr)
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type = self.RegInfo[SA][0]
|
||||
if (type == 'U32' or type == 'F32'):
|
||||
NE = QR/2
|
||||
resp = pack('>3HB', *hdr) + pack('>2B%dI' % NE, self.fcode, 2*QR, *regval)
|
||||
else:
|
||||
resp = pack('>3HB', *hdr) + pack('>2B%dH' % QR, self.fcode, 2*QR, *regval)
|
||||
self.debug(RHREGS, 'resp = ', resp.encode('hex'))
|
||||
self.sendLine(resp)
|
||||
uid = self.mbap.UID
|
||||
PDU = self.getPDU()
|
||||
(SA, QR) = unpack('>2H', self.ADU[self.datstart:])
|
||||
self.debug(RHREGS, 'rhregs:SA=%d, QR=%d' % (SA,QR))
|
||||
regval = self.getFR(SA,QR)
|
||||
self.debug(RHREGS, 'rhregs:data = ', regval)
|
||||
hdr = self.mbap._replace(len = 3 + 2*QR)
|
||||
self.debug(RHREGS, 'hdr = ', hdr)
|
||||
type = self.RegInfo[SA][0]
|
||||
if (type == 'U32' or type == 'F32'):
|
||||
NE = QR/2
|
||||
resp = pack('>3HB', *hdr) + pack('>2B%dI' % NE, self.fcode, 2*QR, *regval)
|
||||
else:
|
||||
resp = pack('>3HB', *hdr) + pack('>2B%dH' % QR, self.fcode, 2*QR, *regval)
|
||||
self.debug(RHREGS, 'resp = ', resp.encode('hex'))
|
||||
self.sendLine(resp)
|
||||
|
||||
def wmregs(self):
|
||||
PDU = self.getPDU()
|
||||
(SA, QR, BC) = unpack('>2HB',PDU[:5])
|
||||
data = PDU[5:]
|
||||
self.debug(WMREGS, 'wmregs:SA=%d, QR=%d, BC=%d' % (SA,QR,BC), 'data = ', map(hex, unpack('>%dH' % QR, data)) )
|
||||
self.setFR(SA, QR, data)
|
||||
hdr = self.mbap._replace(len = 7)
|
||||
resp = pack('>3HB', *hdr) + pack('>B2H', self.fcode, SA, QR)
|
||||
self.debug(WMREGS, 'resp = ', resp.encode('hex'))
|
||||
self.sendLine(resp)
|
||||
PDU = self.getPDU()
|
||||
(SA, QR, BC) = unpack('>2HB',PDU[:5])
|
||||
data = PDU[5:]
|
||||
self.debug(WMREGS, 'wmregs:SA=%d, QR=%d, BC=%d' % (SA,QR,BC), 'data = ', map(hex, unpack('>%dH' % QR, data)) )
|
||||
self.setFR(SA, QR, data)
|
||||
hdr = self.mbap._replace(len = 7)
|
||||
resp = pack('>3HB', *hdr) + pack('>B2H', self.fcode, SA, QR)
|
||||
self.debug(WMREGS, 'resp = ', resp.encode('hex'))
|
||||
self.sendLine(resp)
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user