extended status class, exception classes, extendedstatusquery

1 files changed, 143 insertions, 9 deletions

diff --git a/Phytron.py b/Phytron.py
index c00d079..406913b 100644
--- a/Phytron.py
+++ b/Phytron.py
@@ -9,6 +9,21 @@ class ReceiveChecksumError(exceptions.Exception):
 		self.received = received
 		self.message = "Checksum Error: expected %x, got %x" % (expected, received)
 
+class OverrunError(exceptions.EnvironmentError):
+	pass
+
+class NotNowWarning(exceptions.UserWarning):
+	pass
+
+class UnknownCommand(exceptions.Exception):
+	pass
+
+class BadValueError(exceptions.Exception):
+	pass
+
+class ParameterLimitsError(exceptions.ValueError):
+	pass
+
 class Axis:
 	def __init__(self, ipcomm, ID):
 		self.ipcomm = ipcomm
@@ -16,8 +31,7 @@ class Axis:
 
 	def execute(self, cmd):
 		result = self.ipcomm.execute(self.ID, cmd)
-		assert result['ID'] == self.ID
-		del result['ID']
+		assert result.ID == self.ID
 		return result
 	
 	def goToAbs(self, position):
@@ -46,6 +60,14 @@ def checksum(data):
 	return chksm
 
 class Status:
+	COLDBOOT          = (1<<7)
+	ANY_ERROR         = (1<<6)
+	RX_ERROR          = (1<<5)
+	SFI_ERROR         = (1<<4)
+	OUTPUTSTAGE_ERROR = (1<<3)
+	INITIATOR_M       = (1<<2)
+	INITIATOR_P       = (1<<1)
+	RUNNING           = (1<<0)
 	def __init__(self, bitvector):
 		self.coldboot          = not not (bitvector & (1<<7))
 		self.any_error         = not not (bitvector & (1<<6))
@@ -76,6 +98,60 @@ class Status:
 			status += ['Running']
 		return '{'+ ('|'.join(status)) + '}'
 
+class ExtendedStatus:
+	CHECKSUM_ERROR   = (1<<23)
+	                 # (1<<22)
+	RXBUFFER_OVERRUN = (1<<21)
+	NOT_NOW          = (1<<20)
+	UNKNOWN_COMMAND  = (1<<19)
+	BAD_VALUE        = (1<<18)
+	PARAMETER_LIMITS = (1<<17)
+	                 # (1<<16)
+	NO_SYSTEM         = (1<<15)
+	NO_RAMPS          = (1<<14)
+	PARAMETER_CHANGED = (1<<13)
+	BUSY              = (1<<12)
+	PROGRAMING_ERROR  = (1<<11)
+	HIGH_TEMPERATURE  = (1<<10)
+	INITIATOR_ERROR   = (1<< 9)
+	INTERNAL_ERROR    = (1<< 8)
+	DRIVER_ERROR  = (1<< 7)
+	              # (1<< 6)
+	WAIT_FOR_SYNC = (1<< 5)
+	LINEAR_AXIS   = (1<< 4)
+	FREE_RUNNING  = (1<< 3)
+	INITIALIZED   = (1<< 2)
+	HW_DISABLE    = (1<< 1)
+	INITIALIZING  = (1<< 0)
+	def __init__(self, bitvector):
+		self.checksum_error    = not not (bitvector & ExtendedStatus.CHECKSUM_ERROR)
+		self.rxbuffer_overrun  = not not (bitvector & ExtendedStatus.RXBUFFER_OVERRUN)
+		self.not_now           = not not (bitvector & ExtendedStatus.NOT_NOW)
+		self.unknown_command   = not not (bitvector & ExtendedStatus.UNKNOWN_COMMAND)
+		self.bad_value         = not not (bitvector & ExtendedStatus.BAD_VALUE)
+		self.parameter_limits  = not not (bitvector & ExtendedStatus.PARAMETER_LIMITS)
+		self.no_system         = not not (bitvector & ExtendedStatus.NO_SYSTEM)
+		self.no_ramps          = not not (bitvector & ExtendedStatus.NO_RAMPS)
+		self.parameter_changed = not not (bitvector & ExtendedStatus.PARAMETER_CHANGED)
+		self.busy              = not not (bitvector & ExtendedStatus.BUSY)
+		self.programing_error  = not not (bitvector & ExtendedStatus.PROGRAMING_ERROR)
+		self.high_temperature  = not not (bitvector & ExtendedStatus.HIGH_TEMPERATURE)
+		self.initiator_error   = not not (bitvector & ExtendedStatus,INITIATOR_ERROR)
+		self.internal_error    = not not (bitvector & ExtendedStatus.INTERNAL_ERROR)
+		self.driver_error      = not not (bitvector & ExtendedStatus.DRIVER_ERROR)
+		self.wait_for_sync     = not not (bitvector & ExtendedStatus.WAIT_FOR_SYNC)
+		self.linear_axis       = not not (bitvector & ExtendedStatus.LINEAR_AXIS)
+		self.free_running      = not not (bitvector & ExtendedStatus.FREE_RUNNING)
+		self.initialized       = not not (bitvector & ExtendedStatus.INITIALIZED)
+		self.hw_disable        = not not (bitvector & ExtendedStatus.HW_DISABLE)
+		self.initializing      = not not (bitvector & ExtendedStatus.INITIALIZING)
+
+class ReceiveData:
+	def __init__(self, ID, status, data):
+		self.ID = ID
+		self.status = status
+		self.data = data
+
 class IPCOMM:
 	def __init__(self, url, baudrate = 38400, axisnames = None):
 		self.conn = serial.serial_for_url(url)
@@ -99,7 +175,7 @@ class IPCOMM:
 		self.axisByName.clear()
 		for ID in range(0x10):
 			try:
-				assert self.execute(ID, 'IS?')['ID'] == ID
+				assert self.execute(ID, 'IS?').ID == ID
 				axis = Axis(self, ID)
 				self.axisByID[ID] = axis
 
@@ -122,13 +198,13 @@ class IPCOMM:
 		while c != '\x02':
 			c = self.conn.read(1)
 			if not c:
-				raise ReceiveTimeout
+				raise ReceiveTimeout()
 
 		c = None
 		while c != '\x03':
 			c = self.conn.read(1)
 			if not c:
-				raise ReceiveTimeout
+				raise ReceiveTimeout()
 			buf += c
 
 		status, data, chksm = buf[:-1].split(':')
@@ -137,15 +213,18 @@ class IPCOMM:
 		if expected_chksm != chksm:
 			raise ReceiveChecksumError(expected_chksm, chksm)
 
-		return {'ID': string.atoi(status[0], 0x10), 
-			'status': Status(string.atoi(status[1:], 0x10)), 
-			'data': data}
+		return ReceiveData( ID = string.atoi(status[0], 0x10),
+		                    status = Status(string.atoi(status[1:], 0x10)), 
+		                    data = data )
 
 	def broadcast(self, cmd):
 		self.conn.flushInput()
 		self.send( '@' + cmd )
 	
 	def execute(self, ID, cmd):
+		if cmd == 'IS?':
+			return self.queryextendedstatus(ID)
+
 		self.conn.flushInput()
 		self.send( ('%X' % ID) + cmd )
 
@@ -155,7 +234,62 @@ class IPCOMM:
 				recv_data = self.recv()
 			except ReceiveChecksumError:
 				self.send( ('%X' % ID) + 'R')
-		# self.parseStatus(recv_status)
+
+			if recv_data.status.rx_error:
+				extended_status = self.queryextendedstatus(ID)
+
+				if extended_status.checksum_error:
+					self.conn.flushInput()
+					self.send( ('%X' % ID) + cmd )
+					recv_data = None
+					continue
+
+				if extended_status.overrun:
+					raise OverrunError()
+
+				if extended_status.not_now:
+					raise NotNowWarning()
+
+				if extended_status.unknown():
+					raise UnknownCommand()
+
+				if extended_status.bad_value:
+					raise BadValueError()
+
+				if extended_status.parameter_limits():
+					raise ParameterLimitsError()
+
+
+		return recv_data
+
+	def queryextendedstatus(self, ID):
+		"""
+		Special function for querying the extended status.
+		Same basic structure like execute, with the following exceptions:
+		* does not take a command (always issued a IS?)
+		* will not resend query if status rx_error is reported
+		* will not request reply retransmission
+		* will not raise status related exceptions
+
+		Since regular execute will raise exceptions based on IS? status
+		to query the status for further processing, this method must be used.
+
+		If the extended status can not be requested, None is returned.
+		"""
+		self.conn.flushInput()
+		self.send( ('%X' % ID) + 'IS?' )
+
+		recv_data = None
+		try:
+			recv_data = self.recv()
+		except ReceiveChecksumError:
+			return None
+
+		if recv_data:
+			recv_data.data = ExtendedStatus(string.atoi(recv_data.data, 0x10))
+		else:
+			recv_data = None
+
 		return recv_data
 	
 	def goToAbs(self, positions):