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import serial, string, exceptions
class ReceiveTimeout(exceptions.Exception):
pass
class ReceiveChecksumError(exceptions.Exception):
def __init__(self, expected, received):
self.expected = expected
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
self.ID = ID
def execute(self, cmd):
result = self.ipcomm.execute(self.ID, cmd)
assert result.ID == self.ID
return result
def goToAbs(self, position):
pass
def goToRelative(self, offset):
pass
def goFree(self, direction):
pass
def setAccelerationCurrent(self, current):
pass
def getAccelerationCurrent(self, current):
pass
def setPosition(self, position):
pass
def getPosition(self, position):
pass
def checksum(data):
chksm = 0
for d in data:
chksm = chksm ^ ord(d)
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))
self.rx_error = not not (bitvector & (1<<5))
self.SFI_error = not not (bitvector & (1<<4))
self.outputstage_error = not not (bitvector & (1<<3))
self.initiator_m = not not (bitvector & (1<<2))
self.initiator_p = not not (bitvector & (1<<1))
self.running = not not (bitvector & (1<<0))
def __str__(self):
status = list()
if self.coldboot:
status += ['Cold Boot']
if self.any_error:
status += ['Any Error']
if self.rx_error:
status += ['RX Error']
if self.SFI_error:
status += ['SFI Error']
if self.outputstage_error:
status += ['Output Stage Error']
if self.initiator_m:
status += ['Initiator -']
if self.initiator_p:
status += ['Initiator +']
if self.running:
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)
self.conn.baudrate = baudrate
self.conn.parity = serial.PARITY_NONE
self.conn.rtscts = False
self.conn.dsrdtr = False
self.conn.xonxoff = False
self.conn.timeout = 0.1
self.axisByID = dict()
self.axisByName = dict()
self.enumerate(axisnames)
def axis(self, nameOrID):
if isinstance(nameOrID, str) and nameOrID.isalpha():
return self.axisByName[nameOrID]
return self.axisByID[int(nameOrID)]
def enumerate(self, names=None):
self.axisByID.clear()
self.axisByName.clear()
for ID in range(0x10):
try:
assert self.execute(ID, 'IS?').ID == ID
axis = Axis(self, ID)
self.axisByID[ID] = axis
if (isinstance(names, dict) and names.haskey(ID)) or (isinstance(names, list) and ID < len(names)):
assert names[ID].isalpha()
self.axisByName[str(names[ID])] = axis
except ReceiveTimeout:
continue
def send(self, data):
self.conn.write('\x02' + data + ':' + ('%02X' % checksum(data + ':')) + '\x03')
self.conn.flush()
return self
def recv(self):
buf = ''
c = None
while c != '\x02':
c = self.conn.read(1)
if not c:
raise ReceiveTimeout()
c = None
while c != '\x03':
c = self.conn.read(1)
if not c:
raise ReceiveTimeout()
buf += c
status, data, chksm = buf[:-1].split(':')
expected_chksm = checksum(status + ':' + data + ':')
chksm = string.atoi(chksm, 0x10)
if expected_chksm != chksm:
raise ReceiveChecksumError(expected_chksm, chksm)
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 )
recv_data = None
while not recv_data:
try:
recv_data = self.recv()
except ReceiveChecksumError:
self.send( ('%X' % ID) + 'R')
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):
pass
def goToRelative(self, offset):
pass
def goFree(self, direction):
pass
def setAccelerationCurrent(self, currents):
pass
def setPosition(self, positions):
pass
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