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innfos.py
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#import sys
#sys.path.append('home/pi/')
#import innfos
#import importlib
#importlib.reload(innfos)
import socket
UDP_IP = '192.168.1.30'
UDP_PORT = 2000
BUFFER_SIZE = 1024
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.settimeout(5.0)
def handshake():
s.sendto(bytes([0xEE, 0x00, 0x44, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gen = data[0][0:3]
if gen==bytes([0xEE, 0x00, 0x44]):
# everything seems ok
gengen = 1
else:
# something wrong
gengen = 0
return gengen
def queryID(gennum):
gen =[]
s.sendto(bytes([0xEE, 0x00, 0x02, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
for gen1 in range(gennum):
data = s.recvfrom(BUFFER_SIZE)
gen.append(data[0][1]) # only interested in the actuator ID
return gen
def enableact(genid):
gen = 1
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x2A, 0x00, 0x01, 0x01, 0x7E, 0x80, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
return gen
def disableact(genid):
gen = 1
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x2A, 0x00, 0x01, 0x00, 0xBF, 0x40, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
return gen
def trapposmode(genid):
gen = 1
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x07, 0x00, 0x01, 0x06, 0x3F, 0x42, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
return gen
def posmode(genid):
gen = 1
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x07, 0x00, 0x01, 0x03, 0xFF, 0x41, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
return gen
def trapposset(genid, accel, maxspeed, decel):
gen = 1
indg = 0
for byteg in genid:
# set maximum speed
if maxspeed[indg] < 0:
maxspeedg = int((256 + maxspeed[indg])*2**24).to_bytes(4,'big')
else:
maxspeedg = int(maxspeed[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(maxspeedg)
s.sendto(bytes([0xEE, byteg, 0x1F, 0x00, 0x04, maxspeedg[0], maxspeedg[1], maxspeedg[2], maxspeedg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
# set acceleration
if accel[indg] < 0:
accelg = int((256 + accel[indg])*2**24).to_bytes(4,'big')
else:
accelg = int(accel[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(accelg)
s.sendto(bytes([0xEE, byteg, 0x20, 0x00, 0x04, accelg[0], accelg[1], accelg[2], accelg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
# set deceleration
if decel[indg] < 0:
decelg = int((256 + decel[indg])*2**24).to_bytes(4,'big')
else:
decelg = int(decel[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(decelg)
s.sendto(bytes([0xEE, byteg, 0x21, 0x00, 0x04, decelg[0], decelg[1], decelg[2], decelg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
indg = indg + 1
return gen
def setpos(genid, pos):
indg = 0
for byteg in genid:
if pos[indg] < 0:
posg = int((256 + pos[indg])*2**24).to_bytes(4,'big')
else:
posg = int(pos[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(posg)
s.sendto(bytes([0xEE, byteg, 0x0A, 0x00, 0x04, posg[0], posg[1], posg[2], posg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
indg = indg + 1
return 1
def poslimit(genid, uppos, lowpos):
gen = 1
indg = 0
for byteg in genid:
# set upper limit position
if uppos[indg] < 0:
upposg = int((256 + uppos[indg])*2**24).to_bytes(4,'big')
else:
upposg = int(uppos[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(upposg)
s.sendto(bytes([0xEE, byteg, 0x83, 0x00, 0x04, upposg[0], upposg[1], upposg[2], upposg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
# set lower limit position
if lowpos[indg] < 0:
lowposg = int((256 + lowpos[indg])*2**24).to_bytes(4,'big')
else:
lowposg = int(lowpos[indg]*2**24).to_bytes(4,'big')
CRCg = CRC16_1(lowposg)
s.sendto(bytes([0xEE, byteg, 0x84, 0x00, 0x04, lowposg[0], lowposg[1], lowposg[2], lowposg[3], CRCg[0], CRCg[1], 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
if bytes([data[0][5]]) != bytes([0x01]):
gen = 0
indg = indg + 1
return gen
def readposlimit(genid):
# read the limit position for each actuator
uppos = []
lowpos = []
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x85, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
uppos.append(gtempg)
else:
uppos.append(gtempg - 256.0)
s.sendto(bytes([0xEE, byteg, 0x86, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
lowpos.append(gtempg)
else:
lowpos.append(gtempg - 256.0)
return [uppos, lowpos]
def readtrapposset(genid):
# read acceleration, max speed, and deceleration values
maxspeed = []
accel = []
decel = []
for byteg in genid:
# maximum speed
s.sendto(bytes([0xEE, byteg, 0x1C, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
maxspeed.append(gtempg)
else:
maxspeed.append(gtempg - 256.0)
# acceleration
s.sendto(bytes([0xEE, byteg, 0x1D, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
accel.append(gtempg)
else:
accel.append(gtempg - 256.0)
# deceleration speed
s.sendto(bytes([0xEE, byteg, 0x1E, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
decel.append(gtempg)
else:
decel.append(gtempg - 256.0)
return [maxspeed, accel, decel]
def readpos(genid):
# read the actuator position
posgen =[]
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x06, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
gtempg = int.from_bytes(data[0][5:9],'big')/(2**24) # iq24
if gtempg < 128:
posgen.append(gtempg)
else:
posgen.append(gtempg - 256.0)
return posgen
def readacttemp(genid):
tempg =[]
for byteg in genid:
s.sendto(bytes([0xEE, byteg, 0x5F, 0x00, 0x00, 0xED]),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
tempg.append(int.from_bytes(data[0][5:7],'big')/(2**8)) # iq8
return tempg
def sendrecv(listg):
s.sendto(bytes(listg),(UDP_IP, UDP_PORT))
data = s.recvfrom(BUFFER_SIZE)
return data[0]
# CRC High byte value table
chCRCHTable = (
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40
)
# CRC low byte value table
chCRCLTable = (
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40
)
def CRC16_1(datag):
chCRCHi = 0xFF # High CRC byte initialization
chCRCLo = 0xFF # Low CRC byte initialization
# wIndex Index in the CRC loop
for byteg in datag:
# Calculate CRC
wIndex = chCRCHi ^ byteg
chCRCHi = chCRCLo ^ chCRCHTable[wIndex]
chCRCLo = chCRCLTable[wIndex]
#return ((chCRCHi << 8) | chCRCLo)
return [chCRCHi, chCRCLo]