import os
import time
import threading
import xml.etree.ElementTree as ET
from xml.dom import minidom
from abc import abstractmethod
from typing import Union, List, Dict, Optional, Tuple, Callable, Any
from ingenialink.exceptions import (
ILIOError,
ILRegisterNotFoundError,
ILError,
ILStateError,
ILAccessError,
ILTimeoutError,
ILValueError,
)
from ingenialink.register import Register
from ingenialink.utils._utils import (
get_drive_identification,
convert_bytes_to_dtype,
convert_dtype_to_bytes,
)
from ingenialink.constants import (
PASSWORD_RESTORE_ALL,
PASSWORD_STORE_ALL,
DEFAULT_PDS_TIMEOUT,
MONITORING_BUFFER_SIZE,
DEFAULT_DRIVE_NAME,
)
from ingenialink.utils import constants
from ingenialink.enums.register import REG_DTYPE, REG_ADDRESS_TYPE, REG_ACCESS
from ingenialink.enums.servo import SERVO_STATE
from ingenialink.dictionary import Dictionary
import ingenialogger
logger = ingenialogger.get_logger(__name__)
OPERATION_TIME_OUT = -3
[docs]class ServoStatusListener(threading.Thread):
"""Reads the status word to check if the drive is alive.
Args:
servo: Servo instance of the drive.
"""
def __init__(self, servo: "Servo") -> None:
super(ServoStatusListener, self).__init__()
self.__servo = servo
self.__stop = False
[docs] def run(self) -> None:
"""Checks if the drive is alive by reading the status word register"""
previous_states: Dict[int, SERVO_STATE] = {}
while not self.__stop:
for subnode in range(1, self.__servo.subnodes):
try:
current_state = self.__servo.get_state(subnode)
if subnode not in previous_states or previous_states[subnode] != current_state:
previous_states[subnode] = current_state
self.__servo._notify_state(current_state, subnode)
except ILError as e:
logger.error("Error getting drive status. Exception : %s", e)
time.sleep(1.5)
[docs] def stop(self) -> None:
"""Stops the loop that reads the status word register"""
self.__stop = True
[docs]class Servo:
"""Declaration of a general Servo object.
Args:
target: Target ID of the servo.
dictionary_path: Path to the dictionary file.
servo_status_listener: Toggle the listener of the servo for
its status, errors, faults, etc.
Raises:
ILCreationError: If the servo cannot be created.
"""
DICTIONARY_CLASS = Dictionary
MAX_WRITE_SIZE = 1
STATUS_WORD_REGISTERS = "DRV_STATE_STATUS"
RESTORE_COCO_ALL = "DRV_RESTORE_COCO_ALL"
RESTORE_MOCO_ALL_REGISTERS = "DRV_RESTORE_MOCO_ALL"
STORE_COCO_ALL = "DRV_STORE_COCO_ALL"
STORE_MOCO_ALL_REGISTERS = "DRV_STORE_MOCO_ALL"
CONTROL_WORD_REGISTERS = "DRV_STATE_CONTROL"
SERIAL_NUMBER_REGISTERS = ["DRV_ID_SERIAL_NUMBER_COCO", "DRV_ID_SERIAL_NUMBER"]
SOFTWARE_VERSION_REGISTERS = ["DRV_APP_COCO_VERSION", "DRV_ID_SOFTWARE_VERSION"]
PRODUCT_ID_REGISTERS = ["DRV_ID_PRODUCT_CODE_COCO", "DRV_ID_PRODUCT_CODE"]
REVISION_NUMBER_REGISTERS = ["DRV_ID_REVISION_NUMBER_COCO", "DRV_ID_REVISION_NUMBER"]
MONITORING_DIST_ENABLE = "MON_DIST_ENABLE"
MONITORING_REMOVE_DATA = "MON_REMOVE_DATA"
MONITORING_NUMBER_MAPPED_REGISTERS = "MON_CFG_TOTAL_MAP"
MONITORING_BYTES_PER_BLOCK = "MON_CFG_BYTES_PER_BLOCK"
MONITORING_ACTUAL_NUMBER_BYTES = "MON_CFG_BYTES_VALUE"
MONITORING_DATA: Optional[Register] = None
MONITORING_DISTURBANCE_VERSION = "MON_DIST_VERSION"
DISTURBANCE_ENABLE = "DIST_ENABLE"
DISTURBANCE_REMOVE_DATA = "DIST_REMOVE_DATA"
DISTURBANCE_NUMBER_MAPPED_REGISTERS = "DIST_CFG_MAP_REGS"
DIST_NUMBER_SAMPLES = "DIST_CFG_SAMPLES"
DIST_DATA: Register
MONITORING_ACTUAL_NUMBER_SAMPLES = "MON_CFG_CYCLES_VALUE"
DISTURBANCE_REMOVE_REGISTERS_OLD = "DIST_CMD_RM_REGS"
MONITORING_REMOVE_REGISTERS_OLD = "MON_CMD_RM_REG"
DISTURBANCE_ADD_REGISTERS_OLD = "DIST_CMD_ADD_REG"
MONITORING_ADD_REGISTERS_OLD = "MON_OP_ADD_REG"
def __init__(
self,
target: Union[int, str],
dictionary_path: str,
servo_status_listener: bool = False,
):
self._dictionary = self.DICTIONARY_CLASS(dictionary_path)
self.subnodes
self.target = target
prod_name = ""
if self.dictionary.part_number is not None:
prod_name = self.dictionary.part_number
self._info = None
self.name = DEFAULT_DRIVE_NAME
self.full_name = f"{prod_name} {self.name} ({self.target})"
"""Obtains the servo full name."""
self.units_torque = None
"""SERVO_UNITS_TORQUE: Torque units."""
self.units_pos = None
"""SERVO_UNITS_POS: Position units."""
self.units_vel = None
"""SERVO_UNITS_VEL: Velocity units."""
self.units_acc = None
"""SERVO_UNITS_ACC: Acceleration units."""
self._lock = threading.Lock()
self.__observers_servo_state: List[Callable[[SERVO_STATE, None, int], Any]] = []
self.__listener_servo_status: Optional[ServoStatusListener] = None
self.__monitoring_data: Dict[int, List[Union[int, float]]] = {}
self.__monitoring_size: Dict[int, int] = {}
self.__monitoring_dtype: Dict[int, REG_DTYPE] = {}
self.__disturbance_data = bytearray()
self.__disturbance_size: Dict[int, int] = {}
self.__disturbance_dtype: Dict[int, str] = {}
if servo_status_listener:
self.start_status_listener()
else:
self.stop_status_listener()
[docs] def start_status_listener(self) -> None:
"""Start listening for servo status events (SERVO_STATE)."""
if self.__listener_servo_status is not None:
return
self.__listener_servo_status = ServoStatusListener(self)
self.__listener_servo_status.start()
[docs] def stop_status_listener(self) -> None:
"""Stop listening for servo status events (SERVO_STATE)."""
if self.__listener_servo_status is None:
return
if self.__listener_servo_status.is_alive():
self.__listener_servo_status.stop()
self.__listener_servo_status.join()
self.__listener_servo_status = None
[docs] def is_listener_started(self) -> bool:
"""Check if servo listener is started
Returns:
True if listener is started, else False
"""
return self.__listener_servo_status is not None
[docs] def load_configuration(self, config_file: str, subnode: Optional[int] = None) -> None:
"""Write current dictionary storage to the servo drive.
Args:
config_file: Path to the dictionary.
subnode: Subnode of the axis.
Raises:
FileNotFoundError: If the configuration file cannot be found.
ValueError: If a configuration file from a subnode different from 0
is attempted to be loaded to subnode 0.
ValueError: If an invalid subnode is provided.
"""
if subnode is not None and (not isinstance(subnode, int) or subnode < 0):
raise ValueError("Invalid subnode")
_, registers = self._read_configuration_file(config_file)
dest_subnodes = [int(element.attrib["subnode"]) for element in registers]
if subnode == 0 and subnode not in dest_subnodes:
raise ValueError(f"Cannot load {config_file} to subnode {subnode}")
cast_data = {"float": float, "str": str}
for element in registers:
try:
if "storage" in element.attrib and element.attrib["access"] == "rw":
if subnode is None:
element_subnode = int(element.attrib["subnode"])
else:
element_subnode = subnode
reg_dtype = element.attrib["dtype"]
reg_data = element.attrib["storage"]
self.write(
element.attrib["id"],
cast_data.get(reg_dtype, int)(reg_data),
subnode=element_subnode,
)
except ILError as e:
logger.error(
"Exception during load_configuration, register %s: %s",
str(element.attrib["id"]),
e,
)
[docs] def save_configuration(self, config_file: str, subnode: Optional[int] = None) -> None:
"""Read all dictionary registers content and put it to the dictionary
storage.
Args:
config_file: Destination path for the configuration file.
subnode: Subnode of the axis.
"""
if subnode is not None and (not isinstance(subnode, int) or subnode < 0):
raise ILError("Invalid subnode")
prod_code, rev_number = get_drive_identification(self, subnode)
tree = ET.Element("IngeniaDictionary")
header = ET.SubElement(tree, "Header")
version = ET.SubElement(header, "Version")
version.text = "2"
default_language = ET.SubElement(header, "DefaultLanguage")
default_language.text = "en_US"
body = ET.SubElement(tree, "Body")
device = ET.SubElement(body, "Device")
registers = ET.SubElement(device, "Registers")
device.set("Interface", str(self.dictionary.interface))
if self.dictionary.part_number is not None:
device.set("PartNumber", self.dictionary.part_number)
device.set("ProductCode", str(prod_code))
device.set("RevisionNumber", str(rev_number))
device.set("firmwareVersion", str(self.dictionary.firmware_version))
access_ops = {value: key for key, value in self.dictionary.access_xdf_options.items()}
dtype_ops = {value: key for key, value in self.dictionary.dtype_xdf_options.items()}
if subnode is None:
subnodes = list(range(self.dictionary.subnodes))
else:
subnodes = [subnode]
for subnode in subnodes:
registers_dict = self.dictionary.registers(subnode=subnode)
for reg_id, register in registers_dict.items():
if (register.address_type == REG_ADDRESS_TYPE.NVM_NONE) or (
register.access != REG_ACCESS.RW
):
continue
register_xml = ET.SubElement(registers, "Register")
register_xml.set("access", access_ops[register.access])
register_xml.set("dtype", dtype_ops[register.dtype])
register_xml.set("id", reg_id)
self.__update_register_dict(register_xml, subnode)
register_xml.set("subnode", str(subnode))
dom = minidom.parseString(ET.tostring(tree, encoding="utf-8"))
with open(config_file, "wb") as f:
f.write(dom.toprettyxml(indent="\t").encode())
@staticmethod
def _read_configuration_file(config_file: str) -> Tuple[ET.Element, List[ET.Element]]:
"""Read a configuration file. Returns the device metadata and the registers list.
Args:
config_file: Path to the dictionary.
Returns:
device:
Register list.
Raises:
FileNotFoundError: If the configuration file cannot be found.
ILIOError: If the configuration file does not have device information or registers.
"""
if not os.path.isfile(config_file):
raise FileNotFoundError(f"Could not find {config_file}.")
with open(config_file, "r", encoding="utf-8") as xml_file:
tree = ET.parse(xml_file)
root = tree.getroot()
device = root.find("Body/Device")
axis = tree.findall("*/Device/Axes/Axis")
if axis:
# Multiaxis
registers = root.findall("./Body/Device/Axes/Axis/Registers/Register")
else:
# Single axis
registers = root.findall("./Body/Device/Registers/Register")
if not isinstance(device, ET.Element):
raise ILIOError("Configuration file does not have device information")
if not isinstance(registers, list):
raise ILIOError("Configuration file does not have register list")
return device, registers
[docs] def restore_parameters(self, subnode: Optional[int] = None) -> None:
"""Restore all the current parameters of all the slave to default.
.. note::
The drive needs a power cycle after this
in order for the changes to be properly applied.
Args:
subnode: Subnode of the axis. `None` by default which restores
all the parameters.
Raises:
ILError: Invalid subnode.
ILObjectNotExist: Failed to write to the registers.
"""
if subnode is None:
# Restore all
self.write(reg=self.RESTORE_COCO_ALL, data=PASSWORD_RESTORE_ALL, subnode=0)
logger.info("Restore all successfully done.")
elif subnode == 0:
# Restore subnode 0
raise ILError("The current firmware version does not have this feature implemented.")
elif subnode > 0:
# Restore axis
self.write(
reg=self.RESTORE_MOCO_ALL_REGISTERS, data=PASSWORD_RESTORE_ALL, subnode=subnode
)
logger.info(f"Restore subnode {subnode} successfully done.")
else:
raise ILError("Invalid subnode {subnode}.")
time.sleep(1.5)
[docs] def store_parameters(self, subnode: Optional[int] = None) -> None:
"""Store all the current parameters of the target subnode.
Args:
subnode: Subnode of the axis. `None` by default which stores
all the parameters.
Raises:
ILError: Invalid subnode.
ILObjectNotExist: Failed to write to the registers.
"""
r = 0
try:
if subnode is None:
# Store all
try:
self.write(reg=self.STORE_COCO_ALL, data=PASSWORD_STORE_ALL, subnode=0)
logger.info("Store all successfully done.")
except ILError as e:
logger.warning(f"Store all COCO failed. Reason: {e}. Trying MOCO...")
r = -1
if r < 0:
for dict_subnode in range(1, self.dictionary.subnodes):
self.write(
reg=self.STORE_MOCO_ALL_REGISTERS,
data=PASSWORD_STORE_ALL,
subnode=dict_subnode,
)
logger.info(f"Store axis {dict_subnode} successfully done.")
elif subnode == 0:
# Store subnode 0
raise ILError(
"The current firmware version does not have this feature implemented."
)
elif subnode > 0:
# Store axis
self.write(
reg=self.STORE_MOCO_ALL_REGISTERS, data=PASSWORD_STORE_ALL, subnode=subnode
)
logger.info(f"Store axis {subnode} successfully done.")
else:
raise ILError("Invalid subnode.")
finally:
time.sleep(1.5)
[docs] def enable(self, subnode: int = 1, timeout: int = DEFAULT_PDS_TIMEOUT) -> None:
"""Enable PDS.
Args:
subnode: Subnode of the drive.
timeout: Timeout in milliseconds.
Raises:
ILTimeoutError: The servo could not be enabled due to timeout.
ILError: Failed to enable PDS.
"""
# Try fault reset if faulty
if self.get_state(subnode) in [
SERVO_STATE.FAULT,
SERVO_STATE.FAULTR,
]:
self.fault_reset(subnode=subnode)
state = self.get_state(subnode)
while state != SERVO_STATE.ENABLED:
# Check state and command action to reach enabled
cmd = constants.IL_MC_PDS_CMD_EO
if state == SERVO_STATE.FAULT:
raise ILStateError(None)
elif state == SERVO_STATE.NRDY:
cmd = constants.IL_MC_PDS_CMD_DV
elif state == SERVO_STATE.DISABLED:
cmd = constants.IL_MC_PDS_CMD_SD
elif state == SERVO_STATE.RDY:
cmd = constants.IL_MC_PDS_CMD_SOEO
self.write(self.CONTROL_WORD_REGISTERS, cmd, subnode=subnode)
# Wait for state change
state = self.state_wait_change(state, timeout, subnode=subnode)
[docs] def disable(self, subnode: int = 1, timeout: int = DEFAULT_PDS_TIMEOUT) -> None:
"""Disable PDS.
Args:
subnode: Subnode of the drive.
timeout: Timeout in milliseconds.
Raises:
ILTimeoutError: The servo could not be disabled due to timeout.
ILError: Failed to disable PDS.
"""
state = self.get_state(subnode)
while state != SERVO_STATE.DISABLED:
if state in [
SERVO_STATE.FAULT,
SERVO_STATE.FAULTR,
]:
# Try fault reset if faulty
self.fault_reset(subnode=subnode)
state = self.get_state(subnode)
elif state != SERVO_STATE.DISABLED:
# Check state and command action to reach disabled
self.write(self.CONTROL_WORD_REGISTERS, constants.IL_MC_PDS_CMD_DV, subnode=subnode)
# Wait until state changes
state = self.state_wait_change(state, timeout, subnode=subnode)
[docs] def fault_reset(self, subnode: int = 1, timeout: int = DEFAULT_PDS_TIMEOUT) -> None:
"""Executes a fault reset on the drive.
Args:
subnode: Subnode of the drive.
timeout: Timeout in milliseconds.
Raises:
ILTimeoutError: If fault reset spend too much time.
ILError: Failed to fault reset.
"""
state = self.get_state(subnode=subnode)
if state in [
SERVO_STATE.FAULT,
SERVO_STATE.FAULTR,
]:
# Check if faulty, if so try to reset (0->1)
self.write(self.CONTROL_WORD_REGISTERS, 0, subnode=subnode)
self.write(self.CONTROL_WORD_REGISTERS, constants.IL_MC_CW_FR, subnode=subnode)
# Wait until status word changes
self.state_wait_change(state, timeout, subnode=subnode)
[docs] def status_word_wait_change(self, status_word: int, timeout: int, subnode: int = 1) -> None:
"""Waits for a status word change.
Args:
status_word: Status word to wait for.
timeout: Maximum value to wait for the change.
subnode: Subnode of the drive.
Raises:
ILTimeoutError: If status word does not change in the given time.
"""
start_time = int(round(time.time() * 1000))
actual_status_word = self.read(self.STATUS_WORD_REGISTERS, subnode=subnode)
while actual_status_word == status_word:
current_time = int(round(time.time() * 1000))
time_diff = current_time - start_time
if time_diff > timeout:
raise ILTimeoutError
actual_status_word = self.read(self.STATUS_WORD_REGISTERS, subnode=subnode)
[docs] def state_wait_change(self, state: SERVO_STATE, timeout: int, subnode: int = 1) -> SERVO_STATE:
"""Waits for a state change.
Args:
state: Servo state before calling this function.
timeout: Maximum value to wait for the change.
subnode: Subnode of the drive.
Returns:
The last read state.
Raises:
ILTimeoutError: If state does not change in the given time.
"""
start_time = int(round(time.time() * 1000))
actual_state = self.get_state(subnode)
while actual_state == state:
current_time = int(round(time.time() * 1000))
time_diff = current_time - start_time
if time_diff > timeout:
raise ILTimeoutError
# TODO: Remove this try-except after CAP-924 is solved.
try:
actual_state = self.get_state(subnode)
except ILTimeoutError:
continue
return actual_state
[docs] def get_state(self, subnode: int = 1) -> SERVO_STATE:
"""Current drive state."""
status_word = self.read(self.STATUS_WORD_REGISTERS, subnode=subnode)
state = self.status_word_decode(int(status_word))
return state
[docs] @staticmethod
def status_word_decode(status_word: int) -> SERVO_STATE:
"""Decodes the status word to a known value.
Args:
status_word: Read value for the status word.
Returns:
Status word value.
"""
if (status_word & constants.IL_MC_PDS_STA_NRTSO_MSK) == constants.IL_MC_PDS_STA_NRTSO:
state = SERVO_STATE.NRDY
elif (status_word & constants.IL_MC_PDS_STA_SOD_MSK) == constants.IL_MC_PDS_STA_SOD:
state = SERVO_STATE.DISABLED
elif (status_word & constants.IL_MC_PDS_STA_RTSO_MSK) == constants.IL_MC_PDS_STA_RTSO:
state = SERVO_STATE.RDY
elif (status_word & constants.IL_MC_PDS_STA_SO_MSK) == constants.IL_MC_PDS_STA_SO:
state = SERVO_STATE.ON
elif (status_word & constants.IL_MC_PDS_STA_OE_MSK) == constants.IL_MC_PDS_STA_OE:
state = SERVO_STATE.ENABLED
elif (status_word & constants.IL_MC_PDS_STA_QSA_MSK) == constants.IL_MC_PDS_STA_QSA:
state = SERVO_STATE.QSTOP
elif (status_word & constants.IL_MC_PDS_STA_FRA_MSK) == constants.IL_MC_PDS_STA_FRA:
state = SERVO_STATE.FAULTR
elif (status_word & constants.IL_MC_PDS_STA_F_MSK) == constants.IL_MC_PDS_STA_F:
state = SERVO_STATE.FAULT
else:
state = SERVO_STATE.NRDY
return state
[docs] def monitoring_enable(self) -> None:
"""Enable monitoring process."""
self.write(self.MONITORING_DIST_ENABLE, data=1, subnode=0)
[docs] def monitoring_disable(self) -> None:
"""Disable monitoring process."""
self.write(self.MONITORING_DIST_ENABLE, data=0, subnode=0)
[docs] def monitoring_remove_data(self) -> None:
"""Remove monitoring data."""
self.write(self.MONITORING_REMOVE_DATA, data=1, subnode=0)
[docs] def monitoring_set_mapped_register(
self, channel: int, address: int, subnode: int, dtype: int, size: int
) -> None:
"""Set monitoring mapped register.
Args:
channel: Identity channel number.
address: Register address to map.
subnode: Subnode to be targeted.
dtype: Register data type.
size: Size of data in bytes.
"""
self.__monitoring_data[channel] = []
self.__monitoring_dtype[channel] = REG_DTYPE(dtype)
self.__monitoring_size[channel] = size
data = self._monitoring_disturbance_data_to_map_register(subnode, address, dtype, size)
try:
self.write(self.__monitoring_map_register(), data=data, subnode=0)
self.__monitoring_update_num_mapped_registers()
except ILAccessError:
self.write(self.MONITORING_ADD_REGISTERS_OLD, data=address, subnode=0)
[docs] def monitoring_get_num_mapped_registers(self) -> int:
"""Obtain the number of monitoring mapped registers.
Returns:
Actual number of mapped registers.
"""
return int(self.read(self.MONITORING_NUMBER_MAPPED_REGISTERS, 0))
[docs] def monitoring_get_bytes_per_block(self) -> int:
"""Obtain Bytes x Block configured.
Returns:
Actual number of Bytes x Block configured.
"""
return int(self.read(self.MONITORING_BYTES_PER_BLOCK, subnode=0))
[docs] def monitoring_remove_all_mapped_registers(self) -> None:
"""Remove all monitoring mapped registers."""
try:
self.write(self.MONITORING_NUMBER_MAPPED_REGISTERS, data=0, subnode=0)
except ILAccessError:
self.write(self.MONITORING_REMOVE_REGISTERS_OLD, data=1, subnode=0)
self.__monitoring_data = {}
self.__monitoring_size = {}
self.__monitoring_dtype = {}
[docs] def monitoring_actual_number_bytes(self) -> int:
"""Get the number of monitoring bytes left to be read."""
try:
return int(self.read(self.MONITORING_ACTUAL_NUMBER_BYTES, subnode=0))
except ILRegisterNotFoundError:
num_samples = int(self.read(self.MONITORING_ACTUAL_NUMBER_SAMPLES, subnode=0))
sample_size = sum(self.__monitoring_size[reg] for reg in self.__monitoring_size)
return num_samples * sample_size
[docs] def monitoring_read_data(self) -> None:
"""Obtain processed monitoring data.
Returns:
Actual processed monitoring data.
"""
num_available_bytes = self.monitoring_actual_number_bytes()
monitoring_data = []
while num_available_bytes > 0:
if num_available_bytes < MONITORING_BUFFER_SIZE:
limit = num_available_bytes
else:
limit = MONITORING_BUFFER_SIZE
tmp_data = self._monitoring_read_data()[:limit]
monitoring_data.append(tmp_data)
num_available_bytes = self.monitoring_actual_number_bytes()
self.__monitoring_process_data(monitoring_data)
[docs] def monitoring_channel_data(
self, channel: int, dtype: Optional[REG_DTYPE] = None
) -> List[float]:
"""Obtain processed monitoring data of a channel.
Args:
channel: Identity channel number.
dtype: Data type of the register to map.
Note:
The dtype argument is not necessary for this function, it
was added to maintain compatibility with IPB's implementation
of monitoring.
Returns:
Monitoring data.
"""
return self.__monitoring_data[channel]
[docs] def disturbance_enable(self) -> None:
"""Enable disturbance process."""
self.write(self.DISTURBANCE_ENABLE, data=1, subnode=0)
[docs] def disturbance_disable(self) -> None:
"""Disable disturbance process."""
self.write(self.DISTURBANCE_ENABLE, data=0, subnode=0)
[docs] def disturbance_remove_data(self) -> None:
"""Remove disturbance data."""
self.write(self.DISTURBANCE_REMOVE_DATA, data=1, subnode=0)
self.disturbance_data = bytearray()
[docs] def disturbance_set_mapped_register(
self, channel: int, address: int, subnode: int, dtype: int, size: int
) -> None:
"""Set monitoring mapped register.
Args:
channel: Identity channel number.
address: Register address to map.
subnode: Subnode to be targeted.
dtype: Register data type.
size: Size of data in bytes.
"""
self.__disturbance_size[channel] = size
self.__disturbance_dtype[channel] = REG_DTYPE(dtype).name
data = self._monitoring_disturbance_data_to_map_register(subnode, address, dtype, size)
try:
self.write(self.__disturbance_map_register(), data=data, subnode=0)
self.__disturbance_update_num_mapped_registers()
except ILRegisterNotFoundError:
self.write(self.DISTURBANCE_ADD_REGISTERS_OLD, data=address, subnode=0)
[docs] def disturbance_get_num_mapped_registers(self) -> int:
"""Obtain the number of disturbance mapped registers.
Returns:
Actual number of mapped registers.
"""
return int(self.read(self.DISTURBANCE_NUMBER_MAPPED_REGISTERS, 0))
[docs] def disturbance_remove_all_mapped_registers(self) -> None:
"""Remove all disturbance mapped registers."""
try:
self.write(self.DISTURBANCE_NUMBER_MAPPED_REGISTERS, data=0, subnode=0)
except ILAccessError:
self.write(self.DISTURBANCE_REMOVE_REGISTERS_OLD, data=1, subnode=0)
self.__disturbance_data = bytearray()
self.__disturbance_size = {}
self.__disturbance_dtype = {}
[docs] def subscribe_to_status(self, callback: Callable[[SERVO_STATE, None, int], Any]) -> None:
"""Subscribe to state changes.
Args:
callback: Callback function.
Returns:
Assigned slot.
"""
if callback in self.__observers_servo_state:
logger.info("Callback already subscribed.")
return
self.__observers_servo_state.append(callback)
[docs] def unsubscribe_from_status(self, callback: Callable[[SERVO_STATE, None, int], Any]) -> None:
"""Unsubscribe from state changes.
Args:
Callback function.
"""
if callback not in self.__observers_servo_state:
logger.info("Callback not subscribed.")
return
self.__observers_servo_state.remove(callback)
[docs] def is_alive(self) -> bool:
"""Checks if the servo responds to a reading a register.
Returns:
Return code with the result of the read.
"""
_is_alive = True
try:
self.read(self.STATUS_WORD_REGISTERS)
except ILError as e:
_is_alive = False
logger.error(e)
return _is_alive
[docs] def reload_errors(self, dictionary: str) -> None:
"""Force to reload all dictionary errors.
Args:
Dictionary.
"""
pass
def _get_reg(self, reg: Union[str, Register], subnode: int = 1) -> Register:
"""Validates a register.
Args:
reg: Targeted register to validate.
subnode: Subnode for the register.
Returns:
Instance of the desired register from the dictionary.
Raises:
ValueError: If the dictionary is not loaded.
ILWrongRegisterError: If the register has invalid format.
"""
if isinstance(reg, Register):
return reg
elif isinstance(reg, str):
_dict = self.dictionary
if not _dict:
raise ValueError("No dictionary loaded")
if reg not in _dict.registers(subnode):
raise ILRegisterNotFoundError(f"Register {reg} not found.")
return _dict.registers(subnode)[reg]
else:
raise TypeError("Invalid register")
def __update_register_dict(self, register: ET.Element, subnode: int) -> None:
"""Updates the register from a dictionary with the
storage parameters.
Args:
register: Register element to be updated.
subnode: Target subnode.
Returns:
"""
try:
storage = self.read(register.attrib["id"], subnode=subnode)
register.set("storage", str(storage))
# Update register object
reg = self.dictionary.registers(subnode)[register.attrib["id"]]
reg.storage = storage
reg.storage_valid = True
except BaseException as e:
logger.error(
"Exception during save_configuration, register %s: %s",
str(register.attrib["id"]),
e,
)
def _notify_state(self, state: SERVO_STATE, subnode: int) -> None:
"""Notify the state to the observers.
Args:
state: Current servo state.
subnode: Subnode of the drive.
"""
for callback in self.__observers_servo_state:
callback(state, None, subnode)
def __read_coco_moco_register(self, register_coco: str, register_moco: str) -> str:
"""Reads the COCO register and if it does not exist,
reads the MOCO register
Args:
register_coco: COCO Register ID to be read.
register_moco: MOCO Register ID to be read.
Returns:
Read value of the register.
"""
try:
return str(self.read(register_coco, subnode=0))
except ILError:
logger.warning(f"Error reading register {register_coco} from COCO. Trying MOCO")
try:
return str(self.read(register_moco, subnode=1))
except ILError:
raise ILError(f"Error reading register {register_moco} from MOCO.")
def __monitoring_map_register(self) -> str:
"""Get the first available Monitoring Mapped Register slot.
Returns:
Monitoring Mapped Register ID.
"""
if self.monitoring_number_mapped_registers < 10:
register_id = f"MON_CFG_REG{self.monitoring_number_mapped_registers}_MAP"
else:
register_id = f"MON_CFG_REFG{self.monitoring_number_mapped_registers}_MAP"
return register_id
def _monitoring_disturbance_data_to_map_register(
self, subnode: int, address: int, dtype: int, size: int
) -> int:
"""Arrange necessary data to map a monitoring/disturbance register.
Args:
subnode: Subnode to be targeted.
address: Register address to map.
dtype: Register data type.
size: Size of data in bytes.
"""
data_h = address | subnode << 12
data_l = dtype << 8 | size
return (data_h << 16) | data_l
def __monitoring_update_num_mapped_registers(self) -> None:
"""Update the number of mapped monitoring registers."""
self.write(
self.MONITORING_NUMBER_MAPPED_REGISTERS,
data=self.monitoring_number_mapped_registers + 1,
subnode=0,
)
def __monitoring_process_data(self, monitoring_data: List[bytearray]) -> None:
"""Arrange monitoring data."""
data_bytes = bytearray()
for i in range(len(monitoring_data)):
data_bytes += monitoring_data[i]
bytes_per_block = self.monitoring_get_bytes_per_block()
number_of_blocks = len(data_bytes) // bytes_per_block
number_of_channels = self.monitoring_get_num_mapped_registers()
for channel in range(number_of_channels):
self.__monitoring_data[channel] = []
for block in range(number_of_blocks):
block_data = data_bytes[
block * bytes_per_block : block * bytes_per_block + bytes_per_block
]
for channel in range(number_of_channels):
channel_data_size = self.__monitoring_size[channel]
val = convert_bytes_to_dtype(
block_data[:channel_data_size], self.__monitoring_dtype[channel]
)
if not isinstance(val, (int, float)):
continue
self.__monitoring_data[channel].append(val)
block_data = block_data[channel_data_size:]
def __disturbance_map_register(self) -> str:
"""Get the first available Disturbance Mapped Register slot.
Returns:
Disturbance Mapped Register ID.
"""
return f"DIST_CFG_REG{self.disturbance_number_mapped_registers}_MAP"
def __disturbance_update_num_mapped_registers(self) -> None:
"""Update the number of mapped disturbance registers."""
self.write(
self.DISTURBANCE_NUMBER_MAPPED_REGISTERS,
data=self.disturbance_number_mapped_registers + 1,
subnode=0,
)
def _disturbance_create_data_chunks(
self,
channels: Union[int, List[int]],
dtypes: Union[REG_DTYPE, List[REG_DTYPE]],
data_arr: Union[List[Union[int, float]], List[List[Union[int, float]]]],
max_size: int,
) -> Tuple[bytearray, List[bytearray]]:
"""Divide disturbance data into chunks.
Args:
channels: Channel identifier.
dtypes: Data type.
data_arr: Data array.
max_size: Max chunk size in bytes.
"""
if not isinstance(channels, list):
channels = [channels]
if not isinstance(dtypes, list):
dtypes = [dtypes]
data_arr_aux: List[List[Union[int, float]]]
if not isinstance(data_arr[0], list):
num_samples = len(data_arr)
data_arr_aux = [data_arr] # type: ignore [list-item]
else:
num_samples = len(data_arr[0])
data_arr_aux = data_arr # type: ignore [assignment]
self.write(self.DIST_NUMBER_SAMPLES, num_samples, subnode=0)
data = bytearray()
for sample_idx in range(num_samples):
for channel in range(len(data_arr_aux)):
val = convert_dtype_to_bytes(data_arr_aux[channel][sample_idx], dtypes[channel])
data += val
chunks = [data[i : i + max_size] for i in range(0, len(data), max_size)]
return data, chunks
[docs] def write(
self,
reg: Union[str, Register],
data: Union[int, float, str, bytes],
subnode: int = 1,
**kwargs: Any,
) -> None:
"""Writes a data to a target register.
Args:
reg: Target register to be written.
data: Data to be written.
subnode: Target axis of the drive.
Raises:
ILAccessError: Wrong access to the register.
ILIOError: Error writing the register.
"""
_reg = self._get_reg(reg, subnode)
if _reg.access == REG_ACCESS.RO:
raise ILAccessError("Register is Read-only")
if not isinstance(data, bytes):
value = convert_dtype_to_bytes(data, _reg.dtype)
else:
value = data
self._write_raw(_reg, value, **kwargs)
[docs] def read(self, reg: Union[str, Register], subnode: int = 1) -> Union[int, float, str]:
"""Read a register value from servo.
Args:
reg: Register.
subnode: Target axis of the drive.
Returns:
int, float or Value stored in the register.
Raises:
ILAccessError: Wrong access to the register.
ILIOError: Error reading the register.
"""
_reg = self._get_reg(reg, subnode)
access = _reg.access
if access == REG_ACCESS.WO:
raise ILAccessError("Register is Write-only")
raw_read = self._read_raw(_reg)
value = convert_bytes_to_dtype(raw_read, _reg.dtype)
return value
[docs] def replace_dictionary(self, dictionary: str) -> None:
"""Deletes and creates a new instance of the dictionary.
Args:
dictionary: Path to the dictionary.
"""
self._dictionary = self.DICTIONARY_CLASS(dictionary)
[docs] def disturbance_write_data(
self,
channels: Union[int, List[int]],
dtypes: Union[REG_DTYPE, List[REG_DTYPE]],
data_arr: Union[List[Union[int, float]], List[List[Union[int, float]]]],
) -> None:
"""Write disturbance data.
Args:
channels: Channel identifier.
dtypes: Data type.
data_arr: Data array.
"""
if self.DIST_DATA is None:
return
try:
data, chunks = self._disturbance_create_data_chunks(
channels, dtypes, data_arr, self.MAX_WRITE_SIZE
)
except OverflowError as e:
raise ILValueError("Disturbance data cannot be written.") from e
for chunk in chunks:
self._disturbance_write_data(chunk)
self.disturbance_data = data
def _monitoring_read_data(self) -> bytearray:
"""Read monitoring data frame."""
if self.MONITORING_DATA is None:
return bytearray()
return self._read_raw(self.MONITORING_DATA)
def _disturbance_write_data(self, data: bytes) -> None:
"""Write disturbance data."""
return self._write_raw(self.DIST_DATA, data=data)
@abstractmethod
def _write_raw(self, reg: Register, data: bytes) -> None:
"""Write raw bytes to a target register.
Args:
reg: Target register to be written.
data: Data to be written.
Raises:
ILIOError: Error writing the register.
"""
raise NotImplementedError
@abstractmethod
def _read_raw(self, reg: Register) -> bytearray:
"""Read raw bytes from a target register.
Args:
reg: Register.
Returns:
Raw bytes reading from servo.
Raises:
ILIOError: Error reading the register.
"""
raise NotImplementedError
@property
def dictionary(self) -> Dictionary:
"""Returns dictionary object"""
return self._dictionary
@property
def full_name(self) -> str:
"""Drive full name."""
return self.__full_name
@full_name.setter
def full_name(self, new_name: str) -> None:
self.__full_name = new_name
@property
def status(self) -> Dict[int, SERVO_STATE]:
"""Servo status."""
status = {subnode: self.get_state(subnode) for subnode in range(1, self.subnodes)}
return status
@property
def subnodes(self) -> int:
"""Number of subnodes."""
return self.dictionary.subnodes
@property
def errors(self) -> Dict[int, List[Optional[str]]]:
"""Errors."""
if self.dictionary.errors:
return self.dictionary.errors.errors
else:
return {}
@property
def info(self) -> Dict[str, Union[str, int]]:
"""Servo information."""
serial_number = self.__read_coco_moco_register(
self.SERIAL_NUMBER_REGISTERS[0], self.SERIAL_NUMBER_REGISTERS[1]
)
sw_version = self.__read_coco_moco_register(
self.SOFTWARE_VERSION_REGISTERS[0], self.SOFTWARE_VERSION_REGISTERS[1]
)
product_code = self.__read_coco_moco_register(
self.PRODUCT_ID_REGISTERS[0], self.PRODUCT_ID_REGISTERS[1]
)
revision_number = self.__read_coco_moco_register(
self.REVISION_NUMBER_REGISTERS[0], self.REVISION_NUMBER_REGISTERS[1]
)
hw_variant = "A"
return {
"name": self.name,
"serial_number": serial_number,
"firmware_version": sw_version,
"product_code": product_code,
"revision_number": revision_number,
"hw_variant": hw_variant,
}
@property
def monitoring_number_mapped_registers(self) -> int:
"""Get the number of mapped monitoring registers."""
return int(self.read(self.MONITORING_NUMBER_MAPPED_REGISTERS, subnode=0))
@property
def monitoring_data_size(self) -> int:
"""Obtain monitoring data size.
Returns:
Current monitoring data size in bytes.
"""
number_of_samples = int(self.read("MON_CFG_WINDOW_SAMP", subnode=0))
return self.monitoring_get_bytes_per_block() * number_of_samples
@property
def disturbance_data(self) -> bytearray:
"""Obtain disturbance data.
Returns:
Current disturbance data.
"""
return self.__disturbance_data
@disturbance_data.setter
def disturbance_data(self, value: bytearray) -> None:
"""Set disturbance data.
Args:
value: Array with the disturbance to send.
"""
self.__disturbance_data = value
@property
def disturbance_data_size(self) -> int:
"""Obtain disturbance data size.
Returns:
Current disturbance data size.
"""
return len(self.__disturbance_data)
@property
def disturbance_number_mapped_registers(self) -> int:
"""Get the number of mapped disturbance registers."""
return int(self.read(self.DISTURBANCE_NUMBER_MAPPED_REGISTERS, subnode=0))