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VMC96.py
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VMC96.py
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#
# \file VMC96.py
# \brief VMC96 Board Application Programming Interface API
# \author Tiago Ventura ([email protected])
# \date Jan.2019
#
#
# Copyright (c) 2018 Tiago Ventura ([email protected])
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
#
import time
import usb.core
import pyftdi.ftdi as ftdi
class VMC96( object ):
# FTDI Device Specs
_FTDI_VENDOR_ID = 0x0ce5
_FTDI_PRODUCT_ID = 0x0023
_FTDI_BAUD_RATE = 19200
# K1 Message Specs
_MESSAGE_HEADER = 0x35
_MESSAGE_MIN_LENGTH = 5
_MESSAGE_MAX_LENGTH = 255
_MESSAGE_RESPONSE_DELAY = 0.01 #10ms
_MESSAGE_READ_MAX_RETRY = 100
# Device Controllers
_CONTROLLER_RELAY = 0x26
_CONTROLLER_MOTOR = 0x30
# Controller Commands
_COMMAND_RELAY_CONTROL = 0x11
_COMMAND_RELAY_RESET = 0x05
_COMMAND_MOTOR_RUN = 0x13
_COMMAND_MOTOR_STOP_ALL = 0x12
_COMMAND_MOTOR_RESET = 0x05
_COMMAND_MOTOR_OPTO_SENSOR_STATUS = 0x15
_COMMAND_MOTOR_SCAN_ARRAY = 0x11
# Message Parser Results
_RESPONSE_VALID = 0
_ERR_RESPONSE_MALFORMED = -1
_ERR_RESPONSE_INVALID_CHECKSUM = -2
_ERR_RESPONSE_INVALID_LENGTH = -3
_ERR_RESPONSE_NEGATIVE_ACK = -4
_ERR_RESPONSE_UNEXPECTED_CONTROLLER = -5
# Log Callback Function
on_log = None
def __init__( self, invertedArray=False ):
try:
self.inverted = invertedArray
self.ftdi = ftdi.Ftdi()
self.ftdi.open( VMC96._FTDI_VENDOR_ID, VMC96._FTDI_PRODUCT_ID )
self.ftdi.set_baudrate( VMC96._FTDI_BAUD_RATE )
self.ftdi.set_line_property( 8, 1, 'N' )
self.ftdi.set_flowctrl('')
except usb.core.USBError as e:
raise RuntimeError("Error initializing VMC96 Device: " + str(e) )
except:
raise RuntimeError("Error initializing VMC96 Device")
def __str__( self ):
return str("VMC96 API")
def _log( self, msg ):
if( self.on_log != None ):
self.on_log( msg )
def _request_to_string( self, req ):
if( len(req) < VMC96._MESSAGE_MIN_LENGTH ):
return str( ["0x{:02X}".format(i) for i in req] )
return("[ hdr='0x{:02X}', cntrl='0x{:02X}', len='0x{:02X}', cmd='0x{:02X}', data={}, chksum='0x{:02X}' ]".format( req[0], req[1], req[2], req[3], str(["0x{:02X}".format(i) for i in req[4:-1]]), req[-1] ))
def _response_to_string( self, resp ):
if( len(resp) < VMC96._MESSAGE_MIN_LENGTH ):
return str( ["0x{:02X}".format(i) for i in resp] )
return( "[ hdr='0x{:02X}', cntrl='0x{:02X}', len='0x{:02X}', data={}, chksum='0x{:02X}' ]".format( resp[0], resp[1], resp[2], str(["0x{:02X}".format(i) for i in resp[3:-1]]), resp[-1] ) )
def _error_to_string( self, err ):
if( err == VMC96._RESPONSE_VALID ):
return "Valid"
elif( err == VMC96._ERR_RESPONSE_MALFORMED ):
return "Malformed"
elif( err == VMC96._ERR_RESPONSE_INVALID_CHECKSUM ):
return "Invalid Checksum"
elif( err == VMC96._ERR_RESPONSE_INVALID_LENGTH ):
return "Invalid Length"
elif( err == VMC96._ERR_RESPONSE_NEGATIVE_ACK ):
return "Negative Acknowledgement"
elif( err == VMC96._ERR_RESPONSE_UNEXPECTED_CONTROLLER ):
return "Unexpected Controller"
else:
return "Unknown Error"
def _checksum( self, buf ):
chksum = 0;
for byte in buf:
chksum ^= byte
return chksum
def _prepare_request( self, cntrl, cmd, args ):
req = []
req.append( VMC96._MESSAGE_HEADER )
req.append( cntrl )
req.append( len(args) + VMC96._MESSAGE_MIN_LENGTH )
req.append( cmd )
req += args
req.append( self._checksum( req ) )
return req
def _parse_response( self, cntrl, resp ):
if( len(resp) < VMC96._MESSAGE_MIN_LENGTH ):
return VMC96._ERR_RESPONSE_INVALID_LENGTH, resp
if( resp[0] != VMC96._MESSAGE_HEADER ):
return VMC96._ERR_RESPONSE_MALFORMED, resp
if( resp[1] != cntrl ):
return VMC96._ERR_RESPONSE_UNEXPECTED_CONTROLLER, resp
if( resp[2] != len(resp) ):
return VMC96._ERR_RESPONSE_INVALID_LENGTH, resp
if( resp[-1] != self._checksum(resp[:-1]) ):
return VMC96._ERR_RESPONSE_INVALID_CHECKSUM, resp
return VMC96._RESPONSE_VALID, resp[3:-1]
def _invert_motor_id( self, mid ):
return ( ((mid & 0x0F) << 4) | ((mid & 0xF0) >> 4) )
def _send_request( self, req ):
self._log( "VMC96 Request: " + self._request_to_string(req) )
self.ftdi.write_data( req )
for trial in range( 0, VMC96._MESSAGE_READ_MAX_RETRY ):
time.sleep( VMC96._MESSAGE_RESPONSE_DELAY )
resp = self.ftdi.read_data_bytes( size=VMC96._MESSAGE_MAX_LENGTH )
if( len(resp) > 0 ):
break
self._log( "VMC96 Response: " + self._response_to_string(resp) )
return resp
def _execute_command( self, cntrl, cmd, args=[] ):
req = self._prepare_request( cntrl, cmd, args )
resp = self._send_request( req )
ret, data = self._parse_response( cntrl, resp )
if( ret != VMC96._RESPONSE_VALID ):
raise RuntimeError( "Invalid Response: " + self._error_to_string(ret) )
return data
def motor_run( self, motor_id ):
return self._execute_command( VMC96._CONTROLLER_MOTOR, VMC96._COMMAND_MOTOR_RUN, [ motor_id if not self.inverted else self._invert_motor_id( motor_id ) ] )
def motor_stop_all( self ):
return self._execute_command( VMC96._CONTROLLER_MOTOR, VMC96._COMMAND_MOTOR_STOP_ALL )
def motor_reset( self ):
return self._execute_command( VMC96._CONTROLLER_MOTOR, VMC96._COMMAND_MOTOR_RESET )
def relay_reset( self, relay_id ):
return self._execute_command( VMC96._CONTROLLER_RELAY, VMC96.COMMAND_RELAY_RESET )
def relay_set_state( self, relay_id, state ):
return self._execute_command( VMC96._CONTROLLER_RELAY + relay_id, VMC96._COMMAND_RELAY_CONTROL, [state] )
def opto_sensor_read( self ):
ret = []
data = self._execute_command( VMC96._CONTROLLER_MOTOR, VMC96._COMMAND_MOTOR_OPTO_SENSOR_STATUS )
if( len(data) != 5 ):
raise RuntimeError( "Invalid Opto Sensor Response: " + self._error_to_string(VMC96._ERR_RESPONSE_INVALID_LENGTH) )
if( data[0] != VMC96._COMMAND_MOTOR_OPTO_SENSOR_STATUS ):
raise RuntimeError( "Invalid Opto Sensor Response: " + self._error_to_string(VMC96._ERR_RESPONSE_MALFORMED) )
for byte in data[1:]:
for bit in range( 0, 8 ):
ret.append( (byte >> bit) & 0x01 )
return ret
def motor_scan_array( self ):
data = self._execute_command( VMC96._CONTROLLER_MOTOR, VMC96._COMMAND_MOTOR_SCAN_ARRAY )
if( len(data) < 2 ):
raise RuntimeError( "Invalid Motor Array Scan Response: " + self._error_to_string(VMC96._ERR_RESPONSE_INVALID_LENGTH) )
if( data[0] != VMC96._COMMAND_MOTOR_SCAN_ARRAY ):
raise RuntimeError( "Invalid Motor Array Scan Response: " + self._error_to_string(VMC96._ERR_RESPONSE_MALFORMED) )
motor_array = []
for byte in data[1:]:
cols = []
for bit in range( 0, 8 ):
cols.append( (byte >> bit) & 0x01 )
motor_array.append(cols)
status = []
for idx_row, row in enumerate(motor_array):
for idx_col, col in enumerate(row):
if( motor_array[idx_row][idx_col] != 0 ):
status.append( "0x{X}{X}".format( idx_row + 1, idx_col + 1 ) )
current_ma = float(( 500.0 * int(data[1]) ) / 255.0)
return { "current_ma": current_ma, "available_motors": status }
# end-of-file #