cgse 2023.38.0__py3-none-any.whl → 2024.1.4__py3-none-any.whl

egse/hexapod/symetrie/zonda_devif.py

@@ -1,415 +0,0 @@
-import logging
-import socket
-import threading
-import time
-from telnetlib import Telnet
-from time import sleep
-from typing import List
-
-import paramiko
-
-from egse.decorators import timer
-from egse.device import DeviceTransport
-from egse.settings import Settings
-from egse.system import wait_until
-
-logger = logging.getLogger(__name__)
-ctrl_settings = Settings.load("ZONDA Controller")
-
-RETURN_CODES = {
-    0: "Success.",
-    -1: "Undefined error.",
-    -10: "Wrong value for parameter at index 0.",
-    -11: "Wrong value for parameter at index 1.",
-    -12: "Wrong value for parameter at index 2.",
-    -13: "Wrong value for parameter at index 3.",
-    -14: "Wrong value for parameter at index 4.",
-    -15: "Wrong value for parameter at index 5.",
-    -16: "Wrong value for parameter at index 6.",
-    -17: "Wrong value for parameter at index 7.",
-    -18: "Wrong value for parameter at index 8.",
-    -19: "Wrong value for parameter at index 9.",
-    -20: "Wrong value for parameter at index 10.",
-    -21: "Wrong value for parameter at index 11.",
-    -22: "Wrong value for parameter at index 12.",
-    -23: "Wrong value for parameter at index 13.",
-    -24: "Wrong value for parameter at index 14.",
-    -25: "Wrong value for parameter at index 15.",
-    -26: "Wrong value for parameter at index 16.",
-    -27: "Wrong value for parameter at index 17.",
-    -28: "Wrong value for parameter at index 18.",
-    -29: "Wrong value for parameter at index 19.",
-    -30: "Unknown command number.",
-    -31: "This configuration command is a 'get' only type.",
-    -32: "This configuration command is a 'set' only type.",
-    -33: "The axis number do not correspond to an axis defined on the controller.",
-    -34: "A stop task is running.",
-    -35: "All motors need to be control on.",
-    -36: "All motors need to be control off.",
-    -37: "Emergency stop is pressed.",
-    -38: "A motion task is running.",
-    -39: "A home task is running.",
-    -40: "Requested move is not feasible.",
-    -41: "Power supply of limit switches is off.",
-    -42: "Power supply of encoders is off.",
-    -43: "A fatal error is present. This type of error needs a controller restart to be removed.",
-    -44: "An error is present, error reset is required.",
-    -45: "Home is not completed.",
-    -46: "Software option not available (can be linked to hardware configuration).",
-    -47: "Virtual home: file was created on another controller (different MAC address).",
-    -48: "Virtual home: some positions read in file are out of software limits.",
-    -49: "Virtual home: file data were stored while hexapod was moving.",
-    -50: "Virtual home: no data available.",
-    -51: "Command has been rejected because another action is running.",
-    -52: "Timeout waiting for home complete status.",
-    -53: "Timeout waiting for control on status.",
-    -54: "Timeout on motion program start.",
-    -55: "Timeout on home task start.",
-    -56: "Timeout on virtual home write file task.",
-    -57: "Timeout on virtual home delete file task.",
-    -58: "Timeout on virtual home read file task.",
-    -59: "Timeout on disk access verification task.",
-    -60: "Configuration file: save process failed.",
-    -61: "Configuration file: loaded file is empty.",
-    -62: "Configuration file: loaded data are corrupted.",
-    -63: "No access to the memory disk.",
-    -64: "File does not exist.",
-    -65: "Folder access failed.",
-    -66: "Creation of folder tree on the memory disk failed.",
-    -67: "Generation or write of the checksum failed.",
-    -68: "File read: no data or wrong data size.",
-    -69: "File read: no checksum.",
-    -70: "File read: incorrect checksum.",
-    -71: "File write: failed.",
-    -72: "File open: failed.",
-    -73: "File delete: failed.",
-    -74: "Get MAC address failed.",
-    -75: "NaN (Not a Number) or infinite value found.",
-    -76: "The coordinate system transformations are not initialized.",
-    -77: "A kinematic error is present.",
-    -78: "The motor phase process failed (phase search or phase set from position offset).",
-    -79: "The motor phase is not found.",
-    -80: "Timeout waiting for control off status.",
-    -81: "The requested kinematic mode (number) is not defined for the machine.",
-    -82: "Timeout waiting for phase found status.",
-    -1000: "Internal error: 'RET_Dev_CfS_NaNReturned'.",
-    -1001: "Internal error: 'RET_Dev_CfS_FctNotAvailableInKernel'.",
-    -1002: "Internal error: 'RET_Dev_CfS_UndefinedCfSType'.",
-    -1003: "Internal error: 'RET_Dev_CfS_FIO_UndefinedFioType'.",
-    -1004: "Internal error: 'RET_Dev_CfS_FIO_HomeFile_UndefinedAction'.",
-    -1005: "Internal error: 'RET_Dev_UndefinedEnumValue'.",
-    -1006: "Internal error: 'RET_Dev_LdataCmdStatusIsNegative'.",
-    -1007: "Internal error: 'RET_Dev_NumMotorsInCoord_Sup_DEF_aGrQ_SIZE'.",
-    -1008: "Internal error: 'RET_Dev_NumMotorsInCoord_WrongNumber'.",
-    -1009: "Internal error: 'RET_String_StrCat_DestSizeReached'.",
-    -1010: "Internal error: 'RET_String_LengthOverStringSize'.",
-    -1011: "Internal error: 'RET_String_AllCharShouldIntBetween_0_255'.",
-    -1012: "Internal error: 'RET_String_StrCpy_DestSizeReached'.",
-    -1013: "Internal error: 'RET_ErrAction_HomeReset'.",
-    -1014: "Internal error: 'RET_Home_StopReceivedWhileRunning'.",
-    -1015: "Internal error: 'RET_UndefinedKinAssembly'.",
-    -1016: "Internal error: 'RET_WrongPmcConfig'.",
-}
-
-
-class ZondaError(Exception):
-    pass
-
-
-class ZondaSSHInterface(object):
-    def __init__(self):
-        self.client = None
-        self.gpascii_client = None
-        self.connected = False
-        self.ssh_output = None
-        self.ssh_error = None
-        self.verbose = False
-        self.ip = ctrl_settings.IP
-
-        self.semaphore = threading.Semaphore()
-
-        self.CommandReturns = RETURN_CODES
-
-    # Etablish the SSH connection with the controller and open gpascii
-    def connect(self, ip):
-        try:
-            # Paramiko.SSHClient can be used to make connections to the remote server and
-            # transfer files
-            logger.info("Establishing ssh connection with {}...".format(ip))
-            self.client = paramiko.SSHClient()
-            # Parsing an instance of the AutoAddPolicy to set_missing_host_key_policy() changes
-            # it to allow any host.
-            self.client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
-            self.client.connect(hostname=ip, port=22, username="root", password="deltatau",
-                                timeout=5,
-                                allow_agent=False, look_for_keys=False)
-            logger.warning("Connected to the server: {}".format(ip))
-            self.connected = True
-        except paramiko.AuthenticationException:
-            logger.warning("Authentication failed, please verify your credentials.")
-            return False
-        except paramiko.SSHException as sshException:
-            logger.warning("Could not establish SSH connection: %s" % sshException)
-            return False
-        except socket.timeout as e:
-            logger.warning("Connection timed out.")
-            return False
-        except Exception as e:
-            logger.warning("Exception in connecting to the server.")
-            logger.warning("Python says:", e)
-            self.client.close()
-            return False
-
-        self.gpascii_client = self.client.invoke_shell(term="vt100")
-        self.sendcommand("gpascii -2", 0.5)
-        self.sendcommand("echo7")
-
-    def is_connected(self):
-        return self.connected
-
-    # send a command through gpascii
-    def sendcommand(self, command, wait=0):
-        self.gpascii_client.send(command + "\r\n")
-        if self.verbose == True:
-            pass  # print("Command send: {}".format(command))
-
-        if wait > 0:
-            sleep(wait)
-
-        # wait for response from gpascii
-        step = 0.1
-        time = 0
-
-        while True:
-            if self.gpascii_client.recv_ready():
-                break
-            if time > 2.0:
-                logger.warning("Command response timed out!")
-                return ""
-            sleep(step)
-            time += step
-
-        # get and clean response
-        response = self.gpascii_client.recv(2048)
-        response = response.decode()
-        response = response.replace(command, "")
-        response = response.replace("\r", "")
-        # response = response.replace("\n"," ")
-        response = response.replace("\x06", "")
-
-        # remove empty elements
-        cleaned = ""
-        lines = response.split("\n")
-        for line in lines:
-            if line == "" or line == " ":
-                lines.remove(line)
-            else:
-                cleaned += line + "\n"
-
-        # if self.verbose is True:
-        # print("Command rcv: {}".format(cleaned))
-        return cleaned
-
-    def cmd_decode(self, name, arguments=list()):
-        command = ""
-
-        if "JOG" in name:
-            command += "c_ax={} ".format(arguments[0])
-            arguments.pop(0)
-
-        # set cfg part
-        cfg = 1
-        if "?" in name:
-            cfg = 0
-            name = name.replace("?", "")
-        if "CFG_" in name:
-            command += "c_cfg={} ".format(cfg)
-
-        # create the parameters part of a command using the given arguments
-        for index in range(0, len(arguments)):
-            command += "c_par({})={} ".format(index, arguments[index])
-
-        # finish command line
-        command += "c_cmd=C_{}".format(name)
-
-        # logger.debug("command sent: ", command)
-        return command
-
-    def cmd_check(self):
-        # sends "c_cmd" and returns the state of the command that has been previously sent.
-        Timer = 0
-        last = time.process_time()
-
-        # For a maximum of 5 sec
-        while Timer < 5:
-
-            # wait and count
-            time.sleep(0.1)
-            Timer += time.process_time() - last
-            last = time.process_time()
-
-            # ask for command state
-            response = self.sendcommand("c_cmd")
-            response.replace("\n", "")
-
-            if "=" in response:
-                # get value
-                elements = response.split("=", 1)
-                element = elements[1]
-
-                # exit if command is completed
-                if int(element) <= 0:
-                    response = element
-
-            code = int(response)
-
-            if code < 0:
-                message = self.CommandReturns[code]
-                logger.warning("Command Error return: {} : {}".format(code, message))
-            elif code == 0:
-                message = "Command successful: 0, execution time {} sec".format(Timer)
-                # logger.info(message)
-            return [code, message]
-        logger.warning("Error: Order timed out !")
-        return [-1, "Error: Order timed out !"]
-
-    def p_check(self, number=20):
-        # ask the value of the command parameters
-        command = "c_par(0)"
-        if number > 1:
-            command += ",{},1".format(number)
-
-        answer = self.sendcommand(command)
-        return answer
-
-    def disconnect(self):
-        try:
-            logger.info("Closing ssh connection with {}...")
-            self.client.close()
-            self.gpascii_client.close()
-            self.connected = False
-            logger.warning("...disconnected from ssh".format(self.ip))
-        except Exception as e_exc:
-            raise ZondaError(f"Could not close socket to ") from e_exc
-
-
-class ZondaTelnetInterface(DeviceTransport):
-    """
-    The ZONDA Hexapod device interface based on the telnet protocol.
-    """
-
-    TELNET_TIMEOUT = 0.5
-
-    def __init__(self):
-        self.telnet = Telnet()
-        self._is_connected = False
-
-    def connect(self, hostname: str):
-        self.telnet.open(hostname, 23)
-        self.telnet.read_until(b"login: ", timeout=self.TELNET_TIMEOUT)
-        self.telnet.write(b"root\r\n")
-        self.telnet.read_until(b"Password: ", timeout=self.TELNET_TIMEOUT)
-        self.telnet.write(b"deltatau\r\n")
-        self.telnet.read_until(b"ppmac# ", timeout=self.TELNET_TIMEOUT)
-        self.telnet.write(b"gpascii -2\r\n")
-        self.telnet.write(b"echo7\r\n")
-        self.telnet.read_until(b'\x06', timeout=self.TELNET_TIMEOUT)
-        self.telnet.read_very_eager()
-        self._is_connected = True
-
-    def is_connected(self):
-        return self._is_connected
-
-    def disconnect(self):
-        self.telnet.read_very_eager()
-        self.telnet.close()
-        self._is_connected = False
-
-    def check_command_status(self):
-
-        if wait_until(lambda: self.trans('c_cmd')[0] == '0', interval=0.01):
-            rc = int(self.trans('c_cmd')[0])
-            logger.warning(f"Command check: {RETURN_CODES[rc]} [{rc}]")
-        else:
-            rc = 0
-
-        return rc, RETURN_CODES[rc]
-
-    def get_pars(self, count: int = 20):
-        # ask the value of the command parameters
-        command = "c_par(0)"
-        if count > 1:
-            command += f",{count},1"
-
-        return self.trans(command)
-
-    def trans(self, cmd: str) -> List:
-        self.write(cmd)
-        response = self.read()
-        if response and response[0] == cmd:
-            return response[1:]
-        else:
-            return response
-
-    def read(self) -> List:
-        response = self.telnet.read_until(b'\x06\r\n', timeout=self.TELNET_TIMEOUT)
-        response = response.decode()
-        parts = response.split("\r\n")
-        if len(parts) == 1:
-            return []
-        if parts[-2] == '\x06':
-            return parts[:-2]
-        logger.warning("Expected ACK at the end of the response")
-        return parts
-
-    def write(self, cmd: str):
-        self.telnet.write(cmd.encode() + b"\r\n")
-
-
-def decode_command(cmd_name: str, *args):
-
-    args = list(args)
-    cmd_name = cmd_name.upper()
-
-    full_command = ""
-
-    if "JOG" in cmd_name:
-        arg = args.pop(0)
-        full_command += f"c_ax={arg} "
-
-    # set cfg part
-
-    if "?" in cmd_name:
-        cmd_name = cmd_name.replace("?", "")
-        cfg = 0
-    else:
-        cfg = 1
-
-    if "CFG_" in cmd_name:
-        full_command += f"c_cfg={cfg} "
-
-    # create the parameters part of a full_command using the given arguments
-
-    for index, arg in enumerate(args):
-        full_command += f"c_par({index})={arg} "
-
-    # finish full_command line
-
-    full_command += f"c_cmd=C_{cmd_name}"
-
-    return full_command
-
-
-if __name__ == "__main__":
-    import rich
-
-    zonda = ZondaTelnetInterface()
-    zonda.connect("192.168.56.10")
-    rich.print(zonda.trans("s_hexa,50,1"))
-    rich.print(zonda.trans("s_ax_1,6,1"))
-    rich.print(zonda.trans("s_pos_ax_1,6,1"))
-    rich.print(zonda.read())
-    zonda.disconnect()
-
-    print(decode_command("CFG_LIMIT?", 0))
-    print(decode_command("CFG_LIMIT", 1, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12))

egse/hexapod/symetrie/zonda_protocol.py

@@ -1,119 +0,0 @@
-import logging
-
-from egse.command import ClientServerCommand
-from egse.control import ControlServer
-from egse.hexapod.symetrie.zonda import ZondaController
-from egse.hexapod.symetrie.zonda import ZondaInterface
-from egse.hexapod.symetrie.zonda import ZondaSimulator
-from egse.hk import read_conversion_dict, convert_hk_names
-from egse.metrics import define_metrics
-from egse.protocol import CommandProtocol
-from egse.settings import Settings
-from egse.system import format_datetime
-from egse.zmq_ser import bind_address
-
-logger = logging.getLogger(__name__)
-
-ctrl_settings = Settings.load("Hexapod ZONDA Control Server")
-zonda_settings = Settings.load(filename="zonda.yaml")
-
-
-class ZondaCommand(ClientServerCommand):
-    pass
-
-
-class ZondaProtocol(CommandProtocol):
-    def __init__(self, control_server: ControlServer):
-        super().__init__()
-        self.control_server = control_server
-
-        self.hk_conversion_table = read_conversion_dict(self.control_server.get_storage_mnemonic(), use_site=True)
-
-        if Settings.simulation_mode():
-            self.hexapod = ZondaSimulator()
-        else:
-            self.hexapod = ZondaController()
-
-        self.hexapod.connect()
-
-        self.load_commands(zonda_settings.Commands, ZondaCommand, ZondaInterface)
-
-        self.build_device_method_lookup_table(self.hexapod)
-
-        self.metrics = define_metrics("ZONDA")
-
-    def get_bind_address(self):
-        return bind_address(
-            self.control_server.get_communication_protocol(),
-            self.control_server.get_commanding_port(),
-        )
-
-    def get_status(self):
-
-        status = super().get_status()
-
-        mach_positions = self.hexapod.get_machine_positions()
-        user_positions = self.hexapod.get_user_positions()
-        actuator_length = self.hexapod.get_actuator_length()
-
-        status.update({"mach": mach_positions, "user": user_positions, "alength": actuator_length})
-
-        return status
-
-    def get_housekeeping(self) -> dict:
-
-        result = dict()
-        result["timestamp"] = format_datetime()
-
-        mach_positions = self.hexapod.get_machine_positions()
-        user_positions = self.hexapod.get_user_positions()
-        actuator_length = self.hexapod.get_actuator_length()
-        actuator_temperature = self.hexapod.get_temperature()
-
-        # TODO If you change these names, please, also change them in egse.fov.fov_hk!
-        for idx, key in enumerate(
-            ["user_t_x", "user_t_y", "user_t_z", "user_r_x", "user_r_y", "user_r_z"]
-        ):
-            result[key] = user_positions[idx]
-
-        for idx, key in enumerate(
-            ["mach_t_x", "mach_t_y", "mach_t_z", "mach_r_x", "mach_r_y", "mach_r_z"]
-        ):
-            result[key] = mach_positions[idx]
-
-        for idx, key in enumerate(
-            ["alen_t_x", "alen_t_y", "alen_t_z", "alen_r_x", "alen_r_y", "alen_r_z"]
-        ):
-            result[key] = actuator_length[idx]
-
-        for idx, key in enumerate(
-            ["atemp_1", "atemp_2", "atemp_3", "atemp_4", "atemp_5", "atemp_6"]
-        ):
-            result[key] = actuator_temperature[idx]
-
-        # # TODO:
-        # #   the get_general_state() method should be refactored as to return a dict instead of a
-        # #   list. Also, we might want to rethink the usefulness of returning the tuple,
-        # #   it the first return value ever used?
-        #
-        # _, _ = self.hexapod.get_general_state()
-        #
-        result["Homing done"] = self.hexapod.is_homing_done()
-        result["In position"] = self.hexapod.is_in_position()
-
-        hk_dict = convert_hk_names(result, self.hk_conversion_table)
-
-        for key, value in hk_dict.items():
-            if key != "timestamp":
-                self.metrics[key].set(value)
-
-        return hk_dict
-
-    def is_connected(self):
-        # FIXME(rik): There must be another way to check if the socket is still alive...
-        #             This will send way too many VERSION requests to the controllers.
-        #             According to SO [https://stackoverflow.com/a/15175067] the best way
-        #             to check for a connection drop / close is to handle the exceptions
-        #             properly.... so, no polling for connections by sending it a simple
-        #             command.
-        return self.hexapod.is_connected()