symetrie-hexapod 2023.1.0__py3-none-any.whl

egse/hexapod/symetrie/zonda_devif.py

@@ -0,0 +1,415 @@
+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

@@ -0,0 +1,119 @@
+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()