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"""iolink_master
The iolink_master module is responsible for managing IO-Link capable devices
connected to an iolink masterboard and allocating the needed resources.
"""
# IMPORT
from abc import ABCMeta
from abc import abstractmethod
from concurrent.futures import ThreadPoolExecutor
from enum import Enum
from serial import SerialException
from serial import SerialTimeoutException
import time
from datetime import datetime
from wire_st_sdk.iolink.iolink_protocol import IOLinkProtocol
from wire_st_sdk.iolink.iolink_sensor import IOLinkSensor
from wire_st_sdk.utils.wire_st_exceptions import WireSTInvalidOperationException
from wire_st_sdk.utils.python_utils import lock
from wire_st_sdk.utils.python_utils import lock_for_object
# CLASSES
[docs]class IOLinkMaster(object):
"""IO-Link Master class.
This class manages the communication between the host and the masterboard.
"""
_NUMBER_OF_DEVICES = 4
"""Number of devices that can be connected to the masterboard."""
_CONFIGURATION_REGISTERS_STRING = '096,248,033,122,122,122,122,' \
+ IOLinkProtocol.TERMINATOR_SEQ
"""Configuration string for the masterboard's registers."""
_NUMBER_OF_THREADS = 5
"""Number of threads to be used to notify the listeners."""
_SERIAL_PORT_RW_DELAY_s = 0.1
"""Delay time in seconds between two consecutive reads/writes on the serial
port."""
_FDM_ATTEMPTS = 10
"""Number of attempts to receive a line of frequency domain data."""
[docs] def __init__(self, serial_port):
"""Constructor.
:param serial_port: Serial Port object. Refer to
`Serial <https://pyserial.readthedocs.io/en/latest/pyserial_api.html#serial.Serial>`_
for more information.
:type serial_port: Serial
"""
self._serial_port = serial_port
"""Serial Port object."""
self._answer = None
"""Last answer received on the serial port when executing a command."""
self._status = IOLinkMasterStatus.INIT
"""Status."""
self._thread_pool = ThreadPoolExecutor(IOLinkMaster._NUMBER_OF_THREADS)
"""Pool of thread used to notify the listeners."""
self._listeners = []
"""List of listeners to the master changes.
It is a thread safe list, so a listener can subscribe itself through a
callback."""
self._devices = [None] * self._NUMBER_OF_DEVICES
"""List of devices by position."""
self._devices_id_position_map = {}
"""Dictionary that maps devices' identifier and devices' position."""
# Updating status.
self._update_master_status(IOLinkMasterStatus.IDLE)
def _update_master_status(self, new_status):
"""Update the status of the master.
:param new_status: New status.
:type new_status: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMasterStatus`
"""
old_status = self._status
self._status = new_status
for listener in self._listeners:
# Calling user-defined callback.
self._thread_pool.submit(
listener.on_status_change(
self, new_status.value, old_status.value))
def _update_master_device(self, device_id, device_position):
"""Update about the new device found.
:param device_id: New device found.
:type device_id: str
:param device_position: Position of the new device found.
:type device_position: int
"""
for listener in self._listeners:
# Calling user-defined callback.
self._thread_pool.submit(
listener.on_device_found(
self, device_id, device_position))
def _execute(self, command=None, expected_answer=None):
"""Execute a command and check the status.
:param command: Command to perform.
:type command: str
:param expected_answer: Expected answer to check after performing the
command.
:type expected_answer: str
:returns: True if the command has been executed correctly, False
otherwise.
:rtype: bool
:raises SerialException, SerialTimeoutException: are raised if something
with the serial communication does not work.
:raises WireSTInvalidOperationException:
is raised if the command has not been executed successfully.
"""
try:
# Encoding string to bytes (Python 3).
command = command.encode('utf-8') if command else command
expected_answer = expected_answer.encode('utf-8') if expected_answer \
else expected_answer
with lock_for_object(self):
# Delay.
time.sleep(self._SERIAL_PORT_RW_DELAY_s)
# Blocking write.
if command:
#print('---> \"%s\"' % (command[:-2]))
self._serial_port.write(command)
self._serial_port.flush()
# Delay.
time.sleep(self._SERIAL_PORT_RW_DELAY_s)
# Blocking read.
if expected_answer:
if not (command == IOLinkProtocol.COMMAND_MEAS1_4 and \
IOLinkProtocol.BYTES_TRANSMISSION):
self._answer = b''
while True:
self._answer += \
self._serial_port.read_until(expected_answer)
if expected_answer in self._answer:
return True
if IOLinkProtocol.MESSAGE_SENSOR_FAILED.encode('utf-8') \
in self._answer \
or IOLinkProtocol.MESSAGE_PARAMETER_UPDATED.encode('utf-8') \
in self._answer:
return False
else:
USE_ACK = False
self._answer = b''
n = IOLinkSensor._SIZE_OF_FDM * \
IOLinkSensor._SIZE_OF_FLOAT_bytes
attempts = self._FDM_ATTEMPTS
while attempts:
data = self._serial_port.read(n)
if len(data) == n:
attempts = self._FDM_ATTEMPTS
self._answer += data
if USE_ACK:
self._serial_port.write(
IOLinkProtocol.ACK.encode('utf-8'))
self._serial_port.flush()
else:
if USE_ACK:
self._serial_port.write(
IOLinkProtocol.NACK.encode('utf-8'))
self._serial_port.flush()
attempts -= 1
#print('Trying again...(%d)' % (attempts))
else:
return False
# Constant '1024' to be substituted with number of
# lines parameter.
if len(self._answer) == 1024 * n:
while True:
self._answer += \
self._serial_port.read_until(
expected_answer)
if expected_answer in self._answer:
return True
return False
# Blocking read.
# self._answer = b''
# if expected_answer:
# while expected_answer not in self._answer:
# self._answer += self._serial_port.read_until(expected_answer)
# if IOLinkProtocol.MESSAGE_SENSOR_FAILED.encode('utf-8') \
# in self._answer \
# or IOLinkProtocol.MESSAGE_PARAMETER_UPDATED.encode('utf-8') \
# in self._answer:
# # Sensor has already been rebooted.
# return False
# # Non-blocking read.
# self._answer = self._serial_port.read(1)
# while expected_answer not in self._answer:
# while (self._serial_port.in_waiting > 0):
# self._answer += self._serial_port.read(self._serial_port.in_waiting)
# if IOLinkProtocol.MESSAGE_SENSOR_FAILED.encode('utf-8') \
# in self._answer \
# or IOLinkProtocol.MESSAGE_PARAMETER_UPDATED.encode('utf-8') \
# in self._answer:
# return False
return True
except (SerialException, SerialTimeoutException,
WireSTInvalidOperationException) as e:
raise e
def _get_answer(self):
"""Get the last answer received on the serial port when executing a
command.
:returns: The last answer received on the serial port when executing a
command.
:rtype: bytes
"""
return self._answer
[docs] def connect(self):
"""Start the communication between the masterboard and the host to which
it is connected.
:returns: The status of the connection.
:rtype: str
:raises SerialException, SerialTimeoutException: are raised if something
with the serial communication does not work.
:raises WireSTInvalidOperationException: is raised if the command has
not been executed successfully.
"""
try:
with lock_for_object(self):
# Updating status.
self._update_master_status(IOLinkMasterStatus.CONNECTING)
# Opening the serial port.
if not self._serial_port.is_open:
self._serial_port.open()
# Configuring all devices.
self._execute(IOLinkProtocol.COMMAND_START,
IOLinkProtocol.REQUEST_MOD)
connection_answer = IOLinkProtocol.TERMINATOR_SEQ.encode('utf-8') \
+ self._answer[: \
- len(IOLinkProtocol.REQUEST_MOD) \
- len(IOLinkProtocol.TERMINATOR_SEQ)]
for device_position in range(self._NUMBER_OF_DEVICES):
self._execute(IOLinkProtocol.COMMAND_ICM,
IOLinkProtocol.REQUEST_IC)
self._execute(str(device_position) \
+ IOLinkProtocol.TERMINATOR_SEQ,
IOLinkProtocol.REQUEST_OPM)
self._execute(IOLinkProtocol.COMMAND_WRS,
IOLinkProtocol.REQUEST_RVAL)
self._execute(self._CONFIGURATION_REGISTERS_STRING,
IOLinkProtocol.MESSAGE_PROGRAMMING_DONE)
self._execute(IOLinkProtocol.COMMAND_END,
IOLinkProtocol.REQUEST_MOD)
# Clearing devices' maps.
self._devices = [None] * self._NUMBER_OF_DEVICES
self._devices_id_position_map.clear()
# Getting all devices' identifiers.
for device_position in range(self._NUMBER_OF_DEVICES):
self._execute(IOLinkProtocol.COMMAND_ICD,
IOLinkProtocol.REQUEST_SLAVE)
self._execute(str(device_position) \
+ IOLinkProtocol.TERMINATOR_SEQ,
IOLinkProtocol.REQUEST_SENSOR_COMMAND)
self._timeout = self._serial_port.timeout
self._serial_port.timeout = 5
self._execute(IOLinkProtocol.COMMAND_GET_1,
IOLinkProtocol.TERMINATOR_SEQ)
self._serial_port.timeout = self._timeout
self._execute(None, IOLinkProtocol.TERMINATOR_SEQ)
# Handling sensor error.
if IOLinkProtocol.MESSAGE_SENSOR_FAILED.encode('utf-8') \
in self._get_answer() \
or IOLinkProtocol.MESSAGE_PARAMETER_UPDATED.encode('utf-8') \
in self._get_answer():
# Sensor has already been rebooted.
#print('Rebooting sensor...')
#print('---> "MCU" KO: \"%s\"' % (self._answer[:-2]))
self._execute(IOLinkProtocol.COMMAND_END,
IOLinkProtocol.REQUEST_MOD)
continue
# Getting device's identifier, build devices' map, and
# waiting for transmission completed.
device_id = self._get_answer()[:
- len(IOLinkProtocol.TERMINATOR_SEQ)
].strip().decode('utf-8')
self._devices[device_position] = device_id
self._devices_id_position_map[device_id] = \
device_position + 1
self._execute(None, IOLinkProtocol.TERMINATOR_SEQ)
self._execute(None,
IOLinkProtocol.MESSAGE_TRANSMISSION_COMPLETED)
self._execute(IOLinkProtocol.COMMAND_END,
IOLinkProtocol.REQUEST_MOD)
# Updating about new device found.
self._update_master_device(device_id, device_position + 1)
self._answer = connection_answer
# Updating status.
self._update_master_status(IOLinkMasterStatus.CONNECTED)
return self._get_answer()
except (SerialException, SerialTimeoutException,
WireSTInvalidOperationException) as e:
raise e
[docs] def disconnect(self):
"""End the communication between the masterboard and the host to which
it is connected.
:raises SerialException, SerialTimeoutException: are raised if something
with the serial communication does not work.
"""
try:
if not self.is_connected():
return
with lock_for_object(self):
# Updating status.
self._update_master_status(IOLinkMasterStatus.DISCONNECTING)
# Clearing devices' maps.
self._devices = [None] * self._NUMBER_OF_DEVICES
self._devices_id_position_map.clear()
# Closing the serial port.
if self._serial_port.is_open:
self._serial_port.close()
# Updating status.
self._update_master_status(IOLinkMasterStatus.IDLE)
except (SerialException, SerialTimeoutException) as e:
raise e
[docs] def is_connected(self):
"""Check whether the master is connected.
:returns: True if the master is connected, False otherwise.
:rtype: bool
"""
return self._get_answer() == IOLinkMasterStatus.CONNECTED
[docs] def get_device(self, device_id, device_name=None):
"""Configure and get a connected device.
:param device_id: Device's identifier.
:type device_id: str
:param device_name: Device's name.
:type device_name: str
:returns: IOLink connected device if the device identifier is correct,
None otherwise.
:rtype: :class:`wire_st_sdk.iolink.iolink_device.IOLinkDevice`
:raises WireSTInvalidOperationException: is raised if the command has
not been executed successfully.
"""
# Creating the device.
try:
with lock_for_object(self):
if self._get_answer() == None:
msg = '\nBefore trying to get a device, connect to the '\
'masterboard.'
raise WireSTInvalidOperationException(msg)
if device_id in self._devices_id_position_map:
device_position = self._devices_id_position_map[device_id]
return IOLinkSensor(
self, device_position, device_id, device_name)
return None
except WireSTInvalidOperationException as e:
raise e
[docs] def get_device_by_position(self, device_position, device_name=None):
"""Configure and get a connected device.
:param device_position: Device's position according to the
enumeration on the masterboard.
:type device_position: int
:param device_name: Device's name.
:type device_name: str
:returns: IOLink connected device if there is a device connected at the
given device position, None otherwise.
:rtype: :class:`wire_st_sdk.iolink.iolink_device.IOLinkDevice`
:raises WireSTInvalidOperationException: is raised if the command has
not been executed successfully.
:raises ValueError: if the device position is not allowed.
"""
# Creating the device.
try:
with lock_for_object(self):
if self._get_answer() == None:
msg = '\nBefore trying to get a device, connect to the '\
'masterboard.'
raise WireSTInvalidOperationException(msg)
if device_position not in range(1, self._NUMBER_OF_DEVICES + 1):
raise ValueError('Device\'s position must be in range ' \
'[%d..%d].' % (1, self._NUMBER_OF_DEVICES))
if device_position in range(1, self._NUMBER_OF_DEVICES + 1):
device_id = self._devices[device_position - 1]
return IOLinkSensor(
self, device_position, device_id, device_name)
return None
except WireSTInvalidOperationException as e:
raise e
[docs] def get_port(self):
"""Get the serial port of the masterboard.
:returns: Serial Port object. Refer to
`Serial <https://pyserial.readthedocs.io/en/latest/pyserial_api.html#serial.Serial>`_
for more information.
:rtype: Serial
"""
return self._serial_port
[docs] def add_listener(self, listener):
"""Add a listener.
:param listener: Listener to be added.
:type listener: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMasterListener`
"""
if listener is not None:
with lock(self):
if not listener in self._listeners:
self._listeners.append(listener)
[docs] def remove_listener(self, listener):
"""Remove a listener.
:param listener: Listener to be removed.
:type listener: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMasterListener`
"""
if listener is not None:
with lock(self):
if listener in self._listeners:
self._listeners.remove(listener)
[docs]class IOLinkMasterStatus(Enum):
"""Status of the masterboard."""
INIT = 'INIT'
"""Dummy initial status."""
IDLE = 'IDLE'
"""Waiting for a connection."""
CONNECTING = 'CONNECTING'
"""Opening a connection with the host."""
CONNECTED = 'CONNECTED'
"""Connected to the host."""
DISCONNECTING = 'DISCONNECTING'
"""Closing the connection to the host."""
# INTERFACES
[docs]class IOLinkMasterListener(object):
"""Interface used by the :class:`wire_st_sdk.iolink.IOLinkMaster` class to
notify changes of a masterboard's status.
"""
__metaclass__ = ABCMeta
[docs] @abstractmethod
def on_status_change(self, masterboard, new_status, old_status):
"""To be called whenever a masterboard changes its status.
:param masterboard: Masterboard that has changed its status.
:type masterboard: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMaster`
:param new_status: New status.
:type new_status: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMasterStatus`
:param old_status: Old status.
:type old_status: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMasterStatus`
:raises NotImplementedError: is raised if the method is not implemented.
"""
raise NotImplementedError('You must define "on_status_change()" to use '
'the "IOLinkMasterListener" class.')
[docs] @abstractmethod
def on_device_found(self, masterboard, device_id, device_position):
"""To be called whenever a masterboard finds a new device connected.
:param masterboard: Masterboard that has found a new device.
:type masterboard: :class:`wire_st_sdk.iolink.iolink_master.IOLinkMaster`
:param device_id: New device found.
:type device_id: str
:param device_position: Position of the new device found.
:type device_position: int
:raises NotImplementedError: is raised if the method is not implemented.
"""
raise NotImplementedError('You must define "on_device_found()" to use '
'the "IOLinkMasterListener" class.')