gryf/python-linak-desk-control
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Further fixes here and there.

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gryf
2021-02-23 21:46:15 +01:00
parent 19938a28f1
commit 3cec7aa860
1 changed files with 48 additions and 51 deletions
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99
linak-desk-control.py
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@@ -19,6 +19,8 @@ import time
import usb1 import usb1
VENDOR_ID = 0x12d3 # Linak
PRODUCT_ID = 0x0002 # DeskLine CBD Control Box
REQ_INIT = 0x0303 REQ_INIT = 0x0303
REQ_GET_STATUS = 0x0304 REQ_GET_STATUS = 0x0304
@@ -63,10 +65,10 @@ class Status(object):
self = cls() self = cls()
attr = ['positionLost', 'antiColision', 'overloadDown', 'overloadUp'] attr = ['positionLost', 'antiColision', 'overloadDown', 'overloadUp']
bitlist = '{:0>8s}'.format(bin(int(buf, base=16)).lstrip('0b')) bitlist = '{:0>8s}'.format(bin(int(buf, base=16)).lstrip('0b'))
for i in range(0, 4): for index, attr_name in enumerate(attr):
setattr(self, attr[i], True if bitlist[i] == '1' else False) setattr(self, attr_name, bitlist[index] == '1')
# set unknown # set unknown
self.unkown = int(buf[1:], 16) self.unknown = int(buf[1:], 16)
return self return self
@@ -123,9 +125,8 @@ class ValidFlags(object):
'ID06_Ref7_pos_stat_speed', 'ID06_Ref7_pos_stat_speed',
'ID07_Ref8_pos_stat_speed', 'ID07_Ref8_pos_stat_speed',
'unknown'] 'unknown']
bitlist = '{:0>16s}'.format(bin(int(buf, base=16)).lstrip('0b')) for idx, bit in enumerate(bin(int(buf, base=16))[2:].zfill(16)):
for i in range(0, len(bitlist)): setattr(self, attr[idx], bit == '1')
setattr(self, attr[i], True if bitlist[i] == '1' else False)
return self return self
@@ -184,14 +185,12 @@ class LinakController(object):
_handle = None _handle = None
_ctx = None _ctx = None
def __init__(self, vendor_id=0x12d3, product_id=0x0002): def __init__(self):
self._ctx = usb1.USBContext() self._ctx = usb1.USBContext()
# self._ctx.setDebug(4) # self._ctx.setDebug(4)
self._handle = self._ctx.openByVendorIDAndProductID( self._handle = self._ctx.openByVendorIDAndProductID(VENDOR_ID,
vendor_id, PRODUCT_ID,
product_id, skip_on_error=True)
skip_on_error=True,
)
if not self._handle: if not self._handle:
raise Exception('Could not connect to usb device') raise Exception('Could not connect to usb device')
@@ -202,11 +201,11 @@ class LinakController(object):
if self._handle: if self._handle:
self._handle.releaseInterface(0) self._handle.releaseInterface(0)
del(self._handle) del self._handle
del(self._ctx) del self._ctx
def _control_write_read(self, request_type, request, value, index, data, def _control_write_read(self, request_type, request, value, index, data,
timeout=0): timeout=0):
data, data_buffer = usb1.create_initialised_buffer(data) data, data_buffer = usb1.create_initialised_buffer(data)
transferred = self._handle._controlTransfer(request_type, request, transferred = self._handle._controlTransfer(request_type, request,
value, index, data, value, index, data,
@@ -215,15 +214,15 @@ class LinakController(object):
return transferred, data_buffer[:transferred] return transferred, data_buffer[:transferred]
def _get_status_report(self): def _get_status_report(self):
buf = bytearray(b'\x00'*LEN_STATUS_REPORT) buf = bytearray(b'\x00' * LEN_STATUS_REPORT)
buf[0] = CMD_STATUS_REPORT buf[0] = CMD_STATUS_REPORT
# print('> {:s}'.format(buf.hex())) # print('> {:s}'.format(buf.hex()))
_, buf = self._control_write_read(TYPE_GET_CI, _, buf = self._control_write_read(TYPE_GET_CI,
HID_REPORT_GET, HID_REPORT_GET,
REQ_GET_STATUS, REQ_GET_STATUS,
0, 0,
buf, buf,
LINAK_TIMEOUT) LINAK_TIMEOUT)
# check if the response match to request! # check if the response match to request!
if buf[0] != CMD_STATUS_REPORT: if buf[0] != CMD_STATUS_REPORT:
@@ -238,16 +237,14 @@ class LinakController(object):
buf[2] = 0 buf[2] = 0
buf[3] = 251 buf[3] = 251
x, buf = self._control_write_read( amount, buf = self._control_write_read(TYPE_SET_CI,
TYPE_SET_CI, HID_REPORT_SET,
HID_REPORT_SET, REQ_INIT,
REQ_INIT, 0,
0, buf,
buf, LINAK_TIMEOUT)
LINAK_TIMEOUT
)
if x != LEN_STATUS_REPORT: if amount != LEN_STATUS_REPORT:
raise Exception('Device is not ready yet. Initialization failed ' raise Exception('Device is not ready yet. Initialization failed '
'in step 1.') 'in step 1.')
@@ -268,15 +265,13 @@ class LinakController(object):
buf[7] = hHigh buf[7] = hHigh
buf[8] = hLow buf[8] = hLow
x, buf = self._control_write_read( amount, buf = self._control_write_read(TYPE_SET_CI,
TYPE_SET_CI, HID_REPORT_SET,
HID_REPORT_SET, REQ_MOVE,
REQ_MOVE, 0,
0, buf,
buf, LINAK_TIMEOUT)
LINAK_TIMEOUT return amount == LEN_STATUS_REPORT
)
return x == LEN_STATUS_REPORT
def _move_down(self): def _move_down(self):
return self._move(HEIGHT_MOVE_DOWNWARDS) return self._move(HEIGHT_MOVE_DOWNWARDS)
@@ -305,30 +300,31 @@ class LinakController(object):
print('Device not ready!') print('Device not ready!')
self._set_status_report() self._set_status_report()
time.sleep(1000/1000000.0) time.sleep(0.001)
if not _move_end(): if not self._move_end():
raise Exception('Device not ready - initialization failed on step ' raise Exception('Device not ready - initialization failed on step '
'2 (move_end)') '2 (move_end)')
time.sleep(100000/1000000.0) time.sleep(0.1)
def move(self, target): def move(self, target):
a = max_a = 3 retry_count = max_retry = 3
epsilon = 13 epsilon = 13
oldH = 0 prev_height = 0
while True: while True:
self._move(target) self._move(target)
time.sleep(200000/1000000.0) time.sleep(0.2)
buf = self._get_status_report() buf = self._get_status_report()
r = StatusReport.from_buf(buf) r = StatusReport.from_buf(buf)
distance = r.ref1cnt - r.ref1.pos distance = r.ref1cnt - r.ref1.pos
delta = oldH-r.ref1.pos delta = abs(prev_height - r.ref1.pos)
if abs(distance) <= epsilon or abs(delta) <= epsilon or oldH == r.ref1.pos: if (abs(distance) <= epsilon or delta <= epsilon or
a -= 1 prev_height == r.ref1.pos):
retry_count -= 1
else: else:
a = max_a retry_count = max_retry
print( print(
'Current height: {:d}; target height: {:d}; distance: {:d}'.format( 'Current height: {:d}; target height: {:d}; distance: {:d}'.format(
@@ -338,9 +334,10 @@ class LinakController(object):
) )
) )
if a == 0: if retry_count == 0:
break break
oldH = r.ref1.pos
prev_height = r.ref1.pos
return abs(r.ref1.pos - target) <= epsilon return abs(r.ref1.pos - target) <= epsilon