mirror of
https://github.com/gryf/python-linak-desk-control.git
synced 2025-12-17 11:30:29 +01:00
Removing trailng spaces, removing tabs.
This commit is contained in:
@@ -48,307 +48,307 @@ HEIGHT_MOVE_UPWARDS = 32768
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HEIGHT_MOVE_END = 32769
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class Status(object):
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positionLost = True
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antiColision = True
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overloadDown = True
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overloadUp = True
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unknown = 4
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positionLost = True
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antiColision = True
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overloadDown = True
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overloadUp = True
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unknown = 4
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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attr = ['positionLost', 'antiColision', 'overloadDown', 'overloadUp']
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bitlist = '{:0>8s}'.format(bin(int(buf, base=16)).lstrip('0b'))
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for i in range(0, 4):
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setattr(self, attr[i], True if bitlist[i] == '1' else False)
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# set unknown
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self.unkown = int(buf[1:], 16)
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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attr = ['positionLost', 'antiColision', 'overloadDown', 'overloadUp']
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bitlist = '{:0>8s}'.format(bin(int(buf, base=16)).lstrip('0b'))
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for i in range(0, 4):
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setattr(self, attr[i], True if bitlist[i] == '1' else False)
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# set unknown
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self.unkown = int(buf[1:], 16)
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return self
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return self
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class StatusPositionSpeed(object):
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pos = None
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status = None
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speed = 0
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pos = None
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status = None
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speed = 0
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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self.pos = int(buf[2:4] + buf[:2], 16)
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self.status = Status.fromBuf(buf[4:6])
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self.speed = int(buf[6:8], 16)
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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self.pos = int(buf[2:4] + buf[:2], 16)
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self.status = Status.fromBuf(buf[4:6])
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self.speed = int(buf[6:8], 16)
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return self
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return self
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class ValidFlags(object):
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ID00_Ref1_pos_stat_speed = True
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ID01_Ref2_pos_stat_speed = True
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ID02_Ref3_pos_stat_speed = True
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ID03_Ref4_pos_stat_speed = True
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ID10_Ref1_controlInput = True
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ID11_Ref2_controlInput = True
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ID12_Ref3_controlInput = True
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ID13_Ref4_controlInput = True
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ID04_Ref5_pos_stat_speed = True
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ID28_Diagnostic = True
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ID05_Ref6_pos_stat_speed = True
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ID37_Handset1command = True
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ID38_Handset2command = True
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ID06_Ref7_pos_stat_speed = True
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ID07_Ref8_pos_stat_speed = True
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unknown = True
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ID00_Ref1_pos_stat_speed = True
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ID01_Ref2_pos_stat_speed = True
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ID02_Ref3_pos_stat_speed = True
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ID03_Ref4_pos_stat_speed = True
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ID10_Ref1_controlInput = True
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ID11_Ref2_controlInput = True
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ID12_Ref3_controlInput = True
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ID13_Ref4_controlInput = True
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ID04_Ref5_pos_stat_speed = True
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ID28_Diagnostic = True
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ID05_Ref6_pos_stat_speed = True
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ID37_Handset1command = True
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ID38_Handset2command = True
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ID06_Ref7_pos_stat_speed = True
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ID07_Ref8_pos_stat_speed = True
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unknown = True
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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attr = ['ID00_Ref1_pos_stat_speed', 'ID01_Ref2_pos_stat_speed', 'ID02_Ref3_pos_stat_speed', 'ID03_Ref4_pos_stat_speed', 'ID10_Ref1_controlInput', 'ID11_Ref2_controlInput', 'ID12_Ref3_controlInput', 'ID13_Ref4_controlInput', 'ID04_Ref5_pos_stat_speed', 'ID28_Diagnostic', 'ID05_Ref6_pos_stat_speed', 'ID37_Handset1command', 'ID38_Handset2command', 'ID06_Ref7_pos_stat_speed', 'ID07_Ref8_pos_stat_speed', 'unknown']
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bitlist = '{:0>16s}'.format(bin(int(buf, base=16)).lstrip('0b'))
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for i in range(0, len(bitlist)):
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setattr(self, attr[i], True if bitlist[i] == '1' else False)
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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attr = ['ID00_Ref1_pos_stat_speed', 'ID01_Ref2_pos_stat_speed', 'ID02_Ref3_pos_stat_speed', 'ID03_Ref4_pos_stat_speed', 'ID10_Ref1_controlInput', 'ID11_Ref2_controlInput', 'ID12_Ref3_controlInput', 'ID13_Ref4_controlInput', 'ID04_Ref5_pos_stat_speed', 'ID28_Diagnostic', 'ID05_Ref6_pos_stat_speed', 'ID37_Handset1command', 'ID38_Handset2command', 'ID06_Ref7_pos_stat_speed', 'ID07_Ref8_pos_stat_speed', 'unknown']
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bitlist = '{:0>16s}'.format(bin(int(buf, base=16)).lstrip('0b'))
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for i in range(0, len(bitlist)):
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setattr(self, attr[i], True if bitlist[i] == '1' else False)
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return self
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return self
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class StatusReport(object):
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featureRaportID = 0
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numberOfBytes = 0
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validFlag = None
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ref1 = None
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ref2 = None
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ref3 = None
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ref4 = None
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ref1cnt = 0
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ref2cnt = 0
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ref3cnt = 0
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ref4cnt = 0
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ref5 = None
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diagnostic = None
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undefined1 = None
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handset1 = 0
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handset2 = 0
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ref6 = None
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ref7 = None
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ref8 = None
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undefined2 = None
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featureRaportID = 0
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numberOfBytes = 0
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validFlag = None
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ref1 = None
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ref2 = None
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ref3 = None
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ref4 = None
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ref1cnt = 0
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ref2cnt = 0
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ref3cnt = 0
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ref4cnt = 0
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ref5 = None
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diagnostic = None
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undefined1 = None
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handset1 = 0
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handset2 = 0
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ref6 = None
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ref7 = None
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ref8 = None
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undefined2 = None
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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raw = buf.hex()
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self.featureRaportID = buf[0]
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self.numberOfBytes = buf[1]
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self.validFlag = ValidFlags.fromBuf(raw[4:8])
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self.ref1 = StatusPositionSpeed.fromBuf(raw[8:8+8])
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self.ref2 = StatusPositionSpeed.fromBuf(raw[16:16+8])
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self.ref3 = StatusPositionSpeed.fromBuf(raw[24:24+8])
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self.ref4 = StatusPositionSpeed.fromBuf(raw[32:32+8])
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self.ref1cnt = int(raw[42:44] + raw[40:42], 16)
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self.ref2cnt = int(raw[46:48] + raw[44:46], 16)
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self.ref3cnt = int(raw[50:52] + raw[48:50], 16)
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self.ref4cnt = int(raw[54:56] + raw[52:54], 16)
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self.ref5 = StatusPositionSpeed.fromBuf(raw[56:56+8])
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self.diagnostic = raw[64:64+16]
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self.undefined1 = raw[80:84]
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self.handset1 = int(raw[86:88] + raw[84:86], 16)
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self.handset2 = int(raw[88:90] + raw[86:88], 16)
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self.ref6 = StatusPositionSpeed.fromBuf(raw[90:90+8])
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self.ref7 = StatusPositionSpeed.fromBuf(raw[98:98+8])
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self.ref8 = StatusPositionSpeed.fromBuf(raw[106:106+8])
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self.undefined2 = raw[114:]
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@classmethod
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def fromBuf(sr, buf):
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self = sr()
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raw = buf.hex()
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self.featureRaportID = buf[0]
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self.numberOfBytes = buf[1]
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self.validFlag = ValidFlags.fromBuf(raw[4:8])
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self.ref1 = StatusPositionSpeed.fromBuf(raw[8:8+8])
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self.ref2 = StatusPositionSpeed.fromBuf(raw[16:16+8])
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self.ref3 = StatusPositionSpeed.fromBuf(raw[24:24+8])
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self.ref4 = StatusPositionSpeed.fromBuf(raw[32:32+8])
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self.ref1cnt = int(raw[42:44] + raw[40:42], 16)
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self.ref2cnt = int(raw[46:48] + raw[44:46], 16)
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self.ref3cnt = int(raw[50:52] + raw[48:50], 16)
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self.ref4cnt = int(raw[54:56] + raw[52:54], 16)
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self.ref5 = StatusPositionSpeed.fromBuf(raw[56:56+8])
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self.diagnostic = raw[64:64+16]
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self.undefined1 = raw[80:84]
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self.handset1 = int(raw[86:88] + raw[84:86], 16)
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self.handset2 = int(raw[88:90] + raw[86:88], 16)
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self.ref6 = StatusPositionSpeed.fromBuf(raw[90:90+8])
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self.ref7 = StatusPositionSpeed.fromBuf(raw[98:98+8])
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self.ref8 = StatusPositionSpeed.fromBuf(raw[106:106+8])
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self.undefined2 = raw[114:]
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return self
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return self
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class LinakController(object):
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_handle = None
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_ctx = None
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_handle = None
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_ctx = None
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def __init__(self, vendor_id=0x12d3, product_id=0x0002):
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self._ctx =usb1.USBContext()
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#self._ctx.setDebug(4)
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self._handle = self._ctx.openByVendorIDAndProductID(
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vendor_id,
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product_id,
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skip_on_error=True,
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)
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if not self._handle:
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raise Exception('Could not connect to usb device')
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def __init__(self, vendor_id=0x12d3, product_id=0x0002):
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self._ctx =usb1.USBContext()
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#self._ctx.setDebug(4)
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self._handle = self._ctx.openByVendorIDAndProductID(
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vendor_id,
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product_id,
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skip_on_error=True,
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)
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if not self._handle:
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raise Exception('Could not connect to usb device')
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self._handle.claimInterface(0)
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self._initDevice()
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self._handle.claimInterface(0)
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self._initDevice()
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def close(self):
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if self._handle:
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self._handle.releaseInterface(0)
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def close(self):
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if self._handle:
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self._handle.releaseInterface(0)
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del(self._handle)
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del(self._ctx)
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del(self._handle)
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del(self._ctx)
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def _controlWriteRead(self, request_type, request, value, index, data, timeout=0):
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data, data_buffer = usb1.create_initialised_buffer(data)
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transferred = self._handle._controlTransfer(request_type, request, value, index, data,
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sizeof(data), timeout)
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return transferred, data_buffer[:transferred]
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def _controlWriteRead(self, request_type, request, value, index, data, timeout=0):
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data, data_buffer = usb1.create_initialised_buffer(data)
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transferred = self._handle._controlTransfer(request_type, request, value, index, data,
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sizeof(data), timeout)
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return transferred, data_buffer[:transferred]
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def _getStatusReport(self):
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buf = bytearray(b'\x00'*LEN_STATUS_REPORT)
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buf[0] = CMD_STATUS_REPORT
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#print('> {:s}'.format(buf.hex()))
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x, buf = self._controlWriteRead(
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TYPE_GET_CI,
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HID_REPORT_GET,
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REQ_GET_STATUS,
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0,
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buf,
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LINAK_TIMEOUT
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)
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def _getStatusReport(self):
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buf = bytearray(b'\x00'*LEN_STATUS_REPORT)
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buf[0] = CMD_STATUS_REPORT
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#print('> {:s}'.format(buf.hex()))
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x, buf = self._controlWriteRead(
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TYPE_GET_CI,
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HID_REPORT_GET,
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REQ_GET_STATUS,
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0,
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buf,
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LINAK_TIMEOUT
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)
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# check if the response match to request!
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if buf[0] != CMD_STATUS_REPORT:
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raise Exception('Invalid status report received!')
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# check if the response match to request!
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if buf[0] != CMD_STATUS_REPORT:
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raise Exception('Invalid status report received!')
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return buf
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return buf
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def _setStatusReport(self):
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buf = bytearray(b'\x00'*LEN_STATUS_REPORT)
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buf[0] = CMD_MODE_OF_OPERATION
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buf[1] = DEF_MODE_OF_OPERATION
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buf[2] = 0
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buf[3] = 251
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def _setStatusReport(self):
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buf = bytearray(b'\x00'*LEN_STATUS_REPORT)
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buf[0] = CMD_MODE_OF_OPERATION
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buf[1] = DEF_MODE_OF_OPERATION
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buf[2] = 0
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buf[3] = 251
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x, buf = self._controlWriteRead(
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TYPE_SET_CI,
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HID_REPORT_SET,
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REQ_INIT,
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0,
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buf,
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LINAK_TIMEOUT
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)
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x, buf = self._controlWriteRead(
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TYPE_SET_CI,
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HID_REPORT_SET,
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REQ_INIT,
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0,
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buf,
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LINAK_TIMEOUT
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)
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if x != LEN_STATUS_REPORT:
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raise Exception('Device is not ready yet. Initialization failed in step 1.')
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if x != LEN_STATUS_REPORT:
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raise Exception('Device is not ready yet. Initialization failed in step 1.')
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def _move(self, height):
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buf = bytearray(b'\x00' * LEN_STATUS_REPORT)
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buf[0] = CMD_CONTROL_CBC
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def _move(self, height):
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buf = bytearray(b'\x00' * LEN_STATUS_REPORT)
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buf[0] = CMD_CONTROL_CBC
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hHex = '{:04x}'.format(height)
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hHigh = int(hHex[2:], 16)
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hLow = int(hHex[:2], 16)
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hHex = '{:04x}'.format(height)
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hHigh = int(hHex[2:], 16)
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hLow = int(hHex[:2], 16)
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buf[1] = hHigh
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buf[2] = hLow
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buf[3] = hHigh
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buf[4] = hLow
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buf[5] = hHigh
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buf[6] = hLow
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buf[7] = hHigh
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buf[8] = hLow
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buf[1] = hHigh
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buf[2] = hLow
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buf[3] = hHigh
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buf[4] = hLow
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buf[5] = hHigh
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buf[6] = hLow
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buf[7] = hHigh
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buf[8] = hLow
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x, buf = self._controlWriteRead(
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TYPE_SET_CI,
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HID_REPORT_SET,
|
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REQ_MOVE,
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0,
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buf,
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LINAK_TIMEOUT
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)
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return x == LEN_STATUS_REPORT
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x, buf = self._controlWriteRead(
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TYPE_SET_CI,
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HID_REPORT_SET,
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REQ_MOVE,
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0,
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buf,
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LINAK_TIMEOUT
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)
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return x == LEN_STATUS_REPORT
|
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|
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def _moveDown(self):
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return self._move(HEIGHT_MOVE_DOWNWARDS)
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def _moveDown(self):
|
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return self._move(HEIGHT_MOVE_DOWNWARDS)
|
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|
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def _moveUp(self):
|
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return self._move(HEIGHT_MOVE_UPWARDS)
|
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def _moveUp(self):
|
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return self._move(HEIGHT_MOVE_UPWARDS)
|
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|
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def _moveEnd(self):
|
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return self._move(HEIGHT_MOVE_END)
|
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def _moveEnd(self):
|
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return self._move(HEIGHT_MOVE_END)
|
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|
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def _isStatusReportNotReady(self, buf):
|
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if buf[0] != CMD_STATUS_REPORT or buf[1] != NRB_STATUS_REPORT:
|
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return False
|
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def _isStatusReportNotReady(self, buf):
|
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if buf[0] != CMD_STATUS_REPORT or buf[1] != NRB_STATUS_REPORT:
|
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return False
|
||||
|
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for i in range(2, LEN_STATUS_REPORT - 5):
|
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if buf[i] != 0:
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return False
|
||||
for i in range(2, LEN_STATUS_REPORT - 5):
|
||||
if buf[i] != 0:
|
||||
return False
|
||||
|
||||
return True
|
||||
return True
|
||||
|
||||
def _initDevice(self):
|
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buf = self._getStatusReport()
|
||||
if not self._isStatusReportNotReady(buf):
|
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return
|
||||
else:
|
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print('Device not ready!')
|
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def _initDevice(self):
|
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buf = self._getStatusReport()
|
||||
if not self._isStatusReportNotReady(buf):
|
||||
return
|
||||
else:
|
||||
print('Device not ready!')
|
||||
|
||||
self._setStatusReport()
|
||||
time.sleep(1000/1000000.0)
|
||||
if not _moveEnd():
|
||||
raise Exception('Device not ready - initialization failed on step 2 (moveEnd)')
|
||||
self._setStatusReport()
|
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time.sleep(1000/1000000.0)
|
||||
if not _moveEnd():
|
||||
raise Exception('Device not ready - initialization failed on step 2 (moveEnd)')
|
||||
|
||||
time.sleep(100000/1000000.0)
|
||||
time.sleep(100000/1000000.0)
|
||||
|
||||
def move(self, target):
|
||||
a = max_a = 3
|
||||
epsilon = 13
|
||||
oldH = 0
|
||||
def move(self, target):
|
||||
a = max_a = 3
|
||||
epsilon = 13
|
||||
oldH = 0
|
||||
|
||||
while True:
|
||||
self._move(target)
|
||||
time.sleep(200000/1000000.0)
|
||||
while True:
|
||||
self._move(target)
|
||||
time.sleep(200000/1000000.0)
|
||||
|
||||
buf = self._getStatusReport()
|
||||
r = StatusReport.fromBuf(buf)
|
||||
distance = r.ref1cnt - r.ref1.pos
|
||||
delta = oldH-r.ref1.pos
|
||||
if abs(distance) <= epsilon or abs(delta) <= epsilon or oldH == r.ref1.pos:
|
||||
a -= 1
|
||||
else:
|
||||
a = max_a
|
||||
buf = self._getStatusReport()
|
||||
r = StatusReport.fromBuf(buf)
|
||||
distance = r.ref1cnt - r.ref1.pos
|
||||
delta = oldH-r.ref1.pos
|
||||
if abs(distance) <= epsilon or abs(delta) <= epsilon or oldH == r.ref1.pos:
|
||||
a -= 1
|
||||
else:
|
||||
a = max_a
|
||||
|
||||
print(
|
||||
'Current height: {:d}; target height: {:d}; distance: {:d}'.format(
|
||||
r.ref1.pos,
|
||||
target,
|
||||
distance
|
||||
)
|
||||
)
|
||||
print(
|
||||
'Current height: {:d}; target height: {:d}; distance: {:d}'.format(
|
||||
r.ref1.pos,
|
||||
target,
|
||||
distance
|
||||
)
|
||||
)
|
||||
|
||||
if a == 0:
|
||||
break
|
||||
oldH = r.ref1.pos
|
||||
if a == 0:
|
||||
break
|
||||
oldH = r.ref1.pos
|
||||
|
||||
return abs(r.ref1.pos - target) <= epsilon
|
||||
return abs(r.ref1.pos - target) <= epsilon
|
||||
|
||||
def getHeight(self):
|
||||
buf = self._getStatusReport()
|
||||
r = StatusReport.fromBuf(buf)
|
||||
def getHeight(self):
|
||||
buf = self._getStatusReport()
|
||||
r = StatusReport.fromBuf(buf)
|
||||
|
||||
return r.ref1.pos, r.ref1.pos/98.0
|
||||
return r.ref1.pos, r.ref1.pos/98.0
|
||||
|
||||
if __name__ == '__main__':
|
||||
import argparse
|
||||
parser = argparse.ArgumentParser(description='Get the control on your desk!')
|
||||
parser.add_argument('command', choices=['move', 'height'], help='Command to execute.')
|
||||
parser.add_argument('height', type=int, nargs='?', help='For command "move", give the destination height.')
|
||||
import argparse
|
||||
parser = argparse.ArgumentParser(description='Get the control on your desk!')
|
||||
parser.add_argument('command', choices=['move', 'height'], help='Command to execute.')
|
||||
parser.add_argument('height', type=int, nargs='?', help='For command "move", give the destination height.')
|
||||
|
||||
args = parser.parse_args()
|
||||
if args.command == 'move' and not args.height:
|
||||
sys.stderr.write('Height missing in case of move!\n')
|
||||
parser.print_help()
|
||||
sys.exit(1)
|
||||
args = parser.parse_args()
|
||||
if args.command == 'move' and not args.height:
|
||||
sys.stderr.write('Height missing in case of move!\n')
|
||||
parser.print_help()
|
||||
sys.exit(1)
|
||||
|
||||
co = LinakController()
|
||||
try:
|
||||
if args.command == 'move':
|
||||
r = co.move(args.height)
|
||||
if r:
|
||||
print('Command executed successfuly')
|
||||
else:
|
||||
print('Command failed')
|
||||
elif args.command == 'height':
|
||||
h, hcm = co.getHeight()
|
||||
print('Current height is: {:d} / {:.2f} cm'.format(h, hcm))
|
||||
except Exception as e:
|
||||
co.close()
|
||||
raise e
|
||||
finally:
|
||||
co.close()
|
||||
co = LinakController()
|
||||
try:
|
||||
if args.command == 'move':
|
||||
r = co.move(args.height)
|
||||
if r:
|
||||
print('Command executed successfuly')
|
||||
else:
|
||||
print('Command failed')
|
||||
elif args.command == 'height':
|
||||
h, hcm = co.getHeight()
|
||||
print('Current height is: {:d} / {:.2f} cm'.format(h, hcm))
|
||||
except Exception as e:
|
||||
co.close()
|
||||
raise e
|
||||
finally:
|
||||
co.close()
|
||||
|
||||
Reference in New Issue
Block a user