added error codes for PosConCM

Author: inesariza

src/compas_fab/sensors/baumer.py

@@ -4,25 +4,6 @@
 from compas_fab.sensors.exceptions import ProtocolError
 from compas_fab.sensors.exceptions import SensorTimeoutError
 
-ERROR_CODES = {
-    '000': 'No error',
-    '001': 'False checksum',
-    '002': 'False command',
-    '003': 'False frame',
-    '004': 'False value or parameter',
-    '005': 'Missed command 000 to begin RS-485 control',
-    '006': 'Out of range',
-    '007': 'Buffer overflow',
-    '010': 'All outputs Off',
-    '020': 'Display Off',
-    '99': 'Argument out of Range',
-    '100': 'Distance out of Range (see FSP)',
-    '101': 'Angle out of Range (see FSP)',
-    '102': 'Flatness out of Range (see FSP)',
-    '103': 'Length out of Range (see FSP)',
-    '200': 'Fatal Error (Reset sensor, Power Off / On)'
-}
-
 __all__ = ['PosCon3D', 'PosConCM']
 
 class PosCon3D(SerialSensor):
@@ -71,20 +52,39 @@ class is a context manager type, so it's best used in combination
         1: 'Low signal',
         2: 'No edge',
         3: 'Low signal, no edge',
-        4: 'No signal'
-    }
+        4: 'No signal'}
+    ERROR_CODES = {
+        '000': 'No error',
+        '001': 'False checksum',
+        '002': 'False command',
+        '003': 'False frame',
+        '004': 'False value or parameter',
+        '005': 'Missed command 000 to begin RS-485 control',
+        '006': 'Out of range',
+        '007': 'Buffer overflow',
+        '010': 'All outputs Off',
+        '020': 'Display Off',
+        '99': 'Argument out of Range',
+        '100': 'Distance out of Range (see FSP)',
+        '101': 'Angle out of Range (see FSP)',
+        '102': 'Flatness out of Range (see FSP)',
+        '103': 'Length out of Range (see FSP)',
+        '200': 'Fatal Error (Reset sensor, Power Off / On)'}
 
     def __init__(self, serial, address):
         super(PosCon3D, self).__init__(serial)
         self.address = address
 
+
     def __enter__(self):
         self.begin()
         return self
 
+
     def __exit__(self, *args):
         self.end()
 
+
     def begin(self):
         """Locks the sensor to start RS-485 communication.
 
@@ -95,6 +95,7 @@ def begin(self):
         """
         return self.send_command(self.address, '000', '1')
 
+
     def end(self):
         """Unlocks the sensor from RS-485 communication.
 
@@ -105,6 +106,7 @@ def end(self):
         """
         return self.send_command(self.address, '000', '0')
 
+
     def send_command(self, address, command, data=None):
         """Sends a command to the sensor's address specified. The command
         can optionally contain a data string.
@@ -156,12 +158,14 @@ def send_command(self, address, command, data=None):
 
         return None
 
+
     def format_command(self, address, command, data=None):
         """Formats the command."""
         data = data + ',' if data else ''
         frame = self.FRAME_HEAD % (address, command, data)
         return self.FRAME_TAIL % (frame, self.calculate_checksum(frame))
 
+
     def calculate_checksum(self, command):
         """Checks that message is complete."""
         code_points = [ord(c) for c in list(command)]
@@ -171,6 +175,7 @@ def calculate_checksum(self, command):
 
         return str(checksum).zfill(3)
 
+
     def get_payload(self, result):
         """Gets payload."""
         data = result.split(',')[2:-1]
@@ -180,10 +185,11 @@ def get_payload(self, result):
             return data[0]
         else:
             if data[0] == 'E':
-                raise ProtocolError(ERROR_CODES[str(data[1])])
+                raise ProtocolError(self.ERROR_CODES[str(data[1])])
 
             return data
 
+
     def get_address(self):
         """Gets the address of the RS-485 sensors currently connected to the bus. This command
         is only really useful when this class is initialized with the broadcast address,
@@ -200,6 +206,7 @@ def get_address(self):
         """
         return int(self.send_command(self.address, '013'))
 
+
     def set_measurement_type(self, measurement_type):
         """Defines the measurement type to use.
 
@@ -227,6 +234,7 @@ def set_measurement_type(self, measurement_type):
 
         return self.send_command(self.address, '020', str(self.MEASUREMENT_TYPES.index(measurement_type)))
 
+
     def set_precision(self, precision):
         """Defines the precision the sensor will use to determine edges:
 
@@ -251,6 +259,7 @@ def set_precision(self, precision):
             raise ProtocolError('Precision must be 0 (standard), 1 (high) or 2 (very high)')
         return self.send_command(self.address, '040', str(precision))
 
+
     def set_edge_height(self, height):
         """Defines the minimum height of an edge to be detected.
 
@@ -261,6 +270,7 @@ def set_edge_height(self, height):
         """
         return self.send_command(self.address, '042', str(height))
 
+
     def get_measurement(self):
         """Retrieves the current measurement of the sensor according to the current settings.
 
@@ -283,6 +293,7 @@ def get_measurement(self):
 
         return (value, self.QUALITY[quality])
 
+
     def get_live_monitor_data(self):
         """Retrieves the distance to the surface in the center of the laser beam and the
         angle at which it's found.
@@ -302,26 +313,31 @@ def get_live_monitor_data(self):
 
         return map(float, result)
 
+
     def reset(self):
         """Resets the sensor to factory settings."""
         self.send_command(self.address, '003')
 
+
     def activate_flex_mount(self, reference_thickness):
         """Activates the FLEX Mount feature of the sensor to allow positioning it on an
         angled installation. The reference thickness is only required if the surface is
         uneven and an additional leveling auxiliary plate as been added."""
         result = self.send_command(self.address, '062', str(reference_thickness))
         return map(float, result)
 
+
     def deactivate_flex_mount(self):
         """Deactivates the FLEX Mount feature."""
         self.send_command(self.address, '063')
 
+
     def set_flex_mount(self, angle, distance):
         """Sets the FLEX Mount feature to a specific angle and distance."""
         result = self.send_command(self.address, '060', '%.2f,%.2f' % (angle, distance))
         return map(float, result)
 
+
     def adjust_to_dark_object(self, is_dark_object):
         """Adjusts the sensor to detect darker or lighter surfaces."""
         data = '1' if is_dark_object else '0'
@@ -374,27 +390,41 @@ class provides access to the serial interface (RS-485).
         'Z_center' : 30,
         'X_left'   : 31,
         'X_right'  : 32,
-        'Z_top'    : 33
-    }
+        'Z_top'    : 33}
     QUALITY = {
         0: 'Valid',
         1: 'Low signal',
         2: 'No edge',
         3: 'Low signal, no edge',
-        4: 'No signal'
-    }
+        4: 'No signal'}
+    ERROR_CODES = {
+        '1': 'Wrong message type',
+        '2': 'Wrong payload format',
+        '3': 'Wrong argument',
+        '4': 'Wrong argument count',
+        '5': 'Not enough data',
+        '6': 'Index do not exist',
+        '7': 'Index locked',
+        '8': 'Access not allowed',
+        '9': 'Not enough memory for encoding',
+        '10': 'Not possible to encode argument',
+        '11': 'Application specific error',
+        '12': 'Wrong state'}
 
     def __init__(self, serial, address):
         super(PosConCM, self).__init__(serial)
         self.address = address
 
+
     def __enter__(self):
         self.begin()
         return self
 
+
     def __exit__(self, *args):
         self.end()
 
+
     def begin(self):
         """Locks the sensor to start RS-485 communication.
 
@@ -405,6 +435,7 @@ def begin(self):
         """
         return self.send_command(self.address, 'W010', '0')
 
+
     def end(self):
         """Unlocks the sensor from RS-485 communication.
 
@@ -415,12 +446,14 @@ def end(self):
         """
         return self.send_command(self.address, 'W010', '1')
 
+
     def format_command(self, address, command, data=None):
         """Formats the command."""
         data = data or ''
         frame = self.FRAME_HEAD % (str(address).zfill(2), command, data)
         return self.FRAME_TAIL % (frame, self.calculate_checksum(frame))
 
+
     def calculate_checksum(self, command):
         """Checks that message is complete.
 
@@ -430,22 +463,27 @@ def calculate_checksum(self, command):
         """
         return '****'
 
+
     def get_payload(self, result):
         """Gets payload."""
         frame_head = result[:-6]
         result_type = frame_head[3]
 
+        print(frame_head)
+
         if result_type == 'a':
             raise SensorTimeoutError('Sensor has not completed reading')
 
         if result_type == 'E':
-            raise ProtocolError('Application error, Result=%s' % frame_head)
+            error_index = frame_head.split(';')
+            raise ProtocolError('Application error, Result=%s' % frame_head + 'Error type: ' + str(self.ERROR_CODES[str(error_index[1])]))
 
         if result_type == 'B':
             raise ProtocolError('Sensor is busy, Result=%s' % frame_head)
 
         return result[5:-6].split(';')
 
+
     def send_command(self, address, command, data=None):
         """Sends a command to the sensor's address specified. The command
         can optionally contain a data string.
@@ -491,6 +529,7 @@ def send_command(self, address, command, data=None):
 
             return None
 
+
     def get_address(self):
         """Gets the address of the RS-485 sensors currently connected to the bus. This command
         is only really useful when this class is initialized with the broadcast address,
@@ -508,6 +547,7 @@ def get_address(self):
         result = self.send_command(self.address, 'R005')
         return int(result[0])
 
+
     def set_measurement_type(self, measurement_type):
         """Defines the measurement type to use.
 
@@ -532,6 +572,7 @@ def set_measurement_type(self, measurement_type):
 
         return self.send_command(self.address, 'W020', str(self.MEASUREMENT_TYPES[measurement_type]))
 
+
     def set_precision(self, precision):
         """Defines the precision the sensor will use to determine edges:
 
@@ -556,6 +597,7 @@ def set_precision(self, precision):
             raise ProtocolError('Precision must be 0 (standard), 1 (high) or 2 (very high)')
         return self.send_command(self.address, 'W033', str(precision))
 
+
     def get_measurement(self):
         """Retrieves the current measurement of the sensor according to the current settings.
 
@@ -578,33 +620,39 @@ def get_measurement(self):
 
         return (value, self.QUALITY[quality])
 
+
     def activate_flex_mount(self):
         """Activates the FLEX Mount feature of the sensor to allow positioning it on an
         angled installation. The reference thickness is only required if the surface is
         uneven and an additional leveling auxiliary plate as been added."""
         result = self.send_command(self.address, 'W035', '1')
         return map(float, result)
 
+
     def deactivate_flex_mount(self):
         """Deactivates the FLEX Mount feature."""
         result = self.send_command(self.address, 'W035', '0')
         return map(float, result)
 
+
     def set_flex_mount(self, angle, distance):
         """Sets the FLEX Mount feature to a specific angle and distance."""
         data='{:.2f};{:.2f}'.format(angle, distance)
         return self.send_command(self.address, 'W036', data)
 
+
     def teach_flex_mount(self, reference_thickness):
         """Sets the FLEX Mount feature to a specific angle and distance."""
         return self.send_command(self.address, 'W037', str(reference_thickness))
 
+
     def adjust_to_dark_object(self, is_dark_object):
         """Adjusts the sensor to detect darker or lighter surfaces."""
         data = '1' if is_dark_object else '0'
         result = self.send_command(self.address, 'W032', data)
         return map(float, result)
 
+
     def reset(self):
         """Resets the sensor to factory settings."""
         self.send_command(self.address, 'W202', '0')