Implemented MIP monitoring

motorHist.py

@@ -25,6 +25,24 @@ msta_dict = {1 << 0 : ("Direction", ("Negative", "Positive")),
 
 #!print msta_dict
 
+mip_dict =  {1 << 0 : ("Jog forward", ("Done", "In Progress")),
+             1 << 1 : ("Jog reverse", ("Done", "In Progress")),
+	     1 << 2 : ("Post-jog backlash", ("Done", "In Progress")),
+	     1 << 3 : ("Home forard", ("Done", "In Progress")),
+	     1 << 4 : ("Home reverse", ("Done", "In Progress")),
+	     1 << 5 : ("Move (NOT home/jog)", ("Done", "In Progress")),
+	     1 << 6 : ("Retry", ("Done", "In Progress")),
+	     1 << 7 : ("Load position", ("Done", "In Progress")),
+	     1 << 8 : ("Backlash", ("Done", "In Progress")),
+	     1 << 9 : ("Stoping", ("Done", "In Progress")),
+	     1 << 10 : ("Delay request", ("Done", "In Progress")),
+	     1 << 11 : ("Delay acknowledge", ("Done", "In Progress")),
+	     1 << 12 : ("Jog request", ("Done", "In Progress")),
+	     1 << 13 : ("Jog stopping", ("Done", "In Progress")),
+	     1 << 14 : ("External move", ("Done", "In Progress")),
+	     }
+
+#!print msta_dict
 motor_dict = {}
 
 def msta_diff(last_msta, current_msta):
@@ -43,7 +61,25 @@ def msta_diff(last_msta, current_msta):
 	  bit_state = 1
         else:
 	  bit_state = 0
-	print "\t%s bit (0x%X) changed to \"%s\" (0x%X)" % (msta_dict[bit][0], bit, msta_dict[bit][1][bit_state], bit_state)
+	print "MSTA:\t%s bit (0x%X) changed to \"%s\" (0x%X)" % (msta_dict[bit][0], bit, msta_dict[bit][1][bit_state], bit_state)
+    
+def mip_diff(last_mip, current_mip):
+  if last_mip == -1:
+    print "\t1st MIP, No comparison possible"
+    return current_mip
+  else:
+    # XOR shows changed bits
+    changed_bits = last_mip ^ current_mip
+    
+    # Display changes
+    for index in range(15):
+      bit = 1 << index
+      if (bit & changed_bits):
+        if (current_mip & bit):
+	  bit_state = 1
+        else:
+	  bit_state = 0
+	print "MIP:\t%s bit (0x%X) changed to \"%s\" (0x%X)" % (mip_dict[bit][0], bit, mip_dict[bit][1][bit_state], bit_state)
     
 
 def main(log_file):
@@ -76,7 +112,7 @@ def main(log_file):
  
       # Check for MSTA change
       if field == "MSTA":
-        # Maybe catch error here
+        # Catch error here?
 	current_msta = int(value)
 	last_msta = motor_dict[name]["MSTA"]
         print "[%s %s] %s's %s field changed from %i (0x%X) to %i (0x%X)" % (date, time, name, field, last_msta, last_msta, current_msta, current_msta)
@@ -86,7 +122,13 @@ def main(log_file):
 	
       # Check for MIP change
       if field == "MIP":
+        # Catch error here?
         current_mip = int(value)
+	last_mip = motor_dict[name]["MIP"]
+        print "[%s %s] %s's %s field changed from %i (0x%X) to %i (0x%X)" % (date, time, name, field, last_mip, last_mip, current_mip, current_mip)
+	mip_diff(last_mip, current_mip)
+	motor_dict[name]["MIP"] = current_mip
+	print
 
   fh.close()