I want to access and change parameters on a Lenze 9400 Highline drive, specifically the device commands. I know i can do it via the CANOpenOverEthercat with Twincat3 but i don't know exactly how. I already have the drive as a device in my Twincat project.
I managed to do this with the Tc3_EtherCAT lib from beckhoff. You can find FBs there to read/write SDOs. First the ID and subID needs to be obtained of the desired parameter than is supposed to be read/written and put as an input in the fb: FB_EcCoeSdoReadEx or FB_EcCoeSdoWriteEx. Also, beckhoff has a sample prg for this at the following link: https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/4358261771.html&id=7226910604449245485
In my particular case, the ID of the parameter 'Device command' with codename 2 is: 5FFD with no subID. I'm still in the process of writing the program and actually executing it with the servo, but this is the way to do it.
Related
In package development, each example requires <5s. However, the pair of stan_model() and rstan::sampling() take long times more than 5s as follows:
Examples with CPU or elapsed time > 5s
user system elapsed
fit 1.25 0.11 32.47
So I put \donttest{} for each rstan::sampling() in roxygen comments #'#examples
In examples#'#examples, we should not run sampling() or is there any treatment ?
I had tried to create my package based on the code rstan_package_skeleton(path = 'BayesianAAA') when I was taught from you (Thank you !!) but, I do not understand many things about it.
Previously, rstan_package_skeleton(path = 'BayesianAAA') launched the errors in my computer ( but now the error does not occur).
So, I made my package without the rstan_package_skeleton(), say BayesianAAA, and in my original making, I put the Model_A.stan,Model_B.stan,Model_C.stan,.... in the inst/extdata and I refer my stan files as follows;
scr <- system.file("extdata", "Model_A.stan", package="BayesianAAA")
scr <- rstan::stan_model(scr)
I have many questions about the code rstan_package_skeleton(path = 'BayesianAAA').
1) The first question is How to include my existing stan files and how to refer my .stan files for the rstan::stan_model() ?
According to the page following page, it said that
If we had existing .stan files to include with the package we could use the optional stan_files argument to rstan_package_skeleton to include them.
So, I think I should execute, I am not sure but the following like manner is required;
`rstan_package_skeleton(path = 'BayesianAAA', stan_files = "Model_A.stan" )`.
But I do not know how to write the code for several stan files, say Model_A.stan,Model_B.stan,Model_C.stan in my existing package made without the rstan_package_skeleton(). I do not understand , but the following code is correct ? Since I do not where the files described in the variable stan_files is reflected in the new project created by the rstan_package_skeleton().
`rstan_package_skeleton(path = 'BayesianAAA', stan_files = c("Model_A.stan",`Model_B.stan`,`Model_C.stan` )`.
Here, the another question arise, that is,
2) The second question: Where I execute the code rstan_package_skeleton(path = 'BayesianAAA', stan_files = "Model_A.stan" ) ? I execute it form the R studio console in my existing package project. Is it correct ? And then, the new project arise and it is contained the old existing project. What should I do ?
https://cran.r-project.org/web/packages/rstantools/vignettes/minimal-rstan-package.html
3) I do not quite know about the packages "rstanarm" , but I try to imitate it for my package, but I can not fined any .stan file in it, I am wrong ?
I am sorry for my poor English, and Lack of study about these things.
I would be grateful if you could tell me.
You generally should not be writing a package that calls stan_model at runtime, unless like brms or tmbstan you are generating a Stan program at runtime as opposed to writing it statically. There are dozens of packages on CRAN that provide compiled Stan programs basically by following the build process developed for rstanarm, which is facilitated by the rstantools::rstan_package.skeleton function, the step-by-step guide, and the developer guidelines which directly address your question
CRAN policy permits long installation times but imposes restrictions on the time consumed by examples and unit tests that are much shorter than the time that it takes to compile even a simple Stan program. Thus, it is only possible to adequately test your package if it has pre-compiled Stan programs.
Even then, it can be difficult to sample from a posterior distribution (adequately) in five seconds, so you often have to use small datasets, one chain, a small number of iterations, etc.
It is best to pass the names of your Stan programs (which should end in a .stan extension, not use a period otherwise, and only have ASCII letters, numbers, and the underscore in their names) to rstantools::rstan_package_skeleton(). If doing so from RStudio, I would call it while not in an existing project. Then
During installation, all Stan programs will be compiled and saved in the list stanmodels that can then be used by R function in the package. The rule is that the Stan program compiled from the model code in src/stan_files/foo.stan is stored as list element stanmodels$foo.
There are dozens of R packages that have Stan programs in their src/stan_files directory (although the locations of the Stan programs are going to move to inst/stan for the next rstantools release) that for the most part just followed the vignettes and did not have to do any additional steps except write more R functions.
I'm working on integrating an experiment in psychopy with the eyelink eyetracking system. The way to do this seems to be through pylink. Unfortunately I'm really unfamiliar with pylink and I was hoping there was a sample of an experiment that combines the two. I haven't been able to find one. If anyone would be able to share an example or point me towards a more accessible manual than the pylink api that sr-research provides I'd be really grateful.
Thanks!
I am glad you found your solution. I have not used iohub, but we do use psychopy and an eyelink and therefore some of the following code may be of use to others who wish to invoke more direct communication. Note that our computers use Archlinux. If none of the following makes any sense to you, don't worry about it, but maybe it will help others who are stumbling along the same path we are.
Communication between experimental machine and eye tracker machine
First, you have to establish communication with the eyelink. If your experimental machine is turned on and plugged into a live Eyelink computer then on linux you have to first set your ethernet card up, and then set the default address that Eyelink uses (this also works for the Eyelink 1000 - they kept the same address). Note your ethernet will probably have a different name than enp4s0. Try simply with ip link and look for something similar. NB: these commands are being typed into a terminal.
#To set up connection with Eyelink II computer:
#ip link set enp4s0 up
#ip addr add 100.1.1.2/24 dev enp4s0
Eyetracker functions
We have found it convenient to write some functions for talking to the Eyelink computer. For example:
Initialize Eyetracker
sp refers to the tuple of screenx, screeny sizes.
def eyeTrkInit (sp):
el = pl.EyeLink()
el.sendCommand("screen_pixel_coords = 0 0 %d %d" %sp)
el.sendMessage("DISPLAY_COORDS 0 0 %d %d" %sp)
el.sendCommand("select_parser_configuration 0")
el.sendCommand("scene_camera_gazemap = NO")
el.sendCommand("pupil_size_diameter = %s"%("YES"))
return(el)
NB: the pl function comes from import pylink as pl. Also, note that there is another python library called pylink that you can find on line. It is probably not the one you want. Go through the Eyelink forum and get pylink from there. It is old, but it still works.
Calibrate Eyetracker
el is the name of the eyetracker object initialized above. sp screen size, and cd is color depth, e.g. 32.
def eyeTrkCalib (el,sp,cd):
pl.openGraphics(sp,cd)
pl.setCalibrationColors((255,255,255),(0,0,0))
pl.setTargetSize(int(sp[0]/70), int(sp[1]/300))
pl.setCalibrationSounds("","","")
pl.setDriftCorrectSounds("","off","off")
el.doTrackerSetup()
pl.closeGraphics()
#el.setOfflineMode()
Open datafile
You can talk to the eye tracker and do things like opening a file
def eyeTrkOpenEDF (dfn,el):
el.openDataFile(dfn + '.EDF')
Drift correction
Or drift correct
def driftCor(el,sp,cd):
blockLabel=psychopy.visual.TextStim(expWin,text="Press the space bar to begin drift correction",pos=[0,0], color="white", bold=True,alignHoriz="center",height=0.5)
notdone=True
while notdone:
blockLabel.draw()
expWin.flip()
if keyState[key.SPACE] == True:
eyeTrkCalib(el,sp,cd)
expWin.winHandle.activate()
keyState[key.SPACE] = False
notdone=False
Sending and getting messages.
There are a number of built-in variables you can set, or you can add your own. Here is an example of sending a message from your python program to the eyelink
eyelink.sendMessage("TRIALID "+str(trialnum))
eyelink.startRecording(1,1,1,1)
eyelink.sendMessage("FIX1")
tFix1On=expClock.getTime()
Gaze contingent programming
Here is a portion of some code that uses the eyelink's most recent sample in the logic of the experimental program.
while notdone:
if recalib==True:
dict['recalib']=True
eyelink.sendMessage("RECALIB END")
eyelink.startRecording(1,1,1,1)
recalib=False
eventType=eyelink.getNextData()
if eventType==pl.STARTFIX or eventType==pl.FIXUPDATE or eventType==pl.ENDFIX:
sample=eyelink.getNewestSample()
if sample != None:
if sample.isRightSample():
gazePos = sample.getRightEye().getGaze()
if sample.isLeftSample():
gazePos = sample.getLeftEye().getGaze()
gazePosCorFix = [gazePos[0]-scrx/2,-(gazePos[1]-scry/2)]
posPix = posToPix(fixation)
eucDistFix = sqrt((gazePosCorFix[0]-posPix[0])**2+(gazePosCorFix[1]-posPix[1])**2)
if eucDistFix < tolFix:
core.wait(timeFix1)
notdone=False
eyelink.resetData()
break
Happy Hacking.
rather than PyLink, you might want to look into using the ioHub system within PsychoPy. This is a more general-purpose eye tracking system that also allows for saving data in a common format (integrated with PsychoPy events), and provides tools for data analysis and visualisation.
ioHUb is built to be agnostic to the particular eye tracker you are using. You just need to create a configuration file specific to your EyeLink system, and thereafter use the generic functions ioHiv provides for calibration, accessing gaze data in real-time, and so on.
There are some teaching resources accessible here: http://www.psychopy.org/resources/ECEM_Python_materials.zip
For future readers, I wanted to share my library for combining pylink and psychopy. I've recently updated it to work with python 3. It provides simple to use, high level functions.
https://github.com/colinquirk/templateexperiments/tree/master/eyelinker
You could also work at a lower level with the PsychoPyCustomDisplay class (see the pylink docs for more info about EyeLinkCustomDisplay).
For an example of it in use, see:
https://github.com/colinquirk/ChangeDetectionEyeTracking
(At the time of writing, this experiment code is not yet python 3 ready, but it should still be a useful example.)
The repo also includes other modules for creating experiments and recording EEG data, but they are not necessary if you are just interested in the eyelinker code.
I have a GSM/GPS unit connected to a Microcontroller, the communication between them works fine. I am able to get the GPS and send it to the Microcontroller but there are times when the unit is inside the building so I can't really get the current GPS location, instead I want to get the tower location.
The AT command I'm using to get the LAC and CI with response is as follows.
Command: AT+CREG=2
Response:
From this, LAC = 2BCB or 11211 and CI = 2B9A or 11162
The sim card I'm using is registered under T-Mobile, so the MCC = 310 and MNC = 260 by looking them up here. However when I plug those values on this website, I don't get the location.
What am I missing ?
I noticed when I try to check the current network with AT+COPS? I don't get the same results as shown here.
Am I suppose to manually set the network information ? If yes please someone provide me with the correct format. I tried sending At+COPS=4,2,”310 260″ but that threw me an error.
Here is the AT command document I am following, it has a different format. Thanks!
I figured it out, I just had to plug in the values in this website instead of the original website I was using.
My goal is to write a c-dll (compiled with MinGW) that is able to search for certain models of USB sticks connected to the computer and deliver the serial number, the vendor ID, the product ID and the drive letter.
I have searched on the internet for several hours know but could not find an approach that works for me.
I am using the Setup Api to get a list of all connected USB devices. For each USB device I get a path that looks like this:
\?\usb#vid_048d&pid_1172#00000020370220#{a5dcbf10-6530-11d2-901f-00c04fb951ed}
From that string I can get the vendor ID, product ID and the serial number I am looking for.
My problem is now to determine the drive letter of the USB drive that is related to this device path.
During my internet research I found the following approach multiple times (for example here http://oroboro.com/usb-serial-number/):
Once the device path is found, the USB drive must be opened by CreateFile. The handle returned by that function can be used to get the device number by function DeviceIOControl with IOCTL_STORAGE_GET_DEVICE_NUMBER.
After that, the CreateFile function could be used to open each drive letter (starting from a:) and try to get the device number the same way like described above. Once the same device number is found again, the relation between device path and drive letter is made.
My Problem is that the IOCTL_STORAGE_GET_DEVICE_NUMBER call is not working. The DeviceIOControl function returns error code 50 which means "The request is not supported".
I am not able to create a link between the device path of a USB stick and the drive letter. I have tried several IOCTL_STORAGE and IOCTL_VOLUME calls but none worked for the USB sticks I tried.
I also read in another Forum that people had problems with the results of the DeviceIOControl function. It was returning the desired result on some PCs while it was making trouble on others.
Is there another way of achieving my goal?
I already had a look into the registry where I can also find the desired data. But again I had the problem to create the connection between device path and drive letter.
I would not like to use the WMI. I have read that it is still not really supported by MinGW.
I have a implementaion for all this with C# where it is really easy to get the desired information, but now I also need one that is created with unmanaged code and can be used to replace a c-dll also included in Delphi projects.
I would appreciate any suggestions for a solution to my problem.
Best regards,
Florian
And here the code if someone is interested. The position with this comment "//HERE IS WHERE I WOULD LIKE TO GET THE DEVICE NUMBER!!!" is where the request of the device number would be used if it would work.
typedef struct ty_TUSB_Device
{
PSP_DEVICE_INTERFACE_DETAIL_DATA deviceDetailData;
char devicePath[300];
}TUSB_Device;
int
GetUSBDevices (TUSB_Device *devList[], int size)
{
HANDLE hHCDev;
HDEVINFO deviceInfo;
SP_DEVICE_INTERFACE_DATA deviceInfoData;
ULONG index;
ULONG requiredLength;
int devCount = 0;
//SP_DEVINFO_DATA DevInfoData;
// Now iterate over host controllers using the new GUID based interface
//
deviceInfo = SetupDiGetClassDevs((LPGUID)&GUID_DEVINTERFACE_USB_DEVICE,
NULL,
NULL,
(DIGCF_PRESENT | DIGCF_DEVICEINTERFACE));
if (deviceInfo != INVALID_HANDLE_VALUE)
{
deviceInfoData.cbSize = sizeof(SP_DEVICE_INTERFACE_DATA);
for (index=0;
SetupDiEnumDeviceInterfaces(deviceInfo,
0,
(LPGUID)&GUID_DEVINTERFACE_USB_DEVICE,
index,
&deviceInfoData);
index++)
{
SetupDiGetDeviceInterfaceDetail(deviceInfo,
&deviceInfoData,
NULL,
0,
&requiredLength,
NULL);
//allocate memory for pointer to TUSB_Device structure
devList[devCount] = malloc(sizeof(TUSB_Device));
devList[devCount]->deviceDetailData = GlobalAlloc(GPTR, requiredLength);
devList[devCount]->deviceDetailData->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA);
SetupDiGetDeviceInterfaceDetail(deviceInfo,
&deviceInfoData,
devList[devCount]->deviceDetailData,
requiredLength,
&requiredLength,
NULL);
//open the usb device
hHCDev = CreateFile(devList[devCount]->deviceDetailData->DevicePath,
GENERIC_WRITE,
FILE_SHARE_WRITE,
NULL,
OPEN_EXISTING,
0,
NULL);
// If the handle is valid, then we've successfully found a usb device
//
if (hHCDev != INVALID_HANDLE_VALUE)
{
strncpy(devList[devCount]->devicePath, devList[devCount]->deviceDetailData->DevicePath, sizeof(devList[devCount]->devicePath));
//HERE IS WHERE I WOULD LIKE TO GET THE DEVICE NUMBER!!!
CloseHandle(hHCDev);
devCount++;
}
//GlobalFree(devList[devCount]->deviceDetailData);
}
SetupDiDestroyDeviceInfoList(deviceInfo);
}
return devCount;
}
I found out what my problem was. From what I read on the internet it seems there where other people having the same problems like me, so I will post my solution.
The whole point is that there are obviously different path values one can obtain for a USB device using the SetupApi. All path values can be used to get a handle to that device, but there are obviously differences about what can be done with the handle.
My failure was to use GUID_DEVINTERFACE_USB_DEVICE to list the devices. I found out that when I use GUID_DEVINTERFACE_DISK, I get a different path value that lets me request the device number. That way I am able to get the link to the drive letter.
That path value obtained with GUID_DEVINTERFACE_DISK also contains the serial number but not the vendor and product IDs. But since both path values do contain the serial, it is no problem to get them both and build the relation.
I tested the code with Windows XP, 7 and 8 and it works fine. Only the FileCreate code of the code sample above must be adjusted (replace GENERIC_WRITE by 0). Otherwise Administrator rights or compatibility mode are required.
I did not try to find out what these different GUID values really stand for. Someone with a deeper knowledge in this area could probably provide a better explanation.
Best regards,
Florian
for some test I need to run a data driven test with a configuration that is generated (via reflection) in the ClassInitialize method (by using reflection). I tried out everything, but I just can not get the data source properly set up.
The test takes a list of classes in a csv file (one line per class) and then will test that the mappings to the database work out well (i.e. try to get one item from the database for every entity, which will throw an exception when the table structure does not match).
The testmethod is:
[DataSource(
"Microsoft.VisualStudio.TestTools.DataSource.CSV",
"|DataDirectory|\\EntityMappingsTests.Types.csv",
"EntityMappingsTests.Types#csv",
DataAccessMethod.Sequential)
]
[TestMethod()]
public void TestMappings () {
Obviously the file is EntityMappingsTests.Types.csv. It should be in the DataDirectory.
Now, in the Initialize method (marked with ClassInitialize) I put that together and then try to write it.
WHERE should I write it to? WHERE IS THE DataDirectory?
I tried:
File.WriteAllText(context.TestDeploymentDir + "\\EntityMappingsTests.Types.csv", types.ToString());
File.WriteAllText("EntityMappingsTests.Types.csv", types.ToString());
Both result in "the unit test adapter failed to connect to the data source or read the data". More exact:
Error details: The Microsoft Jet database engine could not find the
object 'EntityMappingsTests.Types.csv'. Make sure the object exists
and that you spell its name and the path name correctly.
So where should I put that file?
I also tried just writing it to the current directory and taking out the DataDirectory part - same result. Sadly, there is limited debugging support here.
Please use the ProcessMonitor tool from technet.microsoft.com/en-us/sysinternals/bb896645. Put a filter on MSTest.exe or the associate qtagent32.exe and find out what locations it is trying to load from and at what point in time in the test loading process. Then please provide an update on those details here .
After you add the CSV file to your VS project, you need to open the properties for it. Set the Property "Copy To Output Directory" to "Copy Always". The DataDirectory defaults to the location of the compiled executable, which runs from the output directory so it will find it there.