From 35984a6e6b8cebba7cd3ca861d1feb5c7b8bcb50 Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <stefan.scherzinger@de.schunk.com>
Date: Fri, 19 Jul 2024 11:20:44 +0200
Subject: [PATCH] Update system parameters

Also support comments in the `system_parameter_codes` file when reading
system parameters from hardware.
---
 .flake8                                       |  3 ++
 schunk_egu_egk_gripper_dummy/config/data.json | 23 ++++++++----
 schunk_egu_egk_gripper_dummy/config/enum.json | 36 ++++++++++++++++++-
 .../config/read_system_parameters.py          |  7 ++++
 .../config/system_parameter_codes             |  9 +++--
 5 files changed, 67 insertions(+), 11 deletions(-)

diff --git a/.flake8 b/.flake8
index f578405..f40261f 100644
--- a/.flake8
+++ b/.flake8
@@ -2,3 +2,6 @@
 [flake8]
 # Use black's line length (default 88) instead of the flake8 default of 79:
 max-line-length = 88
+
+per-file-ignores =
+    schunk_egu_egk_gripper_dummy/*.py:E203
diff --git a/schunk_egu_egk_gripper_dummy/config/data.json b/schunk_egu_egk_gripper_dummy/config/data.json
index f34d7a9..6f6eabe 100644
--- a/schunk_egu_egk_gripper_dummy/config/data.json
+++ b/schunk_egu_egk_gripper_dummy/config/data.json
@@ -1,6 +1,6 @@
 {
     "0x0040": [
-        "210000800000A2800000000000000000"
+        "800000800000A25800000000000000EF"
     ],
     "0x0048": [
         "05000000000000000000000000000000"
@@ -9,7 +9,7 @@
         "0000"
     ],
     "0x0118": [
-        "00"
+        "EF"
     ],
     "0x0120": [
         "00"
@@ -18,10 +18,13 @@
         "001F"
     ],
     "0x0130": [
-        "3238333A34303A3534203C307837323E206C6F67696320766F6C746167652031362E343336203C2031392E3230302056202876616C75655F6D6F6E69746F722E6370703A3A32312900000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
+        "3238343A32363A3532203C307846343E206D6F766520626C6F636B6564206F6363757272656420696E2063757272656E74207374617465203420286170706C69636174696F6E5F73746174655F6D616368696E652E683A3A313334392900000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
+    ],
+    "0x0210": [
+        "00000000"
     ],
     "0x0230": [
-        "4226667D"
+        "42263D87"
     ],
     "0x0238": [
         "00000000"
@@ -102,10 +105,10 @@
         "42AA0000"
     ],
     "0x0840": [
-        "41F5DC60"
+        "421EAE6D"
     ],
     "0x0870": [
-        "41BA7D40"
+        "41BA5871"
     ],
     "0x0878": [
         "41C04897"
@@ -149,6 +152,12 @@
     "0x1118": [
         "352E322E302E38313839360000000000000000000000"
     ],
+    "0x1120": [
+        "322E312E3100000000000000"
+    ],
+    "0x1130": [
+        "01"
+    ],
     "0x1138": [
         "0030114844C7"
     ],
@@ -156,6 +165,6 @@
         "01"
     ],
     "0x1400": [
-        "00000080"
+        "00000A69"
     ]
 }
diff --git a/schunk_egu_egk_gripper_dummy/config/enum.json b/schunk_egu_egk_gripper_dummy/config/enum.json
index faa406e..8fe8663 100644
--- a/schunk_egu_egk_gripper_dummy/config/enum.json
+++ b/schunk_egu_egk_gripper_dummy/config/enum.json
@@ -1013,7 +1013,7 @@
             "string": "ERR_SW_COMM"
         }
     ],
-    "0x120": [
+    "0x0120": [
         {
             "value": 0,
             "string": "ERR_NONE"
@@ -2140,5 +2140,39 @@
             "value": 27,
             "string": "EGU_80_M_SD"
         }
+    ],
+    "0x1130": [
+        {
+            "value": 0,
+            "string": "UNKNOWN"
+        },
+        {
+            "value": 1,
+            "string": "PROFINET"
+        },
+        {
+            "value": 2,
+            "string": "EtherNet/IP (TM)"
+        },
+        {
+            "value": 3,
+            "string": "EtherCAT"
+        },
+        {
+            "value": 4,
+            "string": "Modbus TCP"
+        },
+        {
+            "value": 5,
+            "string": "Common Ethernet"
+        },
+        {
+            "value": 6,
+            "string": "IOLink"
+        },
+        {
+            "value": 7,
+            "string": "Modbus RTU"
+        }
     ]
 }
diff --git a/schunk_egu_egk_gripper_dummy/config/read_system_parameters.py b/schunk_egu_egk_gripper_dummy/config/read_system_parameters.py
index 302d282..dd73ef4 100755
--- a/schunk_egu_egk_gripper_dummy/config/read_system_parameters.py
+++ b/schunk_egu_egk_gripper_dummy/config/read_system_parameters.py
@@ -17,9 +17,16 @@ def read_parameter_codes(filepath: str) -> list[str]:
     def contains_hex(line: str) -> bool:
         return True if "0x" in line and line[0] != "#" else False
 
+    def remove_comments(line: str) -> str:
+        if line.find("#") != -1:
+            line = line[0 : line.find("#")]
+        line = line.strip()
+        return line
+
     with open(filepath, "r") as f:
         lines = f.read().split("\n")
     lines = list(filter(contains_hex, lines))
+    lines = list(map(remove_comments, lines))
     return lines
 
 
diff --git a/schunk_egu_egk_gripper_dummy/config/system_parameter_codes b/schunk_egu_egk_gripper_dummy/config/system_parameter_codes
index 446e853..0b38c21 100644
--- a/schunk_egu_egk_gripper_dummy/config/system_parameter_codes
+++ b/schunk_egu_egk_gripper_dummy/config/system_parameter_codes
@@ -6,17 +6,18 @@
 0x0040
 0x0048
 0x0100
-0x0118
-0x0120
+0x0118 # enum
+0x0120 # enum
 0x0128
 0x0130
+0x0210
 0x0230
 0x0238
 0x0380
 0x03A8
 0x03B0
 0x03B8
-0x0500
+0x0500 # enum
 0x0528
 0x0540
 0x0580
@@ -53,6 +54,8 @@
 0x1108
 0x1110
 0x1118
+0x1120
+0x1130  # enum
 0x1138
 0x1330
 0x1400