"""Numeric codes for Roboteq serial command constants (the `_XXX` names used as the first argument to GetValue/SetCommand/GetConfig/SetConfig). Two tiers of confidence here: 1. **Bytecode-confirmed** (the highest bar): decoded directly from real RoborunPlus-compiled `.hex` output. _VAR = 6 (batch 4, GetValue and SetCommand) _ALIM = 42 (0x2A) (batch 4, GetConfig/SetConfig) _MS = 16 (0x10) (batch 6, SetCommand) _GO = 0 (batch 6, SetCommand) _ESTOP = 14 (0x0E) (batch 6, SetCommand) _AI = 16 (0x10) (batch 6, GetValue) _BATAMPS = 12 (0x0C) (batch 6, GetValue) _MOTAMPS = 0 (batch 6, GetValue) _MOTPWR = 2 (batch 6, GetValue) _V = 13 (0x0D) (batch 6, GetValue) _D0 = 11 (0x0B) (onoff.mbs, 2026-07-29, SetCommand -- corrects the manual-sourced guess of 9 below, which was apparently confused with _DOUT's own code. _D1 = 10 (0x0A) was independently confirmed correct by the same diff.) 2. **Manual-sourced** (everything else below): read directly from the "HexCode:" field documented for each command/query/config parameter in *Roboteq Controllers User Manual*, V2.1. All 10 bytecode-confirmed values above also appear in the manual and match exactly -- strong evidence the manual's HexCode field is what actually goes on the wire, so the other ~300 values it documents are trusted here even though they haven't each been individually diffed against a compiled `.hex` file. Extraction notes (see `docs/reverse_engineering.md` for the full writeup): - A handful of aliases were dropped because the manual itself has copy-paste errors: some later sections reuse an earlier section's `Syntax Scripting` example without updating the `_XXX` name to match that section's own declared alias (e.g. the `CU` command's example says `setcommand(_CS, ...)` -- copied from the preceding `CS` section and never fixed). Where a section's own alias doesn't match the `_XXX` name in its own example, that example was discarded rather than trusted. - The DS402 (CANopen motion-profile) command/query sections were excluded entirely. That's a separate operating profile from plain serial MicroBasic scripting and several of its aliases collide with unrelated classic-mode codes for the same short name (e.g. a DS402-only `MOTVEL` variant using a different HexCode than the classic `S` command's `_MOTVEL`) -- since a MicroBasic script on this hardware isn't running in DS402 mode, the classic definition is what applies, and the DS402 duplicate would just be wrong here. - `_BRUN` and `_CSS` (and only these two, once the above two rules are applied) turned out to genuinely mean different things depending on the verb: `_BRUN` is HexCode `0x0C` as a `SetCommand` (start/stop/restart the running script) but `0x48` as a `SetConfig` (enable auto-start on power up) -- two unrelated parameters that happen to share an alias. `_CSS` is `0x6C` to `SetCommand` (load an SSI counter) and `0x6E` to `GetValue` (read it back) -- related but still separately numbered. These are handled by `VERB_SPECIFIC_CODES` below and checked before the flat table. Command names are matched case-insensitively, without the leading underscore (the parser strips it before lookup). """ from __future__ import annotations COMMAND_CODES: dict[str, int] = { "a": 0, "abcntr": 4, "abspeed": 3, "ac": 7, "accel": 7, "acs": 11, "actr": 22, "adb": 23, "ai": 16, "aic": 35, "aina": 25, "alim": 42, "alin": 24, "amax": 21, "amaxa": 27, "amin": 20, "amina": 26, "amod": 19, "ams": 12, "anain": 16, "anainc": 35, "ang": 66, "apol": 28, "asi": 51, "atga": 44, "atgd": 45, "atrig": 43, "ax": 20, "b": 22, "ba": 12, "badj": 96, "badv": 97, "batamps": 12, "bdt": 232, "becc": 189, "bee": 100, "bfbk": 99, "bhl": 62, "bhla": 64, "bhome": 60, "bhv": 231, "bind": 28, "bkd": 1, "blcntr": 5, "blfb": 59, "bll": 61, "blla": 63, "blrspeed": 11, "blspeed": 10, "blstd": 58, "bmc": 76, "bmf": 77, "bmod": 95, "bnd": 28, "bool": 22, "bpol": 57, "bpr": 243, "brv": 230, "bs": 10, "bsc": 80, "bsr": 11, "bzpw": 98, "c": 4, "calive": 38, "can": 39, "cango": 25, "cansend": 24, "cas": 90, "cb": 5, "cbr": 88, "cd": 142, "cen": 86, "cf": 40, "cg": 25, "chb": 89, "chla": 239, "chs": 148, "cia": 26, "cip": 27, "cis": 25, "cl": 38, "clerd": 56, "clin": 13, "clsn": 91, "cmdana": 26, "cmdpls": 27, "cmdser": 25, "cnod": 87, "cpri": 7, "cr": 8, "cs": 24, "csr": 109, "csrt": 92, "ctps": 93, "ctt": 112, "d": 14, "d0": 11, "d1": 10, "dc": 8, "ddt": 143, "decel": 8, "dfc": 14, "dhcp": 111, "di": 15, "digin": 14, "digout": 23, "din": 15, "dina": 15, "dinl": 16, "dmod": 161, "do": 23, "doa": 17, "dol": 18, "dout": 9, "dpa": 110, "dr": 34, "dreached": 34, "dres": 9, "ds": 9, "dset": 10, "dx": 21, "e": 24, "echof": 9, "edec": 233, "ee": 0, "ees": 27, "eesav": 27, "ehl": 76, "ehla": 78, "ehome": 79, "ell": 75, "ella": 77, "emod": 73, "eppr": 74, "estop": 14, "ex": 14, "f": 19, "fc": 71, "feedbk": 19, "ff": 21, "fid": 30, "fin": 63, "fltflag": 21, "flw": 123, "fm": 48, "fs": 20, "fsa": 204, "g": 0, "gid": 123, "giq": 122, "go": 0, "gwa": 105, "h": 13, "home": 13, "hpo": 165, "hs": 49, "hsat": 194, "hsense": 49, "hsm": 163, "icap": 50, "icl": 70, "illr": 154, "ilm": 155, "ipa": 104, "ipp": 107, "irr": 153, "ism": 233, "k": 33, "kdg": 242, "kif": 142, "kig": 241, "kpf": 141, "kpg": 240, "ld": 236, "lk": 29, "locked": 29, "lperr": 24, "lq": 237, "m": 1, "ma": 37, "mac": 51, "mdal": 202, "mdec": 52, "mdir": 119, "mems": 37, "mg": 15, "mgd": 41, "mgdet": 41, "mgm": 43, "mgmrkr": 43, "mgo": 15, "mgs": 44, "mgstatus": 44, "mgt": 42, "mgtrack": 42, "mgy": 45, "mgyro": 45, "mlx": 213, "mmod": 39, "mnod": 162, "mnrpm": 203, "motamps": 0, "motcmd": 1, "motflag": 48, "motpos": 2, "motpwr": 2, "motvel": 3, "mposrel": 17, "mpw": 151, "ms": 16, "mstop": 16, "mvel": 53, "mxmd": 5, "mxpf": 40, "mxpr": 41, "mxrpm": 54, "mxs": 150, "mxtrn": 55, "nxtacc": 20, "nxtdec": 21, "nxtpos": 18, "nxtposr": 19, "nxtvel": 23, "otl": 209, "ovh": 66, "ovl": 2, "p": 2, "pctr": 32, "pdb": 33, "pdns": 109, "pha": 73, "pi": 17, "pic": 36, "pina": 35, "plin": 34, "plsin": 17, "plsinc": 36, "pmax": 31, "pmaxa": 37, "pmin": 30, "pmina": 36, "pmod": 29, "pms": 244, "ppol": 38, "pr": 17, "prx": 19, "psa": 225, "px": 18, "r": 12, "rc": 26, "rcout": 26, "relcntr": 8, "relspeed": 7, "rfc": 152, "rs": 235, "rs485": 208, "rsbr": 10, "rwd": 8, "s": 3, "sblcntr": 5, "sbm": 106, "scc": 69, "scpr": 206, "sdns": 110, "sec": 141, "sed": 228, "sencntr": 4, "shl": 216, "shla": 218, "shome": 219, "skctr": 83, "skdb": 84, "sklin": 85, "skmax": 82, "skmin": 81, "skuse": 80, "sl": 72, "sll": 215, "slla": 217, "smod": 214, "sna": 121, "spektrum": 33, "spol": 65, "sr": 7, "sro": 94, "ss": 106, "ssf": 192, "ssr": 107, "stflag": 20, "sto": 207, "stt": 112, "svt": 190, "swd": 164, "sx": 23, "t": 18, "temp": 18, "tid": 143, "time": 28, "tm": 28, "tnm": 223, "tr": 32, "track": 32, "trn": 31, "uid": 50, "uvl": 3, "v": 13, "var": 6, "vk": 238, "volts": 13, "vph": 149, "wmod": 103, "zsma": 229, "zsmc": 70, } # A small number of aliases genuinely mean different things depending on # which verb they're used with -- see the module docstring. Checked before # COMMAND_CODES; (name, verb) not found here falls through to the flat # table. VERB_SPECIFIC_CODES: dict[tuple[str, str], int] = { ("brun", "setcommand"): 0x0C, ("brun", "setconfig"): 0x48, ("css", "setcommand"): 0x6C, ("css", "getvalue"): 0x6E, } class UnknownCommandError(Exception): def __init__(self, name: str): super().__init__( f"Unknown Roboteq command constant '_{name}'. See commands.py " f"({len(COMMAND_CODES)} known constants) for how to add more." ) self.name = name def resolve_command_code(name: str, verb: str | None = None) -> int: """name includes the leading underscore, e.g. '_ALIM'. verb, when given, is the lowercase device-I/O function name the constant is being passed to ('getvalue', 'setcommand', 'getconfig', 'setconfig') -- only relevant for the handful of aliases in VERB_SPECIFIC_CODES that mean different things per verb. """ key = name.lstrip("_").lower() if verb is not None and (key, verb) in VERB_SPECIFIC_CODES: return VERB_SPECIFIC_CODES[(key, verb)] if key not in COMMAND_CODES: raise UnknownCommandError(key) return COMMAND_CODES[key]