ariel-tcu 0.17.0__py3-none-any.whl

egse/ariel/tcu/tcu.py

@@ -0,0 +1,1118 @@
+"""Ariel Telescope Control Unit (TCU) commanding.
+
+Commanding is done by communicating with the TCU Arduino via a serial port (with the PySerial package).
+
+We discern between the following types of commands:
+    - General commands;
+    - M2MD commands (on a per-axis basis);
+    - Thermal Monitoring System (TSM) commands;
+    - HK commands.
+
+Reference documents:
+    - RD01: TCU User Manual (ARIEL-IEEC-PL-TN-002), v1.2
+    - RD02: ARIEL TCU Data Handling (ARIEL-IEEC-PL-TN-007), v1.0
+    - RD03: TCU code provided by Vladimiro Noce (priv. comm.)
+    - RD04: ARIEL Telescope Control Unit Design Description Document (ARIEL-IEEC-PL-DD-001), v1.10
+    - RD05: ARIEL TCU FW Architecture Design(ARIEL-IEEC-PL-DD-002), v1.5
+"""
+
+import logging
+from serial.tools import list_ports
+
+from egse.ariel.tcu import PROXY_TIMEOUT, SERVICE_TYPE, TcuMode
+from egse.ariel.tcu.tcu_cmd_utils import (
+    set_tcu_mode,
+    tcu_simulated,
+    restart_links_period_latch,
+    set_restart_links_period,
+    CommandAddress,
+    ope_mng_command,
+    ope_mng_event_clear_protect_flag,
+    ope_mng_event_clear,
+    ope_mng_status,
+    ope_mng_event_reg,
+    get_acq_curr_off_corr,
+    set_acq_curr_off_corr,
+    get_acq_curr_gain_corr,
+    set_acq_curr_gain_corr,
+    acq_axis_a_curr_read,
+    acq_axis_b_curr_read,
+    acq_ave_lpf_en,
+    acq_ovc_cfg_filter,
+    acq_avc_filt_time,
+    acq_average_type,
+    acq_spk_filt_counter_lim,
+    acq_spk_filt_incr_thr,
+    get_prof_gen_axis_step,
+    set_prof_gen_axis_step,
+    get_prof_gen_axis_speed,
+    set_prof_gen_axis_speed,
+    get_prof_gen_axis_state_start,
+    set_prof_gen_axis_state_start,
+    sw_rs_xx_sw_rise,
+    sw_rs_xx_sw_fall,
+    set_tsm_current_value,
+    set_tsm_current_offset,
+    set_tsm_adc_hpf_register,
+    set_tsm_adc_ofc_register,
+    set_tsm_adc_fsc_register,
+    tsm_adc_command,
+    tsm_adc_calibration,
+    tsm_adc_value_xx_currentn,
+    tsm_adc_value_xx_biasn,
+    tsm_adc_value_xx_currentp,
+    tsm_adc_value_xx_biasp,
+    tcu_firmware_id,
+    get_tcu_mode,
+    tcu_status,
+    get_restart_links_period,
+    tsm_latch,
+    get_tsm_current_value,
+    get_tsm_current_offset,
+    tsm_adc_id_register,
+    tsm_adc_configuration_register,
+    get_tsm_adc_ofc_register,
+    get_tsm_adc_fsc_register,
+    tsm_adc_command_latch,
+    tsm_acq_counter,
+    get_tsm_adc_hpf_register,
+    tsm_adc_register_latch,
+    vhk_psu_vmotor,
+    vhk_psu_vhi,
+    vhk_psu_vlow,
+    vhk_psu_vmedp,
+    vhk_psu_vmedn,
+    ihk_psu_vmedn,
+    ihk_psu_vlow,
+    ihk_psu_vmedp,
+    ihk_psu_vhi,
+    ihk_psu_vmotor,
+    thk_psu_first,
+    thk_m2md_first,
+    thk_psu_second,
+    thk_m2md_second,
+    thk_cts_q1,
+    thk_cts_q2,
+    thk_cts_q3,
+    thk_cts_q4,
+    thk_cts_fpga,
+    thk_cts_ads1282,
+    vhk_ths_ret,
+    hk_acq_counter,
+)
+
+from egse.device import DeviceInterface
+from egse.mixin import dynamic_command, CommandType, DynamicCommandMixin
+from egse.proxy import DynamicProxy
+from egse.ariel.tcu.tcu_devif import TcuDeviceInterface
+from egse.registry.client import RegistryClient
+from egse.zmq_ser import connect_address
+
+logger = logging.getLogger("egse.ariel.tcu")
+
+
+def get_all_serial_ports() -> list:
+    """Returns a list of all available serial ports.
+
+    Returns:
+        List of all available serial ports.
+    """
+
+    ports = list_ports.comports()
+
+    for port in ports:
+        print(port)
+
+    return ports
+
+
+class TcuInterface(DeviceInterface):
+    # General commands
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tcu_firmware_id)
+    def tcu_firmware_id(self):
+        """Selects the Instrument Control Unit (ICU) channel and returns the firmware version.
+
+        Returns:
+            Firmware version of the Ariel TCU.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tcu_mode)
+    def get_tcu_mode(self):
+        """Returns the current mode of the Ariel TCU.
+
+        Possible modes are:
+            - IDLE (0x0000): Waiting for commands, minimum power consumption
+            - BASE (0x0001): HK + TSM Circuitry on
+            - CALIBRATION (0x0003): HK + TSM + M2MD circuitry on
+
+        Returns:
+            Current mode of the Ariel TCU.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tcu_mode)
+    def set_tcu_mode(self, tcu_mode: TcuMode | int = TcuMode.IDLE):
+        """Selects the Ariel TCU working mode.
+
+        Args:
+            tcu_mode (TcuMode | int): Ariel TCU working mode:
+                - IDLE (0x0000): Waiting for commands, minimum power consumption
+                - BASE (0x0001): HK + TSM Circuitry on
+                - CALIBRATION (0x0003): HK + TSM + M2MD circuitry on
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tcu_status)
+    def tcu_status(self):
+        """Returns the TCU status.
+
+        The TCU status is a bit word that indicates the current state of the TCU.  The meaning of a bit being set
+        to one is as follows:
+
+            - bit 0: main link enabled
+            - bit 1: secondary link enabled
+            - bit 2: TSM enabled
+            - bit3: M2MD enabled
+            - bit 4: TSM in simulated mode
+            - bit 5: M2MD in simulated mode
+            - bit 6: HK in simulated mode
+            - bit 7: M2MD axis 1 enabled
+            - bit 8: M2MD axis 2 enabled
+            - bit 9: M2MD axis 3 enabled
+            - bit 10: TSM initialised
+            - bit 11: ADS_MFLAG active
+            - bit 12: ADS_REGISTERS_ERROR active
+
+        Returns:
+            Bit word that indicated the current state of the TCU.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tcu_simulated)
+    def tcu_simulated(self, cargo2: int):
+        """Changes a TCU sub-system in simulated mode.
+
+        This is only possible in IDLE mode.
+
+        The cargo2 parameter denotes which sub-system to change to simulated mode.  The meaning of a bit being set to
+        one is as follows:
+
+            - bit 0: TBD
+            - bit 1: TBD
+            - bit 2: TBD
+            - bit 3: TBD
+            - bit 4: Put the TSM in simulated mode
+            - bit 5: Put the M2MD in simulated mode
+            - bit 6: Put the HK in simulated mode
+
+        Args:
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=restart_links_period_latch)
+    def restart_links_period_latch(self, cargo2: int):
+        """Re-starts the link period latch.
+
+        This is only possible in IDLE mode.
+
+
+        Note that a read does not disarm the latch.
+
+        Args:
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_restart_links_period)
+    def get_restart_links_period(self):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_restart_links_period)
+    def set_restart_links_period(self, link_period: int = 0xFFFF):
+        """Re-start both links if no message is received after the given link period +1s.
+
+        Args:
+            link_period (int): 1s after this time duration, both links will be re-started if no message is received.
+        """
+        pass
+
+    # M2MD commands
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ope_mng_command)
+    def ope_mng_command(self, axis: CommandAddress | str | int, cargo2: int = 0x0002):
+        """Commands the action to the SENER motor driver IP core for the given M2MD axis.
+
+        The cargo2 parameter denotes the action to be performed.  The meaning of a bit being set to
+        one is as follows:
+
+            - bit 0: Activate motion
+            - bit 1: Stop motion
+
+        Args:
+            axis (CommandAddress): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ope_mng_event_clear_protect_flag)
+    def ope_mng_event_clear_protect_flag(self, axis: CommandAddress | str | int, cargo2: int = 0xAAAA):
+        """Clears the event register protection flag.
+
+        Args:
+            axis (CommandAddress): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ope_mng_event_clear)
+    def ope_mng_event_clear(self, axis: CommandAddress | str | int, cargo2: int = 0x0001):
+        """Clears the event register for the given M2MD axis.
+
+        Args:
+            axis (CommandAddress): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ope_mng_status)
+    def ope_mng_status(self, axis: CommandAddress | str | int):
+        """Returns the current status of the motor for the given M2MD axis.
+
+        Args:
+            axis (CommandAddress): Axis to which the command is sent.
+
+        Returns:
+            Current status of the motor for the given M2MD axis. Bit 0 being set to one means that the motor is
+            in stand-by mode; bit 1 being set to one means that the motor is in operation state.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ope_mng_event_reg)
+    def ope_mng_event_reg(self, axis: CommandAddress | str | int):
+        """Returns the list of all events since wake-up or the last clear event.
+
+        Args:
+            axis (CommandAddress): Axis to which the command is sent.
+
+        Returns:
+            List of all events since wake-up or the last clear event.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_acq_curr_off_corr)
+    def get_acq_curr_off_corr(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_acq_curr_off_corr)
+    def set_acq_curr_off_corr(self, axis: CommandAddress | str | int, cargo2: int = 0x03FB):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_acq_curr_gain_corr)
+    def get_acq_curr_gain_corr(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_acq_curr_gain_corr)
+    def set_acq_curr_gain_corr(self, axis: CommandAddress | str | int, cargo2: int = 0x074C):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_axis_a_curr_read)
+    def acq_axis_a_curr_read(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_axis_b_curr_read)
+    def acq_axis_b_curr_read(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_ave_lpf_en)
+    def acq_ave_lpf_en(self, axis: CommandAddress | str | int, cargo2: int = 0x0001):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_ovc_cfg_filter)
+    def acq_ovc_cfg_filter(self, axis: CommandAddress | str | int, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_avc_filt_time)
+    def acq_avc_filt_time(self, axis: CommandAddress | str | int, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_average_type)
+    def acq_average_type(self, axis: CommandAddress | str | int, cargo2: int = 0x0000):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_spk_filt_counter_lim)
+    def acq_spk_filt_counter_lim(self, axis: CommandAddress | str | int, cargo2: int = 0x0001):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=acq_spk_filt_incr_thr)
+    def acq_spk_filt_incr_thr(self, axis: CommandAddress | str | int, cargo2: int = 0x04C0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_prof_gen_axis_step)
+    def get_prof_gen_axis_step(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_prof_gen_axis_step)
+    def set_prof_gen_axis_step(self, axis: CommandAddress | str | int, cargo2: int = 0x0480):
+        """Axis position command for the given M2MD axis.
+
+        The cargo2 parameter denotes the desired positioning. The meaning of its constituent bits is as follows:
+
+            - bits 0-14: Number of steps to be carried out
+            - bit 15: Direction of motion (0: counterclockwise, 1: clockwise)
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_prof_gen_axis_speed)
+    def get_prof_gen_axis_speed(self, axis: CommandAddress | str | int):
+        """Returns the axis writing speed for the given M2MD axis.
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+        """
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_prof_gen_axis_speed)
+    def set_prof_gen_axis_speed(self, axis: CommandAddress | str | int, cargo2: int = 0x0177):
+        """Axis velocity command for the given M2MD axis.
+
+        The cargo2 parameter denotes the desired velocity.
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_prof_gen_axis_state_start)
+    def get_prof_gen_axis_state_start(self, axis: CommandAddress | str | int):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_prof_gen_axis_state_start)
+    def set_prof_gen_axis_state_start(self, axis: CommandAddress | str | int, cargo2: int = 0):
+        """Changes the starting point of the magnetic state for the given M2MD axis.
+
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=sw_rs_xx_sw_rise)
+    def sw_rs_xx_sw_rise(self, axis: CommandAddress | str | int, position: int = 1):
+        """Position switch rise.
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+            position (int): Position of the SW_RS_XX_SW_RISE command.
+
+        Returns:
+            Relative position measured when the rising edge of the given switch is detected.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=sw_rs_xx_sw_fall)
+    def sw_rs_xx_sw_fall(self, axis: CommandAddress | str | int, position: int = 1):
+        """Position switch fall.
+
+        Args:
+            axis (CommandAddress | str | int): Axis to which the command is sent.
+            position (int): Position of the SW_RS_XX_SW_FALL command.
+
+        Returns:
+            Relative position measured when the falling edge of the given switch is detected.
+        """
+
+        pass
+
+    # TSM commands
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_latch)
+    def tsm_latch(self, cargo1: str | int, cargo2: int = 0):
+        """Latches to allow the modification of the operation management register.
+
+        Args:
+            cargo1 (str | int): Cargo 1 part of the command string.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tsm_current_value)
+    def get_tsm_current_value(self):
+        """Returns the TSM current.
+
+        Returns:
+            TSM current.
+        """
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tsm_current_value)
+    def set_tsm_current_value(self, cargo1: int = 0, cargo2: int = 0):
+        """Sets the TSM current value.
+
+        Args:
+            cargo1 (int): Cargo 1 part of the command string.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tsm_current_offset)
+    def get_tsm_current_offset(self):
+        """Returns the TSM current offset.
+
+        Returns:
+            TSM current offset.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tsm_current_offset)
+    def set_tsm_current_offset(self, cargo1: int = 0, cargo2: int = 0):
+        """Sets the TSM current offset.
+
+        Args:
+            cargo1 (int): Cargo 1 part of the command string.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_register_latch)
+    def tsm_adc_register_latch(self, cargo1: int = 0, cargo2: int = 0):
+        """Re-starts the TSM ADC register latch.
+
+        Args:
+            cargo1 (int): Cargo 1 part of the command string.
+            cargo2 (int): Cargo 2 part of the command string.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_id_register)
+    def tsm_adc_id_register(self):
+        """Returns the content of the TSM ADC identifier register.
+
+        Returns:
+            Content of the TSM ADC identifier register.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_configuration_register)
+    def tsm_adc_configuration_register(self):
+        """Returns the content of the TSM ADC configuration register.
+
+        Returns:
+            Content of the TSM ADC configuration register.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tsm_adc_hpf_register)
+    def get_tsm_adc_hpf_register(self):
+        """Returns the content of the high-pass corner frequency register.
+
+        Returns:
+            Content of the high-pass corner frequency register.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tsm_adc_hpf_register)
+    def set_tsm_adc_hpf_register(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tsm_adc_ofc_register)
+    def get_tsm_adc_ofc_register(self):
+        """Returns the content of the offset calibration register.
+
+        Returns:
+            Content of the offset calibration register.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tsm_adc_ofc_register)
+    def set_tsm_adc_ofc_register(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=get_tsm_adc_fsc_register)
+    def get_tsm_adc_fsc_register(self):
+        """Returns the content of the full-scale calibration register.
+
+        Returns:
+            Content of the full-scale calibration register.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=set_tsm_adc_fsc_register)
+    def set_tsm_adc_fsc_register(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_command_latch)
+    def tsm_adc_command_latch(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_command)
+    def tsm_adc_command(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_calibration)
+    def tsm_adc_calibration(self, cargo1: int = 0, cargo2: int = 0):
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_value_xx_currentn)
+    def tsm_adc_value_xx_currentn(self, probe: int = 1):
+        """Returns the negative current to polarise the given thermistor.
+
+        Args:
+            probe (int): Thermistor identifier.
+
+        Returns:
+            Negative current to polarise the given thermistor.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_value_xx_biasn)
+    def tsm_adc_value_xx_biasn(self, probe: int = 1):
+        """Returns the voltage measured on the given thermistor biased with negative current.
+
+        Args:
+            probe (int): Thermistor identifier.
+
+        Returns:
+            Voltage on the thermistor biased with the negative current.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_value_xx_currentp)
+    def tsm_adc_value_xx_currentp(self, probe: int = 1):
+        """Returns the positive current to polarise the given thermistor.
+
+        Args:
+            probe (int): Thermistor identifier.
+
+        Returns:
+            Positive current to polarise the given thermistor.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_adc_value_xx_biasp)
+    def tsm_adc_value_xx_biasp(self, probe: int = 1):
+        """Returns the voltage measured on the given thermistor biased with positive current.
+
+        Args:
+            probe (int): Thermistor identifier.
+
+        Returns:
+            Voltage on the thermistor biased with the positive current.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=tsm_acq_counter)
+    def tsm_acq_counter(self):
+        """Reads the number of ADC measurement sequences that have been made.
+
+        Returns:
+            Number of ADC measurement sequences that have been made.
+        """
+
+        pass
+
+    # HK commands
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_psu_vmotor)
+    def vhk_psu_vmotor(self):
+        """Returns the HK PSU motor voltage value.
+
+        Returns:
+            HK PSU motor voltage value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_psu_vhi)
+    def vhk_psu_vhi(self):
+        """Returns the HK PSU high voltage value.
+
+        Returns:
+            HK PSU motor high voltage value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_psu_vlow)
+    def vhk_psu_vlow(self):
+        """Returns the HK PSU low voltage value.
+
+        Returns:
+            HK PSU motor low voltage value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_psu_vmedp)
+    def vhk_psu_vmedp(self):
+        """Returns the HK PSU medium positive voltage value.
+
+        Returns:
+            HK PSU medium positive voltage value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_psu_vmedn)
+    def vhk_psu_vmedn(self):
+        """Returns the HK PSU medium negative voltage value.
+
+        Returns:
+            HK PSU medium negative voltage value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ihk_psu_vmedn)
+    def ihk_psu_vmedn(self):
+        """Returns the HK PSU medium negative current value.
+
+        Returns:
+            HK PSU medium negative current value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ihk_psu_vmedp)
+    def ihk_psu_vmedp(self):
+        """Returns the HK PSU medium positive current value.
+
+        Returns:
+            HK PSU medium positive current value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ihk_psu_vlow)
+    def ihk_psu_vlow(self):
+        """Returns the HK PSU low current value.
+
+        Returns:
+            HK PSU low current value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ihk_psu_vhi)
+    def ihk_psu_vhi(self):
+        """Returns the HK PSU high current value.
+
+        Returns:
+            HK PSU high current value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=ihk_psu_vmotor)
+    def ihk_psu_vmotor(self):
+        """Returns the HK PSU motor current value.
+
+        Returns:
+            HK PSU motor current value.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_psu_first)
+    def thk_psu_first(self):
+        """Returns the HK PSU temperature zone 1.
+
+        Returns:
+            HK PSU temperature zone 1.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_m2md_first)
+    def thk_m2md_first(self):
+        """Returns the HK M2MD temperature zone 1.
+
+        Returns:
+            HK M2MD temperature zone 1.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_psu_second)
+    def thk_psu_second(self):
+        """Returns the HK M2MD temperature zone 2.
+
+        Returns:
+            HK M2MD temperature zone 2.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_m2md_second)
+    def thk_m2md_second(self):
+        """Returns the HK M2MD temperature zone 2.
+
+        Returns:
+            HK M2MD temperature zone 2.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_q1)
+    def thk_cts_q1(self):
+        """Returns the HK CTS temperature first quarter.
+
+        Returns:
+            HK CTS temperature first quarter.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_q2)
+    def thk_cts_q2(self):
+        """Returns the HK CTS temperature second quarter.
+
+        Returns:
+            HK CTS temperature second quarter.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_q3)
+    def thk_cts_q3(self):
+        """Returns the HK CTS temperature third quarter.
+
+        Returns:
+            HK CTS temperature third quarter.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_q4)
+    def thk_cts_q4(self):
+        """Returns the HK CTS temperature fourth quarter.
+
+        Returns:
+            HK CTS temperature fourth quarter.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_fpga)
+    def thk_cts_fpga(self):
+        """Returns the HK CTS temperature FPGA.
+
+        Returns:
+            HK CTS temperature FPGA.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=thk_cts_ads1282)
+    def thk_cts_ads1282(self):
+        """Returns the HK CTS temperature ADS1282.
+
+        Returns:
+            HK CTS temperature ADS1282.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=vhk_ths_ret)
+    def vhk_ths_ret(self):
+        """Returns the HK CTS thermistors return voltage.
+
+        Returns:
+            HK CTS thermistors return voltage.
+        """
+
+        pass
+
+    @dynamic_command(cmd_type=CommandType.TRANSACTION, cmd_string_func=hk_acq_counter)
+    def hk_acq_counter(self):
+        """Returns the running counter that indicates the number of HK measurement sequences that have been made.
+
+        Returns:
+            Free running counter that indicates the number of HK measurement sequences that have been made.
+        """
+
+        pass
+
+
+class TcuController(TcuInterface, DynamicCommandMixin):
+    def __init__(self):
+        """Initialisation of an Ariel TCU controller."""
+
+        super().__init__()
+        self.transport = self.tcu = TcuDeviceInterface()
+
+    # noinspection PyMethodMayBeStatic
+    def is_simulator(self):
+        return False
+
+    def is_connected(self):
+        """Checks whether the serial port to the TCU Arduino is open.
+
+        Returns:
+            True if the serial port to the TCU Arduino is open; False otherwise.
+        """
+
+        return self.tcu.is_connected()
+
+    def connect(self):
+        """Opens the serial port to the TCU Arduino.
+
+        Raises:
+            TcuError: When the serial port could not be opened.
+        """
+
+        self.tcu.connect()
+
+    def disconnect(self):
+        """Closes the serial port to the TCU Arduino.
+
+        Raises:
+            TcuError: When the serial port could not be closed.
+        """
+
+        self.tcu.disconnect()
+
+    def reconnect(self):
+        """Re-connects to the Ariel TCU Arduino."""
+
+        self.tcu.reconnect()
+
+
+class TcuSimulator(TcuInterface):
+    VHK_PSU_MOTOR = 0x0080
+    VHK_PSU_VHI = 0x0280
+    VHK_PSU_VLOW = 0x0480
+    VHK_PSU_VMEDP = 0x0680
+    VHK_PSU_VMEDN = 0x0880
+    IHK_PSU_VMEDN = 0x0A80
+    IHK_PSU_VMEDP = 0x0A80
+    IHK_PSU_VLOW = 0x0A80
+    IHK_PSU_VHI = 0x0A80
+    IHK_PSU_VMOTOR = 0x0A80
+    THK_PSU_FIRST = 0x0A80
+    THK_M2MD_FIRST = 0x0A80
+    THK_PSU_SECOND = 0x0C80
+    THK_M2MD_SECOND = 0x0C80
+    THK_CTS_Q1 = 0x0A80
+    THK_CTS_Q2 = 0x0C80
+    THK_CTS_Q3 = 0x0C80
+    THK_CTS_Q4 = 0x0C80
+    THK_CTS_FPGA = 0x0A80
+    THK_CTS_ADS1282 = 0x0C80
+    VHK_THS_RET = 0x0E80
+    HK_ACQ_COUNTER = 0x002A
+
+    def __init__(self):
+        """Initialisation of an Ariel TCU simulator."""
+
+        super().__init__()
+
+        self._is_connected = True
+
+        self.tcu_mode = TcuMode.IDLE.value
+        self.restart_links_period = 0
+        self.acq_curr_off_corr_list = [None, 0, 0, 0]
+        self.acq_curr_gain_corr_list = [None, 0, 0, 0]
+
+        self.acq_axis_a_curr_read_list = [0, 1, 2, 3]
+        self.acq_axis_b_curr_read_list = [0, 4, 5, 6]
+
+        self.prof_gen_axis_step_list = [None, 7, 8, 9]
+        self.prof_gen_axis_speed_list = [None, 10, 11, 12]
+        self.prof_gen_axis_state_start_list = [None, 13, 14, 14]
+
+    # noinspection PyMethodMayBeStatic
+    def is_simulator(self):
+        return True
+
+    # noinspection PyMethodMayBeStatic
+    def is_connected(self):
+        return self._is_connected
+
+    def connect(self):
+        self._is_connected = True
+
+    def disconnect(self):
+        self._is_connected = False
+
+    def reconnect(self):
+        self._is_connected = True
+
+    def tcu_firmware_id(self):
+        return "TCU Simulator"
+
+    def get_tcu_mode(self):
+        return self.tcu_mode
+
+    def set_tcu_mode(self, tcu_mode: TcuMode | int = TcuMode.IDLE):
+        if isinstance(tcu_mode, TcuMode):
+            self.tcu_mode = tcu_mode.value
+
+        elif isinstance(tcu_mode, int):
+            self.tcu_mode = tcu_mode
+
+    def set_restart_links_period(self, link_period: int = 0xFFFF):
+        self.restart_links_period = link_period
+
+    def get_restart_links_period(self):
+        return self.restart_links_period
+
+    def get_acq_curr_off_corr(self, axis: CommandAddress | str | int):
+        return self.acq_curr_off_corr_list[int(axis)]
+
+    def set_acq_curr_off_corr(self, axis: CommandAddress | str | int, cargo2: int = 0x03FB):
+        self.acq_curr_off_corr_list[int(axis)] = cargo2
+
+    def get_acq_curr_gain_corr(self, axis: CommandAddress | str | int):
+        return self.acq_curr_gain_corr_list[int(axis)]
+
+    def set_acq_curr_gain_corr(self, axis: CommandAddress | str | int, cargo2: int = 0x074C):
+        self.acq_curr_gain_corr_list[int(axis)] = cargo2
+
+    def acq_axis_a_curr_read(self, axis: CommandAddress | str | int):
+        return self.acq_axis_a_curr_read_list[int(axis)]
+
+    def acq_axis_b_curr_read(self, axis: CommandAddress | str | int):
+        return self.acq_axis_b_curr_read_list[int(axis)]
+
+    def get_prof_gen_axis_step(self, axis: CommandAddress | str | int):
+        return self.prof_gen_axis_step_list[int(axis)]
+
+    def set_prof_gen_axis_step(self, axis: CommandAddress | str | int, cargo2: int = 0x0480):
+        self.prof_gen_axis_step_list[int(axis)] = cargo2
+
+    def get_prof_gen_axis_speed(self, axis: CommandAddress | str | int):
+        return self.prof_gen_axis_speed_list[int(axis)]
+
+    def set_prof_gen_axis_speed(self, axis: CommandAddress | str | int, cargo2: int = 0x1777):
+        self.prof_gen_axis_speed_list[int(axis)] = cargo2
+
+    def get_prof_gen_axis_state_start(self, axis: CommandAddress | str | int):
+        return self.prof_gen_axis_state_start_list[int(axis)]
+
+    def set_prof_gen_axis_state_start(self, axis: CommandAddress | str | int, cargo2: int = 0):
+        self.prof_gen_axis_state_start_list[int(axis)] = cargo2
+
+    def vhk_psu_vmotor(self):
+        return TcuSimulator.VHK_PSU_MOTOR
+
+    def vhk_psu_vhi(self):
+        return TcuSimulator.VHK_PSU_VHI
+
+    def vhk_psu_vlow(self):
+        return TcuSimulator.VHK_PSU_VLOW
+
+    def vhk_psu_vmedp(self):
+        return TcuSimulator.VHK_PSU_VMEDP
+
+    def vhk_psu_vmedn(self):
+        return TcuSimulator.VHK_PSU_VMEDN
+
+    def ihk_psu_vmedn(self):
+        return TcuSimulator.IHK_PSU_VMEDN
+
+    def ihk_psu_vmedp(self):
+        return TcuSimulator.IHK_PSU_VMEDP
+
+    def ihk_psu_vlow(self):
+        return TcuSimulator.IHK_PSU_VLOW
+
+    def ihk_psu_vhi(self):
+        return TcuSimulator.IHK_PSU_VHI
+
+    def ihk_psu_vmotor(self):
+        return TcuSimulator.IHK_PSU_VMOTOR
+
+    def thk_psu_first(self):
+        return TcuSimulator.THK_PSU_FIRST
+
+    def thk_m2md_first(self):
+        return TcuSimulator.THK_M2MD_FIRST
+
+    def thk_psu_second(self):
+        return TcuSimulator.THK_PSU_SECOND
+
+    def thk_m2md_second(self):
+        return TcuSimulator.THK_M2MD_SECOND
+
+    def thk_cts_q1(self):
+        return TcuSimulator.THK_CTS_Q1
+
+    def thk_cts_q2(self):
+        return TcuSimulator.THK_CTS_Q2
+
+    def thk_cts_q3(self):
+        return TcuSimulator.THK_CTS_Q3
+
+    def thk_cts_q4(self):
+        return TcuSimulator.THK_CTS_Q4
+
+    def thk_cts_fpga(self):
+        return TcuSimulator.THK_CTS_FPGA
+
+    def thk_cts_ads1282(self):
+        return TcuSimulator.THK_CTS_ADS1282
+
+    def vhk_ths_ret(self):
+        return TcuSimulator.VHK_THS_RET
+
+    def hk_acq_counter(self):
+        return TcuSimulator.HK_ACQ_COUNTER
+
+
+class TcuProxy(DynamicProxy, TcuInterface):
+    """
+    The TcuProxy class is used to connect to the TCU Control Server and send commands to the TCU Hardware Controller remotely.
+    """
+
+    def __init__(self):
+        """Initialisation of a TCUProxy."""
+
+        with RegistryClient() as reg:
+            service = reg.discover_service(SERVICE_TYPE)
+
+            if service:
+                protocol = service.get("protocol", "tcp")
+                hostname = service["host"]
+                port = service["port"]
+
+                super().__init__(connect_address(protocol, hostname, port), timeout=PROXY_TIMEOUT)
+
+            else:
+                raise RuntimeError(f"No service registered as {SERVICE_TYPE}")