cgse 2023.38.0__py3-none-any.whl → 2024.1.3__py3-none-any.whl

egse/stages/aerotech/ensemble_parameters.py

@@ -1,433 +0,0 @@
-from enum import IntEnum
-
-class EnsembleParameter(IntEnum):
-    AxisType =  0
-    ReverseMotionDirection =  1
-    CountsPerUnit =  2
-    ServoRate =  3
-    ServoSetup =  4
-    GainKpos =  5
-    GainKi =  6
-    GainKp =  7
-    GainVff =  8
-    GainAff =  9
-    GainKv =  10
-    GainKpi =  11
-    ServoFilter0CoeffN0 =  12
-    ServoFilter0CoeffN1 =  13
-    ServoFilter0CoeffN2 =  14
-    ServoFilter0CoeffD1 =  15
-    ServoFilter0CoeffD2 =  16
-    ServoFilter1CoeffN0 =  17
-    ServoFilter1CoeffN1 =  18
-    ServoFilter1CoeffN2 =  19
-    ServoFilter1CoeffD1 =  20
-    ServoFilter1CoeffD2 =  21
-    AmplifierDeadtime =  22
-    RolloverCounts =  23
-    CurrentGainKi =  24
-    CurrentGainKp =  25
-    FaultMask =  26
-    FaultMaskDisable =  27
-    FaultMaskDecel =  28
-    EnableBrakeControl =  29
-    FaultMaskOutput =  30
-    ESTOPFaultInput =  31
-    PositionErrorThreshold =  32
-    AverageCurrentThreshold =  33
-    AverageCurrentTime =  34
-    VelocityCommandThreshold =  35
-    VelocityErrorThreshold =  36
-    SoftwareLimitLow =  37
-    SoftwareLimitHigh =  38
-    MaxCurrentClamp =  39
-    InPositionDistance =  40
-    MotorType =  41
-    CyclesPerRev =  42
-    CountsPerRev =  43
-    CommutationOffset =  44
-    AutoMsetTime =  45
-    AutoMsetCurrent =  46
-    PositionFeedbackType =  47
-    PositionFeedbackChannel =  48
-    VelocityFeedbackType =  49
-    VelocityFeedbackChannel =  50
-    EncoderMultiplicationFactor =  51
-    EncoderSineGain =  52
-    EncoderSineOffset =  53
-    EncoderCosineGain =  54
-    EncoderCosineOffset =  55
-    EncoderPhase =  56
-    GantryMasterAxis =  57
-    LimitDecelDistance =  59
-    LimitDebounceTime =  60
-    EndOfTravelLimitSetup =  61
-    BacklashDistance =  62
-    FaultOutputSetup =  63
-    FaultOutputState =  64
-    IOSetup =  65
-    BrakeOutput =  66
-    EncoderDivider =  67
-    ExternalFaultDigitalInput =  68
-    BrakeDisableDelay =  69
-    MaxJogDistance =  70
-    DefaultSpeed =  71
-    DefaultRampRate =  72
-    AbortDecelRate =  73
-    HomeType =  74
-    HomeSetup =  75
-    HomeSpeed =  76
-    HomeOffset =  77
-    HomeRampRate =  78
-    DefaultWaitMode =  79
-    DefaultSCurve =  80
-    DataCollectionPoints =  81
-    StepperResolution =  83
-    StepperRunningCurrent =  84
-    StepperHoldingCurrent =  85
-    StepperVerificationSpeed =  86
-    LimitDebounceDistance =  87
-    ServoFilter2CoeffN0 =  88
-    ServoFilter2CoeffN1 =  89
-    ServoFilter2CoeffN2 =  90
-    ServoFilter2CoeffD1 =  91
-    ServoFilter2CoeffD2 =  92
-    ServoFilter3CoeffN0 =  93
-    ServoFilter3CoeffN1 =  94
-    ServoFilter3CoeffN2 =  95
-    ServoFilter3CoeffD1 =  96
-    ServoFilter3CoeffD2 =  97
-    GearCamSource =  98
-    GearCamIndex =  99
-    GearCamScaleFactor =  100
-    GearCamAnalogDeadband =  105
-    PrintBufferSize =  106
-    SerialPort0XonCharacter =  109
-    SerialPort0XoffCharacter =  110
-    SerialPort0BaudRate =  111
-    SerialPort0Setup =  112
-    TaskExecutionSetup =  113
-    CodeSize =  114
-    DataSize =  115
-    StackSize =  116
-    AutoRunProgram =  118
-    MaxJogSpeed =  123
-    GlobalIntegers =  124
-    GlobalDoubles =  125
-    DecimalPlaces =  126
-    TaskErrorAbortAxes =  127
-    CalibrationFile1D =  128
-    UnitsName =  129
-    Socket2RemoteIPAddress =  130
-    Socket2Port =  131
-    Socket2Setup =  132
-    Socket2TransmissionSize =  133
-    Socket3RemoteIPAddress =  134
-    Socket3Port =  135
-    Socket3Setup =  136
-    Socket3TransmissionSize =  137
-    Socket2Timeout =  138
-    Socket3Timeout =  139
-    AxisName =  140
-    UserInteger0 =  141
-    UserInteger1 =  142
-    UserDouble0 =  143
-    UserDouble1 =  144
-    UserString0 =  145
-    UserString1 =  146
-    EnDatEncoderSetup =  147
-    EnDatEncoderResolution =  148
-    EnDatEncoderTurns =  149
-    CommandSetup =  150
-    SerialPort1XonCharacter =  152
-    SerialPort1XoffCharacter =  153
-    SerialPort1BaudRate =  154
-    SerialPort1Setup =  155
-    RequiredAxes =  156
-    JoystickInput1MinVoltage =  157
-    JoystickInput1MaxVoltage =  158
-    JoystickInput1Deadband =  159
-    JoystickInput0MinVoltage =  160
-    JoystickInput0MaxVoltage =  161
-    JoystickInput0Deadband =  162
-    JoystickLowSpeed =  163
-    JoystickHighSpeed =  164
-    JoystickSetup =  165
-    HomePositionSet =  166
-    TaskTerminationAxes =  167
-    TaskStopAbortAxes =  168
-    CalibrationFile2D =  169
-    FaultMaskDisableDelay =  170
-    DefaultCoordinatedSpeed =  171
-    DefaultCoordinatedRampRate =  172
-    DefaultDependentCoordinatedRampRate =  173
-    GpibTerminatingCharacter =  174
-    GpibPrimaryAddress =  175
-    GpibParallelResponse =  176
-    CommandTerminatingCharacter =  177
-    CommandSuccessCharacter =  178
-    CommandInvalidCharacter =  179
-    CommandFaultCharacter =  180
-    FaultAbortAxes =  182
-    HarmonicCancellation0Type =  185
-    HarmonicCancellation0Period =  186
-    HarmonicCancellation0Gain =  188
-    HarmonicCancellation0Phase =  189
-    HarmonicCancellation1Type =  190
-    HarmonicCancellation1Period =  191
-    HarmonicCancellation1Gain =  193
-    HarmonicCancellation1Phase =  194
-    HarmonicCancellation2Type =  195
-    HarmonicCancellation2Period =  196
-    HarmonicCancellation2Gain =  198
-    HarmonicCancellation2Phase =  199
-    CommandTimeout =  202
-    CommandTimeoutCharacter =  203
-    ResolverReferenceGain =  204
-    ResolverSetup =  205
-    ResolverReferencePhase =  206
-    SoftwareLimitSetup =  210
-    SSINet1Setup =  211
-    SSINet2Setup =  212
-    EmulatedQuadratureDivider =  213
-    HarmonicCancellation3Type =  214
-    HarmonicCancellation3Period =  215
-    HarmonicCancellation3Gain =  217
-    HarmonicCancellation3Phase =  218
-    HarmonicCancellation4Type =  219
-    HarmonicCancellation4Period =  220
-    HarmonicCancellation4Gain =  222
-    HarmonicCancellation4Phase =  223
-    EnhancedThroughputChannel =  224
-    EnhancedThroughputGain =  225
-    HarmonicCancellationSetup =  226
-    EnhancedThroughputCurrentClamp =  227
-    Analog0Filter0CoeffN0 =  228
-    Analog0Filter0CoeffN1 =  229
-    Analog0Filter0CoeffN2 =  230
-    Analog0Filter0CoeffD1 =  231
-    Analog0Filter0CoeffD2 =  232
-    Analog0Filter1CoeffN0 =  233
-    Analog0Filter1CoeffN1 =  234
-    Analog0Filter1CoeffN2 =  235
-    Analog0Filter1CoeffD1 =  236
-    Analog0Filter1CoeffD2 =  237
-    Analog1Filter0CoeffN0 =  238
-    Analog1Filter0CoeffN1 =  239
-    Analog1Filter0CoeffN2 =  240
-    Analog1Filter0CoeffD1 =  241
-    Analog1Filter0CoeffD2 =  242
-    Analog1Filter1CoeffN0 =  243
-    Analog1Filter1CoeffN1 =  244
-    Analog1Filter1CoeffN2 =  245
-    Analog1Filter1CoeffD1 =  246
-    Analog1Filter1CoeffD2 =  247
-    GlobalStrings =  248
-    DefaultCoordinatedRampMode =  249
-    DefaultCoordinatedRampTime =  250
-    DefaultCoordinatedRampDistance =  251
-    DefaultRampMode =  252
-    DefaultRampTime =  253
-    DefaultRampDistance =  254
-    ServoFilterSetup =  255
-    FeedbackSetup =  256
-    EncoderMultiplierSetup =  257
-    FaultSetup =  258
-    ThresholdScheduleSetup =  259
-    ThresholdRegion2High =  260
-    ThresholdRegion2Low =  261
-    ThresholdRegion3GainKpos =  262
-    ThresholdRegion3GainKp =  263
-    ThresholdRegion3GainKi =  264
-    ThresholdRegion3GainKpi =  265
-    ThresholdRegion4High =  266
-    ThresholdRegion4Low =  267
-    ThresholdRegion5GainKpos =  268
-    ThresholdRegion5GainKp =  269
-    ThresholdRegion5GainKi =  270
-    ThresholdRegion5GainKpi =  271
-    DynamicScheduleSetup =  272
-    DynamicGainKposScale =  273
-    DynamicGainKpScale =  274
-    DynamicGainKiScale =  275
-    ServoFilter4CoeffN0 =  276
-    ServoFilter4CoeffN1 =  277
-    ServoFilter4CoeffN2 =  278
-    ServoFilter4CoeffD1 =  279
-    ServoFilter4CoeffD2 =  280
-    ServoFilter5CoeffN0 =  281
-    ServoFilter5CoeffN1 =  282
-    ServoFilter5CoeffN2 =  283
-    ServoFilter5CoeffD1 =  284
-    ServoFilter5CoeffD2 =  285
-    ServoFilter6CoeffN0 =  286
-    ServoFilter6CoeffN1 =  287
-    ServoFilter6CoeffN2 =  288
-    ServoFilter6CoeffD1 =  289
-    ServoFilter6CoeffD2 =  290
-    ServoFilter7CoeffN0 =  291
-    ServoFilter7CoeffN1 =  292
-    ServoFilter7CoeffN2 =  293
-    ServoFilter7CoeffD1 =  294
-    ServoFilter7CoeffD2 =  295
-    LinearAmpMaxPower =  296
-    LinearAmpDeratingFactor =  297
-    LinearAmpBusVoltage =  298
-    MotorResistance =  299
-    MotorBackEMFConstant =  300
-    GantrySetup =  302
-    RolloverMode =  303
-    EmulatedQuadratureChannel =  305
-    ResolverCoarseChannel =  306
-    ResolverFeedbackRatio =  307
-    ResolverFeedbackOffset =  308
-    BrakeEnableDelay =  309
-    InPositionTime =  319
-    StaticFrictionCompensation =  324
-    ExternalFaultAnalogInput =  424
-    ExternalFaultThreshold =  425
-    DisplayAxes =  426
-    DefaultDependentCoordinatedSpeed =  427
-    AnalogFilterSetup =  482
-    DefaultRampType =  485
-    ModbusMasterSlaveIPAddress =  489
-    ModbusMasterSlavePort =  490
-    ModbusMasterSlaveID =  491
-    ModbusMasterInputWords =  492
-    ModbusMasterOutputWords =  493
-    ModbusMasterInputBits =  494
-    ModbusMasterOutputBits =  495
-    ModbusMasterSetup =  496
-    ModbusMasterVirtualInputs =  499
-    ModbusMasterVirtualOutputs =  500
-    ModbusMasterOutputWordsSections =  501
-    ModbusMasterOutputBitsSections =  502
-    ModbusMasterRWReadOffset =  503
-    ModbusMasterInputWordsOffset =  504
-    ModbusMasterOutputWordsOffset =  505
-    ModbusMasterInputBitsOffset =  506
-    ModbusMasterOutputBitsOffset =  507
-    ModbusMasterStatusWordsOffset =  508
-    ModbusMasterStatusBitsOffset =  509
-    ModbusMasterVirtualInputsOffset =  510
-    ModbusMasterVirtualOutputsOffset =  511
-    ModbusMasterRWWriteOffset =  512
-    ModbusMasterFunctions =  513
-    ModbusMasterSlaveType =  514
-    ModbusSlaveUnitID =  516
-    ModbusSlaveInputWords =  517
-    ModbusSlaveOutputWords =  518
-    ModbusSlaveInputBits =  519
-    ModbusSlaveOutputBits =  520
-    ModbusSlaveInputWordsOffset =  521
-    ModbusSlaveOutputWordsOffset =  522
-    ModbusSlaveInputBitsOffset =  523
-    ModbusSlaveOutputBitsOffset =  524
-    ModbusSlaveRWReadOffset =  525
-    ModbusSlaveRWWriteOffset =  526
-    CurrentOffsetA =  662
-    CurrentOffsetB =  663
-    FaultAckMoveOutOfLimit =  665
-    CommandShaperSetup =  666
-    CommandShaperTime00 =  667
-    CommandShaperTime01 =  668
-    CommandShaperTime02 =  669
-    CommandShaperTime03 =  670
-    CommandShaperTime04 =  671
-    CommandShaperTime05 =  672
-    CommandShaperTime06 =  673
-    CommandShaperTime07 =  674
-    CommandShaperTime08 =  675
-    CommandShaperTime09 =  676
-    CommandShaperTime10 =  677
-    CommandShaperTime11 =  678
-    CommandShaperTime12 =  679
-    CommandShaperTime13 =  680
-    CommandShaperTime14 =  681
-    CommandShaperTime15 =  682
-    CommandShaperCoeff00 =  683
-    CommandShaperCoeff01 =  684
-    CommandShaperCoeff02 =  685
-    CommandShaperCoeff03 =  686
-    CommandShaperCoeff04 =  687
-    CommandShaperCoeff05 =  688
-    CommandShaperCoeff06 =  689
-    CommandShaperCoeff07 =  690
-    CommandShaperCoeff08 =  691
-    CommandShaperCoeff09 =  692
-    CommandShaperCoeff10 =  693
-    CommandShaperCoeff11 =  694
-    CommandShaperCoeff12 =  695
-    CommandShaperCoeff13 =  696
-    CommandShaperCoeff14 =  697
-    CommandShaperCoeff15 =  698
-    CommandShaper0Type =  703
-    CommandShaper0Frequency =  704
-    CommandShaper0Damping =  705
-    CommandShaper1Type =  706
-    CommandShaper1Frequency =  707
-    CommandShaper1Damping =  708
-    ResoluteEncoderSetup =  715
-    ResoluteEncoderResolution =  716
-    ResoluteEncoderUserResolution =  717
-    AutofocusInput =  721
-    AutofocusTarget =  722
-    AutofocusDeadband =  723
-    AutofocusGainKi =  724
-    AutofocusGainKp =  725
-    AutofocusLimitLow =  726
-    AutofocusLimitHigh =  727
-    AutofocusSpeedClamp =  728
-    AutofocusHoldInput =  729
-    AutofocusSetup =  730
-    ExternalSyncFrequency =  731
-    GainPff =  762
-    AutofocusInitialRampTime =  763
-    SoftwareExternalFaultInput =  765
-    AutofocusGainKi2 =  769
-    EnDatEncoderIncrementalResolution =  770
-    MarkerSearchThreshold =  771
-    GainKd1 =  779
-    GainKp1 =  780
-    VelocityCommandThresholdBeforeHome =  781
-    InPosition2Distance =  789
-    InPosition2Time =  790
-    StepperRunningCurrentDelay =  791
-    ExternalVelocityAverageTime =  792
-    Class1InputIntegers =  794
-    Class1InputIntegersOffset =  795
-    Class1OutputIntegers =  796
-    Class1OutputIntegersOffset =  797
-    Class1InputDoubles =  798
-    Class1InputDoublesOffset =  799
-    Class1OutputDoubles =  800
-    Class1OutputDoublesOffset =  801
-    AbsoluteFeedbackOffset =  802
-    PiezoSetup =  803
-    CapSensorFilterLength =  804
-    EnhancedTrackingScale =  805
-    EnhancedTrackingBandwidth =  806
-    Analog0InputOffset =  807
-    Analog1InputOffset =  808
-    Analog2InputOffset =  809
-    Analog3InputOffset =  810
-    EnhancedTrackingSetup =  811
-    WebServerSetup =  812
-    WebServerPort =  813
-    EncoderMarkerAlignment =  814
-    EncoderRadiusThresholdLow =  815
-    EncoderRadiusThresholdHigh =  816
-    GainKsi1 =  817
-    GainKsi2 =  818
-    PiezoVoltsPerUnit =  819
-    PiezoVoltageClampLow =  820
-    PiezoVoltageClampHigh =  821
-    PiezoSlewRateClamp =  822
-    PiezoDefaultServoState =  823
-    FeedforwardAdvance =  824
-    CapSensorSetup =  826
-    CapSensorThresholdLow =  828
-    CapSensorThresholdHigh =  829
-    RequiredStageSerialNumber =  832
-    StepperDampingGain =  848
-    StepperDampingCutoffFrequency =  849

egse/stages/aerotech/ensemble_simulator.py

@@ -1,27 +0,0 @@
-import logging
-
-from egse.settings import Settings
-from egse.simulator import Simulator
-from egse.command import Command
-from egse.stages.aerotech.ensemble_interface import EnsembleInterface
-
-logger = logging.getLogger(__name__)
-
-# Load the device protocol
-DEVICE_PROTOCOL = Settings.load(filename='ensemble.yaml')['Commands']
-
-
-class EnsembleSimulator(EnsembleInterface, Simulator):
-
-    def __init__(self):
-        super().__init__()
-
-        # Create a dict of Command objects for each function
-        self._commands = {}
-        for name, items in DEVICE_PROTOCOL.items():
-            self._commands[name] = Command(name, items['cmd'])
-
-        self.connect()
-
-    def is_simulator(self):
-        return True

egse/stages/aerotech/mgse_sim.py

@@ -1,193 +0,0 @@
-import multiprocessing.process
-
-from sympy import re
-multiprocessing.current_process().name = "mgse_sim"
-
-import logging
-import random
-import re
-import socket
-import time
-from enum import Enum
-from egse.settings import Settings
-
-import click
-
-logging.basicConfig(level=logging.DEBUG)
-
-DEVICE_SETTINGS = Settings.load("Aerotech Ensemble Controller")
-
-LOGGER = logging.getLogger("egse.mgse.sim")
-HOST = "localhost"
-PORT = DEVICE_SETTINGS.PORT
-
-def write(conn, response: str):
-    response = f"{response}\n".encode()
-    LOGGER.debug(f"{response=}")
-    conn.sendall(response)
-    
-def read(conn) -> str:
-    """
-    Reads one command string from the socket, i.e. until a linefeed ('\n') is received.
-
-    Returns:
-        The command string with the linefeed stripped off.
-    """
-
-    idx, n_total = 0, 0
-    buf_size = 1024 * 4
-    command_string = bytes()
-
-    try:
-        for idx in range(100):
-            data = conn.recv(buf_size)
-            n = len(data)
-            n_total += n
-            command_string += data
-            # if data.endswith(b'\n'):
-            if n < buf_size:
-                break
-    except socket.timeout as e_timeout:
-        LOGGER.warning(f"Socket timeout error from {e_timeout}")
-        return ""
-
-    LOGGER.debug(f"Total number of bytes received is {n_total}, idx={idx}")
-    LOGGER.debug(f"{command_string=}")
-
-    return command_string.decode().rstrip()
-
-
-class MGSEState:
-    def __init__(self):
-        self.XcwEOTLimit  = 0
-        self.XccwEOTLimit = 0
-        self.YcwEOTLimit  = 0
-        self.YccwEOTLimit = 0
-        self.Xhomed       = 1
-        self.Yhomed       = 1
-        self.Xenabled     = 1
-        self.Yenabled     = 1
-
-mgse_state = MGSEState()
-error_msg  = ""
-     
-def set_limit(axis: str, side: str, state: bool):
-    if axis == "Y":
-        if side == "cw":
-            mgse_state.YcwEOTLimit = state
-        elif side == 'ccw':
-            mgse_state.YccwEOTLimit = state
-    elif axis == "X":
-        if side == "cw":
-            mgse_state.XcwEOTLimit = state
-        elif side == 'ccw':
-            mgse_state.XccwEOTLimit = state
-            
-def set_home(axis: str, state: bool):
-    if axis == "Y":
-        mgse_state.Yhomed = state
-    elif axis == 'X':
-        mgse_state.Xhomed = state
-        
-def set_enable(axis: str, state: bool):
-    if axis == "Y":
-        mgse_state.Yenabled = state
-    elif axis == "X":
-        mgse_state.Xenabled = state
-
-def reset():
-    set_enable('X', 0)
-    set_enable('Y', 0)
-    set_home('X', 0)
-    set_home('Y', 0)
-    set_limit('X', 'cw', 0)
-    set_limit('X', 'ccw', 0)
-    set_limit('Y', 'cw', 0)
-    set_limit('Y', 'ccw', 0)
-
-
-COMMAND_ACTIONS_RESPONSES = {
-    "VERSION" : (None, "%Ensemble"),
-    "RESET" : (None, "%"),
-    "ABORT" : (None, "%"),
-    "ACKNOWLEDGEALL" : (None, "%"),
-    "MOVEABS" : (None, "%"),
-    "HOME" : (None, "%"),
-    "ENABLE" : (None, "%"),
-    "AXISSTATUS(X)" : (None, "%11"),
-    "AXISSTATUS(Y)" : (None, "%11"),
-    "AXISFAULT(X)"  : (None, "%1100"),
-    "AXISFAULT(Y)"  : (None, "%1100"),
-    "PFBK(X)" : (None, "%10"),
-    "PFBK(Y)" : (None, "%10"),
-    "CMDPOS(X)" : (None, "%10"),
-    "CMDPOS(Y)" : (None, "%10"),
-    "PERR(X)" : (None, "%10"),
-    "PERR(Y)" : (None, "%10"),
-    "IFBK(X)"    : (None, "%0.5"),
-    "ICMD(X)"   : (None, "%0.5"),
-    "VFBK(X)"   : (None, "%0.01"),
-    "VCMD(X)"   : (None, "%0.01"),
-    "IFBK(Y)"    : (None, "%0.5"),
-    "ICMD(Y)"   : (None, "%0.5"),
-    "VFBK(Y)"   : (None, "%0.01"),
-    "VCMD(Y)"   : (None, "%0.01")
-}
-
-
-
-
-
-def process_command(command_string: str) -> str:
-
-    LOGGER.debug(f"{command_string=}")
-
-    try:
-        action, response = COMMAND_ACTIONS_RESPONSES[command_string]
-        action and action()
-        if error_msg:
-            return error_msg
-        else:
-            return response if isinstance(response, str) else response()
-    except KeyError:
-        # try to match with a value
-        return f"ERROR: unknown command string: {command_string}"
-
-
-@click.group()
-def cli():
-    pass
-
-@cli.command()
-def start():
-    global error_msg
-    
-    LOGGER.info("Starting the MGSE Simulator")
-    
-    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-        s.bind((HOST, PORT))
-        s.listen()
-        conn, addr = s.accept()
-        with conn:
-            print('Accepted connection from', addr)
-            # write(conn, 'This is PLATO RT-OGSE 2.1')
-            try:
-                while True:
-                    error_msg = ""
-                    data = read(conn)
-                    print(f"Received command: {data!r}")
-                    data = data.split(" ")
-                    response = process_command(data[0])
-                    write(conn, response)
-                    if not data:
-                        break
-            except KeyboardInterrupt:
-                print("Keyboard interrupt, closing.")
-            except ConnectionResetError as exc:
-                print(f"ConnectionResetError: {exc}", flush=True)
-
-    print(flush=True)
-
-
-if __name__ == "__main__":
-    cli()