cgse 2023.38.0__py3-none-any.whl → 2024.1.4__py3-none-any.whl

egse/gimbal/symetrie/generic_gimbal_ui.py

@@ -1,1521 +0,0 @@
-import logging
-from typing import Dict
-from typing import List
-from typing import Optional
-from typing import Union
-
-from PyQt5.QtCore import QEvent
-from PyQt5.QtCore import QSize
-from PyQt5.QtCore import QTimer
-from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QIcon
-from PyQt5.QtGui import QPixmap
-from PyQt5.QtWidgets import QAction
-from PyQt5.QtWidgets import QComboBox
-from PyQt5.QtWidgets import QFrame
-from PyQt5.QtWidgets import QGroupBox
-from PyQt5.QtWidgets import QHBoxLayout
-from PyQt5.QtWidgets import QLabel
-from PyQt5.QtWidgets import QLineEdit
-from PyQt5.QtWidgets import QMainWindow
-from PyQt5.QtWidgets import QPushButton
-from PyQt5.QtWidgets import QSizePolicy
-from PyQt5.QtWidgets import QTabWidget
-from PyQt5.QtWidgets import QVBoxLayout
-from PyQt5.QtWidgets import QWidget
-
-from egse.decorators import deprecate
-from egse.gui import show_warning_message
-from egse.gui.buttons import ToggleButton
-from egse.gui.buttons import TouchButton
-from egse.gui.led import LED
-from egse.gui.led import ShapeEnum
-from egse.help.help_ui import HELP_TOPICS
-from egse.help.help_ui import HelpWindow
-from egse.observer import Observable
-from egse.observer import Observer
-from egse.resource import get_resource
-from egse.state import UnknownStateError
-
-MODULE_LOGGER = logging.getLogger(__name__)
-
-
-class VLine(QFrame):
-    """Presents a simple Vertical Bar that can be used in e.g. the status bar."""
-
-    def __init__(self):
-        super().__init__()
-        self.setFrameShape(self.VLine | self.Sunken)
-
-
-class Container(QWidget):
-    """
-    An empty container that is used currently as a place-holder for a QWidget that is to be
-    implemented.
-    """
-
-    def __init__(self, text):
-        super().__init__()
-
-        self.hbox = QHBoxLayout()
-        self.hbox.setSpacing(0)
-        self.hbox.setContentsMargins(0, 0, 0, 0)
-        self.setLayout(self.hbox)
-
-        self.button = QPushButton(text)
-        self.hbox.addWidget(self.button)
-
-
-class ValidationIcon(QWidget):
-    """
-    This Icon is used
-    """
-
-    def __init__(self):
-        super().__init__()
-
-        self._valid = QPixmap(str(get_resource(":/icons/valid.png")))
-        self._invalid = QPixmap(str(get_resource(":/icons/invalid.png")))
-        self._disabled = QPixmap(str(get_resource(":/icons/unvalid.png")))
-
-        self._label = QLabel()
-
-        self.disable()
-
-        hbox = QHBoxLayout()
-        hbox.setSpacing(0)
-        hbox.setContentsMargins(0, 0, 0, 0)
-        hbox.addWidget(self._label)
-
-        self.setLayout(hbox)
-
-    def eventFilter(self, source, event):
-        if event.type() == QEvent.FocusOut:
-            self.disable()
-        return True
-
-    def validate(self):
-        self._label.setPixmap(self._valid)
-
-    def invalidate(self):
-        self._label.setPixmap(self._invalid)
-
-    def disable(self):
-        self._label.setPixmap(self._disabled)
-        self._label.setToolTip("No validation was performed.")
-
-    def setToolTip(self, message: str) -> None:
-        self._label.setToolTip(message)
-
-
-class Positioning(QWidget):
-    """
-    The Positioning widget which allows to manually command the Gimbal to a certain position,
-    absolute or relative.
-    """
-
-    def __init__(self, view, observable):
-        super().__init__()
-        self.observable = observable
-        self.view = view
-
-        # initialize instance variables used by this class
-
-        self.manual_mode: QGroupBox = None
-        self.manual_mode_positions_widget: QFrame = None
-        self.manual_mode_positions: List = None
-
-        self.combo_absolute_relative: QComboBox = None
-
-        self.validate_label = None
-
-        self.specific_positions: QGroupBox = None
-        self.specific_positions_widget: QFrame = None
-
-        self.init_gui()
-
-    def init_gui(self):
-        """Initialize the main user interface for this component."""
-
-        # Setup the Manual Mode GroupBox widget
-
-        hbox = QHBoxLayout()
-
-        self.manual_mode = QGroupBox("Manual Mode")
-        self.manual_mode.setLayout(hbox)
-        self.manual_mode.setObjectName("ManualModeGroupBox")
-
-        self.manual_mode_positions_widget = self.create_manual_mode_position_widget()
-
-        hbox.addWidget(self.manual_mode_positions_widget)
-
-        # Setup the Specific Positions GroupBox widget
-
-        hbox = QHBoxLayout()
-
-        self.specific_positions = QGroupBox("Specific Positions")
-        self.specific_positions.setLayout(hbox)
-        self.manual_mode.setObjectName("SpecificPositionsGroupBox")
-
-        self.specific_positions_widget = self.create_specific_positions_widget()
-
-        hbox.addWidget(self.specific_positions_widget)
-
-        # Finally, within the Positions widget, a VBoxLayout holds the manual mode and the
-        # specific positions widgets.
-
-        vbox = QVBoxLayout()
-
-        vbox.addWidget(self.manual_mode)
-        vbox.addWidget(self.specific_positions)
-
-        self.setLayout(vbox)
-
-    def create_specific_positions_widget(self):
-        hbox = QHBoxLayout()
-
-        self.combo_specific_position = QComboBox()
-        self.combo_specific_position.addItems(["User ZERO"])
-        self.combo_specific_position.setMinimumContentsLength(18)
-        self.combo_specific_position.adjustSize()
-
-        self.move_to_button = QPushButton("Move To")
-        self.move_to_button.setToolTip(
-            "Move to the specific position that is selected in the combobox."
-            "<ul>"
-            "<li><strong>ZERO</strong> moves Rx and Ry to user position 0.0"
-            "</ul>"
-        )
-        self.move_to_button.clicked.connect(self.handle_move_to_specific_position)
-
-        hbox.addWidget(self.combo_specific_position)
-        hbox.addWidget(self.move_to_button)
-
-        frame = QFrame()
-        frame.setObjectName("SpecificPositions")
-        frame.setLayout(hbox)
-
-        return frame
-
-    def create_manual_mode_position_widget(self) -> QFrame:
-        """Creates the internal frame for the manual mode box."""
-
-        vbox = QVBoxLayout()
-
-        self.manual_mode_positions = [
-            [QLabel("Rx"), QLineEdit(), QLabel("deg")],
-            [QLabel("Ry"), QLineEdit(), QLabel("deg")],
-        ]
-
-        for mm_pos in self.manual_mode_positions:
-            hbox = QHBoxLayout()
-            hbox.addWidget(mm_pos[0])
-            hbox.addWidget(mm_pos[1])
-            hbox.addWidget(mm_pos[2])
-            mm_pos[0].setMinimumWidth(20)
-            mm_pos[1].setText("0.0000")
-            mm_pos[1].setStyleSheet("QLabel { background-color : LightGray; }")
-            mm_pos[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            mm_pos[1].setMinimumWidth(50)
-            vbox.addLayout(hbox)
-
-        # Add the two buttons, (1) Copy, and (2) Clear
-
-        hbox = QHBoxLayout()
-
-        copy_button = QPushButton("Copy")
-        copy_button.setToolTip("Copy the positions from Object [in User].")
-        copy_button.clicked.connect(self.handle_copy_positions)
-
-        clear_button = QPushButton("Clear")
-        clear_button.setToolTip("Clear the input fields.")
-        clear_button.clicked.connect(self.handle_clear_inputs)
-
-        hbox.addWidget(copy_button)
-        hbox.addStretch()
-        hbox.addWidget(clear_button)
-
-        vbox.addLayout(hbox)
-
-        # Make sure the hboxes defined above stay nicely together when vertically resizing the
-        # Frame.
-
-        vbox.addStretch()
-
-        # Add the QComboBox to select either absolute or relative movement
-
-        hbox = QHBoxLayout()
-
-        self.combo_absolute_relative = QComboBox()
-        self.combo_absolute_relative.addItems(["Absolute", "Relative"])
-        self.combo_absolute_relative.setMinimumContentsLength(15)
-        self.combo_absolute_relative.adjustSize()
-
-        self.move_button = QPushButton("Move")
-        self.move_button.setToolTip(
-            "When you press this button, the Gimbal will start moving \n"
-            "to the position you have given in manual mode above.\n"
-            "Depending on the control setting, the movement will be absolute or relative."
-        )
-        self.move_button.clicked.connect(self.handle_movement)
-
-        hbox.addWidget(self.combo_absolute_relative)
-        hbox.addWidget(self.move_button)
-
-        vbox.addLayout(hbox)
-
-        # Add the two buttons, (1) Move, and (2) Validate Movement.
-
-        hbox = QHBoxLayout()
-
-        self.validate_button = QPushButton("Validate Movement...")
-        self.validate_button.setToolTip(
-            "When you press this button, the Gimbal controller will validate the input position "
-            "in manual mode.\n"
-            "Depending on the control setting, the movement will be absolute or relative."
-        )
-        self.validate_button.clicked.connect(self.handle_validate)
-
-        self.validate_label = ValidationIcon()
-        self.validate_label.installEventFilter(self.validate_label)
-
-        hbox.addWidget(self.validate_label)
-        hbox.addWidget(self.validate_button)
-
-        vbox.addLayout(hbox)
-
-        frame = QFrame()
-        frame.setObjectName("ManualPositions")
-        frame.setLayout(vbox)
-
-        return frame
-
-    def disable_movement(self):
-        self.move_button.setDisabled(True)
-        self.move_to_button.setDisabled(True)
-        self.validate_button.setDisabled(True)
-
-    def enable_movement(self):
-        self.move_button.setEnabled(True)
-        self.move_to_button.setEnabled(True)
-        self.validate_button.setEnabled(True)
-
-    def set_position_validation_icon(self, error_codes, tooltip: str = None):
-
-        if error_codes:
-            self.validate_label.setFocus()
-            self.validate_label.invalidate()
-            self.validate_label.setToolTip(format_tooltip(tooltip or error_codes))
-        else:
-            self.validate_label.setFocus()
-            self.validate_label.validate()
-            self.validate_label.setToolTip("Movement command is valid.")
-
-    def get_manual_inputs(self):
-        """Returns the input positions as a list of floats."""
-        try:
-            pos = [
-                float(mm_pos[1].text().replace(",", ".")) for mm_pos in self.manual_mode_positions
-            ]
-        except ValueError as exc:
-            MODULE_LOGGER.error(f"Incorrect manual position input given: {exc}")
-
-            description = "Input errors in manual positions"
-            info_text = (
-                "Some of the values that you have filled into the manual position fields are "
-                "invalid. The fields can only contain floating point numbers, both '.' and ',"
-                "' are allowed."
-            )
-            show_warning_message(description, info_text)
-
-            return None
-
-        return pos
-
-    def handle_move_to_specific_position(self):
-
-        # Check which movement was requested
-
-        selected_text = self.combo_specific_position.currentText()
-        if "ZERO" in selected_text:
-            action = "goto_zero_position"
-            self.observable.actionObservers({action: 2})
-        else:
-            logging.warning(f"Unknown specific position ({selected_text})")
-        
-        
-
-    def handle_movement(self):
-        # Read out the values in manual mode into an array of floats
-        # Users may use comma or point as a decimal delimiter
-
-        pos = self.get_manual_inputs()
-        if pos is None:
-            return
-
-        # Check which movement was requested
-
-        selected_text = self.combo_absolute_relative.currentText()
-        if selected_text == "Absolute":
-            movement = "move_absolute"
-        elif selected_text == "Relative":
-            movement = "move_relative"
-
-        self.observable.actionObservers({movement: pos})
-
-    def handle_validate(self):
-        pos = self.get_manual_inputs()
-        if pos is None:
-            return
-
-        # Check which movement was requested
-
-        selected_text = self.combo_absolute_relative.currentText()
-        if selected_text == "Absolute":
-            validation = "check_absolute_movement"
-        elif selected_text == "Relative":
-            validation = "check_relative_movement"
-        
-        self.observable.actionObservers({validation: pos})
-
-    def handle_copy_positions(self):
-        for pos, mm_pos in zip(self.view.user_positions, self.manual_mode_positions):
-            mm_pos[1].setText(pos[1].text())
-
-        self.validate_label.disable()
-        self.manual_mode_positions_widget.repaint()
-
-    def handle_clear_inputs(self):
-        for mm_pos in self.manual_mode_positions:
-            mm_pos[1].setText("0.0000")
-
-        self.validate_label.disable()
-        self.manual_mode_positions_widget.repaint()
-
-
-class SpeedSettings(QWidget):
-
-    def __init__(self, view, observable):
-        super().__init__()
-        self.observable = observable
-        self.view = view
-
-        self.set_speed_widget: Optional[QGroupBox] = None
-        self.set_speed_widget = self.create_set_speed_widget()
-
-        vbox = QVBoxLayout()
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(self.set_speed_widget)
-        hbox.addStretch()
-
-        # Add the Fetch and Apply for the Speed to the HBOX here
-
-        vbox_speed = QVBoxLayout()
-
-        fetch_button = QPushButton("Fetch")
-        fetch_button.setToolTip("Fetch speed settings from the Controller.")
-        fetch_button.clicked.connect(self.handle_fetch_speed_settings)
-
-        apply_button = QPushButton("Apply")
-        apply_button.setToolTip("Apply BOTH speed settings to the Controller.")
-        apply_button.clicked.connect(self.handle_apply_speed_settings)
-
-        vbox_speed.addWidget(fetch_button)
-        vbox_speed.addWidget(apply_button)
-
-        hbox.addLayout(vbox_speed)
-
-        vbox.addLayout(hbox)
-
-        self.setLayout(vbox)
-
-    def create_set_speed_widget(self):
-        """Creates the widget for the user set/get speed box."""
-
-        vbox = QVBoxLayout()
-
-        self.user_set_speed = [
-            [QLabel("Rotation Speed (sr): "), QLineEdit(), QLabel("°/s")]]
-
-        for speed in self.user_set_speed:
-            hbox = QHBoxLayout()
-            hbox.addWidget(speed[0])
-            hbox.addWidget(speed[1])
-            hbox.setSpacing(0)
-            hbox.addWidget(speed[2])
-            speed[0].setMinimumWidth(150)
-            speed[1].setText("0.0000")
-            speed[1].setStyleSheet("QLabel { background-color : LightGray; }")
-            speed[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            speed[1].setFixedWidth(100)
-            vbox.addLayout(hbox)
-
-        gbox_set_speed = QGroupBox("Set Speed parameters", self)
-        gbox_set_speed.setLayout(vbox)
-
-        return gbox_set_speed
-
-    def get_speed_settings_input(self):
-
-        sr = float(self.user_set_speed[0][1].text())
-
-        return sr
-
-    def set_speed(self, sr):
-        self.user_set_speed[0][1].setText(str(sr))
-        self.set_speed_widget.repaint()
-
-    def handle_apply_speed_settings(self):
-
-        # Read out the values in the speed settings group
-
-        sr = self.get_speed_settings_input()
-
-        self.observable.actionObservers({"set_speed": (sr)})
-
-    def handle_fetch_speed_settings(self):
-
-        self.observable.actionObservers({"fetch_speed": True})
-
-
-class GimbalOffsets(QWidget):
-    """This Widget allow to set the Gimbal offsets."""
-
-    def __init__(self, view, observable):
-        super().__init__()
-        self.observable = observable
-        self.view = view
-
-        # initialize instance variables used by this class
-
-        self.offsets_widget: QGroupBox = None
-        self.offsets: List = None
-
-        self.init_gui()
-
-    def init_gui(self):
-        """Initialize the main interface for this component."""
-
-        vbox = QVBoxLayout()
-
-        self.offsets_widget = self.create_offsets_widget()
-
-        vbox_icons = QVBoxLayout()
-        vbox_icons.addStretch()
-
-        hbox = QHBoxLayout()
-
-        hbox.addWidget(self.offsets_widget)
-        hbox.addLayout(vbox_icons)
-
-        vbox.addLayout(hbox)
-
-        apply_button = QPushButton("Apply")
-        apply_button.setToolTip("Apply the Coordinates Systems to the Controller.")
-        apply_button.clicked.connect(self.handle_apply_offsets)
-
-        fetch_button = QPushButton("Fetch")
-        fetch_button.setToolTip("Fetch the Coordinates Systems from the Controller.")
-        fetch_button.clicked.connect(self.handle_fetch_offsets)
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(fetch_button)
-        hbox.addStretch()
-        hbox.addWidget(apply_button)
-        vbox.addLayout(hbox)
-
-        vbox.addStretch(1)
-
-        self.setLayout(vbox)
-
-    def set_offsets(self, offsets):
-        for usr, value in zip(self.offsets, offsets):
-            usr[1].setText(str(value))
-        self.offsets_widget.repaint()
-        
-    def create_offsets_widget(self) -> QWidget:
-        """Creates the widget for the gimbal offsets in the user reference system."""
-
-        vbox = QVBoxLayout()
-
-        self.offsets = [
-            [QLabel("Rx"), QLineEdit(), QLabel("deg")],
-            [QLabel("Ry"), QLineEdit(), QLabel("deg")],
-        ]
-
-        for mm_pos in self.offsets:
-            hbox = QHBoxLayout()
-            hbox.addWidget(mm_pos[0])
-            hbox.addWidget(mm_pos[1])
-            hbox.addWidget(mm_pos[2])
-            mm_pos[0].setMinimumWidth(20)
-            mm_pos[1].setText("0.0000")
-            mm_pos[1].setStyleSheet("QLabel { background-color : LightGray; }")
-            mm_pos[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            mm_pos[1].setMinimumWidth(50)
-            vbox.addLayout(hbox)
-
-        # Make sure the hboxes defined above stay nicely together when vertically resizing the
-        # Frame.
-
-        # vbox.addStretch()
-
-        gbox_offsets = QGroupBox("Gimbal offsets", self)
-        gbox_offsets.setLayout(vbox)
-        gbox_offsets.setToolTip("The gimbal offsets for user positions")
-
-        return gbox_offsets
-
-    def get_offsets_inputs(self):
-        """Returns the GUI offsets as a list of 2 floats.
-
-        Returns:
-            A list containing two floats, the first corresponding to the offset
-            of the X axis, the second corresponding to the offset of the Y axis.
-        """
-        try:
-            offsets = [
-                float(pos[1].text().replace(",", ".")) for pos in self.offsets
-            ]
-        except ValueError as exc:
-            MODULE_LOGGER.error(
-                f"Incorrect manual input given for gimbal offsets" f": {exc}"
-            )
-
-            description = "Input errors for gimbal offsets"
-            info_text = (
-                "Some of the values that you have filled into the fields for the gimbal "
-                "offsets are invalid. The fields can only contain floating point numbers,  "
-                "both '.' and ',' are allowed."
-            )
-            show_warning_message(description, info_text)
-
-            return None, None
-
-        return offsets
-
-    def handle_apply_offsets(self):
-
-        # Read out the values in manual mode into an array of floats
-        # Users may use comma or point as a decimal delimiter
-
-        offsets = self.get_offsets_inputs()
-        if offsets is None:
-            return
-
-        self.observable.actionObservers({"configure_offsets": (offsets)})
-
-    def handle_fetch_offsets(self):
-
-        self.observable.actionObservers({"fetch_offsets": True})
-
-
-class MotorTemperatures(QWidget):
-    """This Widget allows to monitor Gimbal motor tempertures."""
-
-    def __init__(self, view, observable):
-        super().__init__()
-        self.observable = observable
-        self.view = view
-
-        # initialize instance variables used by this class
-
-        self.temps_widget: QGroupBox = None
-        self.motors: List = None
-
-        self.init_gui()
-
-    def init_gui(self):
-        """Initialize the main interface for this component."""
-
-        vbox = QVBoxLayout()
-
-        self.temps_widget = self.create_temps_widget()
-
-        vbox_icons = QVBoxLayout()
-        vbox_icons.addStretch()
-
-        hbox = QHBoxLayout()
-
-        hbox.addWidget(self.temps_widget)
-        hbox.addLayout(vbox_icons)
-
-        vbox.addLayout(hbox)
-
-        fetch_button = QPushButton("Fetch")
-        fetch_button.setToolTip("Fetch the current temperatures.")
-        fetch_button.clicked.connect(self.handle_fetch_temperatures)
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(fetch_button)
-        hbox.addStretch()
-        vbox.addLayout(hbox)
-
-        vbox.addStretch(1)
-
-        self.setLayout(vbox)
-
-    def set_temperatures(self, temps):
-        if temps is None or len(temps) != 2:
-            for idx, mtemp in enumerate(self.motors):
-                mtemp[1].setText(fr'N/A')
-        else:
-            for idx, mtemp in enumerate(self.motors):
-                mtemp[1].setText(fr'{temps[idx]:.2f}')
-        self.temps_widget.repaint()
-
-    def create_temps_widget(self) -> QWidget:
-        """Creates the widget for the Gimbal motor temperatures."""
-
-        vbox = QVBoxLayout()
-
-        self.motors = [
-            [QLabel("X axis"), QLineEdit(), QLabel("º C")],
-            [QLabel("Y axis"), QLineEdit(), QLabel("º C")],
-        ]
-
-        for mts in self.motors:
-            hbox = QHBoxLayout()
-            hbox.addWidget(mts[0])
-            hbox.addWidget(mts[1])
-            hbox.addWidget(mts[2])
-            mts[0].setMinimumWidth(20)
-            mts[1].setText("N/A")
-            mts[1].setStyleSheet("QLabel { background-color : LightGray; }")
-            mts[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            mts[1].setMinimumWidth(50)
-            vbox.addLayout(hbox)
-
-        # Make sure the hboxes defined above stay nicely together when vertically resizing the
-        # Frame.
-
-        # vbox.addStretch()
-
-        gbox_temperatures = QGroupBox("Motor temperatures", self)
-        gbox_temperatures.setLayout(vbox)
-        gbox_temperatures.setToolTip("State of the motor temperatures")
-
-        return gbox_temperatures
-
-    def handle_fetch_temperatures(self):
-        self.observable.actionObservers({"fetch_temperatures": True})
-
-
-class ActuatorStates(QWidget):
-    """This Widget allows to view the state of all six actuators."""
-    def __init__(self, labels: List[str] = None):
-        super().__init__()
-
-        # initialize instance variables used by this class
-
-        self.status_labels = labels
-        self.leds: List[List] = []
-
-        vbox = QVBoxLayout()
-        vbox.addWidget(QLabel("Actuator States"))
-        vbox.setAlignment(Qt.AlignTop | Qt.AlignLeft)
-
-        self.create_states_widget = self.create_states()
-        vbox.addWidget(self.create_states_widget)
-        self.setLayout(vbox)
-
-    def create_states(self):
-        vbox = QVBoxLayout()
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(QLabel(""))
-
-        for actuator_index in range(1, 3):
-
-            actuator_number = QLabel(str(actuator_index))
-            actuator_number.setAlignment(Qt.AlignHCenter)
-            actuator_number.setMinimumSize(20, 20)
-            actuator_number.setMaximumSize(20, 20)
-            # LED(self, size=QSize(20, 20), shape=ShapeEnum.SQUARE)
-            hbox.addWidget(actuator_number)
-            hbox.setSpacing(2)
-        vbox.addLayout(hbox)
-
-        for state in self.status_labels:
-            hbox = QHBoxLayout()
-            hbox.addWidget(QLabel(state))
-            actuator_leds = [
-                LED(self, size=QSize(20, 20), shape=ShapeEnum.SQUARE)
-                for _ in range(2)
-            ]
-            for led in actuator_leds:
-                hbox.addWidget(led)
-                hbox.setSpacing(2)
-            self.leds.append(actuator_leds)
-            vbox.addLayout(hbox)
-
-        create_states = QGroupBox()
-        create_states.setLayout(vbox)
-
-        return create_states
-
-    def set_states(self, states: List):
-
-        # States is a List of Lists, each inside list contains a dict with the states and
-        # another list with the states.
-
-        # zip(*states) will transpose the states
-
-        for leds, new_states in zip(self.leds, zip(*states)):
-            for led, state in zip(leds, new_states):
-                led.set_color(state)
-
-    def reset_states(self):
-        pass
-
-
-def format_tooltip(value: Union[str, Dict, List] = None) -> str:
-    if value is None:
-        return ""
-
-    from rich.console import Console
-
-    console = Console(width=60, force_terminal=False, force_jupyter=False)
-    with console.capture() as capture:
-        console.print(value)
-
-    return capture.get()
-
-
-class GimbalUIModel:
-    def __init__(self, connection_type: str, device):
-        self._connection_type = connection_type
-        self._device = device
-
-    @property
-    def connection_type(self):
-        return self._connection_type
-
-    @property
-    def device(self):
-        return self._device
-
-    def is_simulator(self):
-        return self.device.is_simulator()
-
-    def is_cs_connected(self):
-        return self.device.is_cs_connected() if self.connection_type == "proxy" else False
-
-    def is_device_connected(self):
-        return self.device.is_connected()
-
-    @deprecate(alternative="reconnect_device")
-    def reconnect(self):
-        self.reconnect_device()
-
-    def reconnect_device(self):
-        self.device.reconnect()
-        return self.device.is_connected()
-
-    def reconnect_cs(self):
-        self.device.reconnect_cs()
-        return self.device.is_cs_connected()
-
-    def disconnect(self):
-        self.device.disconnect()
-
-    def disconnect_cs(self):
-        self.device.disconnect_cs()
-
-    def has_commands(self):
-        if self.connection_type == "proxy":
-            return self.device.has_commands()
-        return True
-
-    def load_commands(self):
-        if self.connection_type == "proxy":
-            self.device.load_commands()
-
-    def get_states(self):
-        try:
-            _, states = self.device.get_general_state()
-        except TypeError:
-            states = None
-        return states
-
-    def configure_offsets(self, offsets):
-        return self.device.configure_offsets(*offsets)
-
-    def get_offsets(self):
-        return self.device.get_offsets()
-
-    def get_user_positions(self):
-        return self.device.get_user_positions()
-
-    def get_machine_positions(self):
-        return self.device.get_machine_positions()
-
-    def get_motor_temperatures(self):
-        return self.device.get_motor_temperatures()
-
-    def get_actuator_length(self):
-        return self.device.get_actuator_length()
-
-    def get_actuator_states(self):
-        states = self.device.get_actuator_state()
-        states = [x[1] for x in states]
-        return states
-
-    def get_speed(self):
-        raise NotImplementedError
-
-    def activate_control_loop(self):
-        self.device.activate_control_loop()
-
-    def deactivate_control_loop(self):
-        self.device.deactivate_control_loop()
-
-    def check_absolute_movement(self, pos):
-        rc, rc_dict = self.device.check_absolute_movement(*pos)
-        MODULE_LOGGER.debug(rc)
-        MODULE_LOGGER.debug(rc_dict)
-        return rc_dict
-
-    def check_relative_movement(self, pos):
-        rc, rc_dict = self.device.check_relative_movement(*pos)
-        MODULE_LOGGER.debug(rc)
-        MODULE_LOGGER.debug(rc_dict)
-        return rc_dict
-
-    def move_absolute(self, pos):
-        self.device.move_absolute(*pos)
-
-    def move_relative(self, pos):
-        self.device.move_relative(*pos)
-
-    def goto_zero_position(self):
-        self.device.goto_zero_position()
-
-    def set_speed(self, sr):
-        self.device.set_speed(sr)
-
-    def homing(self):
-        self.device.homing()
-
-    def clear_error(self):
-        self.device.clear_error()
-
-    def reset(self):
-        self.device.reset()
-
-    def stop(self):
-        self.device.stop()
-
-
-class GimbalUIController(Observer):
-    def __init__(self, model: GimbalUIModel, view):
-        self._model = model
-        self._view = view
-        self._view.addObserver(self)
-
-        self.help_window = HelpWindow(topic_url=HELP_TOPICS["home"])
-
-        self.states_capture_timer = None
-        self.timer_interval = 200
-        self.create_timer()
-
-        try:
-            if self.model.is_device_connected():
-                self.view.update_status_bar(mode=self.model.connection_type.capitalize())
-                self.view.check_device_action()
-            else:
-                self.view.uncheck_device_action()
-
-            if self.model.is_cs_connected():
-                self.view.check_cs_action()
-            else:
-                self.view.uncheck_cs_action()
-
-            MODULE_LOGGER.info(f"{self.model.is_device_connected()=}, {self.model.is_cs_connected()=}")
-
-            if model.connection_type in ["direct", "simulator"]:
-                view.disable_cs_action()
-
-            if self.has_connection():
-                self.view.set_connection_state("connected")
-                self.start_timer()
-            else:
-                self.view.set_connection_state("disconnected")
-                self.stop_timer()
-        except NotImplementedError:
-            MODULE_LOGGER.warning(
-                "There was no connection to the control server during startup, "
-                "GUI starts in disconnected mode."
-            )
-            self.view.uncheck_cs_action()
-            self.view.uncheck_device_action()
-            self.view.set_connection_state("disconnected")
-
-    def has_connection(self):
-        """
-        Returns True if the controller has a connection to the device. This takes into account
-        that the control server might be disabled when the controller is directly connected to
-        the device or to a simulator.
-        """
-        if self.view.is_cs_action_enabled():
-            return bool(self.model.is_device_connected() and self.model.is_cs_connected())
-        else:
-            return bool(self.model.is_device_connected())
-
-    @property
-    def model(self):
-        return self._model
-
-    @property
-    def view(self):
-        return self._view
-
-    def set_help_topic_home(self, topic: str):
-        self.help_window.set_topic_home(topic)
-
-    def create_timer(self):
-        """Create a Timer that will update the States every second."""
-
-        self.states_capture_timer = QTimer()
-        # This is only needed when the Timer needs to run in another Thread
-        # self.states_capture_timer.moveToThread(self)
-        self.states_capture_timer.timeout.connect(self.update_values)
-        self.states_capture_timer.setInterval(self.timer_interval)
-
-    def start_timer(self):
-        self.states_capture_timer.start()
-
-    def stop_timer(self):
-        self.states_capture_timer.stop()
-
-    def update_values(self):
-        """Updates the common view widgets."""
-
-        if not self.has_connection():
-            self.view.set_connection_state("disconnected")
-            self.stop_timer()
-
-            if not self.model.is_device_connected(): self.view.disable_device_action()
-            if not self.model.is_cs_connected(): self.view.uncheck_cs_action()
-
-            return
-
-        states = self.model.get_states()
-
-        if states:
-            self.view.updateStates(states)
-
-        actuator_states = self.model.get_actuator_states()
-        self.view.update_actuator_states(actuator_states)
-
-        upos = self.model.get_user_positions()
-        mpos = self.model.get_machine_positions()
-        alen = self.model.get_actuator_length()
-        temp = self.model.get_motor_temperatures()
-
-        # the updatePositions() checks for None, no need to do that here
-
-        self.view.updatePositions(upos, mpos, alen)
-        self.view.updateTemperatures(temp)
-
-    def update(self, changed_object):
-
-        text = changed_object.text()
-
-        if text == "STOP":
-            self.model.stop()
-
-        if text == "INFO":
-            self.help_window.show()
-
-        if text == "DEVICE-CONNECT":
-            print(f"Pressed {text}")
-
-            if changed_object.is_selected():
-                MODULE_LOGGER.debug("Reconnecting the Gimbal model.")
-                if self.model.reconnect_device():
-                    self.view.set_connection_state("connected")
-                    if not self.model.has_commands():
-                        self.model.load_commands()
-                    self.start_timer()
-                else:
-                    self.view.device_connection.set_selected(False)
-            else:
-                MODULE_LOGGER.debug("Disconnecting the Gimbal model.")
-                self.stop_timer()
-                self.model.disconnect()
-                self.view.set_connection_state("disconnected")
-            return
-
-        if text == "CS-CONNECT":
-            if changed_object.is_selected():
-                MODULE_LOGGER.debug("Reconnecting the Gimbal Control Server.")
-                self.model.reconnect_cs()
-                if not self.model.has_commands():
-                    self.model.load_commands()
-                self.start_timer()
-                if self.model.is_device_connected() and self.model.is_cs_connected():
-                    self.view.set_connection_state("connected")
-                    self.view.device_connection.enable()
-            else:
-                MODULE_LOGGER.debug("Disconnecting the Gimbal Control Server.")
-                self.stop_timer()
-                self.model.disconnect_cs()
-                self.view.device_connection.disable()
-                self.view.set_connection_state("disconnected")
-
-        if text == "CONTROL":
-            if changed_object.is_selected():
-                self.model.activate_control_loop()
-            else:
-                self.model.deactivate_control_loop()
-
-        if text == "HOMING":
-            self.model.homing()
-
-        if text == "CLEAR-ERRORS":
-            self.model.clear_error()
-
-        if text == "Reset":
-            # FIXME: This causes a problem in the GUI EventLoop as the reset waits for 30 seconds
-            #        before it finishes. This will hang the EventLoop for 30 seconds with a spinning
-            #        wheel. Do we need to run the gimbal commands (or some) in a separate thread?
-            #        Other commands like move to position will also take some time and cause the GUI
-            #        to apear hanging...
-            #
-            #        It is known that time.sleep() should not be used in GUI applications.
-            #        Use QTimer.singleShot() instead.
-
-            self.model.reset()
-
-    def do(self, actions):
-
-        for action, value in actions.items():
-            MODULE_LOGGER.debug(f"do {action} with {value}")
-            if action == "move_absolute":
-                self.model.move_absolute(value)
-                self.view.update_status_bar(message=f"command: {action}{value}")
-            elif action == "move_relative":
-                self.model.move_relative(value)
-                self.view.update_status_bar(message=f"command: {action}{value}")
-            elif action == "check_absolute_movement":
-                rc_dict = self.model.check_absolute_movement(value)
-                self.view.update_status_bar(message=f"command: {action}{value}")
-                self.view.positioning.set_position_validation_icon(rc_dict)
-            elif action == "check_relative_movement":
-                rc_dict = self.model.check_relative_movement(value)
-                self.view.update_status_bar(message=f"command: {action}{value}")
-                self.view.positioning.set_position_validation_icon(rc_dict)
-            elif action == "set_speed":
-                sr = value
-                MODULE_LOGGER.info(f"Set speed: {sr=}")
-                self.model.set_speed(sr)
-                self.view.update_status_bar(message=f"command: {action}{value}")
-            elif action == "fetch_speed":
-                sr, sr_min, sr_max = self.model.get_speed()
-                self.view.set_speed(sr)
-            elif action == "goto_zero_position":
-                self.model.goto_zero_position()
-            elif action == "configure_offsets":
-                self.model.configure_offsets(value)
-            elif action == "fetch_offsets":
-                offsets = self.model.get_offsets()
-                self.view.set_offsets(offsets)
-            elif action == "fetch_temperatures":
-                temps = self.model.get_motor_temperatures()
-                self.view.set_temperatures(temps)
-            else:
-                MODULE_LOGGER.warning(f"Unknown action {action}")
-
-
-class GimbalUIView(QMainWindow, Observable):
-    def __init__(self):
-        super().__init__()
-
-        self.setGeometry(300, 300, 300, 200)
-
-        self.mode_label = QLabel("")
-        self.user_positions = None
-
-        # Widget for Manual Positioning, Configuration TAB
-
-        self.positioning = None
-        self.configuration = None
-
-        self.gimbal_offsets: GimbalOffsets = None
-        self.speed_settings = None
-
-        # Widget for the Advanced TAB
-
-        self.actuator_states = None
-
-        # Widget fot the temperature log TAB
-
-        self.temperature_log: MotorTemperatures = None
-
-    def onClick(self, icon: Union[QIcon, bool]):
-
-        sender = self.sender()
-
-        MODULE_LOGGER.log(0, f"type(sender) = {type(sender)}")
-        MODULE_LOGGER.log(0, f"sender.text() = {sender.text()}")
-        MODULE_LOGGER.log(0, f"sender.isCheckable() = {sender.isCheckable()}")
-        MODULE_LOGGER.log(0, f"sender.isChecked() = {sender.isChecked()}")
-        MODULE_LOGGER.log(0, f"type(icon) = {type(icon)}")
-
-        # This will trigger the update() method on all the observers
-
-        self.notifyObservers(sender)
-
-    def createStatusBar(self):
-
-        self.statusBar().setStyleSheet("border: 0; background-color: #FFF8DC;")
-        self.statusBar().setStyleSheet("QStatusBar::item {border: none;}")
-        self.statusBar().addPermanentWidget(VLine())
-        self.statusBar().addPermanentWidget(self.mode_label)
-
-    def createToolbar(self):
-
-        # The Switch On/OFF is in this case used for the Control ON/OFF action.
-
-        self.control = ToggleButton(
-            name="CONTROL",
-            status_tip="enable-disable the control loop on the servo motors",
-            selected=get_resource(":/icons/switch-on.svg"),
-            not_selected=get_resource(":/icons/switch-off.svg"),
-            disabled=get_resource(":/icons/switch-disabled.svg")
-        )
-        self.control.clicked.connect(self.onClick)
-
-        # The Home action is used to command the Homing to the Gimbal.
-
-        self.homing = TouchButton(
-            name="HOMING",
-            status_tip="perform a homing operation",
-            selected=get_resource(":/icons/home.svg"),
-            disabled=get_resource(":/icons/home-disabled.svg"),
-        )
-        self.homing.clicked.connect(self.onClick)
-
-        # The Clear action is used to command the ClearErrors to the Gimbal.
-
-        self.clear_errors = TouchButton(
-            name="CLEAR-ERRORS",
-            status_tip="clear the error list on the controller",
-            selected=get_resource(":/icons/erase.svg"),
-            disabled=get_resource(":/icons/erase-disabled.svg"),
-        )
-        self.clear_errors.clicked.connect(self.onClick)
-
-        # The Reconnect action is used to reconnect to the control server
-
-        self.cs_connection = ToggleButton(
-            name="CS-CONNECT",
-            status_tip="connect-disconnect gimbal control server.",
-            selected=get_resource(":/icons/cs-connected.svg"),
-            not_selected=get_resource(":/icons/cs-not-connected.svg"),
-            disabled=get_resource(":/icons/cs-connected-disabled.svg")
-        )
-        self.cs_connection.clicked.connect(self.onClick)
-
-        # The Reconnect action is used to reconnect the device
-
-        self.device_connection = ToggleButton(
-            name="DEVICE-CONNECT",
-            status_tip="connect-disconnect the gimbal controller",
-            selected=get_resource(":/icons/plugged.svg"),
-            not_selected=get_resource(":/icons/unplugged.svg"),
-            disabled=get_resource(":/icons/plugged-disabled.svg")
-        )
-        self.device_connection.clicked.connect(self.onClick)
-
-
-        # The STOP button is used to immediately stop the current motion
-
-        stop_button = QIcon(str(get_resource(":/icons/stop.svg")))
-
-        self.stop_action = QAction(stop_button, "STOP", self)
-        self.stop_action.setToolTip("STOP Movement")
-        self.stop_action.triggered.connect(self.onClick)
-
-        # The HELP button is used to show the on-line help in a browser window
-
-        help_button = QIcon(str(get_resource(":/icons/info.svg")))
-
-        self.help_action = QAction(help_button, "INFO", self)
-        self.help_action.setToolTip("Browse the on-line documentation")
-        self.help_action.triggered.connect(self.onClick)
-
-        # spacer widget to help with aligning STOP button to the right
-
-        spacer = QWidget()
-        spacer.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
-
-        self.toolbar = self.addToolBar("MainToolbar")
-        self.toolbar.addWidget(self.control)
-        self.toolbar.addWidget(self.homing)
-        self.toolbar.addWidget(self.clear_errors)
-        self.toolbar.addWidget(self.device_connection)
-        self.toolbar.addWidget(self.cs_connection)
-        self.toolbar.addWidget(spacer)
-        self.toolbar.addAction(self.stop_action)
-        self.toolbar.addAction(self.help_action)
-
-        return self.toolbar
-
-    def createUserPositionWidget(self):
-
-        vbox_labels = QVBoxLayout()
-        vbox_values = QVBoxLayout()
-        vbox_units = QVBoxLayout()
-        hbox = QHBoxLayout()
-
-        self.user_positions = [
-            [QLabel("Rx"), QLabel(), QLabel("deg")],
-            [QLabel("Ry"), QLabel(), QLabel("deg")],
-        ]
-
-        for upos in self.user_positions:
-            vbox_labels.addWidget(upos[0])
-            vbox_values.addWidget(upos[1])
-            upos[1].setStyleSheet("QLabel { background-color : LightGrey; }")
-            upos[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            upos[1].setMinimumWidth(80)
-            vbox_units.addWidget(upos[2])
-
-        # Make sure the labels stay nicely together when vertically resizing the Frame.
-        vbox_labels.addStretch(1)
-        vbox_values.addStretch(1)
-        vbox_units.addStretch(1)
-
-        hbox.addLayout(vbox_labels)
-        hbox.addLayout(vbox_values)
-        hbox.addLayout(vbox_units)
-
-        # Make sure the leds and labels stay nicely together when horizontally resizing the Frame.
-        hbox.addStretch(1)
-
-        gbox_positions = QGroupBox("Object [in User]", self)
-        gbox_positions.setLayout(hbox)
-        gbox_positions.setToolTip(
-            "The position of the Object Coordinate System in the User Coordinate System."
-        )
-
-        return gbox_positions
-
-    def createMachinePositionWidget(self):
-
-        vbox_labels = QVBoxLayout()
-        vbox_values = QVBoxLayout()
-        vbox_units = QVBoxLayout()
-        hbox = QHBoxLayout()
-
-        self.mach_positions = [
-            [QLabel("Rx"), QLabel(), QLabel("deg")],
-            [QLabel("Ry"), QLabel(), QLabel("deg")],
-        ]
-
-        for mpos in self.mach_positions:
-            vbox_labels.addWidget(mpos[0])
-            vbox_values.addWidget(mpos[1])
-            mpos[1].setStyleSheet("QLabel { background-color : LightGrey; }")
-            mpos[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            mpos[1].setMinimumWidth(80)
-            vbox_units.addWidget(mpos[2])
-
-        # Make sure the labels stay nicely together when vertically resizing the Frame.
-        vbox_labels.addStretch(1)
-        vbox_values.addStretch(1)
-        vbox_units.addStretch(1)
-
-        hbox.addLayout(vbox_labels)
-        hbox.addLayout(vbox_values)
-        hbox.addLayout(vbox_units)
-
-        # Make sure the leds and labels stay nicely together when horizontally resizing the Frame.
-        hbox.addStretch(1)
-
-        gbox_positions = QGroupBox("Platform [in Machine]", self)
-        gbox_positions.setLayout(hbox)
-        gbox_positions.setToolTip(
-            "The position of the Platform Coordinate System in the Machine Coordinate System."
-        )
-
-        return gbox_positions
-
-    def createActuatorLengthWidget(self):
-
-        vbox_labels = QVBoxLayout()
-        vbox_values = QVBoxLayout()
-        vbox_units = QVBoxLayout()
-        hbox = QHBoxLayout()
-
-        self.actuator_lengths = [
-            [QLabel("L1"), QLabel(), QLabel("mm")],
-            [QLabel("L2"), QLabel(), QLabel("mm")],
-        ]
-
-        for alength in self.actuator_lengths:
-            vbox_labels.addWidget(alength[0])
-            vbox_values.addWidget(alength[1])
-            alength[1].setStyleSheet("QLabel { background-color : LightGrey; }")
-            alength[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            alength[1].setMinimumWidth(80)
-            vbox_units.addWidget(alength[2])
-
-        # Make sure the labels stay nicely together when vertically resizing the Frame.
-        vbox_labels.addStretch(1)
-        vbox_values.addStretch(1)
-        vbox_units.addStretch(1)
-
-        hbox.addLayout(vbox_labels)
-        hbox.addLayout(vbox_values)
-        hbox.addLayout(vbox_units)
-
-        # Make sure the leds and labels stay nicely together when horizontally resizing the Frame.
-        hbox.addStretch(1)
-
-        gbox_lengths = QGroupBox("Actuator Length", self)
-        gbox_lengths.setLayout(hbox)
-
-        return gbox_lengths
-
-    def createMotorTemperatureWidget(self):
-        vbox_labels = QVBoxLayout()
-        vbox_values = QVBoxLayout()
-        vbox_units = QVBoxLayout()
-        hbox = QHBoxLayout()
-
-        self.motors = [
-            [QLabel("Tx"), QLabel("N/A"), QLabel("º C")],
-            [QLabel("Ty"), QLabel("N/A"), QLabel("º C")],
-        ]
-
-        for mtemp in self.motors:
-            vbox_labels.addWidget(mtemp[0])
-            vbox_values.addWidget(mtemp[1])
-            mtemp[1].setStyleSheet("QLabel { background-color : LightGrey; }")
-            mtemp[1].setAlignment(Qt.AlignRight | Qt.AlignVCenter)
-            mtemp[1].setMinimumWidth(80)
-            vbox_units.addWidget(mtemp[2])
-
-        # Make sure the labels stay nicely together when vertically resizing the Frame.
-        vbox_labels.addStretch(1)
-        vbox_values.addStretch(1)
-        vbox_units.addStretch(1)
-
-        hbox.addLayout(vbox_labels)
-        hbox.addLayout(vbox_values)
-        hbox.addLayout(vbox_units)
-
-        # Make sure the leds and labels stay nicely together when horizontally resizing the Frame.
-        hbox.addStretch(1)
-
-        gbox_motors = QGroupBox("Motor temperature", self)
-        gbox_motors.setLayout(hbox)
-
-        return gbox_motors
-
-    def create_tabbed_widget(self):
-
-        self.tabs = QTabWidget()
-        self.tabs.setTabsClosable(False)
-        self.tabs.setMovable(False)
-        self.tabs.setDocumentMode(True)
-        self.tabs.setElideMode(Qt.ElideRight)
-        self.tabs.setUsesScrollButtons(True)
-
-        self.positioning = Positioning(self, self)
-        self.tabs.addTab(self.positioning, "Positions")
-        self.gimbal_offsets = GimbalOffsets(self, self)
-        self.temperature_log = MotorTemperatures(self, self)
-        self.speed_settings = SpeedSettings(self, self)
-        self.configuration = QWidget()
-        vbox = QVBoxLayout()
-        vbox.setSpacing(0)
-        vbox.addWidget(self.gimbal_offsets)
-        vbox.addWidget(self.speed_settings)
-        self.configuration.setLayout(vbox)
-        self.tabs.addTab(self.configuration, "Configuration")
-        self.tabs.currentChanged.connect(self.reload_settings_for_tab)
-
-        # Actuator states are initialised in the sub-class because the states are different
-        # for the Alpha and Aplha+ controllers
-
-        self.tabs.addTab(self.actuator_states, "Advanced State")
-
-        self.tabs.addTab(self.temperature_log, "Temperature Log")
-
-        return self.tabs
-
-    def reload_settings_for_tab(self, tab_idx):
-        MODULE_LOGGER.info(f"Reload for tab: {tab_idx}")
-        if self.configuration is self.tabs.widget(tab_idx):
-            self.gimbal_offsets.handle_fetch_offsets()
-            self.speed_settings.handle_fetch_speed_settings()
-
-    def set_offsets(self, offsets):
-        self.gimbal_offsets.set_offsets(offsets)
-
-    def set_temperatures(self, temperatures):
-        self.temperature_log.set_temperatures(temperatures)
-
-    def set_speed(self, sr):
-        self.speed_settings.set_speed(sr)
-
-    def is_cs_action_enabled(self):
-        return self.cs_connection.isEnabled()
-
-    def disable_cs_action(self):
-        self.cs_connection.disable()
-
-    def enable_cs_action(self):
-        self.cs_connection.enable()
-
-    def check_cs_action(self):
-        self.cs_connection.set_selected()
-
-    def uncheck_cs_action(self):
-        self.cs_connection.set_selected(False)
-
-    def disable_device_action(self):
-        self.device_connection.disable()
-
-    def enable_device_action(self):
-        self.device_connection.enabled()
-
-    def check_device_action(self):
-        self.device_connection.set_selected()
-
-    def uncheck_device_action(self):
-        self.device_connection.set_selected(False)
-
-    def set_connection_state(self, state):
-        # enable or disable all actions that involve a device or cs connection
-        # don't change the action buttons for the device nor the cs, that is handled
-        # in the caller because it might be a device connection loss that causes this state
-        # or a control server, or both...
-
-        MODULE_LOGGER.info(f"{state=}")
-
-        if state == "connected":
-            self.control.enable()
-            self.homing.enable()
-            self.clear_errors.enable()
-            self.positioning.enable_movement()
-        elif state == "disconnected":
-            self.control.disable()
-            self.homing.disable()
-            self.clear_errors.disable()
-            self.positioning.disable_movement()
-        else:
-            raise UnknownStateError(
-                f"Unknown State ({state}), expected 'connected' or 'disconnected'."
-            )
-
-    def update_actuator_states(self, states):
-        if states is None:
-            return
-
-        self.actuator_states.set_states(states)