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

egse/gimbal/symetrie/pmac.py

@@ -1,1006 +0,0 @@
-"""
-PMAC Interface to Gimbal Hardware Controller from Symétrie.
-
-Some of the code below is based on the dls_pmaclib Python library that was made available
-as open source by Diamond Control under the LGPL v3.x. For more info and the original
-source code, please go to http://controls.diamond.ac.uk/downloads/python/index.php].
-
-Author: Rik Huygen
-"""
-
-import logging
-import socket
-import struct
-import threading
-from datetime import datetime
-from datetime import timedelta
-from typing import List
-
-from egse.gimbal.symetrie.pmac_regex import match_float_response
-from egse.gimbal.symetrie.pmac_regex import match_int_response
-from egse.gimbal.symetrie.pmac_regex import match_string_response
-
-logger = logging.getLogger(__name__)
-
-# Command set Request
-
-VR_PMAC_SENDLINE = 0xB0
-VR_PMAC_GETLINE = 0xB1
-VR_PMAC_FLUSH = 0xB3
-VR_PMAC_GETMEM = 0xB4
-VR_PMAC_SETMEM = 0xB5
-VR_PMAC_SETBIT = 0xBA
-VR_PMAC_SETBITS = 0xBB
-VR_PMAC_PORT = 0xBE
-VR_PMAC_GETRESPONSE = 0xBF
-VR_PMAC_READREADY = 0xC2
-VR_CTRL_RESPONSE = 0xC4
-VR_PMAC_GETBUFFER = 0xC5
-VR_PMAC_WRITEBUFFER = 0xC6
-VR_PMAC_WRITEERROR = 0xC7
-VR_FWDOWNLOAD = 0xCB
-VR_IPADDRESS = 0xE0
-
-# Request Types
-
-VR_DOWNLOAD = 0x40  # Command send to the device
-VR_UPLOAD = 0xC0  # Command send to host
-
-# API Function Error Codes
-
-ERR_DISCONNECTED = -1
-ERR_NOT_READY_2_BE_READ = -2
-ERR_NO_CMD_MATCHING = -3
-ERR_WRITE = -4
-ERR_READ = -5
-ERR_CONNECTION = -6
-ERR_CMD_TIMEOUT = -7
-
-# API Returns
-
-RETURN_SUCCESS = 0
-RETURN_IGNORED = -1
-RETURN_FAILURE = -2
-
-# The States of Q20 which are checked after the command has executed.
-
-Q20_0: List[int] = []  # no checking of Q20 to be done
-Q20_1: List[int] = [RETURN_SUCCESS]  # wait until success
-Q20_2: List[int] = [RETURN_SUCCESS, RETURN_IGNORED]
-Q20_3: List[int] = [RETURN_SUCCESS, RETURN_IGNORED, RETURN_FAILURE]
-
-# Each command is defined as a dictionary with the following structure:
-#
-# {
-#     'name'    : [string]   Human readable name of the command
-#     'cmd'     : [string]   Actual command string for the controller.
-#                            Can contain format replacement fields for commands that take input values.
-#     'in'      : [int]      Number of input values. This should match up with the number of replacement fields in 'cmd'
-#     'out'     : [type]     Number of output variable. The type of the output variables is defined by 'out_type'
-#     'return'  : [string]   The command to retreive and check the output.
-#     'check'   : [iterable] Iterable containing the output values that are expected.
-#     'out_type': [function] A function object that is used to convert the output variables from string to <type func>.
-# }
-#
-#
-
-CMD_STOP = {
-    "name": "STOP",
-    "cmd": "&2 Q20=2",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_1,
-    "out_type": None,
-}
-CMD_HOMING = {
-    "name": "HOMING",
-    "cmd": "&2 Q20=1",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_1,
-    "out_type": None,
-}
-CMD_CONTROLON = {
-    "name": "CONTROL_ON",
-    "cmd": "&2 Q20=3",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_3,
-    "out_type": None,
-}
-CMD_CONTROLOFF = {
-    "name": "CONTROL_OFF",
-    "cmd": "&2 Q20=4",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_1,
-    "out_type": None,
-}
-CMD_MOVE = {
-    "name": "MOVE",
-    "cmd": "&2 Q70={cm} Q71={grx:.6f} Q72={gry:.6f} Q20=11",
-    "in": 3,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_3,
-    "out_type": None,
-}
-CMD_MAINTENANCE = {
-    "name": "MAINTENANCE",
-    "cmd": "&2 Q80={axis} Q20=12",
-    "in": 1,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_2,
-    "out_type": None,
-}
-CMD_SPECIFICPOS = {
-    "name": "SPECIFICPOS",
-    "cmd": "&2 Q80={pos} Q20=13",
-    "in": 1,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_3,
-    "out_type": None,
-}
-CMD_CLEARERROR = {
-    "name": "CLEARERROR",
-    "cmd": "&2 Q20=15",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_1,
-    "out_type": None,
-}
-CMD_RESETSOFT = {
-    "name": "RESETSOFT",
-    "cmd": "$$$",
-    "in": 0,
-    "out": 0,
-    "return": None,
-    "check": None,
-    "out_type": None,
-}
-CMD_JOG = {
-    "name": "JOG",
-    "cmd": "&2 Q68={axis} Q69={inc} Q20=41",
-    "in": 0,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_2,
-    "out_type": None,
-}
-
-CMD_CFG_OFFSET = {
-    "name": "CFG#OFFSET",
-    "cmd": ("&2 Q80={grx} Q81={gry} Q20=21"),
-    "in": 2,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_2,
-    "out_type": None,
-}
-CMD_CFG_SPEED = {
-    "name": "CFG#SPEED",
-    "cmd": "&2 Q81={sr} Q20=25",
-    "in": 1,
-    "out": 0,
-    "return": "&2 Q20",
-    "check": Q20_2,
-    "out_type": None,
-}
-
-CMD_Q20_GET = {
-    "name": "Q20?",
-    "cmd": "&2 Q20",
-    "in": 0,
-    "out": 0,
-    "return": None,
-    "check": None,
-    "out_type": None,
-}
-CMD_Q29_GET = {
-    "name": "Q29?",
-    "cmd": "&2 Q29",
-    "in": 0,
-    "out": 0,
-    "return": None,
-    "check": None,
-    "out_type": None,
-}
-CMD_STATE_HEXA_GET = {
-    "name": "STATE#HEXA?",
-    "cmd": "&2 Q36",
-    "in": 0,
-    "out": 0,
-    "return": None,
-    "check": None,
-    "out_type": None,
-}
-CMD_STATE_ERROR_GET = {
-    "name": "STATE#ERROR?",
-    "cmd": "&2 Q38",
-    "in": 0,
-    "out": 0,
-    "return": None,
-    "check": None,
-    "out_type": None,
-}
-CMD_STATE_DEBUG_GET = {
-    "name": "STATE#DEBUG?",
-    "cmd": "&2 Q26,3,1 Q20",
-    "in": 0,
-    "out": 4,
-    "return": None,
-    "check": None,
-    "out_type": int,
-}
-CMD_VERSION_GET = {
-    "name": "VERSION?",
-    "cmd": "&2 Q20=55",
-    "in": 0,
-    "out": 4,
-    "return": "&2 Q20 Q80,4,1",
-    "check": Q20_1,
-    "out_type": bytes.decode,
-}
-CMD_POSUSER_GET = {
-    "name": "POSUSER?",
-    "cmd": "&2 Q53,2,1",
-    "in": 0,
-    "out": 2,
-    "return": None,
-    "check": None,
-    "out_type": float,
-}
-CMD_POSVALID_GET = {
-    "name": "POSVALID?",
-    "cmd": "&2 Q70={cm} Q71={grx:.6f} Q72={gry:.6f} Q20=10",
-    "in": 3,
-    "out": 1,
-    "return": "&2 Q20 Q29",
-    "check": Q20_1,
-    "out_type": int,
-}
-CMD_CFG_OFFSET_GET = {
-    "name": "CFG#OFFSET?",
-    "cmd": "&2 Q20=31",
-    "in": 0,
-    "out": 2,
-    "return": "&2 Q20 Q80,2,1",
-    "check": Q20_1,
-    "out_type": float,
-}
-CMD_CFG_SPEED_GET = {
-    "name": "CFG#SPEED?",
-    "cmd": "&2 Q20=35",
-    "in": 0,
-    "out": 3,
-    "return": "&2 Q20 Q81,3,2",
-    "check": Q20_1,
-    "out_type": float,
-}
-CMD_STATE_AI_GET = {
-    "name": "STATE#AI?",
-    "cmd": "&2 Q59,2,1",
-    "in": 0,
-    "out": 2,
-    "return": None,
-    "check": None,
-    "out_type": float,
-}
-
-CMD_STRING_CID = "CID"  # Card ID number
-CMD_STRING_VER = "VERSION"  # Firmware Version (Revision Level)
-CMD_STRING_CPU = "CPU"
-CMD_STRING_TYPE = "TYPE"
-CMD_STRING_VID = "VID"  # Vendor ID
-CMD_STRING_DATE = "DATE"
-CMD_STRING_TIME = "TIME"
-CMD_STRING_TODAY = "TODAY"
-
-DEF_TPMAC_CMD_TIMEOUT = timedelta(seconds=5)
-DEF_TPMAC_READ_TIMEOUT = timedelta(seconds=2)
-DEF_TPMAC_READ_FREQ = timedelta(milliseconds=100)
-DEF_TPMAC_STRING_SIZE = 1400
-
-DEF_STRING_SIZE = 256
-
-
-# #### Pure Python API interface #######################################################################################
-
-
-class PMACError(Exception):
-    pass
-
-
-# #### Helper functions and classes ####################################################################################
-
-
-def extractOutput(sourceStr, nr, func=bytes.decode):
-    """
-    Extract values from the source string argument.
-
-    The output variables all have the same type and are converted using
-    the func argument, e.g. int or float.
-
-    :return: an array with the output variables.
-    """
-    # Remove the acknowledgement from the sourceStr
-
-    sourceStr = sourceStr.rstrip(b"\r\x06")
-
-    # Split the string in it's parts separated by \r
-
-    parts = sourceStr.split(b"\r")
-
-    # extract the values from the part and put them in out
-
-    try:
-        out = [func(part) for part in parts]
-    except (ValueError, TypeError) as exc:
-        raise PMACError(
-            f'extractOutput(): Could not parse individual parts of "{sourceStr}" with {func}.'
-        ) from exc
-
-    return out
-
-
-def extractQ20AndOutput(sourceStr, nr, func=bytes.decode):
-    """
-    Extract values from the source string argument.
-
-    The first value is always the Q20 variable and is of integer type.
-
-    The other output variables all have the same type and are converted using
-    the func argument, e.g. int or float.
-
-    Returns a tuple containing the Q20 and an array with the output variables.
-    """
-    # Remove the acknowledgement from the sourceStr
-
-    sourceStr = sourceStr.rstrip(b"\r\x06")
-
-    # Split the string in it's parts separated by \r
-
-    parts = sourceStr.split(b"\r")
-
-    # First value is always Q20, then the other output values
-
-    try:
-        Q20 = int(parts[0])
-        out = [func(part) for part in parts[1:]]
-    except (ValueError, TypeError) as ex:
-        raise PMACError(
-            f'extractQ20AndOutput(): Could not parse individual parts of "{sourceStr}" with {func}.'
-        ) from ex
-
-    return (Q20, out)
-
-
-def decode_Q29(value):
-    """
-    Decode the bitfield variable Q29.
-
-    Each bit in this variable represents a particular error in the validation of a movement.
-    Several errors can be combined into the Q29 variable.
-
-    Returns a dictionary with the bit numbers that were (on) and the corresponding error description.
-    """
-
-    # This description is taken from the API Gimbal Controller Manual, version A, section 4.5.4 POSVALID?
-
-    description = [
-        "Homing is not done",
-        "Coordinate systems definition not realized",
-        "Kinematic error",
-        "Out of SYMETRIE (factory) workspace",
-        "Reserved",
-        "Out of user workspace",
-        "Actuator out of limits",
-        "Joints out of limits",
-        "Out of limits due to backlash compensation",
-        '"Abort" input enabled',
-        '"Safety Sensor" inputs enabled',
-    ]
-
-    error_msgs = {}
-
-    for bit in range(24):
-        if value >> bit & 0x01:
-            error_msgs[bit] = description[bit] if bit < 11 else "Reserved"
-
-    return error_msgs
-
-
-def decode_Q30(value):
-    """
-    Decode the bitfield variable Q30.
-
-    Each bit in this variable represents a particular system setting of the actuator.
-
-    Returns a dictionary with the bit numbers that were (on) and the corresponding error description.
-    """
-
-    # This description is taken from the API Gimbal Controller Manual, version A, section 4.5.5 STATE#ACTUATOR?
-
-    description = [
-        "In position",
-        "Control loop on servo motors active",
-        "Homing done",
-        'Input "Home switch"',
-        'Input "Positive limit switch"',
-        'Input "Negative limit switch"',
-        "Brake control output",
-        "Following error (warning)",
-        "Following error",
-        "Actuator out of bounds error",
-        "Amplifier error",
-        "Encoder error",
-        "Phasing error (brushless engine only)",
-    ]
-
-    error_msgs = {
-        bit: description[bit] if bit < 13 else "Reserved"
-        for bit in range(24)
-        if value >> bit & 0x01
-    }
-
-    states = [int(x) for x in f"{value:024b}"[::-1]]
-
-    return error_msgs, states
-
-
-def decode_Q36(value):
-    """
-    Decode the bitfield variable Q36.
-
-    Each bit in this variable represents the status of a particular system setting of the gimbal.
-
-    Returns an array with the value (True/False) of the individual bits.
-    """
-
-    # This description is taken from the API Gimbal Controller Manual, version A, section 4.5.6 STATE#HEXA?
-
-    description = [  # noqa: F841
-        "Error (OR)",
-        "System Initialized",
-        "In position",
-        "Control loop on servo motors active",
-        "Homing done",
-        "Brake control output",
-        "Emergency stop button engaged",
-        "Following error (warning)",
-        "Following error",
-        "Actuator out of bounds error or safety sensor error",
-        "Amplifier Error",
-        "Encoder error",
-        "Phasing error (brushless motors only)",
-        "Homing error",
-        "Kinematic error",
-        '"Abort" input error',
-        "R/W flash memory error",
-        "Temperature error on one or several motors",
-        "Home done (virtual)",
-        "Encoders power off",
-        "Limit switches power off",
-        "Reserved",
-        "Reserved",
-        "Reserved",
-    ]
-
-    bit_values = [False for x in range(24)]
-
-    for bit in range(24):
-        bit_values[bit] = True if value >> bit & 0x01 else False
-
-    return bit_values
-
-
-class EthernetCommand:
-    def __init__(self, requestType, request, value, index):
-        self.requestType = requestType  # type is byte
-        self.request = request  # type is byte
-        self.value = value  # type is word (= 2 bytes), content request specific
-        self.index = index  # type is word
-        self.length = None  # type is word, length of the data part
-        self.data = []  # type is byte, max length = 1492 bytes
-
-    def getCommandPacket(self, command=None):
-        """
-        Pack and return the header and the command in a bytes packet.
-        """
-        if command is None:
-            command = ""
-
-        assert type(command) == str
-
-        headerStr = struct.pack(
-            ">BBHHH", self.requestType, self.request, self.value, self.index, len(command)
-        )
-        wrappedCommand = headerStr + command.encode()
-
-        logger.flash_flood(f"Command Packet generated: {wrappedCommand}")
-
-        return wrappedCommand
-
-
-class PmacEthernetInterface(object):
-    """
-    This class provides an interface to connect to a remote PMAC over an Ethernet interface.
-    It provides methods to connect to the PMAC, to disconnect, and to issue commands.
-    """
-
-    def __init__(self, numAxes=None):
-        """
-        Initialize the PMAC Ethernet interface.
-        """
-        self.modelName = None  # Will be initialized by the getPmacModel() call
-
-        # Basic connection settings
-
-        self.hostname = ""
-        self.port = None
-
-        # Access-to-the-connection semaphore.
-        # Use this to lock/unlock I/O access to the connection (whatever type it is) in child classes.
-
-        self.semaphore = threading.Semaphore()
-
-        self.isConnectionOpen = False
-
-        # Use the getter self.getNumberOfAxes() to access this. The value is None if uninitialised.
-
-        if numAxes is not None:
-            self._numAxes = int(numAxes)
-        else:
-            self._numAxes = None
-
-        # Define a number of often used commands
-
-        self.getResponseCommand = EthernetCommand(VR_DOWNLOAD, VR_PMAC_GETRESPONSE, 0, 0)
-        self.getBufferCommand = EthernetCommand(VR_UPLOAD, VR_PMAC_GETBUFFER, 0, 0)
-
-    def setConnectionParameters(self, host="localhost", port=None):
-        self.hostname = str(host)
-        if port is not None:
-            self.port = int(str(port))
-
-    # Attempts to open a connection to a remote PMAC.
-    # Returns None on success, or an error message string on failure.
-
-    def connect(self):
-
-        # Sanity checks
-        if self.isConnectionOpen:
-            raise PMACError("Socket is already open")
-        if self.hostname in (None, ""):
-            raise PMACError("ERROR: hostname not initialized")
-        if self.port in (None, 0):
-            raise PMACError("ERROR: port number not initialized")
-
-        # Create a new socket instance
-
-        try:
-            self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.sock.setblocking(1)
-            self.sock.settimeout(3)
-        except socket.error as e_socket:
-            raise PMACError("ERROR: Failed to create socket.") from e_socket
-
-        # Attempt to establish a connection to the remote host
-
-        try:
-            logger.debug(f'Connecting a socket to host "{self.hostname}" using port {self.port}')
-            self.sock.connect((self.hostname, self.port))
-        except ConnectionRefusedError as e_cr:
-            raise PMACError(f"ERROR: Connection refused to {self.hostname}") from e_cr
-        except socket.gaierror as e_gai:
-            raise PMACError(f"ERROR: socket address info error for {self.hostname}") from e_gai
-        except socket.herror as e_h:
-            raise PMACError(f"ERROR: socket host address error for {self.hostname}") from e_h
-        except socket.timeout as e_timeout:
-            raise PMACError(f"ERROR: socket timeout error for {self.hostname}") from e_timeout
-        except OSError as ose:
-            raise PMACError(f"ERROR: OSError caught ({ose}).") from ose
-
-        self.isConnectionOpen = True
-
-        # Check that we are connected to a pmac by issuing the "VERSION" command -- expecting the 1.947 in return.
-        # If we don't get the right response, then disconnect automatically
-
-        if not self.isConnected():
-            raise PMACError("Device is not connected, check logging messages for the cause.")
-
-    def disconnect(self):
-        """
-        Disconnect from the Ethernet connection.
-
-        Raises a PMACError on failure.
-        """
-        try:
-            if self.isConnectionOpen:
-                logger.debug(f"Disconnecting from {self.hostname}")
-                self.semaphore.acquire()
-                self.sock.close()
-                self.semaphore.release()
-                self.isConnectionOpen = False
-        except Exception as e_exc:
-            raise PMACError(f"Could not close socket to {self.hostname}") from e_exc
-
-    def isConnected(self):
-        """
-        Check if the PMAC Ethernet connection is open. This will send a 'version' command to the
-        PMAC interface and try to parse the return value. If no connection was established or
-        no version could be parsed from the return value, False is returned.
-        """
-        if not self.isConnectionOpen:
-            return False
-
-        try:
-            response = self.getResponse(CMD_STRING_VER)
-        except PMACError as e_pmac:
-            if len(e_pmac.args) >= 2 and e_pmac.args[1] == ERR_CONNECTION:
-                logger.error(
-                    f"While trying to talk to the device the following exception occurred, exception={e_pmac}"
-                )
-                logger.error("Most probably the client connection was closed. Disconnecting...")
-                self.disconnect()
-                return False
-            else:
-                logger.error(
-                    f"While trying to talk to the device the following exception occured, exception={e_pmac}"
-                )
-                self.disconnect()
-                return False
-        finally:
-            pass
-
-        version = match_float_response(response)
-
-        if not version:
-            # if the response was not matching the regex then we're not talking to a PMAC!
-            logger.error(
-                f'Device did not respond correctly to a "VERSION" command, response={response}. Disconnecting...'
-            )
-            self.disconnect()
-            return False
-
-        return True
-
-    def getBuffer(self, shouldWait=True):
-        """"""
-
-        if not self.isConnectionOpen:
-            raise PMACError("Device is not connected, reconnect or check logging messages.")
-
-        try:
-            if shouldWait:
-                self.semaphore.acquire()
-
-            # Attempt to send the complete command to PMAC
-
-            self.sock.sendall(self.getBufferCommand.getCommandPacket())
-            logger.debug("Sent out get buffer request to PMAC")
-
-            # wait for, read and return the response from PMAC (will be at most 1400 chars)
-
-            returnStr = self.sock.recv(2048)
-            logger.debug(f"Received from PMAC: {returnStr}")
-
-            return returnStr
-
-        except socket.timeout as e_timeout:
-            raise PMACError("Socket timeout error", ERR_CMD_TIMEOUT) from e_timeout
-        except socket.error as e_socket:
-            # Interpret any socket-related error as an I/O error
-            raise PMACError("Socket communication error.", ERR_CONNECTION) from e_socket
-        except OSError as e_os:
-            raise PMACError(f"OS Error: {e_os}") from e_os
-        finally:
-            if shouldWait:
-                self.semaphore.release()
-
-    def getResponse(self, command, shouldWait=True):
-        """
-        Send a single command to the controller and block until a response from the controller.
-
-        Args:
-            command (str): is the command to be sent
-
-            shouldWait (bool, optional, default True): whether to wait on the semaphore.
-
-                This should normally be left default. If we have acquired the semaphore manually,
-                then specify shouldWait = False (and don't forget to release the semaphore eventually).
-
-        Returns:
-            response (str): is either a string returned by the PMAC (on success), or an error message (on failure)
-
-        Raises:
-            PMACError when there was an I/O problem during comm with the PMAC or the response does not have
-            recognised terminators.
-
-            Note that PMAC may still return an "ERRxxx" code; this function will still consider that
-            a successful transmission.
-
-        """
-
-        if not self.isConnectionOpen:
-            raise PMACError("Device is not connected, reconnect or check logging messages.")
-
-        command = str(command)
-
-        try:
-            if shouldWait:
-                self.semaphore.acquire()
-
-            # Attempt to send the complete command to PMAC
-
-            logger.flash_flood(f"Sending out to PMAC: {command}")
-            self.sock.sendall(self.getResponseCommand.getCommandPacket(command))
-
-            # wait for, read and return the response from PMAC (will be at most 1400 chars)
-
-            returnStr = self.sock.recv(2048)
-            logger.flash_flood( f"Received from PMAC: {returnStr}")
-
-            return returnStr
-
-        except OSError as e_os:
-            raise PMACError(f"OS Error: {e_os}") from e_os
-        except socket.timeout as e_timeout:
-            raise PMACError("Socket timeout error", ERR_CMD_TIMEOUT) from e_timeout
-        except socket.error as e_socket:
-            # Interpret any socket-related error as an I/O error
-            raise PMACError("Socket communication error.", ERR_CONNECTION) from e_socket
-        finally:
-            if shouldWait:
-                self.semaphore.release()
-
-    def waitFor(self, cmd, values):
-        start = datetime.now()
-        count = 0
-
-        assert isinstance(values, list), "Expected list argument"
-
-        while datetime.now() - start < DEF_TPMAC_CMD_TIMEOUT:
-
-            # Only read every DEF_TPMAC_READ_FREQ
-
-            if datetime.now() - start > count * DEF_TPMAC_READ_FREQ:
-                count += 1
-                retStr = self.getResponse(cmd)
-                key = match_int_response(retStr)
-                if key in values:
-                    return key
-
-        raise PMACError(f"Timeout while waiting for {cmd} to be {values}")
-
-    def waitForOutput(self, cmd, values, nr, func):
-        start = datetime.now()
-        count = 0
-
-        assert isinstance(values, list), "Expected list argument"
-
-        while datetime.now() - start < DEF_TPMAC_CMD_TIMEOUT:
-
-            # Only read every DEF_TPMAC_READ_FREQ
-
-            if datetime.now() - start > count * DEF_TPMAC_READ_FREQ:
-                count += 1
-                retStr = self.getResponse(cmd)
-                Q20, out = extractQ20AndOutput(retStr, nr, func)
-                if Q20 not in values:
-                    continue
-                return out
-
-        raise PMACError(f"Timeout while waiting for {cmd} to be {values}")
-
-    def getQVars(self, base, offsets, func=bytes.decode):
-        """
-        Get a list of values of Qxx variables, where xx = base + offset (for each offset).
-
-        Throws a PMACError when no response received from Gimbal Hardware Controller.
-        """
-        qVars = map(lambda x: base + x, offsets)
-        cmd = ""
-        for qVar in qVars:
-            cmd += f"Q{qVar:02} "
-        retStr = self.getResponse(cmd)
-        logger.flash_flood(f"retStr={retStr} of type {type(retStr)}")
-
-        if retStr == b"\x00":
-            raise PMACError(f"No response received for {cmd}, return value is {retStr}")
-
-        # Remove the acknowledgement from the sourceStr
-
-        retStr = retStr.rstrip(b"\r\x06")
-
-        # Split the string in it's parts separated by \r
-
-        qVarsResult = [func(x) for x in retStr.split(b"\r")]
-
-        return qVarsResult
-
-    def getMVars(self, base, offsets, func=bytes.decode):
-        """
-        Get a list of values of Mxx variables, where xx = base + offset (for each offset).
-
-        The 'M' variables are Symétrie internal variables.
-        The following M-Vars are known:
-
-        * M5282 - check if a motion program is running, return 1 when it is running, 0 if no motion program is running
-
-        Throws a PMACError when no response received from Gimbal Hardware Controller.
-        """
-        mVars = map(lambda x: base + x, offsets)
-        cmd = ""
-        for mVar in mVars:
-            cmd += f"M{mVar:02} "
-        retStr = self.getResponse(cmd)
-        logger.debug(f"retStr={retStr} of type {type(retStr)}")
-
-        if retStr == b"\x00":
-            raise PMACError(f"No response received for {cmd}, return value is {retStr}")
-
-        # Remove the acknowledgement from the sourceStr
-
-        retStr = retStr.rstrip(b"\r\x06")
-
-        # Split the string in it's parts separated by \r
-
-        mVarsResult = [func(x) for x in retStr.split(b"\r")]
-
-        return mVarsResult
-
-    def getIVars(self, base, offsets, func=bytes.decode):
-        """
-        Get a list of values of Ixxxx variables, where xxxx = base + offset (for each offset).
-        """
-        iVars = map(lambda x: base + x, offsets)
-        cmd = ""
-        for iVar in iVars:
-            cmd += "i%d " % iVar
-        retStr = self.getResponse(cmd)
-        logger.debug(f"retStr={retStr} of type {type(retStr)}")
-
-        # Remove the acknowledgement from the sourceStr
-
-        retStr = retStr.rstrip(b"\r\x06")
-
-        # Split the string in it's parts separated by \r
-
-        iVarsResult = [func(x) for x in retStr.split(b"\r")]
-
-        return iVarsResult
-
-    def getPmacModel(self):
-        """
-        Return a string designating which PMAC model this is.
-
-        Raise a PMACError if the model is unknown.
-        """
-
-        if self.modelName:
-            return self.modelName
-
-        # Ask for pmac model, returns an integer
-
-        modelCode = self.getCID()
-
-        # Return a model designation based on model code
-
-        modelNamesByCode = {602413: "Turbo PMAC2-VME", 603382: "Geo Brick (3U Turbo PMAC2)"}
-        try:
-            modelName = modelNamesByCode[modelCode]
-        except KeyError as e_key:
-            raise PMACError(f"Unsupported PMAC model: modelCode={modelCode}") from e_key
-
-        self.modelName = modelName
-
-        return modelName
-
-    def getCID(self):
-        retStr = self.getResponse(CMD_STRING_CID)
-        return match_int_response(retStr)
-
-    def getVersion(self):
-        retStr = self.getResponse(CMD_STRING_VER)
-        return match_float_response(retStr)
-
-    def getCPU(self):
-        retStr = self.getResponse(CMD_STRING_CPU)
-        return match_string_response(retStr)
-
-    def getType(self):
-        retStr = self.getResponse(CMD_STRING_TYPE)
-        return match_string_response(retStr)
-
-    def getVID(self):
-        retStr = self.getResponse(CMD_STRING_VID)
-        return match_string_response(retStr)
-
-    def getDate(self):
-        retStr = self.getResponse(CMD_STRING_DATE)
-        return match_string_response(retStr)
-
-    def getTime(self):
-        retStr = self.getResponse(CMD_STRING_TIME)
-        return match_string_response(retStr)
-
-    def getToday(self):
-        retStr = self.getResponse(CMD_STRING_TODAY)
-        return match_string_response(retStr)
-
-    def sendCommand(self, cmd, **kwargs):
-        """
-        Sends a command string to the TPMAC.
-
-        Once the acknowledgment is received, it interrogates the TPMAC Q20 variable
-        each DEF_TPMAC_READ_FREQ microseconds until Q20 = 0 or -1 or -2.
-
-        Throws a PMACError:
-            * when the arguments do not match up
-            * when there is a Time-Out
-            * when there is a socket communication error
-
-        Returns the Q20 value as an integer.
-        """
-
-        # When we expect input parameters, make sure the number of **kwargs matches the cmd['in']
-        # and format the command with the given keyword arguments.raise
-
-        if cmd["in"] > 0:
-            if len(kwargs) == cmd["in"]:
-                fullCommand = cmd["cmd"].format(**kwargs)
-            else:
-                raise PMACError(
-                    f"Expected {cmd['in']} keyword arguments to cmd['name'], got {len(kwargs)}"
-                )
-        else:
-            fullCommand = cmd["cmd"]
-
-        logger.flash_flood(f'Sending the {cmd["name"]} command.')
-
-        retStr = self.getResponse(fullCommand)
-
-        logger.flash_flood(f'Command \'{cmd["name"]}\' returned "{retStr}"')
-
-        # Check the return code (usually Q20)
-
-        if cmd["out"] == 0 and cmd["return"] is not None:
-
-            # The following method can throw a PMACError on Timeout
-
-            rc = self.waitFor(cmd["return"], cmd["check"])
-            logger.debug(f"waitFor returned {rc}")
-
-            return rc
-
-        # Get and return the output parameters
-
-        if cmd["out"] > 0 and cmd["return"] is not None:
-
-            # The following method can throw a PMACError on Timeout
-
-            out = self.waitForOutput(cmd["return"], cmd["check"], cmd["out"], cmd["out_type"])
-            logger.debug(f"waitForAndOutput returned {out}")
-
-            return out
-
-        # Get the output parameters out of the retStr
-
-        if cmd["out"] > 0 and cmd["return"] is None:
-            out = extractOutput(retStr, cmd["out"], cmd["out_type"])
-
-            return out
-        #
-        return None
-
-
-if __name__ == "__main__":
-    pass