cgse 2024.7.0__py3-none-any.whl → 2025.0.1__py3-none-any.whl

egse/hexapod/symetrie/puna.py

@@ -1,1167 +0,0 @@
-"""
-This module defines the device classes to be used to connect to and control the Hexapod PUNA from
-Symétrie.
-
-"""
-import logging
-import math
-import time
-from datetime import datetime
-from datetime import timedelta
-
-import numpy as np
-
-from egse.bits import set_bit
-from egse.coordinates.referenceFrame import ReferenceFrame
-from egse.device import DeviceConnectionState
-from egse.device import DeviceInterface
-from egse.hexapod import HexapodError
-from egse.hexapod.symetrie import pmac
-from egse.hexapod.symetrie.alpha import AlphaControllerInterface
-from egse.hexapod.symetrie.pmac import PMACError
-from egse.hexapod.symetrie.pmac import PmacEthernetInterface
-from egse.hexapod.symetrie.pmac import decode_Q29
-from egse.hexapod.symetrie.pmac import decode_Q36
-from egse.proxy import Proxy
-from egse.settings import Settings
-from egse.zmq_ser import connect_address
-
-logger = logging.getLogger(__name__)
-
-PUNA_SETTINGS = Settings.load("PMAC Controller")
-CTRL_SETTINGS = Settings.load("Hexapod PUNA Control Server")
-DEVICE_SETTINGS = Settings.load(filename="puna.yaml")
-
-NUM_OF_DECIMALS = 6  # used for rounding numbers before sending to PMAC
-
-
-class PunaInterface(AlphaControllerInterface, DeviceInterface):
-    """
-    Interface definition for the PunaController, the PunaProxy and the PunaSimulator.
-    """
-
-
-class PunaController(PunaInterface):
-    """
-    The PunaController class allows controlling a Symétrie PUNA Hexapod through an Ethernet
-    interface that is connecting a Symétrie Controller.
-
-    The Symétrie Controller can be either in simulation mode or have a real Hexapod
-    connected.
-
-    **Synopsis**
-
-        from egse.hexapod.symetrie.puna import PunaController
-        hexapod = PunaController(hostname="10.33.178.145", port=1025)
-        try:
-            hexapod.connect()
-
-            # do some useful things here with the hexapod
-
-        except HexapodError as exc:
-            print(exc)
-        finally:
-            hexapod.disconnect()
-
-    The constructor also sets the connection parameters and tries to connect
-    to the controller. Make sure that you explicitly use the hexapod.disconnect()
-    command when no connection is needed anymore.
-
-    The controller can also be used as a context manager, in which case the `connect()`
-    and `disconnect()` methods should not be called:
-
-        with PunaController() as puna:
-            puna.info()
-
-    """
-
-    SPEC_POS_MAINTENANCE = 0
-    """Hexapod specific position, for maintenance or Jog only."""
-    SPEC_POS_ZERO = 1
-    """Hexapod zero position."""
-    SPEC_POS_RETRACTED = 2
-    """Hexapod retracted position."""
-
-    def __init__(self, hostname=None, port=None):
-        """
-        Opens a TCP/IP socket connection with the Hexapod PUNA Hardware Controller.
-
-        Args:
-            hostname (str): the IP address or fully qualified hostname of the Hexapod hardware
-            controller.
-                The default is defined in the ``settings.yaml`` configuration file.
-
-            port (int): the IP port number to connect to, by default set in the ``settings.yaml``
-            configuration file.
-
-        Raises:
-            HexapodError: when the connection could not be established for some reason.
-        """
-
-        super().__init__()
-
-        if hostname is None or port is None:
-            raise ValueError(f"Please provide both hostname and port for the PunaController, {hostname=}, {port=}")
-
-        logger.debug(f"Initializing PunaController with hostname={hostname} on port={port}")
-
-        try:
-            self.pmac = PmacEthernetInterface()
-            self.pmac.setConnectionParameters(hostname, port)
-        except PMACError as exc:
-            logger.warning(
-                f"HexapodError: Couldn't establish connection with the Hexapod PUNA Hardware "
-                f"Controller: ({exc})"
-            )
-
-    def is_simulator(self):
-        return False
-
-    def is_connected(self):
-        return self.pmac.isConnected()
-
-    def connect(self):
-        try:
-            self.pmac.connect()
-        except PMACError as exc:
-            logger.warning(f"PMACError caught: Couldn't establish connection ({exc})")
-            raise ConnectionError("Couldn't establish a connection with the Hexapod.") from exc
-
-        self.notify_observers(DeviceConnectionState.DEVICE_CONNECTED)
-
-    def disconnect(self):
-        try:
-            self.pmac.disconnect()
-        except PMACError as exc:
-            raise ConnectionError("Couldn't disconnect from Hexapod.") from exc
-
-        self.notify_observers(DeviceConnectionState.DEVICE_NOT_CONNECTED)
-
-    def reconnect(self):
-        if self.is_connected():
-            self.disconnect()
-        self.connect()
-
-    def is_in_position(self):
-        try:
-            out = self.pmac.getQVars(36, [0], int)
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't retrieve information from Hexapod PUNA Hardware Controller.") from exc
-        return bool(out[0] & 0x04)
-
-    def info(self):
-        try:
-            msg = "Info about the Hexapod PUNA:\n"
-            msg += f"model   = {self.pmac.getPmacModel()}\n"
-            msg += f"CID     = {self.pmac.getCID()}\n"
-            msg += f"version = {self.pmac.getVersion()}\n"
-            msg += f"cpu     = {self.pmac.getCPU()}\n"
-            msg += f"type    = {self.pmac.getType()}\n"
-            msg += f"vendorID= {self.pmac.getVID()}\n"
-            msg += f"date    = {self.pmac.getDate()}\n"
-            msg += f"time    = {self.pmac.getTime()}\n"
-            msg += f"today   = {self.pmac.getToday()}\n"
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't retrieve information from Hexapod PUNA Hardware Controller."
-            ) from exc
-
-        return msg
-
-    def stop(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_STOP)
-        except PMACError as exc:
-            raise HexapodError("Couldn't complete the STOP command.") from exc
-
-        return rc
-
-    def homing(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_HOMING)
-        except PMACError as exc:
-            raise HexapodError("Couldn't complete the HOMING command.") from exc
-
-        logger.info("Homing: Command was successful")
-
-        return rc
-
-    def is_homing_done(self):
-        try:
-            rc = self.pmac.getQVars(26, [0], int)[0]
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return False
-
-        msg = {  # noqa: F841
-            0: "Homing status is undefined.",
-            1: "Homing is in progress",
-            2: "Homing is done",
-            3: "An error occurred during the Homing process.",
-        }
-
-        if rc == 2:
-            return True
-
-        return False
-
-    def set_virtual_homing(self, tx, ty, tz, rx, ry, rz):
-        try:
-            rc = self.pmac.sendCommand(
-                pmac.CMD_VIRTUAL_HOMING, tx=tx, ty=ty, tz=tz, rx=rx, ry=ry, rz=rz
-            )
-        except PMACError as exc:
-            raise HexapodError("Couldn't execute the virtual homing command.") from exc
-
-        logger.warning(
-            f"Virtual Homing successfully set to {tx:.6f}, {ty:.6f}, {tz:.6f}, {rx:.6f}, "
-            f"{ry:.6f}, {rz:.6f}."
-        )
-
-        return rc
-
-    def activate_control_loop(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_CONTROLON)
-        except PMACError as exc:
-            raise HexapodError("Couldn't activate the control loop.") from exc
-
-        msg = {  # noqa: F841
-            0: "Command was successful",
-            -1: "Command was ignored",
-            -2: "Control of the servo motors has failed",
-        }
-
-        return rc
-
-    def deactivate_control_loop(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_CONTROLOFF)
-        except PMACError as exc:
-            raise HexapodError("Couldn't de-activate the control loop.") from exc
-
-        return rc
-
-    def __move(self, cm, tx, ty, tz, rx, ry, rz):
-        """
-        Ask the controller to perform the movement defined by the arguments.
-
-        For all control modes cm, the rotation centre coincides with the Object
-        Coordinates System origin and the movements are controlled with translation
-        components at first (Tx, Ty, tZ) and then the rotation components (Rx, Ry, Rz).
-
-        Control mode cm:
-            * 0 = absolute control, object coordinate system position and orientation
-                    expressed in the invariant user coordinate system
-            * 1 = object relative, motion expressed in the Object Coordinate System
-            * 2 = user relative, motion expressed in the User Coordinate System
-
-        Args:
-            cm (int): control mode
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-
-        Raises:
-            PMACError: when the arguments do not match up or when there is a time out or when
-            there is a socket
-            communication error.
-
-        .. note:: When the command was not successful, this method will query the ``POSVALID?``
-                  using the checkAbsolutePosition() and print a summary of the error messages
-                  to the log file.
-        """
-
-        rc = self.pmac.sendCommand(pmac.CMD_MOVE, cm=cm, tx=tx, ty=ty, tz=tz, rx=rx, ry=ry, rz=rz)
-
-        error_code_msg = {
-            0: "Command was successful",
-            -1: "Command was ignored",
-            -2: "Command was invalid, check with POSVALID?",
-        }
-
-        if rc < 0:
-            msg = f"Move command returned ({rc}: {error_code_msg[rc]})."
-
-            if rc == -2:
-                Q29, errors = self.__check_movement(cm, tx, ty, tz, rx, ry, rz)
-
-                msg += "\nError messages returned from POSVALID?:\n"
-                for key, value in errors.items():
-                    msg += f"  bit {key:<2d}: {value}\n"
-
-            logger.debug(msg)
-
-        return rc
-
-    def __check_movement(self, cm, tx, ty, tz, rx, ry, rz):
-        """
-        Ask the controller if the movement defined by the arguments is feasible.
-
-        Returns a tuple where the first element is an integer that represents the
-        bitfield encoding the errors. The second element is a dictionary with the
-        bit numbers that were (on) and the corresponding error description.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        """
-        out = self.pmac.sendCommand(
-            pmac.CMD_POSVALID_GET, cm=cm, tx=tx, ty=ty, tz=tz, rx=rx, ry=ry, rz=rz
-        )
-        Q29 = decode_Q29(out[0])
-        return out[0], Q29
-
-    def move_absolute(self, tx, ty, tz, rx, ry, rz):
-        try:
-            rc = self.__move(0, tx, ty, tz, rx, ry, rz)
-        except PMACError as exc:
-            raise HexapodError("Couldn't execute the moveAbsolute command.") from exc
-
-        return rc
-
-    def check_absolute_movement(self, tx, ty, tz, rx, ry, rz):
-        return self.__check_movement(0, tx, ty, tz, rx, ry, rz)
-
-    def move_relative_object(self, tx, ty, tz, rx, ry, rz):
-        try:
-            rc = self.__move(1, tx, ty, tz, rx, ry, rz)
-        except PMACError as exc:
-            raise HexapodError("Couldn't execute the relative movement [object] command.") from exc
-
-        return rc
-
-    def check_relative_object_movement(self, tx, ty, tz, rx, ry, rz):
-        return self.__check_movement(1, tx, ty, tz, rx, ry, rz)
-
-    def move_relative_user(self, tx, ty, tz, rx, ry, rz):
-        try:
-            rc = self.__move(2, tx, ty, tz, rx, ry, rz)
-        except PMACError as exc:
-            raise HexapodError("Couldn't execute the relative movement [user] command.") from exc
-
-        return rc
-
-    def check_relative_user_movement(self, tx, ty, tz, rx, ry, rz):
-        return self.__check_movement(2, tx, ty, tz, rx, ry, rz)
-
-    def perform_maintenance(self, axis):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_MAINTENANCE, axis=axis)
-        except PMACError as exc:
-            raise HexapodError("Couldn't perform maintenance cycle.") from exc
-
-        msg = {0: "Command was successfully executed", -1: "Command was ignored"}  # noqa: F841
-
-        return rc
-
-    def goto_specific_position(self, pos):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_SPECIFICPOS, pos=pos)
-        except PMACError as exc:
-            raise HexapodError(f"Couldn't goto specific position [pos={pos}].") from exc
-
-        msg = {
-            0: "Command was successfully executed",
-            -1: "Command was ignored",
-            -2: "Invalid movement command",
-        }
-
-        logger.info(f"Goto Specific Position [{pos}]: {msg[rc]}")
-
-        if rc < 0:
-            try:
-                out = self.pmac.getQVars(0, [29], int)
-            except PMACError as exc:
-                raise HexapodError("Couldn't get a response from the Hexapod controller.") from exc
-            Q29 = decode_Q29(out[0])
-
-            msg = "Error messages returned in Q29:\n"
-            for key, value in Q29.items():
-                msg += f"  {key:2d}: {value}\n"
-
-            logger.debug(msg)
-
-        return rc
-
-    def goto_retracted_position(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_SPECIFICPOS, pos=self.SPEC_POS_RETRACTED)
-        except PMACError as exc:
-            raise HexapodError("Couldn't goto retracted position.") from exc
-
-        msg = {
-            0: "Command was successfully executed",
-            -1: "Command was ignored",
-            -2: "Invalid movement command",
-        }
-
-        logger.info(f"Goto Retracted Position [2]: {msg[rc]}")
-
-        if rc < 0:
-            try:
-                out = self.pmac.getQVars(0, [29], int)
-            except PMACError as exc:
-                raise HexapodError("Couldn't get a response from the Hexapod controller.") from exc
-            Q29 = decode_Q29(out[0])
-
-            msg = "Error messages returned in Q29:\n"
-            for key, value in Q29.items():
-                msg += f"  {key:2d}: {value}\n"
-
-            logger.debug(msg)
-
-        return rc
-
-    def goto_zero_position(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_SPECIFICPOS, pos=self.SPEC_POS_ZERO)
-        except PMACError as exc:
-            raise HexapodError("Couldn't goto zero position.") from exc
-
-        msg = {
-            0: "Command was successfully executed",
-            -1: "Command was ignored",
-            -2: "Invalid movement command",
-        }
-
-        logger.info(f"Goto Zero Position [1]: {msg[rc]}")
-
-        if rc < 0:
-            try:
-                out = self.pmac.getQVars(0, [29], int)
-            except PMACError as exc:
-                raise HexapodError("Couldn't get a response from the Hexapod controller.") from exc
-            Q29 = decode_Q29(out[0])
-
-            msg = "Error messages returned in Q29:\n"
-            for key, value in Q29.items():
-                msg += f"  {key:2d}: {value}\n"
-
-            logger.debug(msg)
-
-        return rc
-
-    def get_buffer(self):
-        return_string = self.pmac.getBuffer()
-        return return_string
-
-    def clear_error(self):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_CLEARERROR)
-        except PMACError as exc:
-            raise HexapodError("Couldn't clear errors in the controller software.") from exc
-
-        return rc
-
-    def jog(self, axis: int, inc: float) -> int:
-        if not (1 <= axis <= 6):
-            logger.error(f"The axis argument must be 1 <= axis <= 6, given {axis}.")
-            raise HexapodError("Illegal Argument Value: axis is {axis}, should be 1 <= axis <= 6.")
-
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_JOG, axis=axis, inc=inc)
-        except PMACError as exc:
-            raise HexapodError(
-                f"Couldn't execute the jog command for axis={axis} with inc={inc} [mm]."
-            ) from exc
-
-        msg = {0: "Command was successfully executed", -1: "Command was ignored"}
-
-        logger.info(f"JOG on axis [{axis}] of {inc} mm: {msg[rc]}")
-
-        return rc
-
-    def configure_coordinates_systems(
-        self, tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o
-    ):
-        try:
-
-            rc = self.pmac.sendCommand(
-                pmac.CMD_CFG_CS,
-                tx_u=round(tx_u, NUM_OF_DECIMALS),
-                ty_u=round(ty_u, NUM_OF_DECIMALS),
-                tz_u=round(tz_u, NUM_OF_DECIMALS),
-                rx_u=round(rx_u, NUM_OF_DECIMALS),
-                ry_u=round(ry_u, NUM_OF_DECIMALS),
-                rz_u=round(rz_u, NUM_OF_DECIMALS),
-                tx_o=round(tx_o, NUM_OF_DECIMALS),
-                ty_o=round(ty_o, NUM_OF_DECIMALS),
-                tz_o=round(tz_o, NUM_OF_DECIMALS),
-                rx_o=round(rx_o, NUM_OF_DECIMALS),
-                ry_o=round(ry_o, NUM_OF_DECIMALS),
-                rz_o=round(rz_o, NUM_OF_DECIMALS),
-            )
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't configure coordinate systems on the hexapod controller."
-            ) from exc
-
-        return rc
-
-    def get_coordinates_systems(self):
-        try:
-            out = self.pmac.sendCommand(pmac.CMD_CFG_CS_GET)
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't get the coordinate systems information from the hexapod controller."
-            ) from exc
-
-        return out
-
-    def get_debug_info(self):
-        try:
-            out = self.pmac.sendCommand(pmac.CMD_STATE_DEBUG_GET)
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't get the debugging information from the hexapod controller."
-            ) from exc
-
-        return out
-
-    def set_speed(self, vt, vr):
-        try:
-            rc = self.pmac.sendCommand(pmac.CMD_CFG_SPEED, vt=vt, vr=vr)
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't set the speed for translation [{vt} mm/s] or rotation [{vr} deg/s]."
-            ) from exc
-
-        return rc
-
-    def get_speed(self):
-        try:
-            out = self.pmac.sendCommand(pmac.CMD_CFG_SPEED_GET)
-        except PMACError as exc:
-            raise HexapodError(
-                "Couldn't get the speed settings from the hexapod controller."
-            ) from exc
-
-        return out
-
-    def get_general_state(self):
-        try:
-            out = self.pmac.getQVars(36, [0], int)
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return None
-
-        return out[0], pmac.decode_Q36(out[0])
-
-    def get_actuator_state(self):
-        try:
-            out = self.pmac.getQVars(30, [0, 1, 2, 3, 4, 5], int)
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return None
-
-        return [pmac.decode_Q30(value) for value in out]
-
-    def get_user_positions(self):
-        try:
-            # out = self.pmac.getQVars(53, [0, 1, 2, 3, 4, 5], float)
-            out = self.pmac.sendCommand(pmac.CMD_POSUSER_GET)
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return None
-
-        return out
-
-    def get_machine_positions(self):
-        try:
-            out = self.pmac.getQVars(47, [0, 1, 2, 3, 4, 5], float)
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return None
-
-        return out
-
-    def get_actuator_length(self):
-        try:
-            out = self.pmac.getQVars(41, [0, 1, 2, 3, 4, 5], float)
-        except PMACError as pmac_exc:
-            logger.error(f"PMAC Exception: {pmac_exc}", exc_info=True)
-            return None
-
-        return out
-
-    def reset(self, wait=True, verbose=False):
-        try:
-            self.pmac.sendCommand(pmac.CMD_RESETSOFT)
-        except PMACError as exc:
-            raise HexapodError("Couldn't (soft) reset the hexapod controller.") from exc
-
-        # How do I know when the RESETSOFT has finished and we can send further commands?
-
-        if wait:
-            logger.info("Sent a soft reset, this will take about 30 seconds to complete.")
-            self.__wait(30, verbose=verbose)
-
-    def __wait(self, duration, verbose=False):
-        """
-        Wait for a specific duration in seconds.
-        """
-        _timeout = timedelta(seconds=duration)
-        _start = datetime.now()
-
-        _rate = timedelta(seconds=5)  # every _rate seconds print a message
-        _count = 0
-
-        logger.info(f"Just waiting {duration} seconds ...")
-
-        while datetime.now() - _start < _timeout:
-
-            if verbose and (datetime.now() - _start > _count * _rate):
-                _count += 1
-                logger.info(f"waited for {_count * _rate} of {_timeout} seconds, ")
-                print(f"waited for {_count * _rate} of {_timeout} seconds, ")
-
-            time.sleep(0.01)
-
-
-class PunaSimulator(PunaInterface):
-    """
-    HexapodSimulator simulates the Symétrie Hexapod PUNA. The class is heavily based on the
-    ReferenceFrames in the `egse.coordinates` package.
-
-    The simulator implements the same methods as the HexapodController class which acts on the
-    real hardware controller in either simulation mode or with a real Hexapod PUNA connected.
-
-    Therefore, the HexapodSimulator can be used instead of the Hexapod class in test harnesses
-    and when the hardware is not available.
-
-    This class simulates all the movements and status of the Hexapod.
-    """
-
-    def __init__(self):
-
-        identity = np.identity(4)
-
-        # Rotation around static axis, and around x, y and z in that order
-        self.rot_config = "sxyz"
-
-        # Configure the Master Reference Frame
-        self.cs_master = ReferenceFrame.createMaster()
-
-        # Configure the Machine Coordinate System, i.e. cs_mec [ref:cs_master]
-        self.cs_machine = ReferenceFrame(
-            transformation=identity,
-            ref=self.cs_master,
-            name="Machine[Master]",
-            rot_config=self.rot_config,
-        )
-
-        # Configure the Platform Coordinate System, i.e. cs_platform [ref:cs_machine]
-        # default after homing: PLATFORM = MACHINE
-
-        self.cs_platform = ReferenceFrame(
-            transformation=identity,
-            ref=self.cs_machine,
-            name="Platform[Machine]",
-            rot_config=self.rot_config,
-        )
-
-        # Configure the User Coordinate System, i.e. cs_user [ref:cs_machine]
-        self.cs_user = ReferenceFrame(
-            transformation=identity,
-            ref=self.cs_machine,
-            name="User[Machine]",
-            rot_config=self.rot_config,
-        )
-
-        # Configure the Object Coordinate System, i.e. cs_object [ref:cs_platform]
-        self.cs_object = ReferenceFrame(
-            transformation=identity,
-            ref=self.cs_platform,
-            name="Object[Platform]",
-            rot_config=self.rot_config,
-        )
-
-        # We use a CS called cs_object_in_user, i.e. Object as defined in the User CS,
-        # and we define this
-        # from the transformation user -> object.
-
-        tf_user_to_object = self.cs_user.getActiveTransformationTo(self.cs_object)
-        self.cs_object_in_user = ReferenceFrame(
-            tf_user_to_object, rot_config=self.rot_config, ref=self.cs_user, name="Object[User]"
-        )
-
-        # Define the invariant links within the system, i.e. some systems are bound with an
-        # invariant transformation
-        # matrix and those links shall be preserved throughout the movement within the system.
-
-        # We link this cs_object_in_user to cs_object with the identity transformation,
-        # which connects them together
-
-        self.cs_object_in_user.addLink(self.cs_object, transformation=identity)
-
-        # The User Coordinate System is linked to the Machine Coordinate System
-
-        self.cs_machine.addLink(self.cs_user, transformation=self.cs_user.transformation)
-
-        # The Object Coordinate System is linked to the Platform Coordinate System
-
-        self.cs_platform.addLink(self.cs_object, transformation=self.cs_object.transformation)
-
-        # Keep a record if the homing() command has been executed.
-
-        self.homing_done = False
-        self.control_loop = False
-        self._virtual_homing = False
-        self._virtual_homing_position = None
-
-        # Just keep the speed settings, no used in movement currently
-
-        self._speed = [1.0, 1.0, 0.01, 0.001, 4.0, 2.0]
-
-        # Print out some debugging information
-
-        logger.debug(
-            f"Linked to cs_object_in_user  {[i.name for i in self.cs_object_in_user.linkedTo]}"
-        )
-        logger.debug(f"Linked to cs_object          {[i.name for i in self.cs_object.linkedTo]}")
-        logger.debug(f"Linked to cs_platform        {[i.name for i in self.cs_platform.linkedTo]}")
-        logger.debug(
-            f"Linked to cs_machine         {[i.name for i in self.cs_machine.linkedTo or {}]}"
-        )
-
-    def is_simulator(self):
-        return True
-
-    def connect(self):
-        pass
-
-    def reconnect(self):
-        pass
-
-    def disconnect(self):
-        # TODO:
-        #   Should I keep state in this class to check if it has been disconnected?
-        #
-        # TODO:
-        #   What happens when I re-connect to this Simulator? Shall it be in Homing position or
-        #   do I have to keep state via a persistency mechanism?
-        pass
-
-    def is_connected(self):
-        return True
-
-    def reset(self, wait=True, verbose=False):
-        # TODO:
-        #   Find out what exactly a reset() should be doing. Does it bring back the Hexapod
-        #   in it's original state, loosing all definitions of coordinate systems? Or does it
-        #   do a clearError() and a homing()?
-        pass
-
-    def homing(self):
-        self.goto_zero_position()
-        self.homing_done = True
-        self._virtual_homing = False
-        self._virtual_homing_position = None
-        return 0
-
-    def is_homing_done(self):
-        return self.homing_done
-
-    def set_virtual_homing(self, tx, ty, tz, rx, ry, rz):
-        self._virtual_homing_position = [tx, ty, tz, rx, ry, rz]
-        self._virtual_homing = True
-        return 0
-
-    def stop(self):
-        pass
-
-    def clear_error(self):
-        return 0
-
-    def activate_control_loop(self):
-        self.control_loop = True
-        return self.control_loop
-
-    def deactivate_control_loop(self):
-        self.control_loop = False
-        return self.control_loop
-
-    def configure_coordinates_systems(
-        self, tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o
-    ):
-        identity = np.identity(4)
-
-        # Redefine the User Coordinate System
-
-        translation = np.array([tx_u, ty_u, tz_u])
-        rotation = np.array([rx_u, ry_u, rz_u])
-        degrees = True
-
-        # Remove the old links between user and machine CS, and between Object in User and Object CS
-
-        self.cs_machine.removeLink(self.cs_user)
-        self.cs_object_in_user.removeLink(self.cs_object)
-
-        # Redefine the User Coordinate System
-
-        self.cs_user = ReferenceFrame.fromTranslationRotation(
-            translation,
-            rotation,
-            rot_config=self.rot_config,
-            ref=self.cs_machine,
-            name="User[Machine]",
-            degrees=degrees,
-        )
-
-        # Redefine the Object in User Coordinate System
-
-        tf_user_to_object = self.cs_user.getActiveTransformationTo(self.cs_object)
-        self.cs_object_in_user = ReferenceFrame(
-            tf_user_to_object, rot_config=self.rot_config, ref=self.cs_user, name="Object[User]"
-        )
-
-        # Define the invariant links within the system, i.e. some systems are bound with an
-        # invariant transformation
-        # matrix and those links shall be preserved throughout the movement within the system.
-
-        # User and Machine CS are invariant, reset the transformation. User in Object is
-        # identical to Object
-
-        self.cs_machine.addLink(self.cs_user, transformation=self.cs_user.transformation)
-        self.cs_object_in_user.addLink(self.cs_object, transformation=identity)
-
-        # Redefine the Object Coordinates System
-
-        translation = np.array([tx_o, ty_o, tz_o])
-        rotation = np.array([rx_o, ry_o, rz_o])
-        degrees = True
-
-        # Remove the old links between user and machine CS, and between Object in User and Object CS
-
-        self.cs_platform.removeLink(self.cs_object)
-        self.cs_object_in_user.removeLink(self.cs_object)
-
-        self.cs_object = ReferenceFrame.fromTranslationRotation(
-            translation,
-            rotation,
-            rot_config=self.rot_config,
-            ref=self.cs_platform,
-            name="Object[Platform]",
-            degrees=degrees,
-        )
-
-        # Redefine the Object in User Coordinate System
-
-        tf_user_to_object = self.cs_user.getActiveTransformationTo(self.cs_object)
-        self.cs_object_in_user = ReferenceFrame(
-            tf_user_to_object, rot_config=self.rot_config, ref=self.cs_user, name="Object[User]"
-        )
-
-        # Object CS and Platform CS are invariant, reset the transformation. User in Object is
-        # identical to Object
-
-        self.cs_platform.addLink(self.cs_object, transformation=self.cs_object.transformation)
-        self.cs_object_in_user.addLink(self.cs_object, transformation=identity)
-
-        return 0
-
-    def get_coordinates_systems(self):
-
-        degrees = True
-
-        t_user, r_user = self.cs_user.getTranslationRotationVectors(degrees=degrees)
-        t_object, r_object = self.cs_object.getTranslationRotationVectors(degrees=degrees)
-
-        return list(np.concatenate((t_user, r_user, t_object, r_object)))
-
-    def move_absolute(self, tx, ty, tz, rx, ry, rz):
-        # FIXME:
-        #  to really simulate the behavior of the Hexapod, this method should implement limit
-        #  checking
-        #  and other condition or error checking, e.g. argument matching, etc.
-
-        logger.debug(f"moveAbsolute with {tx}, {ty}, {tz}, {rx}, {ry}, {rz}")
-
-        translation = np.array([tx, ty, tz])
-        rotation = np.array([rx, ry, rz])
-
-        # We set a new transformation for cs_object_in_user which will update our model,
-        # because cs_object and cs_object_in_user are linked.
-
-        self.cs_object_in_user.setTranslationRotation(
-            translation,
-            rotation,
-            rot_config=self.rot_config,
-            active=True,
-            degrees=True,
-            preserveLinks=True,
-        )
-
-        return 0
-
-    def move_relative_object(self, tx, ty, tz, rx, ry, rz):
-
-        tr_rel = np.array([tx, ty, tz])
-        rot_rel = np.array([rx, ry, rz])
-
-        self.cs_object.applyTranslationRotation(
-            tr_rel,
-            rot_rel,
-            rot_config=self.rot_config,
-            active=True,
-            degrees=True,
-            preserveLinks=True,
-        )
-
-    def move_relative_user(self, tx, ty, tz, rx, ry, rz):
-
-        # The Symétrie Hexapod definition of moveRelativeUser
-        #
-        # - Translation and rotations are expressed in USER reference frame
-        #
-        # - Actually,
-        #     - the translations happen parallel to the USER reference frame
-        #     - the rotations are applied after the translations, on the OBJ ReferenceFrame
-        #
-        # To achieve this,
-        #
-        #     * OBUSR is "de-rotated", to become parallel to USR
-        #     * the requested translation is applied
-        #     * OBUSR is "re-rotated" to its original orientation
-        #     * the requested rotation is applied
-
-        # Derotation of cs_object --> cs_user
-
-        derotation = self.cs_object.getActiveTransformationTo(self.cs_user)
-        derotation[:3, 3] = [0, 0, 0]
-
-        # Reverse rotation
-
-        rerotation = derotation.T
-
-        # Requested translation matrix
-
-        translation = np.identity(4)
-        translation[:3, 3] = [tx, ty, tz]
-
-        # Requested rotation matrix
-
-        import egse.coordinates.transform3d_addon as t3add
-
-        rotation = t3add.translationRotationToTransformation(
-            [0, 0, 0], [rx, ry, rz], rot_config=self.rot_config
-        )
-
-        transformation = derotation @ translation @ rerotation @ rotation
-
-        # Adapt our model
-
-        self.cs_object.applyTransformation(transformation)
-
-    def check_absolute_movement(self, tx, ty, tz, rx, ry, rz):
-        rc = 0
-        rc_dict = {}
-        if not -30.0 <= tx <= 30.0:
-            rc += 1
-            rc_dict.update({1: "Tx should be in range ±30.0 mm"})
-        if not -30.0 <= ty <= 30.0:
-            rc += 1
-            rc_dict.update({2: "Ty should be in range ±30.0 mm"})
-        if not -20.0 <= tz <= 20.0:
-            rc += 1
-            rc_dict.update({3: "Tz should be in range ±20.0 mm"})
-        if not -11.0 <= rx <= 11.0:
-            rc += 1
-            rc_dict.update({4: "Rx should be in range ±11.0 mm"})
-        if not -11.0 <= ry <= 11.0:
-            rc += 1
-            rc_dict.update({5: "Ry should be in range ±11.0 mm"})
-        if not -20.0 <= rz <= 20.0:
-            rc += 1
-            rc_dict.update({6: "Rz should be in range ±20.0 mm"})
-        return rc, rc_dict
-
-    def check_relative_object_movement(self, tx, ty, tz, rx, ry, rz):
-        return 0, {}
-
-    def check_relative_user_movement(self, tx, ty, tz, rx, ry, rz):
-        return 0, {}
-
-    def get_user_positions(self):
-        t, r = self.cs_user.getActiveTranslationRotationVectorsTo(self.cs_object_in_user)
-
-        pos = list(np.concatenate((t, r)))
-
-        return pos
-
-    def get_machine_positions(self):
-        t, r = self.cs_platform.getTranslationRotationVectors()
-        t, r = self.cs_machine.getActiveTranslationRotationVectorsTo(self.cs_platform)
-
-        pos = list(np.concatenate((t, r)))
-
-        return pos
-
-    def get_actuator_length(self):
-        alen = [math.nan for _ in range(6)]
-
-        return alen
-
-    def get_general_state(self):
-        state = 0
-        state = set_bit(state, 1)  # System Initialized
-        state = set_bit(state, 2)  # In Position
-        if self.homing_done:
-            state = set_bit(state, 4)
-        if self.control_loop:
-            state = set_bit(state, 3)
-        if self._virtual_homing:
-            state = set_bit(state, 18)
-        return state, decode_Q36(state)
-
-    def goto_specific_position(self, pos):
-        return 0
-
-    def goto_retracted_position(self):
-        translation = np.array([0, 0, -20])
-        rotation = np.array([0, 0, 0])
-
-        self.cs_platform.setTranslationRotation(
-            translation,
-            rotation,
-            rot_config=self.rot_config,
-            active=True,
-            degrees=True,
-            preserveLinks=True,
-        )
-
-        return 0
-
-    def goto_zero_position(self):
-        # We set a new transformation for cs_platform which will update our model.
-        # See issue #58: updating the cs_platform is currently not a good idea because that will
-        # not properly update the chain/path upwards, i.e. the chain/path is followed in the
-        # direction of the references that are defined, not in the other direction.
-        #
-        translation = np.array([0, 0, 0])
-        rotation = np.array([0, 0, 0])
-
-        self.cs_platform.setTranslationRotation(
-            translation,
-            rotation,
-            rot_config=self.rot_config,
-            active=True,
-            degrees=True,
-            preserveLinks=True,
-        )
-
-        # As a work around for the bug in issue #58, we determine the transformation from
-        # cs_object as it is
-        # invariantly linked with cs_platform. Updating cs_object_in_user with that
-        # transformation will
-        # properly update all the reference frames.
-
-        # tr_abs, rot_abs = self.cs_object.getTranslationRotationVectors()
-        #
-        # self.cs_object_in_user.setTranslationRotation(
-        #     tr_abs,
-        #     rot_abs,
-        #     rot_config=self.rot_config,
-        #     active=True,
-        #     degrees=True,
-        #     preserveLinks=True,
-        # )
-
-        return 0
-
-    def is_in_position(self):
-        return True
-
-    def jog(self, axis: int, inc: float) -> int:
-        pass
-
-    def get_debug_info(self):
-        pass
-
-    def set_speed(self, vt, vr):
-        self._speed[0] = vt
-        self._speed[1] = vr
-
-    def get_speed(self):
-        return tuple(self._speed)
-
-    def get_actuator_state(self):
-        return [({0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                  4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                  6: 'Brake control output'},
-                 [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), (
-                {0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                 4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                 6: 'Brake control output'},
-                [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), (
-                {0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                 4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                 6: 'Brake control output'},
-                [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), (
-                {0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                 4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                 6: 'Brake control output'},
-                [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), (
-                {0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                 4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                 6: 'Brake control output'},
-                [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), (
-                {0: 'In position', 1: 'Control loop on servo motors active', 2: 'Homing done',
-                 4: 'Input "Positive limit switch"', 5: 'Input "Negative limit switch"',
-                 6: 'Brake control output'},
-                [1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])]
-
-    def perform_maintenance(self, axis):
-        pass
-
-    def info(self):
-
-        msg = "Info about the PunaSimulator:\n"
-        msg += "\n"
-        msg += "This Hexapod PUNA Simulator works with several reference frames:\n"
-        msg += "  * The machine reference frame\n"
-        msg += "  * The platform reference frame\n"
-        msg += "  * The object reference frame\n"
-        msg += "  * The user reference frame\n\n"
-        msg += (
-            "Any movement commands result in a transformation of the appropriate coordinate "
-            "systems."
-        )
-
-        logger.info(msg)
-
-        return msg
-
-
-class PunaProxy(Proxy, PunaInterface):
-    """The PunaProxy class is used to connect to the control server and send commands to the
-    Hexapod PUNA remotely."""
-
-    def __init__(
-        self,
-        protocol=CTRL_SETTINGS.PROTOCOL,
-        hostname=CTRL_SETTINGS.HOSTNAME,
-        port=CTRL_SETTINGS.COMMANDING_PORT,
-    ):
-        """
-        Args:
-            protocol: the transport protocol [default is taken from settings file]
-            hostname: location of the control server (IP address) [default is taken from settings
-            file]
-            port: TCP port on which the control server is listening for commands [default is
-            taken from settings file]
-        """
-        super().__init__(connect_address(protocol, hostname, port))