cgse 2024.7.0__py3-none-any.whl → 2025.0.2__py3-none-any.whl

egse/stages/huber/smc9300.py

@@ -1,920 +0,0 @@
-"""
-This module defines the device classes to be used to connect to and control the HUBER Stages.
-"""
-from __future__ import annotations
-
-import logging
-import textwrap
-from typing import Tuple
-
-import rich
-import time
-
-from egse.control import Failure
-from egse.device import DeviceConnectionError
-from egse.device import DeviceConnectionState
-from egse.device import DeviceInterface
-from egse.mixin import DynamicCommandMixin
-from egse.mixin import add_cr_lf
-from egse.mixin import dynamic_command
-from egse.proxy import DynamicProxy
-from egse.settings import Settings
-from egse.setup import load_setup
-from egse.stages.huber.smc9300_devif import HuberError
-from egse.stages.huber.smc9300_devif import HuberSMC9300EthernetInterface
-from egse.zmq_ser import connect_address
-
-# Explicitly set the module name instead of __name__. When module is executed instead of imported
-# __name__ will result in __main__ and no logging to zmq will be done.
-
-MODULE_LOGGER = logging.getLogger("egse.stages.huber.smc9300")
-
-HC_SETTINGS = Settings.load("Huber Controller")
-CTRL_SETTINGS = Settings.load("Huber Control Server")
-DEVICE_SETTINGS = Settings.load(filename="smc9300.yaml")
-
-
-def print_state(state: int) -> None:
-    """Prints the state of the axis."""
-
-    rich.print(
-        textwrap.dedent(
-            f"""\
-                axis ready: {bool(state & 1)}
-                reference position installed: {bool(state & 2)}
-                end/limit switch EL- active: {bool(state & 4)}
-                end/limit switch EL+ active: {bool(state & 8)}
-                program execution in progress: {bool(state & 64)}
-                controller ready: {bool(state & 128)}
-                oscillation in progress: {bool(state & 256)}
-                oscillation positioning error: {bool(state & 512)}
-                encoder reference installed: {bool(state & 1024)}
-                axis error: {bool(state & 16384)}
-            """
-        )
-    )
-
-
-def untangle_status(status: str) -> dict:
-    """Returns a dictionary with all the values from the status string."""
-
-    try:
-
-        axis, errn, errm, pos, epos, el, ref, eref, rdy, osc, prog, *_ = status.split(":")
-
-        return {
-            "axis": int(axis),  # the axis id
-            "err_no": int(errn),  # error number
-            "err_msg": errm,  # error message
-            "pos": float(pos),  # position
-            "epos": float(epos),  # encode position
-            "elimit": int(el),  # end/limit status
-            "ref": int(ref),  # reference status
-            "eref": int(eref),  # encoder reference status
-            "ctrl": int(rdy),  # controller ready
-            "osc": int(osc),  # oscillation status
-            "prog": int(prog),  # program running
-        }
-    except ValueError as exc:
-        raise ValueError(
-            textwrap.dedent(
-                f"""\
-                Could not disentangle the status from SMC9300, response from the device can not be parsed.
-                The expected format is "axis:err_no:err_msg:pos:epos:elimit:ref:eref:ctrl:osc:prog", where
-                `err_msg` is a string, `pos` and `epos` are floats and the others are of type int.
-                {status=}
-                """
-            )
-        ) from exc
-
-
-def decode_response(response: bytes) -> str:
-    """Decodes the bytes object and strips off the newline."""
-
-    # MODULE_LOGGER.debug(f"response -> {response}")
-
-    return response.decode().rstrip()
-
-
-def decode_info(response: bytes) -> str:
-    response = decode_response(response).split("\r\n")
-
-    return "\n".join(response)
-
-
-def decode_get_state(response: bytes) -> int:
-    """Decodes the response from the get state command and strips off the newline."""
-
-    # The response argument has the following format: '<axis>:<state>;'
-    # where <axis> is 1, 2, or 3 and we need the <state>, so we to
-    # cut e.g. '1:' and ';' if <axis> is 1.
-
-    response = decode_response(response)
-    return int(response[2:-1])
-
-
-def decode_get_parameter(response: bytes) -> Tuple[str, int, str]:
-    """
-    Decodes the response from a request for a parameter value. The response contains
-    the parameter name, the axis, and the value.
-
-    Returns:
-        A tuple of (`<parameter name: str>`, `<axis: int>`, `<value: str>`)
-    """
-    response = decode_response(response)
-    name, value = response.split(":")
-    axis = name[-1]
-    name = name[:-1]
-    return name, int(axis), value
-
-
-def decode_get_error(response: bytes) -> Tuple[str]:
-    """Decodes the response from the get error command and strips off the newline."""
-
-    response = decode_response(response)
-
-    # The response string looks like '<axis>:<errno> <errmsg>' where <axis> is the axis number,
-    # <errno> is the error number and <errmsg> is the error message.
-
-    response = response[2:]
-
-    error = response.split(maxsplit=1)
-
-    if len(error) == 1 and error[0] == '0':
-        error.append("no error")
-
-    return tuple(error)
-
-
-def decode_axis_float(response: bytes) -> float:
-    """Decodes the response of type `<axis>:<float>;` and strips off the newline."""
-
-    response = decode_response(response)
-
-    return float(response[2:-1])
-
-
-def decode_axis_int(response: bytes) -> int:
-    """Decodes the response of type `<axis>:<int>;` and strips off the newline."""
-
-    response = decode_response(response)
-
-    return int(response[2:-1])
-
-
-def decode_get_configuration(response: bytes) -> dict | Failure:
-    """Decodes the response from the controller on the request for the configuration parameters.
-
-    Returns:
-        A dictionary with parameter names and their values.
-    """
-    all_conf = decode_response(response).split("\r\n")
-
-    # Every item in the all_conf list has the format '<var><axis>:<value>' where <var> is the
-    # name of the configuration variable, <axis> is the axis number and <value> is the current
-    # value for the configuration variable. A comment line starts with a '#' character.
-
-    all_conf = [item.split(":") for item in all_conf if not item.startswith("#")]
-
-    # Turn this list of lists into a dictionary and remove the <axis> from the variable names
-
-    return {key[:-1]: value for key, value in all_conf}
-
-
-def process_cmd_string(command: str) -> str:
-    """Prepares the command string for sending to the controller.
-    A carriage return and newline is appended to the command."""
-
-    # MODULE_LOGGER.debug(f"process_command() = {command}")
-
-    return add_cr_lf(command)
-
-
-class HuberSMC9300Interface(DeviceInterface):
-    """
-    Interface definition for the Controller, Simulator and Proxy classes for this device.
-    """
-
-    def __init__(self):
-
-        super().__init__()
-
-        setup = load_setup()
-        self.avoidance = setup.gse.stages.big_rotation_stage.avoidance
-        self.hardstop = setup.gse.stages.big_rotation_stage.hardstop
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_info)
-    def info(self) -> str:
-        """
-        Retrieve basic information about the Huber Stages and the Controller.
-        The returned string contains multiple lines seperated by a newline (`\n`).
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?conf${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_get_configuration)
-    def get_configuration(self, axis) -> dict | Failure:
-        """
-        Returns the configuration parameters for the given axis.
-
-        Returns:
-            A dictionary with configuration parameter names and their values.
-        """
-        raise NotImplementedError
-
-    def get_conf_value(self, axis, name):
-        """
-        Returns the value of the requested configuration parameter.
-
-        Returns:
-            A string containing the value of the requested parameter. The returned object is
-            always a string and needs to be converted to int or float by the caller if needed.
-        """
-        conf = self.get_configuration(axis)
-        return conf[name] if name in conf else None
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?v",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_response)
-    def get_version(self):
-        """
-        Returns the version information about the current control program on the HUBER controller.
-        """
-        raise NotImplementedError
-
-    def goto(self, axis: int, position: float, wait: bool = True) -> int:
-        """
-        Moves the stage to the given absolute position. For the big rotation stage, the movement is done
-        relative to the current position and the avoidance range and hard stop from the Setup are taken
-        into account.
-
-        A positive angle moves the rotation stage counter clockwise.
-
-        Args:
-            axis (int): the integer identifier of one of the axis controlled by the SMC
-            position (float): when the given axis is a rotation stage, the position is given
-                in degrees [deg], for a translation stage, the position is given
-                in millimeter [mm].
-            wait (bool): Only return when the device is in position [default=True]
-
-        Returns:
-            Zero (0) is returned unless a limit switch was hit, in which case +1 is returned when the LIMIT+ switch
-            was hit, and -1 is returned when the LIMIT- switch was hit.
-        """
-
-        # For the big rotation stage use the workaround to avoid continuous movement in the same
-        # direction, and to avoid the limit switch.
-
-        if axis == HC_SETTINGS.BIG_ROTATION_STAGE:
-            current = self.get_current_position(axis)
-            movement = calculate_relative_movement(current, position, avoidance=self.avoidance, hardstop=self.hardstop)
-            self.move_direct(axis, movement)
-        else:
-            self.goto_direct(axis, position)
-
-        if wait:
-            return self.wait_until_axis_ready(axis)
-
-        return 0
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="goto${axis}:${position}",
-        process_cmd_string=process_cmd_string)
-    def goto_direct(self, axis: int, position: float) -> None:
-        """
-        Moves the stage to the given absolute position. No position checking nor conversion is done.
-
-        A positive angle moves the rotation stage counter clockwise.
-
-        Args:
-            axis (int): the integer identifier of one of the axis controlled by the SMC
-            position (float): when the given axis is a rotation stage, the position is given
-                in degrees [deg], for a translation stage, the position is given
-                in millimeter [mm].
-        """
-        raise NotImplementedError
-
-    def move(self, axis: int, distance: float, wait: bool = True) -> int:
-        """
-        Moves the stage relative to the current position in the given distance.
-
-        A positive angle moves the rotation stage counterclockwise.
-
-        Args:
-            axis: the integer identifier of one of the axis controlled by the SMC
-            distance: when the given axis is a rotation stage, the distance is given
-                in degrees [deg], for a translation stage, the distance is given
-                in millimeter [mm].
-            wait (bool): Only return when the device is in position [default=True]
-
-        Returns:
-            Zero (0) is returned unless a limit switch was hit, in which case +1 is returned when the LIMIT+ switch
-            was hit, and -1 is returned when the LIMIT- switch was hit.
-        """
-        self.move_direct(axis, distance)
-        if wait:
-            return self.wait_until_axis_ready(axis)
-        return 0
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="move${axis}:${distance}",
-        process_cmd_string=process_cmd_string,
-    )
-    def move_direct(self, axis: int, distance: float) -> None:
-        """
-        Moves the stage relative to the current position in the given distance.
-
-        A positive angle moves the rotation stage counterclockwise.
-
-        Args:
-            axis: the integer identifier of one of the axis controlled by the SMC
-            distance: when the given axis is a rotation stage, the distance is given
-                in degrees [deg], for a translation stage, the distance is given
-                in millimeter [mm].
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="home${axis}:he;hm${pos}",
-        process_cmd_string=process_cmd_string,
-    )
-    def home_forward_direction(self, axis: int, pos: float = 0):
-        """
-        Execute a home position search procedure for the given axis. This function will search in
-        forward direction for the encoder ECZ (index) signal and set the position to `pos`.
-
-        Args:
-            axis: the integer identifier of one of the axis controlled by the SMC, this
-                  should be '3' for the translation stage (the other axes have an absolute encoder).
-            pos: after the home is found, set the position to `pos`.
-
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="home${axis}:he;hr${pos}",
-        process_cmd_string=process_cmd_string,
-    )
-    def home_reverse_direction(self, axis: int, pos: float = 0):
-        """
-        Execute a home position search procedure for the given axis. This function will search in
-        reverse direction for the encoder ECZ (index) signal and set the position to `pos`.
-
-        Args:
-            axis: the integer identifier of one of the axis controlled by the SMC, this
-                  should be '3' for the translation stage (the other axes have an absolute encoder).
-            pos: after the home is found, set the position to `pos`.
-
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="ffast${axis}:${speed}",
-        process_cmd_string=process_cmd_string)
-    def set_slew_speed(self, axis, speed):
-        """
-        Configures the maximum slew speed used for the execution of manual
-        positioning commands. The maximum speed depends on the motor type,
-        driver type and positioning hardware properties.
-
-        For axis=1 (big rotation stage) the slew speed is given in 1e-4 deg/s, i.e. a slew_speed of
-        15_000 results in an actual speed of 1.5deg/s.
-
-        Manual positioning commands are i.e. ``fast``, ``move``, ``goto``, or
-        the use of the direction keys.
-        """
-        raise NotImplementedError
-
-    def get_slew_speed(self, axis) -> int:
-        """
-        Returns the maximum slew speed used for the execution of manual
-        positioning commands. The maximum speed depends on the motor type,
-        driver type and positioning hardware properties.
-        """
-        return int(self.get_parameter(axis, "ffast")[-1])
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="edev${axis}:${value}",
-        process_cmd_string=process_cmd_string)
-    def set_edev(self, axis, value):
-        """
-        Configure the maximum allowed deviation between actual position
-        and commanded target position for closed-loop positioning. this
-        value must not be less than the resolution of the used encoder.
-
-        This command cannot be executed during positioning or program execution.
-        """
-        raise NotImplementedError
-
-    def get_edev(self, axis) -> float:
-        """
-        Returns the maximum allowed deviation between actual position
-        and commanded target position for closed-loop positioning.
-        """
-        return float(self.get_parameter(axis, "edev")[-1])
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="edir${axis}:${value}",
-        process_cmd_string=process_cmd_string)
-    def set_edir(self, axis, value):
-        """
-        Configure the encoder rotation sense. For the case the controller returns the encoder
-        position information with the wrong sign, use this command to change it correspondingly.
-
-        This command cannot be executed during positioning or program execution.
-        """
-        raise NotImplementedError
-
-    def get_edir(self, axis) -> int:
-        """
-        Returns the encoder rotation sense: 0 is normal, 1 is inverted.
-        """
-        return int(self.get_parameter(axis, "edir")[-1])
-
-    def is_in_position(self, axis) -> bool:
-        """
-        Returns True if the mechanism is in position and not moving.
-        """
-
-        # The sleep of 0.5s here is empirically determined because tests failed randomly
-        # because the position was apparently not completely reached. We also noticed an
-        # oscilation when arriving at a certain position. A diagnostic test revealed that
-        # the status sometimes changes bit 0 and bit 7 indicating the axis/controller
-        # ready before the mechanism actually reached the setpoint. We need about
-        # 0.2s before the actual value is reached, 0.5 seconds is a safe wait time.
-
-        time.sleep(0.5)
-
-        state = self.get_state(axis)
-
-        return state & 0b10000001 == 0b10000001
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?p${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_axis_float)
-    def get_current_position(self, axis) -> float:
-        """
-        Returns the current position for this axis as a float. The position is
-        given in degrees for rotation stages and in mm for translation stages.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?e${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_axis_float)
-    def get_current_encoder_position(self, axis) -> float:
-        """
-        Returns the current encoder position for this axis as a float. The position
-        is given in degrees for rotation stages and in mm for translation stages.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?ec${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_axis_int)
-    def get_current_encoder_counter_value(self, axis) -> int:
-        """
-        Returns the current encoder counter value for this axis as an int.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?err${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_get_error)
-    def get_error(self, axis) -> Tuple[str]:
-        """
-        Returns the last occurred error and corresponding error message for the given axis.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?${name}${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_get_parameter)
-    def get_parameter(self, axis, name) -> Tuple[str, int, str]:
-        """
-        Queries the device for the current value of the given parameter and the given axis.
-
-        Returns:
-            A tuple containing the parameter name (str), axis (int), and the value (str).
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="cerr${axis}",
-        process_cmd_string=process_cmd_string)
-    def clear_error(self, axis):
-        """
-        Reset the last occurred error and clear the error message.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="quit",
-        process_cmd_string=process_cmd_string)
-    def quit(self) -> None:
-        """
-        Immediately stop any positioning process.
-
-        The controller decelerates with the configured deceleration ramp.
-        In contrast to an emergency stop caused by limit switch events,
-        the position information remains valid in this case.
-        """
-        raise NotImplementedError
-
-    @dynamic_command(cmd_type="write", cmd_string="update", process_cmd_string=process_cmd_string)
-    def save_configuration(self):
-        """Saves the current configuration permanently. The settings will be reloaded automatically
-        the next time the controller starts."""
-        raise NotImplementedError
-
-    @dynamic_command(cmd_type="write", cmd_string="reset", process_cmd_string=process_cmd_string)
-    def reset(self):
-        """Resets the controller back to power-on state. When you previously saved the configuration,
-        those values will be reloaded automatically, otherwise the default configuration will be loaded."""
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?s${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_get_state)
-    def get_state(self, axis) -> int:
-        """Query of the current operating state of the controller."""
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="query", cmd_string="?status${axis}",
-        process_cmd_string=process_cmd_string,
-        process_response=decode_response)
-    def get_status(self, axis) -> str:
-        """
-        Returns the status of the given axis. The status contains the following information:
-
-            * axis: the axis number
-            * err_no: the error number
-            * err_msg: the error message if there is an error
-            * pos: the current position
-            * epos: the encoder position
-            * elimit: end/limit status
-            * ref: reference status
-            * eref: encoder reference status
-            * ctrl: is controller ready?
-            * osc: status oscillation
-            * pro: is program running?
-
-        The status response can be untangled as follows:
-
-            >>> dev = HuberSMC9300Proxy()
-            >>> untangle_status(dev.get_status(axis=1))
-
-        """
-        raise NotImplementedError
-
-    @dynamic_command(
-        cmd_type="write", cmd_string="zero${axis}",
-        process_cmd_string=process_cmd_string)
-    def zero(self, axis) -> None:
-        """
-        Set the current position of the axis to zero (0.00). If a reference position
-        offset value is configured (see the configuration command `rofs`) the current
-        position is set to that reference offset value.
-
-        If you want to retain this zero position, you will have to also call the
-        'save_configuration()' command. Otherwise the zero position will be lost
-        after a reset or a power cycle.
-        """
-        raise NotImplementedError
-
-    def wait_until_axis_ready(self, axis: int) -> int:
-        """
-        Send the given axis a state query and wait for the response.
-
-        This function will return only when one of the following states has been reached:
-
-        * The LIMIT- switch was activated
-        * The LIMIT+ switch was activated
-        * The end position was reached, axis ready (bit 0) & controller ready (bit 7)
-
-        Returns:
-
-            *  0: on success, i.e. position is reached
-            * +1: when LIMIT+ switch is reached
-            * -1: when LIMIT- switch is reached
-        """
-
-        # MODULE_LOGGER.debug(f"Wait until axis {axis} is ready...")
-
-        while True:
-
-            time.sleep(0.5)
-
-            state = self.get_state(axis)
-
-            # MODULE_LOGGER.debug(f"state for axis {axis}: {beautify_binary(state)} ({state})")
-
-            if state & 4 == 4:
-                MODULE_LOGGER.warning("LIMIT- active!")
-                rv = -1
-                break
-
-            if state & 8 == 8:
-                MODULE_LOGGER.warning("LIMIT+ active!")
-                rv = +1
-                break
-
-            if state & 512 == 512:
-                MODULE_LOGGER.error("oscillation positioning error (encoder)")
-
-            if state & 129 == 129:
-                # exit loop when position is reached,
-                # state bit 0 and bit 7 indicate 'axis ready' AND 'controller ready',
-                # i.e. all axes stopped
-                rv = 0
-                break
-
-            if state & 16384:  # 0b100_0000_0000_0000
-                response = self.get_error(axis)
-                MODULE_LOGGER.error(f"ERROR on axis {axis}: {response}")
-                self.clear_error(axis)
-
-        # The sleep of 0.5s here is empirically determined because tests failed randomly
-        # because the position was apparently not completely reached. We also noticed an
-        # oscillation when arriving at a certain position. A diagnostic test revealed that
-        # the state sometimes changes bit 0 and bit 7 indicating the axis/controller
-        # ready before the mechanism actually reached the setpoint. We need about
-        # 0.2s before the actual value is reached, 0.5 seconds is a safe wait time.
-
-        time.sleep(0.5)
-
-        return rv
-
-
-class HuberSMC9300Controller(HuberSMC9300Interface, DynamicCommandMixin):
-    """
-    The HuberSmC9300Controller class is used to directly communicate with the HUBER SMC9300
-    Controller through an Ethernet interface.
-    """
-
-    def __init__(self, hostname=HC_SETTINGS.HOSTNAME, port=HC_SETTINGS.PORT):
-        """
-        Opens a TCP/IP socket connection with the HUBER SMC9300 Hardware Controller.
-
-        Args:
-            hostname (str): the IP address or fully qualified hostname of the HUBER 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.
-
-        """
-        super().__init__()
-
-        MODULE_LOGGER.info(
-            f"Initializing Huber SMC9300 Controller with hostname={hostname} on port={port}")
-
-        self.transport = self.huber = HuberSMC9300EthernetInterface(hostname, port)
-
-        self._number_of_axes = HC_SETTINGS.NUMBER_OF_AXES
-
-    def connect(self):
-        try:
-            self.huber.connect()
-
-            # set the speed of each of the stages to the default speed from the Settings.
-
-            for stage in 1, 2, 3:
-                default_speed = HC_SETTINGS.DEFAULT_SPEED[stage - 1]
-                self.set_slew_speed(stage, default_speed)
-
-        except HuberError as exc:
-            MODULE_LOGGER.warning(f"HuberError caught: Couldn't establish connection ({exc})")
-            raise ConnectionError("Couldn't establish a connection with the HUBER Stage.") from exc
-
-        self.notify_observers(DeviceConnectionState.DEVICE_CONNECTED)
-
-    def disconnect(self):
-        try:
-            # Clear the error for each of the axis before disconnecting
-            for axis in range(1, self._number_of_axes + 1):
-                self.clear_error(axis)
-            self.huber.disconnect()
-        except DeviceConnectionError as exc:
-            raise ConnectionError("Couldn't disconnect from HUBER Controller.") from exc
-
-        self.notify_observers(DeviceConnectionState.DEVICE_NOT_CONNECTED)
-
-    def reconnect(self):
-        if self.is_connected():
-            self.disconnect()
-        self.connect()
-
-    def is_connected(self):
-        """Check if the HUBER Stages Controller is connected. """
-        return self.huber.is_connected()
-
-    def is_simulator(self):
-        return "simulator: true" in self.info()
-
-
-class HuberSMC9300Simulator(HuberSMC9300Interface):
-    """
-    The class simulates the HUBER Stages.
-    """
-
-    def __init__(self):
-        super().__init__()
-        MODULE_LOGGER.critical(
-            textwrap.dedent(
-                """\
-                The HuberSMC9300Simulator class is deprecated in favor of the smc9300_sim process. 
-                Start the SMC9300 simulator in a separate terminal with the command:
-                
-                   smc9300_sim start
-                
-                then restart the SCM9300 Control Server: 
-                
-                   smc9300_cs start
-                
-                Make sure the local_settings.yaml file contains the correct HOSTNAME
-                and PORT for accessing the simulator process. 
-                """
-            )
-        )
-
-
-REQUEST_TIMEOUT = 10_000  # 10 seconds
-
-
-class HuberSMC9300Proxy(DynamicProxy, HuberSMC9300Interface):
-    """
-    The HuberProxy class is used to connect to the Huber SMC9300 control server and send commands
-    to the HUBER Hardware Controller remotely.
-    """
-
-    def __init__(
-            self,
-            protocol=CTRL_SETTINGS.PROTOCOL,
-            hostname=CTRL_SETTINGS.HOSTNAME,
-            port=CTRL_SETTINGS.COMMANDING_PORT,
-            timeout=REQUEST_TIMEOUT
-    ):
-        """
-        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]
-            timeout: time out on the response from the control server [milliseconds]
-        """
-
-        DynamicProxy.__init__(self, connect_address(protocol, hostname, port), timeout=timeout)  # explicit calls without super
-        HuberSMC9300Interface.__init__(self)
-
-
-def calculate_relative_movement(current, setpoint, hardstop=None, avoidance=None):
-    """
-    This function calculates the relative movement from the current position to the given setpoint.
-    It defines the direction and the size of the movement based on the current position,
-    the setpoint, the hardstop position and the avoidance angle.
-
-    The function strives to always return the smallest possible angle in order to minimize the
-    duration of the movement.
-
-    The target position (setpoint) can not fall in the range [hardstop - avoidance,
-    hardstop + avoidance]. There is no check on the current position, it is assumed not to be in
-    the avoidance range.
-
-    If hardstop or avoidance are not given, they are loaded from the setup.
-
-    Args:
-        current (float): the current position of the rotation stage
-        setpoint (float): the target position of the rotation stage
-        hardstop (float): the location of the hardstop
-        avoidance (float): angle of avoidance
-        setup: Setup
-    Returns:
-        The angle to move relative from current position to setpoint.
-    Raises:
-        A ValueError when the setpoint falls inside the avoidance range, i.e.
-        [-180 + avoidance, +180 - avoidance].
-    """
-
-    if not avoidance or not hardstop:
-        setup = load_setup()
-
-        avoidance = avoidance or setup.gse.stages.big_rotation_stage.avoidance
-        hardstop = hardstop or setup.gse.stages.big_rotation_stage.hardstop
-
-    # avoidance = avoidance if avoidance is not None else setup.gse.stages.big_rotation_stage.avoidance
-    # hardstop = hardstop if hardstop is not None else setup.gse.stages.big_rotation_stage.hardstop
-
-    # MODULE_LOGGER.debug(f"@entry: {current=}, {setpoint=}, {hardstop=}, {avoidance=}")
-
-    # Bring the current and the setpoint between 0 and 360 (non-inclusive)
-
-    current %= 360
-    setpoint %= 360
-
-    # MODULE_LOGGER.debug(f"After % 360: {current=}, {setpoint=}")
-
-    # Check if the setpoint falls in the avoidance range
-
-    if hardstop - avoidance < setpoint < hardstop + avoidance:
-        print(f"{hardstop - avoidance} < {setpoint} < {hardstop + avoidance}")
-        raise ValueError(
-            f"setpoint argument shall NOT be between {hardstop - avoidance} and "
-            f"{hardstop + avoidance}, given value {setpoint = }")
-
-    # Find the smallest angle between the current and the setpoint
-
-    movement = min(abs(current - setpoint), abs(360 + current - setpoint))
-    direction = +1 if current + movement == setpoint else -1
-
-    target = current + direction * movement
-
-    # MODULE_LOGGER.debug(
-    #     f"Smallest movement: {current=}, {setpoint=}, {target=:.2f}, "
-    #     f"{movement=:.2f}, {direction=}"
-    # )
-
-    # Check if we will pass over 180º and invert direction if true.
-
-    if (current < target and current < hardstop < target) or \
-            (current > target and target < hardstop < current):
-        movement = 360 - movement
-        direction *= -1
-
-        # target = current + direction * movement
-        # MODULE_LOGGER.debug(
-        #     f"corrected: {current=}, {setpoint=}, {target=:.2f}, {movement=:.2f}, {direction=}"
-        # )
-
-    return direction * movement
-
-
-if __name__ == "__main__":
-    from rich import print
-
-    huber = HuberSMC9300Controller()
-
-    # The .connect() method takes 1.5s because it also configures the slew speed of all the axes
-
-    huber.connect()
-
-    print(f"{huber.info()=}")
-    print(f"{huber.get_version()=}")
-    print(f"{huber.get_error(axis=1)=}")
-    print(f"{huber.get_error(axis=2)=}")
-    print(f"{huber.get_error(axis=3)=}")
-    print(f"{huber.get_state(axis=1)=}")
-    print(f"{huber.get_state(axis=2)=}")
-    print(f"{huber.get_state(axis=3)=}")
-    print(f"{huber.get_status(axis=1)=}")
-    print(f"{huber.get_status(axis=2)=}")
-    print(f"{huber.get_status(axis=3)=}")
-    print(f"{huber.get_configuration(axis=1)=}")
-    print(f"{huber.get_configuration(axis=2)=}")
-    print(f"{huber.get_configuration(axis=3)=}")
-    print(f"{huber.get_conf_value(axis=1, name='gnum')=}")
-    print(f"{huber.get_slew_speed(axis=1)=}")
-    print(f"{huber.get_slew_speed(axis=2)=}")
-    print(f"{huber.get_slew_speed(axis=3)=}")
-    print(f"{huber.is_in_position(axis=1)=}")
-    print(f"{huber.is_in_position(axis=2)=}")
-    print(f"{huber.is_in_position(axis=3)=}")
-    print(f"{huber.get_current_position(axis=1)=}")
-    print(f"{huber.get_current_position(axis=2)=}")
-    print(f"{huber.get_current_position(axis=3)=}")
-    print(f"{huber.get_current_encoder_position(axis=1)=}")
-    print(f"{huber.get_current_encoder_position(axis=2)=}")
-    print(f"{huber.get_current_encoder_position(axis=3)=}")
-    print(f"{huber.get_current_encoder_counter_value(axis=1)=}")
-    print(f"{huber.get_current_encoder_counter_value(axis=2)=}")
-    print(f"{huber.get_current_encoder_counter_value(axis=3)=}")
-
-    for axis_ in range(1, 4):
-        print(f"{huber.get_parameter(axis=axis_, name='ffast')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='frun')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='rofs')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='erofs')=}")
-
-        print(f"{huber.get_parameter(axis=axis_, name='ecl')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='edev')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='edir')=}")
-        print(f"{huber.get_parameter(axis=axis_, name='eres')=}")
-
-        huber.clear_error(axis=axis_)
-
-    huber.disconnect()