meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7010__py2.py3-none-any.whl

meerk40t/balormk/controller.py

@@ -1,1512 +1,1566 @@
-"""
-Galvo Controller
-
-The balor controller takes low level lmc galvo commands and converts them into lists and shorts commands to send
-to the hardware controller.
-"""
-
-import struct
-import threading
-import time
-from copy import copy
-
-from meerk40t.balormk.mock_connection import MockConnection
-from meerk40t.balormk.usb_connection import USBConnection
-
-DRIVER_STATE_RAPID = 0
-DRIVER_STATE_LIGHT = 1
-DRIVER_STATE_PROGRAM = 2
-DRIVER_STATE_RAW = 3
-
-nop = [0x02, 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-empty = bytearray(nop * 0x100)
-
-listJumpTo = 0x8001
-listEndOfList = 0x8002
-listLaserOnPoint = 0x8003
-listDelayTime = 0x8004
-listMarkTo = 0x8005
-listJumpSpeed = 0x8006
-listLaserOnDelay = 0x8007
-listLaserOffDelay = 0x8008
-listMarkFreq = 0x800A
-listMarkPowerRatio = 0x800B
-listMarkSpeed = 0x800C
-listJumpDelay = 0x800D
-listPolygonDelay = 0x800F
-listWritePort = 0x8011
-listMarkCurrent = 0x8012
-listMarkFreq2 = 0x8013
-listFlyEnable = 0x801A
-listQSwitchPeriod = 0x801B
-listDirectLaserSwitch = 0x801C
-listFlyDelay = 0x801D
-listSetCo2FPK = 0x801E
-listFlyWaitInput = 0x801F
-listFiberOpenMO = 0x8021
-listWaitForInput = 0x8022
-listChangeMarkCount = 0x8023
-listSetWeldPowerWave = 0x8024
-listEnableWeldPowerWave = 0x8025
-listFiberYLPMPulseWidth = 0x8026
-listFlyEncoderCount = 0x8028
-listSetDaZWord = 0x8029
-listJptSetParam = 0x8050
-listReadyMark = 0x8051
-
-DisableLaser = 0x0002
-EnableLaser = 0x0004
-ExecuteList = 0x0005
-SetPwmPulseWidth = 0x0006
-GetVersion = 0x0007
-GetSerialNo = 0x0009
-GetListStatus = 0x000A
-GetPositionXY = 0x000C
-GotoXY = 0x000D
-LaserSignalOff = 0x000E
-LaserSignalOn = 0x000F
-WriteCorLine = 0x0010
-ResetList = 0x0012
-RestartList = 0x0013
-WriteCorTable = 0x0015
-SetControlMode = 0x0016
-SetDelayMode = 0x0017
-SetMaxPolyDelay = 0x0018
-SetEndOfList = 0x0019
-SetFirstPulseKiller = 0x001A
-SetLaserMode = 0x001B
-SetTiming = 0x001C
-SetStandby = 0x001D
-SetPwmHalfPeriod = 0x001E
-StopExecute = 0x001F
-StopList = 0x0020
-WritePort = 0x0021
-WriteAnalogPort1 = 0x0022
-WriteAnalogPort2 = 0x0023
-WriteAnalogPortX = 0x0024
-ReadPort = 0x0025
-SetAxisMotionParam = 0x0026
-SetAxisOriginParam = 0x0027
-AxisGoOrigin = 0x0028
-MoveAxisTo = 0x0029
-GetAxisPos = 0x002A
-GetFlyWaitCount = 0x002B
-GetMarkCount = 0x002D
-SetFpkParam2 = 0x002E
-Fiber_SetMo = 0x0033  # open and close set by value
-Fiber_GetStMO_AP = 0x0034
-EnableZ = 0x003A
-DisableZ = 0x0039
-SetZData = 0x003B
-SetSPISimmerCurrent = 0x003C
-SetFpkParam = 0x0062
-Reset = 0x0040
-GetFlySpeed = 0x0038
-FiberPulseWidth = 0x002F
-FiberGetConfigExtend = 0x0030
-InputPort = 0x0031  # ClearLockInputPort calls 0x04, then if EnableLockInputPort 0x02 else 0x01, GetLockInputPort
-GetMarkTime = 0x0041
-GetUserData = 0x0036
-SetFlyRes = 0x0032
-
-list_command_lookup = {
-    0x8001: "listJumpTo",
-    0x8002: "listEndOfList",
-    0x8003: "listLaserOnPoint",
-    0x8004: "listDelayTime",
-    0x8005: "listMarkTo",
-    0x8006: "listJumpSpeed",
-    0x8007: "listLaserOnDelay",
-    0x8008: "listLaserOffDelay",
-    0x800A: "listMarkFreq",
-    0x800B: "listMarkPowerRatio",
-    0x800C: "listMarkSpeed",
-    0x800D: "listJumpDelay",
-    0x800F: "listPolygonDelay",
-    0x8011: "listWritePort",
-    0x8012: "listMarkCurrent",
-    0x8013: "listMarkFreq2",
-    0x801A: "listFlyEnable",
-    0x801B: "listQSwitchPeriod",
-    0x801C: "listDirectLaserSwitch",
-    0x801D: "listFlyDelay",
-    0x801E: "listSetCo2FPK",
-    0x801F: "listFlyWaitInput",
-    0x8021: "listFiberOpenMO",
-    0x8022: "listWaitForInput",
-    0x8023: "listChangeMarkCount",
-    0x8024: "listSetWeldPowerWave",
-    0x8025: "listEnableWeldPowerWave",
-    0x8026: "listFiberYLPMPulseWidth",
-    0x8028: "listFlyEncoderCount",
-    0x8029: "listSetDaZWord",
-    0x8050: "listJptSetParam",
-    0x8051: "listReadyMark",
-}
-
-single_command_lookup = {
-    0x0002: "DisableLaser",
-    0x0004: "EnableLaser",
-    0x0005: "ExecuteList",
-    0x0006: "SetPwmPulseWidth",
-    0x0007: "GetVersion",
-    0x0009: "GetSerialNo",
-    0x000A: "GetListStatus",
-    0x000C: "GetPositionXY",
-    0x000D: "GotoXY",
-    0x000E: "LaserSignalOff",
-    0x000F: "LaserSignalOn",
-    0x0010: "WriteCorLine",
-    0x0012: "ResetList",
-    0x0013: "RestartList",
-    0x0015: "WriteCorTable",
-    0x0016: "SetControlMode",
-    0x0017: "SetDelayMode",
-    0x0018: "SetMaxPolyDelay",
-    0x0019: "SetEndOfList",
-    0x001A: "SetFirstPulseKiller",
-    0x001B: "SetLaserMode",
-    0x001C: "SetTiming",
-    0x001D: "SetStandby",
-    0x001E: "SetPwmHalfPeriod",
-    0x001F: "StopExecute",
-    0x0020: "StopList",
-    0x0021: "WritePort",
-    0x0022: "WriteAnalogPort1",
-    0x0023: "WriteAnalogPort2",
-    0x0024: "WriteAnalogPortX",
-    0x0025: "ReadPort",
-    0x0026: "SetAxisMotionParam",
-    0x0027: "SetAxisOriginParam",
-    0x0028: "AxisGoOrigin",
-    0x0029: "MoveAxisTo",
-    0x002A: "GetAxisPos",
-    0x002B: "GetFlyWaitCount",
-    0x002D: "GetMarkCount",
-    0x002E: "SetFpkParam2",
-    0x0033: "Fiber_SetMo",
-    0x0034: "Fiber_GetStMO_AP",
-    0x003A: "EnableZ",
-    0x0039: "DisableZ",
-    0x003B: "SetZData",
-    0x003C: "SetSPISimmerCurrent",
-    0x0062: "SetFpkParam",
-    0x0040: "Reset",
-    0x0038: "GetFlySpeed",
-    0x002F: "FiberPulseWidth",
-    0x0030: "FiberGetConfigExtend",
-    0x0031: "InputPort",
-    0x0041: "GetMarkTime",
-    0x0036: "GetUserData",
-    0x0032: "SetFlyRes",
-}
-
-BUSY = 0x04
-READY = 0x20
-AXIS = 0x40
-
-
-def _bytes_to_words(r):
-    b0 = r[1] << 8 | r[0]
-    b1 = r[3] << 8 | r[2]
-    b2 = r[5] << 8 | r[4]
-    b3 = r[7] << 8 | r[6]
-    return b0, b1, b2, b3
-
-
-class GalvoController:
-    """
-    Galvo controller is tasked with sending queued data to the controller board and ensuring that the connection to the
-    controller board is established to perform these actions.
-
-    This should serve as a next generation command sequencer written from scratch for galvo lasers. The goal is to
-    provide all the given commands in a coherent queue structure which provides correct sequences between list and
-    single commands.
-    """
-
-    def __init__(
-        self,
-        service,
-        x=0x8000,
-        y=0x8000,
-        mark_speed=None,
-        goto_speed=None,
-        light_speed=None,
-        dark_speed=None,
-        force_mock=False,
-    ):
-        self.service = service
-        self.force_mock = force_mock
-        self.is_shutdown = False  # Shutdown finished.
-
-        name = self.service.label
-        self.usb_log = service.channel(f"{name}/usb", buffer_size=500)
-        self.usb_log.watch(lambda e: service.signal("pipe;usb_status", e))
-
-        self.connection = None
-        self._is_opening = False
-        self._abort_open = False
-        self._disable_connect = False
-
-        self._light_bit = service.setting(int, "light_pin", 8)
-        self._foot_bit = service.setting(int, "footpedal_pin", 15)
-
-        self._last_x = x
-        self._last_y = y
-        self._mark_speed = mark_speed
-        self._goto_speed = goto_speed
-        self._light_speed = light_speed
-        self._dark_speed = dark_speed
-
-        self._ready = None
-        self._speed = None
-        self._travel_speed = None
-        self._frequency = None
-        self._power = None
-        self._pulse_width = None
-        self._fpk = None
-
-        self._delay_jump = None
-        self._delay_on = None
-        self._delay_off = None
-        self._delay_poly = None
-        self._delay_end = None
-
-        self._port_bits = 0
-        self._machine_index = 0
-
-        self.mode = DRIVER_STATE_RAPID
-        self._list_lock = threading.RLock()
-        self._active_list = None
-        self._active_index = 0
-        self._list_executing = False
-        self._number_of_list_packets = 0
-        self.paused = False
-
-    @property
-    def source(self):
-        return self.service.source
-
-    @property
-    def state(self):
-        if self.mode == DRIVER_STATE_RAPID:
-            return "idle", "idle"
-        if self.paused:
-            return "hold", "paused"
-        if self.mode == DRIVER_STATE_RAW:
-            return "busy", "raw"
-        if self.mode == DRIVER_STATE_LIGHT:
-            return "busy", "light"
-        if self.mode == DRIVER_STATE_PROGRAM:
-            return "busy", "program"
-
-    def set_disable_connect(self, status):
-        self._disable_connect = status
-
-    def added(self):
-        pass
-
-    def service_detach(self):
-        pass
-
-    def shutdown(self, *args, **kwargs):
-        self.is_shutdown = True
-
-    @property
-    def connected(self):
-        if self.connection is None:
-            return False
-        return self.connection.is_open(self._machine_index)
-
-    @property
-    def is_connecting(self):
-        if self.connection is None:
-            return False
-        return self._is_opening
-
-    def abort_connect(self):
-        self._abort_open = True
-        self.usb_log("Connect Attempts Aborted")
-
-    def disconnect(self):
-        try:
-            self.connection.close(self._machine_index)
-        except (ConnectionError, ConnectionRefusedError, AttributeError):
-            pass
-        self.connection = None
-        # Reset error to allow another attempt
-        self.set_disable_connect(False)
-
-    def connect_if_needed(self):
-        if self._disable_connect:
-            # After many failures automatic connects are disabled. We require a manual connection.
-            self.abort_connect()
-            self.connection = None
-            raise ConnectionRefusedError(
-                "LMC was unreachable. Explicit connect required."
-            )
-        if self.connection is None:
-            if self.service.setting(bool, "mock", False) or self.force_mock:
-                self.connection = MockConnection(self.usb_log)
-                name = self.service.label
-                self.connection.send = self.service.channel(f"{name}/send")
-                self.connection.recv = self.service.channel(f"{name}/recv")
-            else:
-                self.connection = USBConnection(self.usb_log)
-        self._is_opening = True
-        self._abort_open = False
-        count = 0
-        while not self.connection.is_open(self._machine_index):
-            try:
-                if self.connection.open(self._machine_index) < 0:
-                    raise ConnectionError
-                self.init_laser()
-            except (ConnectionError, ConnectionRefusedError):
-                if count == 0:
-                    self.service("clone_init\n")
-                time.sleep(0.3)
-                count += 1
-                # self.usb_log(f"Error-Routine pass #{count}")
-                if self.is_shutdown or self._abort_open:
-                    self._is_opening = False
-                    self._abort_open = False
-                    return
-                if self.connection.is_open(self._machine_index):
-                    self.connection.close(self._machine_index)
-                if count >= 10:
-                    # We have failed too many times.
-                    self._is_opening = False
-                    self.set_disable_connect(True)
-                    self.usb_log("Could not connect to the LMC controller.")
-                    self.usb_log("Automatic connections disabled.")
-                    raise ConnectionRefusedError(
-                        "Could not connect to the LMC controller."
-                    )
-                time.sleep(0.3)
-                continue
-        self._is_opening = False
-        self._abort_open = False
-
-    def send(self, data, read=True):
-        if self.is_shutdown:
-            return -1, -1, -1, -1
-        self.connect_if_needed()
-        try:
-            self.connection.write(self._machine_index, data)
-        except ConnectionError:
-            return -1, -1, -1, -1
-        if read:
-            try:
-                r = self.connection.read(self._machine_index)
-                return struct.unpack("<4H", r)
-            except ConnectionError:
-                return -1, -1, -1, -1
-
-    def status(self):
-        b0, b1, b2, b3 = self.get_version()
-        return b3
-
-    #######################
-    # MODE SHIFTS
-    #######################
-
-    def raw_mode(self):
-        self.mode = DRIVER_STATE_RAW
-
-    def rapid_mode(self):
-        if self.mode == DRIVER_STATE_RAPID:
-            return
-        self.list_end_of_list()  # Ensure at least one list_end_of_list
-        self._list_end()
-        if not self._list_executing and self._number_of_list_packets:
-            # If we never ran the list, and we sent some lists.
-            self.execute_list()
-        self._list_executing = False
-        self._number_of_list_packets = 0
-        self.wait_idle()
-        if self.source == "fiber":
-            self.set_fiber_mo(0)
-        self.port_off(bit=0)
-        self.write_port()
-        marktime = self.get_mark_time()
-        self.service.signal("galvo;marktime", marktime)
-        self.usb_log(f"Time taken for list execution: {marktime}")
-        self.mode = DRIVER_STATE_RAPID
-
-    def raster_mode(self):
-        self.program_mode()
-
-    def program_mode(self):
-        if self.mode == DRIVER_STATE_PROGRAM:
-            return
-        if self.mode == DRIVER_STATE_LIGHT:
-            self.mode = DRIVER_STATE_PROGRAM
-            self.light_off()
-            self.port_on(bit=0)
-            self.write_port()
-            if self.source == "fiber":
-                self.set_fiber_mo(1)
-        else:
-            self.mode = DRIVER_STATE_PROGRAM
-            self.reset_list()
-            self.port_on(bit=0)
-            self.write_port()
-            if self.source == "fiber":
-                self.set_fiber_mo(1)
-            self._ready = None
-            self._speed = None
-            self._travel_speed = None
-            self._frequency = None
-            self._power = None
-            self._pulse_width = None
-
-            self._delay_jump = None
-            self._delay_on = None
-            self._delay_off = None
-            self._delay_poly = None
-            self._delay_end = None
-            self.list_ready()
-            if self.service.delay_openmo != 0 and self.source == "fiber":
-                self.list_delay_time(int(self.service.delay_openmo * 100))
-            self.list_write_port()
-            self.list_jump_speed(self.service.default_rapid_speed)
-
-    def light_mode(self):
-        if self.mode == DRIVER_STATE_LIGHT:
-            return
-        if self.mode == DRIVER_STATE_PROGRAM:
-            if self.source == "fiber":
-                self.set_fiber_mo(0)
-            self.port_off(bit=0)
-            self.port_on(self._light_bit)
-            self.write_port()
-        else:
-            self._ready = None
-            self._speed = None
-            self._travel_speed = None
-            self._frequency = None
-            self._power = None
-            self._pulse_width = None
-
-            self._delay_jump = None
-            self._delay_on = None
-            self._delay_off = None
-            self._delay_poly = None
-            self._delay_end = None
-
-            self.reset_list()
-            self.list_ready()
-            self.port_off(bit=0)
-            self.port_on(self._light_bit)
-            self.list_write_port()
-        self.mode = DRIVER_STATE_LIGHT
-
-    #######################
-    # LIST APPENDING OPERATIONS
-    #######################
-
-    def _list_end(self):
-        if not self._active_list or not self._active_index:
-            # Ensure there is a list to end.
-            return
-        with self._list_lock:
-            if not self._active_list or not self._active_index:
-                # Double-gated syntax, make sure there's still that list needing ending.
-                return
-            self.wait_ready()
-            while self.paused:
-                time.sleep(0.3)
-            self.send(self._active_list, False)
-            if self.mode != DRIVER_STATE_RAW:
-                self.set_end_of_list(0)
-            self._number_of_list_packets += 1
-            self._active_list = None
-            self._active_index = 0
-            if self._number_of_list_packets > 2 and not self._list_executing:
-                if self.mode != DRIVER_STATE_RAW:
-                    self.execute_list()
-                self._list_executing = True
-
-    def _list_new(self):
-        with self._list_lock:
-            self._active_list = copy(empty)
-            self._active_index = 0
-
-    def _list_write(self, command, v1=0, v2=0, v3=0, v4=0, v5=0):
-        with self._list_lock:
-            if self._active_index >= 0xC00:
-                self._list_end()
-            if self._active_list is None:
-                self._list_new()
-            index = self._active_index
-            self._active_list[index : index + 12] = struct.pack(
-                "<6H", int(command), int(v1), int(v2), int(v3), int(v4), int(v5)
-            )
-            self._active_index += 12
-
-    def _command(self, command, v1=0, v2=0, v3=0, v4=0, v5=0, read=True):
-        cmd = struct.pack(
-            "<6H", int(command), int(v1), int(v2), int(v3), int(v4), int(v5)
-        )
-        return self.send(cmd, read=read)
-
-    def raw_write(self, command, v1=0, v2=0, v3=0, v4=0, v5=0):
-        """
-        Write this raw command to value. Sends the correct way based on command value.
-
-        @return:
-        """
-        if command >= 0x8000:
-            self._list_write(command, v1, v2, v3, v4, v5)
-        else:
-            self._command(command, v1, v2, v3, v4, v5)
-
-    def raw_clear(self):
-        self._list_new()
-
-    #######################
-    # SETS FOR PLOTLIKES
-    #######################
-
-    def set_settings(self, settings):
-        """
-        Sets the primary settings. Rapid, frequency, speed, and timings.
-
-        @param settings: The current settings dictionary
-        @return:
-        """
-        if self.service.pulse_width_enabled and self.source == "fiber":
-            # Global Pulse Width is enabled.
-            if str(settings.get("pulse_width_enabled", False)).lower() == "true":
-                # Local Pulse Width value is enabled.
-                # OpFiberYLPMPulseWidth
-
-                self.list_fiber_ylpm_pulse_width(
-                    int(settings.get("pulse_width", self.service.default_pulse_width))
-                )
-            else:
-                # Only global is enabled, use global pulse width value.
-                self.list_fiber_ylpm_pulse_width(self.service.default_pulse_width)
-
-        if str(settings.get("rapid_enabled", False)).lower() == "true":
-            self.list_jump_speed(
-                float(settings.get("rapid_speed", self.service.default_rapid_speed))
-            )
-        else:
-            self.list_jump_speed(self.service.default_rapid_speed)
-
-        power = (
-            float(settings.get("power", self.service.default_power)) / 10.0
-        )  # Convert power, out of 1000
-        frequency = float(settings.get("frequency", self.service.default_frequency))
-        fpk = float(settings.get("fpk", self.service.default_fpk))
-        if self.source == "fiber":
-            self.power(power)
-            self.frequency(frequency)
-        elif self.source == "co2":
-            self.frequency(frequency)
-            self.fpk(fpk)
-            self.power(power)
-        self.list_mark_speed(float(settings.get("speed", self.service.default_speed)))
-
-        if str(settings.get("timing_enabled", False)).lower() == "true":
-            self.list_laser_on_delay(
-                settings.get("delay_laser_on", self.service.delay_laser_on)
-            )
-            self.list_laser_off_delay(
-                settings.get("delay_laser_off", self.service.delay_laser_off)
-            )
-            self.list_polygon_delay(
-                settings.get("delay_laser_polygon", self.service.delay_polygon)
-            )
-        else:
-            # Use globals
-            self.list_laser_on_delay(self.service.delay_laser_on)
-            self.list_laser_off_delay(self.service.delay_laser_off)
-            self.list_polygon_delay(self.service.delay_polygon)
-
-    #######################
-    # PLOTLIKE SHORTCUTS
-    #######################
-
-    def mark(self, x, y):
-        if x == self._last_x and y == self._last_y:
-            return
-        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
-            # Moves to out of range are not performed.
-            return
-        if self._mark_speed is not None:
-            self.list_mark_speed(self._mark_speed)
-        self.list_mark(x, y)
-
-    def goto(self, x, y, long=None, short=None, distance_limit=None):
-        if x == self._last_x and y == self._last_y:
-            return
-        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
-            # Moves to out of range are not performed.
-            return
-        if self._goto_speed is not None:
-            self.list_jump_speed(self._goto_speed)
-        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
-
-    def light(self, x, y, long=None, short=None, distance_limit=None):
-        if x == self._last_x and y == self._last_y:
-            return
-        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
-            # Moves to out of range are not performed.
-            return
-        if self.light_on():
-            self.list_write_port()
-        if self._light_speed is not None:
-            self.list_jump_speed(self._light_speed)
-        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
-
-    def dark(self, x, y, long=None, short=None, distance_limit=None):
-        if x == self._last_x and y == self._last_y:
-            return
-        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
-            # Moves to out of range are not performed.
-            return
-        if self.light_off():
-            self.list_write_port()
-        if self._dark_speed is not None:
-            self.list_jump_speed(self._dark_speed)
-        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
-
-    def set_xy(self, x, y):
-        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
-        if distance > 0xFFFF:
-            distance = 0xFFFF
-        self.goto_xy(x, y, distance=distance)
-
-    def get_last_xy(self):
-        return self._last_x, self._last_y
-
-    #######################
-    # Command Shortcuts
-    #######################
-
-    def is_busy(self):
-        status = self.status()
-        return bool(status & BUSY)
-
-    def is_ready(self):
-        status = self.status()
-        return bool(status & READY)
-
-    def is_axis(self):
-        status = self.status()
-        return bool(status & AXIS)
-
-    def is_ready_and_not_busy(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return True
-        status = self.status()
-        return bool(status & READY) and not bool(status & BUSY)
-
-    def wait_finished(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        while not self.is_ready_and_not_busy():
-            time.sleep(0.01)
-            if self.is_shutdown:
-                return
-
-    def wait_axis(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        while self.is_axis():
-            time.sleep(0.01)
-            if self.is_shutdown:
-                return
-
-    def wait_ready(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        while not self.is_ready():
-            time.sleep(0.01)
-            if self.is_shutdown:
-                return
-
-    def wait_idle(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        while self.is_busy():
-            time.sleep(0.01)
-            if self.is_shutdown:
-                return
-
-    def abort(self, dummy_packet=True):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        self.stop_execute()
-        self.paused = False
-        self.set_fiber_mo(0)
-        self.reset_list()
-        if dummy_packet:
-            self._list_new()
-            self.list_end_of_list()  # Ensure packet is sent on end.
-            self._list_end()
-            if not self._list_executing:
-                self.execute_list()
-        self._list_executing = False
-        self._number_of_list_packets = 0
-        self.set_fiber_mo(0)
-        self.port_off(bit=0)
-        self.write_port()
-        self.mode = DRIVER_STATE_RAPID
-
-    def pause(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        self.paused = True
-        self.stop_list()
-
-    def resume(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        self.restart_list()
-        self.paused = False
-
-    def init_laser(self):
-        if self.mode == DRIVER_STATE_RAW:
-            return
-        cor_file = self.service.corfile if self.service.corfile_enabled else None
-        first_pulse_killer = self.service.first_pulse_killer
-        pwm_pulse_width = self.service.pwm_pulse_width
-        pwm_half_period = self.service.pwm_half_period
-        standby_param_1 = self.service.standby_param_1
-        standby_param_2 = self.service.standby_param_2
-        timing_mode = self.service.timing_mode
-        delay_mode = self.service.delay_mode
-        laser_mode = self.service.laser_mode
-        control_mode = self.service.control_mode
-        fpk2_p1 = self.service.fpk2_p1
-        fpk2_p2 = self.service.fpk2_p2
-        fpk2_p3 = self.service.fpk2_p3
-        fpk2_p4 = self.service.fpk2_p3
-        fly_res_p1 = self.service.fly_res_p1
-        fly_res_p2 = self.service.fly_res_p2
-        fly_res_p3 = self.service.fly_res_p3
-        fly_res_p4 = self.service.fly_res_p4
-
-        self.usb_log("Initializing Laser")
-        serial_number = self.get_serial_number()
-        self.usb_log(f"Serial Number: {serial_number}")
-        version = self.get_version()
-        self.usb_log(f"Version: {version}")
-
-        self.reset()
-        self.usb_log("Reset")
-        self.write_correction_file(cor_file)
-        self.enable_laser()
-        self.usb_log("Laser Enabled")
-        self.set_control_mode(control_mode)
-        self.usb_log("Control Mode")
-        self.set_laser_mode(laser_mode)
-        self.usb_log("Laser Mode")
-        self.set_delay_mode(delay_mode)
-        self.usb_log("Delay Mode")
-        self.set_timing(timing_mode)
-        self.usb_log("Timing Mode")
-        self.set_standby(standby_param_1, standby_param_2)
-        self.usb_log("Setting Standby")
-        self.set_first_pulse_killer(first_pulse_killer)
-        self.usb_log("Set First Pulse Killer")
-        self.set_pwm_half_period(pwm_half_period)
-        self.usb_log("Set PWM Half-Period")
-        self.set_pwm_pulse_width(pwm_pulse_width)
-        self.usb_log("Set PWM pulse width")
-        self.set_fiber_mo(0)  # Close
-        self.usb_log("Set Fiber Mo (Closed)")
-        self.set_pfk_param_2(fpk2_p1, fpk2_p2, fpk2_p3, fpk2_p4)
-        self.usb_log("First Pulse Killer Parameters")
-        self.set_fly_res(fly_res_p1, fly_res_p2, fly_res_p3, fly_res_p4)
-        self.usb_log("On-The-Fly Res")
-        self.enable_z()
-        self.usb_log("Z-Enabled")
-        self.write_analog_port_1(0x7FF)
-        self.usb_log("Analog Port 1")
-        self.enable_z()
-        self.usb_log("Z-Enabled-part2")
-        time.sleep(0.05)
-        self.usb_log("Ready")
-
-    def power(self, power):
-        """
-        Accepts power in percent, automatically converts to power_ratio
-
-        @param power:
-        @return:
-        """
-        if self._power == power:
-            return
-        self._power = power
-        if self.source == "co2":
-            power_ratio = int(round(200 * power / self._frequency))
-            self.list_mark_power_ratio(power_ratio)
-        if self.source == "fiber":
-            self.list_mark_current(self._convert_power(power))
-
-    def frequency(self, frequency):
-        if self._frequency == frequency:
-            return
-        self._frequency = frequency
-        if self.source == "fiber":
-            self.list_qswitch_period(self._convert_frequency(frequency, base=20000.0))
-        elif self.source == "co2":
-            self.list_mark_frequency(self._convert_frequency(frequency, base=10000.0))
-
-    def fpk(self, fpk):
-        """
-        Set First Pulse Killer
-        @param fpk: first_pulse_killer value in percent.
-        @return:
-        """
-        if self.source != "co2":
-            # FPK only used for CO2 source.
-            return
-        if self._fpk == fpk or fpk is None:
-            return
-        self._fpk = fpk
-        first_pulse_killer = int(round(2000.0 / self._frequency))
-        self.list_set_co2_fpk(first_pulse_killer)
-
-    def light_on(self):
-        if not self.is_port(self._light_bit):
-            self.port_on(self._light_bit)
-            return True
-        return False
-
-    def light_off(self):
-        if self.is_port(self._light_bit):
-            self.port_off(self._light_bit)
-            return True
-        return False
-
-    def is_port(self, bit):
-        return bool((1 << bit) & self._port_bits)
-
-    def port_on(self, bit):
-        self._port_bits = self._port_bits | (1 << bit)
-
-    def port_off(self, bit):
-        self._port_bits = ~((~self._port_bits) | (1 << bit))
-
-    def port_set(self, mask, values):
-        self._port_bits &= ~mask  # Unset mask.
-        self._port_bits |= values & mask  # Set masked bits.
-
-    #######################
-    # UNIT CONVERSIONS
-    #######################
-
-    def _convert_speed(self, speed):
-        """
-        Speed in the galvo is given in galvos/ms this means mm/s needs to multiply by galvos_per_mm
-        and divide by 1000 (s/ms)
-
-        @param speed:
-        @return:
-        """
-        # return int(speed / 2)
-        galvos_per_mm, _ = self.service.view.position("1mm", "1mm", vector=True)
-        return abs(int(speed * galvos_per_mm / 1000.0))
-
-    def _convert_frequency(self, frequency_khz, base=20000.0):
-        """
-        Converts frequency to period.
-
-        20000000.0 / frequency in hz
-
-        @param frequency_khz: Frequency to convert
-        @return:
-        """
-        return int(round(base / frequency_khz)) & 0xFFFF
-
-    def _convert_power(self, power):
-        """
-        Converts power percent to int value
-        @return:
-        """
-        return int(round(power * 0xFFF / 100.0))
-
-    #######################
-    # HIGH LEVEL OPERATIONS
-    #######################
-
-    def write_correction_file(self, filename):
-        if filename is None:
-            self.write_blank_correct_file()
-            self.usb_log("Correction file set to blank.")
-            return
-        try:
-            table = self._read_correction_file(filename)
-            self._write_correction_table(table)
-            self.usb_log("Correction File Sent")
-        except OSError:
-            self.write_blank_correct_file()
-            self.usb_log("Correction file set to blank.")
-            return
-
-    @staticmethod
-    def get_scale_from_correction_file(filename):
-        with open(filename, "rb") as f:
-            label = f.read(0x16)
-            if label.decode("utf-16") == "LMC1COR_1.0":
-                unk = f.read(2)
-                return struct.unpack("63d", f.read(0x1F8))[43]
-            else:
-                unk = f.read(6)
-                return struct.unpack("d", f.read(8))[0]
-
-    def write_blank_correct_file(self):
-        self.write_cor_table(False)
-
-    def _read_float_correction_file(self, f):
-        """
-        Read table for cor files marked: LMC1COR_1.0
-        @param f:
-        @return:
-        """
-        table = []
-        for j in range(65):
-            for k in range(65):
-                dx = int(round(struct.unpack("d", f.read(8))[0]))
-                dx = dx if dx >= 0 else -dx + 0x8000
-                dy = int(round(struct.unpack("d", f.read(8))[0]))
-                dy = dy if dy >= 0 else -dy + 0x8000
-                table.append([dx & 0xFFFF, dy & 0xFFFF])
-        return table
-
-    def _read_int_correction_file(self, f):
-        table = []
-        for j in range(65):
-            for k in range(65):
-                dx = int.from_bytes(f.read(4), "little", signed=True)
-                dx = dx if dx >= 0 else -dx + 0x8000
-                dy = int.from_bytes(f.read(4), "little", signed=True)
-                dy = dy if dy >= 0 else -dy + 0x8000
-                table.append([dx & 0xFFFF, dy & 0xFFFF])
-        return table
-
-    def _read_correction_file(self, filename):
-        """
-        Reads a standard .cor file and builds a table from that.
-
-        @param filename:
-        @return:
-        """
-        with open(filename, "rb") as f:
-            label = f.read(0x16)
-            if label.decode("utf-16") == "LMC1COR_1.0":
-                header = f.read(0x1FA)
-                return self._read_float_correction_file(f)
-            else:
-                header = f.read(0xE)
-                return self._read_int_correction_file(f)
-
-    def _write_correction_table(self, table):
-        assert len(table) == 65 * 65
-        self.write_cor_table(True)
-        first = True
-        for dx, dy in table:
-            self.write_cor_line(dx, dy, 0 if first else 1)
-            first = False
-
-    #######################
-    # COMMAND LIST COMMAND
-    #######################
-
-    def list_jump(self, x, y, short=None, long=None, distance_limit=None):
-        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
-        if distance_limit and distance > distance_limit:
-            delay = long
-        else:
-            delay = short
-        if distance > 0xFFFF:
-            distance = 0xFFFF
-        angle = 0
-        if delay:
-            self.list_jump_delay(delay)
-        x = int(x)
-        y = int(y)
-        self._list_write(listJumpTo, x, y, angle, distance)
-        self._last_x = x
-        self._last_y = y
-
-    def list_end_of_list(self):
-        self._list_write(listEndOfList)
-
-    def list_laser_on_point(self, dwell_time):
-        self._list_write(listLaserOnPoint, dwell_time)
-
-    def list_delay_time(self, time):
-        """
-        Delay time in 10 microseconds units
-
-        @param time:
-        @return:
-        """
-        self._list_write(listDelayTime, abs(time))
-
-    def list_mark(self, x, y, angle=0):
-        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
-        if distance > 0xFFFF:
-            distance = 0xFFFF
-        x = int(x)
-        y = int(y)
-        self._list_write(listMarkTo, x, y, angle, distance)
-        self._last_x = x
-        self._last_y = y
-
-    def list_jump_speed(self, speed):
-        if self._travel_speed == speed:
-            return
-        self._travel_speed = speed
-        c_speed = self._convert_speed(speed)
-        if c_speed > 0xFFFF:
-            c_speed = 0xFFFF
-        self._list_write(listJumpSpeed, c_speed)
-
-    def list_laser_on_delay(self, delay):
-        """
-        Set laser on delay in microseconds
-        @param delay:
-        @return:
-        """
-        if self._delay_on == delay:
-            return
-        self._delay_on = delay
-        self._list_write(listLaserOnDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
-
-    def list_laser_off_delay(self, delay):
-        """
-        Set laser off delay in microseconds
-        @param delay:
-        @return:
-        """
-        if self._delay_off == delay:
-            return
-        self._delay_off = delay
-        self._list_write(listLaserOffDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
-
-    def list_mark_frequency(self, frequency):
-        """
-        This command is used in some machines but, it's not clear given the amount of reverse engineering how those
-        values are set. This is done for laser_type = 4.
-
-        @param frequency:
-        @return:
-        """
-        self._list_write(listMarkFreq, frequency)
-
-    def list_mark_power_ratio(self, power_ratio):
-        """
-        This command is used in some machines. Laser_type=4 and laser_type=0 (CO2), if 0x800A returned 0.
-
-        @param power_ratio:
-        @return:
-        """
-        # listMarkPowerRatio
-        self._list_write(listMarkPowerRatio, power_ratio)
-
-    def list_mark_speed(self, speed):
-        """
-        Sets the marking speed for the laser.
-
-        @param speed:
-        @return:
-        """
-        if self._speed == speed:
-            return
-        self._speed = speed
-        c_speed = self._convert_speed(speed)
-        if c_speed > 0xFFFF:
-            c_speed = 0xFFFF
-        self._list_write(listMarkSpeed, c_speed)
-
-    def list_jump_delay(self, delay):
-        """
-        Set laser jump delay in microseconds
-        @param delay:
-        @return:
-        """
-        if self._delay_jump == delay:
-            return
-        self._delay_jump = delay
-        self._list_write(listJumpDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
-
-    def list_polygon_delay(self, delay):
-        """
-        Set polygon delay in microseconds
-        @param delay:
-        @return:
-        """
-        if self._delay_poly == delay:
-            return
-        self._delay_poly = delay
-        self._list_write(listPolygonDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
-
-    def list_write_port(self):
-        """
-        Writes the set port values to the list.
-
-        @return:
-        """
-        self._list_write(listWritePort, self._port_bits)
-
-    def list_mark_current(self, current):
-        """
-        Also called as part of setting the power ratio. This is not correctly understood.
-        @param current:
-        @return:
-        """
-        # listMarkCurrent
-        self._list_write(listMarkCurrent, current)
-
-    def list_mark_frequency_2(self, frequency):
-        """
-        Also called as part of setting frequency and is not correctly understood.
-
-        @param frequency:
-        @return:
-        """
-        # listMarkFreq2
-        raise NotImplementedError
-
-    def list_fly_enable(self, enabled=1):
-        """
-        On-The-Fly control enable/disable within list.
-
-        @param enabled:
-        @return:
-        """
-        self._list_write(listFlyEnable, enabled)
-
-    def list_qswitch_period(self, qswitch):
-        """
-        Sets the qswitch period, which in is the inversely related to frequency.
-
-        @param qswitch:
-        @return:
-        """
-        self._list_write(listQSwitchPeriod, qswitch)
-
-    def list_direct_laser_switch(self):
-        """
-        This is not understood.
-        @return:
-        """
-        # ListDirectLaserSwitch
-        raise NotImplementedError
-
-    def list_fly_delay(self, delay):
-        """
-        On-the-fly control.
-
-        @param delay:
-        @return:
-        """
-        self._list_write(listFlyDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
-
-    def list_set_co2_fpk(self, fpk1, fpk2=None):
-        """
-        Set the CO2 Laser, First Pulse Killer.
-
-        @return:
-        """
-        if fpk2 is None:
-            fpk2 = fpk1
-        self._list_write(listSetCo2FPK, fpk1, fpk2)
-
-    def list_fly_wait_input(self):
-        """
-        Sets the On-the-fly to wait for input.
-        @return:
-        """
-        self._list_write(listFlyWaitInput)
-
-    def list_fiber_open_mo(self, open_mo):
-        """
-        Sets motion operations, without MO set the laser does not automatically fire while moving.
-
-        @param open_mo:
-        @return:
-        """
-        self._list_write(listFiberOpenMO, open_mo)
-
-    def list_wait_for_input(self, wait_mask, wait_level):
-        """
-        Unknown.
-
-        @return:
-        """
-        self._list_write(listWaitForInput, wait_mask, wait_level)
-
-    def list_change_mark_count(self, count):
-        """
-        Unknown.
-
-        @param count:
-        @return:
-        """
-        self._list_write(listChangeMarkCount, count)
-
-    def list_set_weld_power_wave(self, weld_power_wave):
-        """
-        Unknown.
-
-        @param weld_power_wave:
-        @return:
-        """
-        self._list_write(listSetWeldPowerWave, weld_power_wave)
-
-    def list_enable_weld_power_wave(self, enabled):
-        """
-        Unknown.
-
-        @param enabled:
-        @return:
-        """
-        self._list_write(listEnableWeldPowerWave, enabled)
-
-    def list_fiber_ylpm_pulse_width(self, pulse_width):
-        """
-        Unknown.
-
-        @param pulse_width:
-        @return:
-        """
-        if self._pulse_width == pulse_width:
-            return
-        self._pulse_width = pulse_width
-        self._list_write(listFiberYLPMPulseWidth, pulse_width)
-
-    def list_fly_encoder_count(self, count):
-        """
-        Unknown.
-
-        @param count:
-        @return:
-        """
-        self._list_write(listFlyEncoderCount, count)
-
-    def list_set_da_z_word(self, word):
-        """
-        Unknown.
-
-        @param word:
-        @return:
-        """
-        self._list_write(listSetDaZWord, word)
-
-    def list_jpt_set_param(self, param):
-        """
-        Unknown.
-
-        @param param:
-        @return:
-        """
-        self._list_write(listJptSetParam, param)
-
-    def list_ready(self):
-        """
-        Seen at the start of any new command list.
-
-        @return:
-        """
-        self._list_write(listReadyMark)
-
-    #######################
-    # COMMAND LIST SHORTCUTS
-    #######################
-
-    def disable_laser(self):
-        return self._command(DisableLaser)
-
-    def enable_laser(self):
-        return self._command(EnableLaser)
-
-    def execute_list(self):
-        return self._command(ExecuteList)
-
-    def set_pwm_pulse_width(self, pulse_width):
-        return self._command(SetPwmPulseWidth, pulse_width)
-
-    def get_version(self):
-        return self._command(GetVersion)
-
-    def get_serial_number(self):
-        return self._command(GetSerialNo)
-
-    def get_list_status(self):
-        return self._command(GetListStatus)
-
-    def get_position_xy(self):
-        return self._command(GetPositionXY)
-
-    def goto_xy(self, x, y, angle=0, distance=0):
-        self._last_x = x
-        self._last_y = y
-        return self._command(GotoXY, int(x), int(y), int(angle), int(distance))
-
-    def laser_signal_off(self):
-        return self._command(LaserSignalOff)
-
-    def laser_signal_on(self):
-        return self._command(LaserSignalOn)
-
-    def write_cor_line(self, dx, dy, non_first):
-        self._command(WriteCorLine, dx, dy, non_first, read=False)
-
-    def reset_list(self):
-        return self._command(ResetList)
-
-    def restart_list(self):
-        return self._command(RestartList)
-
-    def write_cor_table(self, table: bool = True):
-        return self._command(WriteCorTable, int(table))
-
-    def set_control_mode(self, mode):
-        return self._command(SetControlMode, mode)
-
-    def set_delay_mode(self, mode):
-        return self._command(SetDelayMode, mode)
-
-    def set_max_poly_delay(self, delay):
-        return self._command(
-            SetMaxPolyDelay, abs(delay), 0x0000 if delay > 0 else 0x8000
-        )
-
-    def set_end_of_list(self, end):
-        return self._command(SetEndOfList, end)
-
-    def set_first_pulse_killer(self, fpk):
-        return self._command(SetFirstPulseKiller, fpk)
-
-    def set_laser_mode(self, mode):
-        return self._command(SetLaserMode, mode)
-
-    def set_timing(self, timing):
-        return self._command(SetTiming, timing)
-
-    def set_standby(self, standby1, standby2):
-        return self._command(SetStandby, standby1, standby2)
-
-    def set_pwm_half_period(self, pwm_half_period):
-        return self._command(SetPwmHalfPeriod, pwm_half_period)
-
-    def stop_execute(self):
-        return self._command(StopExecute)
-
-    def stop_list(self):
-        return self._command(StopList)
-
-    def write_port(self):
-        return self._command(WritePort, self._port_bits)
-
-    def write_analog_port_1(self, port):
-        return self._command(WriteAnalogPort1, port)
-
-    def write_analog_port_2(self, port):
-        return self._command(WriteAnalogPort2, port)
-
-    def write_analog_port_x(self, port):
-        return self._command(WriteAnalogPortX, port)
-
-    def read_port(self):
-        return self._command(ReadPort)
-
-    def set_axis_motion_param(self, *param):
-        return self._command(SetAxisMotionParam, *param)
-
-    def set_axis_origin_param(self, *param):
-        return self._command(SetAxisOriginParam, *param)
-
-    def axis_go_origin(self):
-        return self._command(AxisGoOrigin)
-
-    def move_axis_to(self, position, invert):
-        return self._command(MoveAxisTo, position, invert)
-
-    def get_axis_pos(self, index=0):
-        return self._command(GetAxisPos, index)
-
-    def get_fly_wait_count(self):
-        return self._command(GetFlyWaitCount)
-
-    def get_mark_count(self):
-        return self._command(GetMarkCount)
-
-    def set_pfk_param_2(self, param1, param2, param3, param4):
-        return self._command(SetFpkParam2, param1, param2, param3, param4)
-
-    def set_fiber_mo(self, mo):
-        """
-        mo == 0 close
-        mo == 1 open
-
-        @param mo:
-        @return:
-        """
-        return self._command(Fiber_SetMo, mo)
-
-    def get_fiber_st_mo_ap(self):
-        return self._command(Fiber_GetStMO_AP)
-
-    def enable_z(self):
-        return self._command(EnableZ)
-
-    def disable_z(self):
-        return self._command(DisableZ)
-
-    def set_z_data(self, zdata):
-        return self._command(SetZData, zdata)
-
-    def set_spi_simmer_current(self, current):
-        return self._command(SetSPISimmerCurrent, current)
-
-    def set_fpk_param(self, param):
-        return self._command(SetFpkParam, param)
-
-    def reset(self):
-        return self._command(Reset)
-
-    def get_fly_speed(self):
-        return self._command(GetFlySpeed)
-
-    def fiber_pulse_width(self):
-        return self._command(FiberPulseWidth)
-
-    def get_fiber_config_extend(self):
-        return self._command(FiberGetConfigExtend)
-
-    def input_port(self, port):
-        return self._command(InputPort, port)
-
-    def clear_lock_input_port(self):
-        return self._command(InputPort, 0x04)
-
-    def enable_lock_input_port(self):
-        return self._command(InputPort, 0x02)
-
-    def disable_lock_input_port(self):
-        return self._command(InputPort, 0x01)
-
-    def get_input_port(self):
-        return self._command(InputPort)
-
-    def get_mark_time(self):
-        """
-        Get Mark Time is always called with data 3. With 0 it returns 0. It is unknown what the payload means.
-        @return:
-        """
-        return self._command(GetMarkTime, 3)
-
-    def get_user_data(self):
-        return self._command(GetUserData)
-
-    def set_fly_res(self, fly_res1, fly_res2, fly_res3, fly_res4):
-        return self._command(SetFlyRes, fly_res1, fly_res2, fly_res3, fly_res4)
+"""
+Galvo Controller
+
+The balor controller takes low level lmc galvo commands and converts them into lists and shorts commands to send
+to the hardware controller.
+"""
+
+import struct
+import threading
+import time
+from copy import copy
+from usb.core import NoBackendError
+
+from meerk40t.balormk.mock_connection import MockConnection
+from meerk40t.balormk.usb_connection import USBConnection
+
+DRIVER_STATE_RAPID = 0
+DRIVER_STATE_LIGHT = 1
+DRIVER_STATE_PROGRAM = 2
+DRIVER_STATE_RAW = 3
+
+nop = [0x02, 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+empty = bytearray(nop * 0x100)
+
+listJumpTo = 0x8001
+listEndOfList = 0x8002
+listLaserOnPoint = 0x8003
+listDelayTime = 0x8004
+listMarkTo = 0x8005
+listJumpSpeed = 0x8006
+listLaserOnDelay = 0x8007
+listLaserOffDelay = 0x8008
+listMarkFreq = 0x800A
+listMarkPowerRatio = 0x800B
+listMarkSpeed = 0x800C
+listJumpDelay = 0x800D
+listPolygonDelay = 0x800F
+listWritePort = 0x8011
+listMarkCurrent = 0x8012
+listMarkFreq2 = 0x8013
+listFlyEnable = 0x801A
+listQSwitchPeriod = 0x801B
+listDirectLaserSwitch = 0x801C
+listFlyDelay = 0x801D
+listSetCo2FPK = 0x801E
+listFlyWaitInput = 0x801F
+listFiberOpenMO = 0x8021
+listWaitForInput = 0x8022
+listChangeMarkCount = 0x8023
+listSetWeldPowerWave = 0x8024
+listEnableWeldPowerWave = 0x8025
+listFiberYLPMPulseWidth = 0x8026
+listFlyEncoderCount = 0x8028
+listSetDaZWord = 0x8029
+listJptSetParam = 0x8050
+listReadyMark = 0x8051
+
+DisableLaser = 0x0002
+EnableLaser = 0x0004
+ExecuteList = 0x0005
+SetPwmPulseWidth = 0x0006
+GetVersion = 0x0007
+GetSerialNo = 0x0009
+GetListStatus = 0x000A
+GetPositionXY = 0x000C
+GotoXY = 0x000D
+LaserSignalOff = 0x000E
+LaserSignalOn = 0x000F
+WriteCorLine = 0x0010
+ResetList = 0x0012
+RestartList = 0x0013
+WriteCorTable = 0x0015
+SetControlMode = 0x0016
+SetDelayMode = 0x0017
+SetMaxPolyDelay = 0x0018
+SetEndOfList = 0x0019
+SetFirstPulseKiller = 0x001A
+SetLaserMode = 0x001B
+SetTiming = 0x001C
+SetStandby = 0x001D
+SetPwmHalfPeriod = 0x001E
+StopExecute = 0x001F
+StopList = 0x0020
+WritePort = 0x0021
+WriteAnalogPort1 = 0x0022
+WriteAnalogPort2 = 0x0023
+WriteAnalogPortX = 0x0024
+ReadPort = 0x0025
+SetAxisMotionParam = 0x0026
+SetAxisOriginParam = 0x0027
+AxisGoOrigin = 0x0028
+MoveAxisTo = 0x0029
+GetAxisPos = 0x002A
+GetFlyWaitCount = 0x002B
+GetMarkCount = 0x002D
+SetFpkParam2 = 0x002E
+Fiber_SetMo = 0x0033  # open and close set by value
+Fiber_GetStMO_AP = 0x0034
+EnableZ = 0x003A
+DisableZ = 0x0039
+SetZData = 0x003B
+SetSPISimmerCurrent = 0x003C
+SetFpkParam = 0x0062
+Reset = 0x0040
+GetFlySpeed = 0x0038
+FiberPulseWidth = 0x002F
+FiberGetConfigExtend = 0x0030
+InputPort = 0x0031  # ClearLockInputPort calls 0x04, then if EnableLockInputPort 0x02 else 0x01, GetLockInputPort
+GetMarkTime = 0x0041
+GetUserData = 0x0036
+SetFlyRes = 0x0032
+
+list_command_lookup = {
+    0x8001: "listJumpTo",
+    0x8002: "listEndOfList",
+    0x8003: "listLaserOnPoint",
+    0x8004: "listDelayTime",
+    0x8005: "listMarkTo",
+    0x8006: "listJumpSpeed",
+    0x8007: "listLaserOnDelay",
+    0x8008: "listLaserOffDelay",
+    0x800A: "listMarkFreq",
+    0x800B: "listMarkPowerRatio",
+    0x800C: "listMarkSpeed",
+    0x800D: "listJumpDelay",
+    0x800F: "listPolygonDelay",
+    0x8011: "listWritePort",
+    0x8012: "listMarkCurrent",
+    0x8013: "listMarkFreq2",
+    0x801A: "listFlyEnable",
+    0x801B: "listQSwitchPeriod",
+    0x801C: "listDirectLaserSwitch",
+    0x801D: "listFlyDelay",
+    0x801E: "listSetCo2FPK",
+    0x801F: "listFlyWaitInput",
+    0x8021: "listFiberOpenMO",
+    0x8022: "listWaitForInput",
+    0x8023: "listChangeMarkCount",
+    0x8024: "listSetWeldPowerWave",
+    0x8025: "listEnableWeldPowerWave",
+    0x8026: "listFiberYLPMPulseWidth",
+    0x8028: "listFlyEncoderCount",
+    0x8029: "listSetDaZWord",
+    0x8050: "listJptSetParam",
+    0x8051: "listReadyMark",
+}
+
+single_command_lookup = {
+    0x0002: "DisableLaser",
+    0x0004: "EnableLaser",
+    0x0005: "ExecuteList",
+    0x0006: "SetPwmPulseWidth",
+    0x0007: "GetVersion",
+    0x0009: "GetSerialNo",
+    0x000A: "GetListStatus",
+    0x000C: "GetPositionXY",
+    0x000D: "GotoXY",
+    0x000E: "LaserSignalOff",
+    0x000F: "LaserSignalOn",
+    0x0010: "WriteCorLine",
+    0x0012: "ResetList",
+    0x0013: "RestartList",
+    0x0015: "WriteCorTable",
+    0x0016: "SetControlMode",
+    0x0017: "SetDelayMode",
+    0x0018: "SetMaxPolyDelay",
+    0x0019: "SetEndOfList",
+    0x001A: "SetFirstPulseKiller",
+    0x001B: "SetLaserMode",
+    0x001C: "SetTiming",
+    0x001D: "SetStandby",
+    0x001E: "SetPwmHalfPeriod",
+    0x001F: "StopExecute",
+    0x0020: "StopList",
+    0x0021: "WritePort",
+    0x0022: "WriteAnalogPort1",
+    0x0023: "WriteAnalogPort2",
+    0x0024: "WriteAnalogPortX",
+    0x0025: "ReadPort",
+    0x0026: "SetAxisMotionParam",
+    0x0027: "SetAxisOriginParam",
+    0x0028: "AxisGoOrigin",
+    0x0029: "MoveAxisTo",
+    0x002A: "GetAxisPos",
+    0x002B: "GetFlyWaitCount",
+    0x002D: "GetMarkCount",
+    0x002E: "SetFpkParam2",
+    0x0033: "Fiber_SetMo",
+    0x0034: "Fiber_GetStMO_AP",
+    0x003A: "EnableZ",
+    0x0039: "DisableZ",
+    0x003B: "SetZData",
+    0x003C: "SetSPISimmerCurrent",
+    0x0062: "SetFpkParam",
+    0x0040: "Reset",
+    0x0038: "GetFlySpeed",
+    0x002F: "FiberPulseWidth",
+    0x0030: "FiberGetConfigExtend",
+    0x0031: "InputPort",
+    0x0041: "GetMarkTime",
+    0x0036: "GetUserData",
+    0x0032: "SetFlyRes",
+}
+
+BUSY = 0x04
+READY = 0x20
+AXIS = 0x40
+
+
+def _bytes_to_words(r):
+    b0 = r[1] << 8 | r[0]
+    b1 = r[3] << 8 | r[2]
+    b2 = r[5] << 8 | r[4]
+    b3 = r[7] << 8 | r[6]
+    return b0, b1, b2, b3
+
+
+class GalvoController:
+    """
+    Galvo controller is tasked with sending queued data to the controller board and ensuring that the connection to the
+    controller board is established to perform these actions.
+
+    This should serve as a next generation command sequencer written from scratch for galvo lasers. The goal is to
+    provide all the given commands in a coherent queue structure which provides correct sequences between list and
+    single commands.
+    """
+
+    def __init__(
+        self,
+        service,
+        x=0x8000,
+        y=0x8000,
+        mark_speed=None,
+        goto_speed=None,
+        light_speed=None,
+        dark_speed=None,
+        force_mock=False,
+    ):
+        self.service = service
+        self.force_mock = force_mock
+        self.is_shutdown = False  # Shutdown finished.
+
+        self.usb_log = service.channel(
+            f"{self.service.safe_label}/usb", buffer_size=500
+        )
+        self.usb_log.watch(lambda e: service.signal("pipe;usb_status", e))
+
+        self.connection = None
+        self._is_opening = False
+        self._abort_open = False
+        self._disable_connect = False
+
+        self._light_bit = 8
+        self._foot_bit = 15
+        self.define_pins()
+
+        self._last_x = x
+        self._last_y = y
+        self._mark_speed = mark_speed
+        self._goto_speed = goto_speed
+        self._light_speed = light_speed
+        self._dark_speed = dark_speed
+        self.serial_confirmed = False
+        self.serial_number_found = None
+
+        self._ready = None
+        self._speed = None
+        self._travel_speed = None
+        self._frequency = None
+        self._power = None
+        self._pulse_width = None
+        self._fpk = None
+
+        self._delay_jump = None
+        self._delay_on = None
+        self._delay_off = None
+        self._delay_poly = None
+        self._delay_end = None
+
+        self._port_bits = 0
+        self._machine_index = 0
+
+        self.mode = DRIVER_STATE_RAPID
+        self._list_lock = threading.RLock()
+        self._active_list = None
+        self._active_index = 0
+        self._list_executing = False
+        self._number_of_list_packets = 0
+        self.paused = False
+        self._signal_updates = self.service.setting(bool, "signal_updates", True)
+
+    def define_pins(self):
+        self._light_bit = self.service.setting(int, "light_pin", 8)
+        self._foot_bit = self.service.setting(int, "footpedal_pin", 15)
+
+    @property
+    def source(self):
+        return self.service.source
+
+    @property
+    def state(self):
+        if self.mode == DRIVER_STATE_RAPID:
+            return "idle", "idle"
+        if self.paused:
+            return "hold", "paused"
+        if self.mode == DRIVER_STATE_RAW:
+            return "busy", "raw"
+        if self.mode == DRIVER_STATE_LIGHT:
+            return "busy", "light"
+        if self.mode == DRIVER_STATE_PROGRAM:
+            return "busy", "program"
+
+    def set_disable_connect(self, status):
+        self._disable_connect = status
+
+    def added(self):
+        pass
+
+    def service_detach(self):
+        pass
+
+    def shutdown(self, *args, **kwargs):
+        self.is_shutdown = True
+
+    @property
+    def connected(self):
+        if self.connection is None:
+            return False
+        return self.connection.is_open(self._machine_index)
+
+    @property
+    def is_connecting(self):
+        if self.connection is None:
+            return False
+        return self._is_opening
+
+    def abort_connect(self):
+        self._abort_open = True
+        self.usb_log("Connect Attempts Aborted")
+
+    def disconnect(self):
+        try:
+            self.connection.close(self._machine_index)
+        except (ConnectionError, ConnectionRefusedError, AttributeError):
+            pass
+        self.connection = None
+        self.serial_number_found = None
+        # Reset error to allow another attempt
+        self.set_disable_connect(False)
+
+    def connect_if_needed(self):
+        if self._disable_connect:
+            # After many failures automatic connects are disabled. We require a manual connection.
+            self.abort_connect()
+            self.connection = None
+            raise ConnectionRefusedError(
+                "LMC was unreachable. Explicit connect required."
+            )
+        if self.connection is None:
+            if self.service.setting(bool, "mock", False) or self.force_mock:
+                self.connection = MockConnection(self.usb_log)
+                name = self.service.safe_label
+                self.connection.send = self.service.channel(f"{name}/send")
+                self.connection.recv = self.service.channel(f"{name}/recv")
+            else:
+                self.connection = USBConnection(self.usb_log)
+        self._is_opening = True
+        self._abort_open = False
+        count = 0
+        while not self.connection.is_open(self._machine_index):
+            try:
+                if self.connection.open(self._machine_index) < 0:
+                    raise ConnectionError
+                self.init_laser()
+            except (ConnectionError, ConnectionRefusedError):
+                if count == 0:
+                    self.service("clone_init\n")
+                time.sleep(0.3)
+                count += 1
+                # self.usb_log(f"Error-Routine pass #{count}")
+                if self.is_shutdown or self._abort_open:
+                    self._is_opening = False
+                    self._abort_open = False
+                    return
+                if self.connection.is_open(self._machine_index):
+                    self.connection.close(self._machine_index)
+                if count >= 10:
+                    # We have failed too many times.
+                    self._is_opening = False
+                    self.set_disable_connect(True)
+                    self.usb_log("Could not connect to the LMC controller.")
+                    self.usb_log("Automatic connections disabled.")
+                    from platform import system
+                    osname = system()
+                    if osname == "Windows":
+                        self.usb_log("Did you install the libusb driver via Zadig (https://zadig.akeo.ie/)?")
+                        self.usb_log("Consult the wiki: https://github.com/meerk40t/meerk40t/wiki/Install%3A-Windows")
+                    raise ConnectionRefusedError(
+                        "Could not connect to the LMC controller."
+                    )
+                time.sleep(0.3)
+                continue
+        self._is_opening = False
+        self._abort_open = False
+
+    def send(self, data, read=True):
+        if self.is_shutdown:
+            return -1, -1, -1, -1
+        try:
+            self.connect_if_needed()
+        except (ConnectionRefusedError, NoBackendError):
+            return -1, -1, -1, -1
+        try:
+            self.connection.write(self._machine_index, data)
+        except ConnectionError:
+            return -1, -1, -1, -1
+        if read:
+            try:
+                r = self.connection.read(self._machine_index)
+                return struct.unpack("<4H", r)
+            except ConnectionError:
+                return -1, -1, -1, -1
+
+    def status(self):
+        b0, b1, b2, b3 = self.get_version()
+        return b3
+
+    #######################
+    # MODE SHIFTS
+    #######################
+
+    def raw_mode(self):
+        self.mode = DRIVER_STATE_RAW
+
+    def rapid_mode(self):
+        if self.mode == DRIVER_STATE_RAPID:
+            return
+        self.list_end_of_list()  # Ensure at least one list_end_of_list
+        self._list_end()
+        if not self._list_executing and self._number_of_list_packets:
+            # If we never ran the list, and we sent some lists.
+            self.execute_list()
+        self._list_executing = False
+        self._number_of_list_packets = 0
+        self.wait_idle()
+        if self.source == "fiber":
+            self.set_fiber_mo(0)
+        self.port_off(bit=0)
+        self.write_port()
+        marktime = self.get_mark_time()
+        self.service.signal("galvo;marktime", marktime)
+        self.usb_log(f"Time taken for list execution: {marktime}")
+        self.mode = DRIVER_STATE_RAPID
+
+    def raster_mode(self):
+        self.program_mode()
+
+    def program_mode(self):
+        if self.mode == DRIVER_STATE_PROGRAM:
+            return
+        if self.mode == DRIVER_STATE_LIGHT:
+            self.mode = DRIVER_STATE_PROGRAM
+            self.light_off()
+            self.port_on(bit=0)
+            self.write_port()
+            if self.source == "fiber":
+                self.set_fiber_mo(1)
+        else:
+            self.mode = DRIVER_STATE_PROGRAM
+            self.reset_list()
+            self.port_on(bit=0)
+            self.write_port()
+            if self.source == "fiber":
+                self.set_fiber_mo(1)
+            self._ready = None
+            self._speed = None
+            self._travel_speed = None
+            self._frequency = None
+            self._power = None
+            self._pulse_width = None
+
+            self._delay_jump = None
+            self._delay_on = None
+            self._delay_off = None
+            self._delay_poly = None
+            self._delay_end = None
+            self.list_ready()
+            if self.service.delay_openmo != 0 and self.source == "fiber":
+                self.list_delay_time(int(self.service.delay_openmo * 100))
+            self.list_write_port()
+            self.list_jump_speed(self.service.default_rapid_speed)
+
+    def light_mode(self):
+        if self.mode == DRIVER_STATE_LIGHT:
+            return
+        if self.mode == DRIVER_STATE_PROGRAM:
+            if self.source == "fiber":
+                self.set_fiber_mo(0)
+            self.port_off(bit=0)
+            self.port_on(self._light_bit)
+            self.write_port()
+        else:
+            self._ready = None
+            self._speed = None
+            self._travel_speed = None
+            self._frequency = None
+            self._power = None
+            self._pulse_width = None
+
+            self._delay_jump = None
+            self._delay_on = None
+            self._delay_off = None
+            self._delay_poly = None
+            self._delay_end = None
+
+            self.reset_list()
+            self.list_ready()
+            self.port_off(bit=0)
+            self.port_on(self._light_bit)
+            self.list_write_port()
+        self.mode = DRIVER_STATE_LIGHT
+
+    #######################
+    # LIST APPENDING OPERATIONS
+    #######################
+
+    def _list_end(self):
+        if not self._active_list or not self._active_index:
+            # Ensure there is a list to end.
+            return
+        with self._list_lock:
+            if not self._active_list or not self._active_index:
+                # Double-gated syntax, make sure there's still that list needing ending.
+                return
+            self.wait_ready()
+            while self.paused:
+                time.sleep(0.3)
+            self.send(self._active_list, False)
+            if self.mode != DRIVER_STATE_RAW:
+                self.set_end_of_list(0)
+            self._number_of_list_packets += 1
+            self._active_list = None
+            self._active_index = 0
+            if self._number_of_list_packets > 2 and not self._list_executing:
+                if self.mode != DRIVER_STATE_RAW:
+                    self.execute_list()
+                self._list_executing = True
+
+    def _list_new(self):
+        with self._list_lock:
+            self._active_list = copy(empty)
+            self._active_index = 0
+
+    def _list_write(self, command, v1=0, v2=0, v3=0, v4=0, v5=0):
+        with self._list_lock:
+            if self._active_index >= 0xC00:
+                self._list_end()
+            if self._active_list is None:
+                self._list_new()
+            index = self._active_index
+            self._active_list[index : index + 12] = struct.pack(
+                "<6H", int(command), int(v1), int(v2), int(v3), int(v4), int(v5)
+            )
+            self._active_index += 12
+
+    def _command(self, command, v1=0, v2=0, v3=0, v4=0, v5=0, read=True):
+        cmd = struct.pack(
+            "<6H", int(command), int(v1), int(v2), int(v3), int(v4), int(v5)
+        )
+        return self.send(cmd, read=read)
+
+    def raw_write(self, command, v1=0, v2=0, v3=0, v4=0, v5=0):
+        """
+        Write this raw command to value. Sends the correct way based on command value.
+
+        @return:
+        """
+        if command >= 0x8000:
+            self._list_write(command, v1, v2, v3, v4, v5)
+        else:
+            self._command(command, v1, v2, v3, v4, v5)
+
+    def raw_clear(self):
+        self._list_new()
+
+    #######################
+    # SETS FOR PLOTLIKES
+    #######################
+
+    def set_settings(self, settings):
+        """
+        Sets the primary settings. Rapid, frequency, speed, and timings.
+
+        @param settings: The current settings dictionary
+        @return:
+        """
+        if self.service.pulse_width_enabled and self.source == "fiber":
+            # Global Pulse Width is enabled.
+            if str(settings.get("pulse_width_enabled", False)).lower() == "true":
+                # Local Pulse Width value is enabled.
+                # OpFiberYLPMPulseWidth
+
+                self.list_fiber_ylpm_pulse_width(
+                    int(settings.get("pulse_width", self.service.default_pulse_width))
+                )
+            else:
+                # Only global is enabled, use global pulse width value.
+                self.list_fiber_ylpm_pulse_width(self.service.default_pulse_width)
+
+        if str(settings.get("rapid_enabled", False)).lower() == "true":
+            self.list_jump_speed(
+                float(settings.get("rapid_speed", self.service.default_rapid_speed))
+            )
+        else:
+            self.list_jump_speed(self.service.default_rapid_speed)
+
+        power = (
+            float(settings.get("power", self.service.default_power)) / 10.0
+        )  # Convert power, out of 1000
+        frequency = float(settings.get("frequency", self.service.default_frequency))
+        fpk = float(settings.get("fpk", self.service.default_fpk))
+        if self.source == "fiber":
+            self.power(power)
+            self.frequency(frequency)
+        elif self.source == "co2":
+            self.frequency(frequency)
+            self.fpk(fpk)
+            self.power(power)
+        self.list_mark_speed(float(settings.get("speed", self.service.default_speed)))
+
+        if str(settings.get("timing_enabled", False)).lower() == "true":
+            self.list_laser_on_delay(
+                settings.get("delay_laser_on", self.service.delay_laser_on)
+            )
+            self.list_laser_off_delay(
+                settings.get("delay_laser_off", self.service.delay_laser_off)
+            )
+            self.list_polygon_delay(
+                settings.get("delay_laser_polygon", self.service.delay_polygon)
+            )
+        else:
+            # Use globals
+            self.list_laser_on_delay(self.service.delay_laser_on)
+            self.list_laser_off_delay(self.service.delay_laser_off)
+            self.list_polygon_delay(self.service.delay_polygon)
+
+    #######################
+    # PLOTLIKE SHORTCUTS
+    #######################
+
+    def mark(self, x, y):
+        if x == self._last_x and y == self._last_y:
+            return
+        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
+            # Moves to out of range are not performed.
+            return
+        if self._mark_speed is not None:
+            self.list_mark_speed(self._mark_speed)
+        self.list_mark(x, y)
+
+    def goto(self, x, y, long=None, short=None, distance_limit=None):
+        if x == self._last_x and y == self._last_y:
+            return
+        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
+            # Moves to out of range are not performed.
+            return
+        if self._goto_speed is not None:
+            self.list_jump_speed(self._goto_speed)
+        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
+
+    def light(self, x, y, long=None, short=None, distance_limit=None):
+        if x == self._last_x and y == self._last_y:
+            return
+        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
+            # Moves to out of range are not performed.
+            return
+        if self.light_on():
+            self.list_write_port()
+        if self._light_speed is not None:
+            self.list_jump_speed(self._light_speed)
+        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
+
+    def dark(self, x, y, long=None, short=None, distance_limit=None):
+        if x == self._last_x and y == self._last_y:
+            return
+        if x > 0xFFFF or x < 0 or y > 0xFFFF or y < 0:
+            # Moves to out of range are not performed.
+            return
+        if self.light_off():
+            self.list_write_port()
+        if self._dark_speed is not None:
+            self.list_jump_speed(self._dark_speed)
+        self.list_jump(x, y, long=long, short=short, distance_limit=distance_limit)
+
+    def set_xy(self, x, y):
+        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
+        if distance > 0xFFFF:
+            distance = 0xFFFF
+        self.goto_xy(x, y, distance=distance)
+
+    def get_last_xy(self):
+        return self._last_x, self._last_y
+
+    #######################
+    # Command Shortcuts
+    #######################
+
+    def is_busy(self):
+        status = self.status()
+        return bool(status & BUSY)
+
+    def is_ready(self):
+        status = self.status()
+        return bool(status & READY)
+
+    def is_axis(self):
+        status = self.status()
+        return bool(status & AXIS)
+
+    def is_ready_and_not_busy(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return True
+        status = self.status()
+        return bool(status & READY) and not bool(status & BUSY)
+
+    def wait_finished(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        while not self.is_ready_and_not_busy():
+            time.sleep(0.01)
+            if self.is_shutdown:
+                return
+
+    def wait_axis(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        while self.is_axis():
+            time.sleep(0.01)
+            if self.is_shutdown:
+                return
+
+    def wait_ready(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        while not self.is_ready():
+            time.sleep(0.01)
+            if self.is_shutdown:
+                return
+
+    def wait_idle(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        while self.is_busy():
+            time.sleep(0.01)
+            if self.is_shutdown:
+                return
+
+    def abort(self, dummy_packet=True):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        self.stop_execute()
+        self.paused = False
+        self.set_fiber_mo(0)
+        self.reset_list()
+        if dummy_packet:
+            self._list_new()
+            self.list_end_of_list()  # Ensure packet is sent on end.
+            self._list_end()
+            if not self._list_executing:
+                self.execute_list()
+        self._list_executing = False
+        self._number_of_list_packets = 0
+        self.set_fiber_mo(0)
+        self.port_off(bit=0)
+        self.write_port()
+        self.mode = DRIVER_STATE_RAPID
+
+    def pause(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        self.paused = True
+        self.stop_list()
+
+    def resume(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        self.restart_list()
+        self.paused = False
+
+    def init_laser(self):
+        if self.mode == DRIVER_STATE_RAW:
+            return
+        cor_file = self.service.corfile if self.service.corfile_enabled else None
+        first_pulse_killer = self.service.first_pulse_killer
+        pwm_pulse_width = self.service.pwm_pulse_width
+        pwm_half_period = self.service.pwm_half_period
+        standby_param_1 = self.service.standby_param_1
+        standby_param_2 = self.service.standby_param_2
+        timing_mode = self.service.timing_mode
+        delay_mode = self.service.delay_mode
+        laser_mode = self.service.laser_mode
+        control_mode = self.service.control_mode
+        fpk2_p1 = self.service.fpk2_p1
+        fpk2_p2 = self.service.fpk2_p2
+        fpk2_p3 = self.service.fpk2_p3
+        fpk2_p4 = self.service.fpk2_p3
+        fly_res_p1 = self.service.fly_res_p1
+        fly_res_p2 = self.service.fly_res_p2
+        fly_res_p3 = self.service.fly_res_p3
+        fly_res_p4 = self.service.fly_res_p4
+
+        self.usb_log("Initializing Laser")
+        serial_number = self.get_serial_number()
+        content = "0x"
+        for nibble in serial_number:
+            content += f"{nibble:04x}"
+        self.usb_log(f"Serial Number: {serial_number} ({content})")
+        if self.service.serial_enable and self.service.serial and not self.serial_confirmed:
+            self.usb_log(f"Requires serial number confirmation against {self.service.serial}.")
+            if content == self.service.serial:
+                self.serial_confirmed = True
+
+            if not self.serial_confirmed:
+                self.disconnect()
+                raise ConnectionRefusedError("Serial number confirmation failed.")
+            else:
+                self.usb_log("Serial number confirmed.")
+
+        version = self.get_version()
+        self.usb_log(f"Version: {version}")
+
+        self.reset()
+        self.usb_log("Reset")
+        self.write_correction_file(cor_file)
+        self.enable_laser()
+        self.usb_log("Laser Enabled")
+        self.set_control_mode(control_mode)
+        self.usb_log("Control Mode")
+        self.set_laser_mode(laser_mode)
+        self.usb_log("Laser Mode")
+        self.set_delay_mode(delay_mode)
+        self.usb_log("Delay Mode")
+        self.set_timing(timing_mode)
+        self.usb_log("Timing Mode")
+        self.set_standby(standby_param_1, standby_param_2)
+        self.usb_log("Setting Standby")
+        self.set_first_pulse_killer(first_pulse_killer)
+        self.usb_log("Set First Pulse Killer")
+        self.set_pwm_half_period(pwm_half_period)
+        self.usb_log("Set PWM Half-Period")
+        self.set_pwm_pulse_width(pwm_pulse_width)
+        self.usb_log("Set PWM pulse width")
+        self.set_fiber_mo(0)  # Close
+        self.usb_log("Set Fiber Mo (Closed)")
+        self.set_pfk_param_2(fpk2_p1, fpk2_p2, fpk2_p3, fpk2_p4)
+        self.usb_log("First Pulse Killer Parameters")
+        self.set_fly_res(fly_res_p1, fly_res_p2, fly_res_p3, fly_res_p4)
+        self.usb_log("On-The-Fly Res")
+        self.enable_z()
+        self.usb_log("Z-Enabled")
+        self.write_analog_port_1(0x7FF)
+        self.usb_log("Analog Port 1")
+        self.enable_z()
+        self.usb_log("Z-Enabled-part2")
+        time.sleep(0.05)
+        self.usb_log("Ready")
+
+    def power(self, power):
+        """
+        Accepts power in percent, automatically converts to power_ratio
+
+        @param power:
+        @return:
+        """
+        if self._power == power:
+            return
+        self._power = power
+        if self.source == "co2":
+            power_ratio = int(round(200 * power / self._frequency))
+            self.list_mark_power_ratio(power_ratio)
+        if self.source == "fiber":
+            self.list_mark_current(self._convert_power(power))
+
+    def frequency(self, frequency):
+        if self._frequency == frequency:
+            return
+        self._frequency = frequency
+        if self.source == "fiber":
+            self.list_qswitch_period(self._convert_frequency(frequency, base=20000.0))
+        elif self.source == "co2":
+            self.list_mark_frequency(self._convert_frequency(frequency, base=10000.0))
+
+    def fpk(self, fpk):
+        """
+        Set First Pulse Killer
+        @param fpk: first_pulse_killer value in percent.
+        @return:
+        """
+        if self.source != "co2":
+            # FPK only used for CO2 source.
+            return
+        if self._fpk == fpk or fpk is None:
+            return
+        self._fpk = fpk
+        first_pulse_killer = int(round(2000.0 / self._frequency))
+        self.list_set_co2_fpk(first_pulse_killer)
+
+    def light_on(self):
+        if not self.is_port(self._light_bit):
+            self.port_on(self._light_bit)
+            return True
+        return False
+
+    def light_off(self):
+        if self.is_port(self._light_bit):
+            self.port_off(self._light_bit)
+            return True
+        return False
+
+    def is_port(self, bit):
+        return bool((1 << bit) & self._port_bits)
+
+    def port_on(self, bit):
+        self._port_bits = self._port_bits | (1 << bit)
+
+    def port_off(self, bit):
+        self._port_bits = ~((~self._port_bits) | (1 << bit))
+
+    def port_set(self, mask, values):
+        self._port_bits &= ~mask  # Unset mask.
+        self._port_bits |= values & mask  # Set masked bits.
+
+    #######################
+    # UNIT CONVERSIONS
+    #######################
+
+    def _convert_speed(self, speed):
+        """
+        Speed in the galvo is given in galvos/ms this means mm/s needs to multiply by galvos_per_mm
+        and divide by 1000 (s/ms)
+
+        @param speed:
+        @return:
+        """
+        # return int(speed / 2)
+        galvos_per_mm, _ = self.service.view.position("1mm", "1mm", vector=True, margins=False)
+        return abs(int(speed * galvos_per_mm / 1000.0))
+
+    def _convert_frequency(self, frequency_khz, base=20000.0):
+        """
+        Converts frequency to period.
+
+        20000000.0 / frequency in hz
+
+        @param frequency_khz: Frequency to convert
+        @return:
+        """
+        return int(round(base / frequency_khz)) & 0xFFFF
+
+    def _convert_power(self, power):
+        """
+        Converts power percent to int value
+        @return:
+        """
+        return int(round(power * 0xFFF / 100.0))
+
+    #######################
+    # HIGH LEVEL OPERATIONS
+    #######################
+
+    def write_correction_file(self, filename):
+        if filename is None:
+            self.write_blank_correct_file()
+            self.usb_log("Correction file set to blank.")
+            return
+        try:
+            table = self._read_correction_file(filename)
+            self._write_correction_table(table)
+            self.usb_log("Correction File Sent")
+        except OSError:
+            self.write_blank_correct_file()
+            self.usb_log("Correction file set to blank.")
+            return
+
+    @staticmethod
+    def get_scale_from_correction_file(filename):
+        with open(filename, "rb") as f:
+            label = f.read(0x16)
+            if label.decode("utf-16") == "LMC1COR_1.0":
+                unk = f.read(2)
+                return struct.unpack("63d", f.read(0x1F8))[43]
+            else:
+                unk = f.read(6)
+                return struct.unpack("d", f.read(8))[0]
+
+    def write_blank_correct_file(self):
+        self.write_cor_table(False)
+
+    def _read_float_correction_file(self, f):
+        """
+        Read table for cor files marked: LMC1COR_1.0
+        @param f:
+        @return:
+        """
+        table = []
+        for j in range(65):
+            for k in range(65):
+                dx = int(round(struct.unpack("d", f.read(8))[0]))
+                dx = dx if dx >= 0 else -dx + 0x8000
+                dy = int(round(struct.unpack("d", f.read(8))[0]))
+                dy = dy if dy >= 0 else -dy + 0x8000
+                table.append([dx & 0xFFFF, dy & 0xFFFF])
+        return table
+
+    def _read_int_correction_file(self, f):
+        table = []
+        for j in range(65):
+            for k in range(65):
+                dx = int.from_bytes(f.read(4), "little", signed=True)
+                dx = dx if dx >= 0 else -dx + 0x8000
+                dy = int.from_bytes(f.read(4), "little", signed=True)
+                dy = dy if dy >= 0 else -dy + 0x8000
+                table.append([dx & 0xFFFF, dy & 0xFFFF])
+        return table
+
+    def _read_correction_file(self, filename):
+        """
+        Reads a standard .cor file and builds a table from that.
+
+        @param filename:
+        @return:
+        """
+        with open(filename, "rb") as f:
+            label = f.read(0x16)
+            if label.decode("utf-16") == "LMC1COR_1.0":
+                header = f.read(0x1FA)
+                return self._read_float_correction_file(f)
+            else:
+                header = f.read(0xE)
+                return self._read_int_correction_file(f)
+
+    def _write_correction_table(self, table):
+        assert len(table) == 65 * 65
+        self.write_cor_table(True)
+        first = True
+        for dx, dy in table:
+            self.write_cor_line(dx, dy, 0 if first else 1)
+            first = False
+
+    #######################
+    # COMMAND LIST COMMAND
+    #######################
+
+    def list_jump(self, x, y, short=None, long=None, distance_limit=None):
+        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
+        if distance_limit and distance > distance_limit:
+            delay = long
+        else:
+            delay = short
+        if distance > 0xFFFF:
+            distance = 0xFFFF
+        angle = 0
+        if delay:
+            self.list_jump_delay(delay)
+        x = int(x)
+        y = int(y)
+        self._list_write(listJumpTo, x, y, angle, distance)
+        if self._signal_updates:
+            view  = self.service.view
+            l_x, l_y = view.iposition(self._last_x, self._last_y)
+            n_x, n_y = view.iposition(x, y)
+            self.service.signal(
+                "driver;position",
+                (l_x, l_y, n_x, n_y),
+            )
+
+        self._last_x = x
+        self._last_y = y
+
+    def list_end_of_list(self):
+        self._list_write(listEndOfList)
+
+    def list_laser_on_point(self, dwell_time):
+        self._list_write(listLaserOnPoint, dwell_time)
+
+    def list_delay_time(self, delay_time):
+        """
+        Delay time in 10 microseconds units
+
+        @param delay_time:
+        @return:
+        """
+        self._list_write(listDelayTime, abs(delay_time))
+
+    def list_mark(self, x, y, angle=0):
+        distance = int(abs(complex(x, y) - complex(self._last_x, self._last_y)))
+        if distance > 0xFFFF:
+            distance = 0xFFFF
+        x = int(x)
+        y = int(y)
+        self._list_write(listMarkTo, x, y, angle, distance)
+
+        if self._signal_updates:
+            view  = self.service.view
+            l_x, l_y = view.iposition(self._last_x, self._last_y)
+            n_x, n_y = view.iposition(x, y)
+            self.service.signal(
+                "driver;position",
+                (l_x, l_y, n_x, n_y),
+            )
+
+        self._last_x = x
+        self._last_y = y
+
+    def list_jump_speed(self, speed):
+        if self._travel_speed == speed:
+            return
+        self._travel_speed = speed
+        c_speed = self._convert_speed(speed)
+        if c_speed > 0xFFFF:
+            c_speed = 0xFFFF
+        self._list_write(listJumpSpeed, c_speed)
+
+    def list_laser_on_delay(self, delay):
+        """
+        Set laser on delay in microseconds
+        @param delay:
+        @return:
+        """
+        if self._delay_on == delay:
+            return
+        self._delay_on = delay
+        self._list_write(listLaserOnDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
+
+    def list_laser_off_delay(self, delay):
+        """
+        Set laser off delay in microseconds
+        @param delay:
+        @return:
+        """
+        if self._delay_off == delay:
+            return
+        self._delay_off = delay
+        self._list_write(listLaserOffDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
+
+    def list_mark_frequency(self, frequency):
+        """
+        This command is used in some machines but, it's not clear given the amount of reverse engineering how those
+        values are set. This is done for laser_type = 4.
+
+        @param frequency:
+        @return:
+        """
+        self._list_write(listMarkFreq, frequency)
+
+    def list_mark_power_ratio(self, power_ratio):
+        """
+        This command is used in some machines. Laser_type=4 and laser_type=0 (CO2), if 0x800A returned 0.
+
+        @param power_ratio:
+        @return:
+        """
+        # listMarkPowerRatio
+        self._list_write(listMarkPowerRatio, power_ratio)
+
+    def list_mark_speed(self, speed):
+        """
+        Sets the marking speed for the laser.
+
+        @param speed:
+        @return:
+        """
+        if self._speed == speed:
+            return
+        self._speed = speed
+        c_speed = self._convert_speed(speed)
+        if c_speed > 0xFFFF:
+            c_speed = 0xFFFF
+        self._list_write(listMarkSpeed, c_speed)
+
+    def list_jump_delay(self, delay):
+        """
+        Set laser jump delay in microseconds
+        @param delay:
+        @return:
+        """
+        if self._delay_jump == delay:
+            return
+        self._delay_jump = delay
+        self._list_write(listJumpDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
+
+    def list_polygon_delay(self, delay):
+        """
+        Set polygon delay in microseconds
+        @param delay:
+        @return:
+        """
+        if self._delay_poly == delay:
+            return
+        self._delay_poly = delay
+        self._list_write(listPolygonDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
+
+    def list_write_port(self):
+        """
+        Writes the set port values to the list.
+
+        @return:
+        """
+        self._list_write(listWritePort, self._port_bits)
+
+    def list_mark_current(self, current):
+        """
+        Also called as part of setting the power ratio. This is not correctly understood.
+        @param current:
+        @return:
+        """
+        # listMarkCurrent
+        self._list_write(listMarkCurrent, current)
+
+    def list_mark_frequency_2(self, frequency):
+        """
+        Also called as part of setting frequency and is not correctly understood.
+
+        @param frequency:
+        @return:
+        """
+        # listMarkFreq2
+        raise NotImplementedError
+
+    def list_fly_enable(self, enabled=1):
+        """
+        On-The-Fly control enable/disable within list.
+
+        @param enabled:
+        @return:
+        """
+        self._list_write(listFlyEnable, enabled)
+
+    def list_qswitch_period(self, qswitch):
+        """
+        Sets the qswitch period, which in is the inversely related to frequency.
+
+        @param qswitch:
+        @return:
+        """
+        self._list_write(listQSwitchPeriod, qswitch)
+
+    def list_direct_laser_switch(self):
+        """
+        This is not understood.
+        @return:
+        """
+        # ListDirectLaserSwitch
+        raise NotImplementedError
+
+    def list_fly_delay(self, delay):
+        """
+        On-the-fly control.
+
+        @param delay:
+        @return:
+        """
+        self._list_write(listFlyDelay, abs(delay), 0x0000 if delay > 0 else 0x8000)
+
+    def list_set_co2_fpk(self, fpk1, fpk2=None):
+        """
+        Set the CO2 Laser, First Pulse Killer.
+
+        @return:
+        """
+        if fpk2 is None:
+            fpk2 = fpk1
+        self._list_write(listSetCo2FPK, fpk1, fpk2)
+
+    def list_fly_wait_input(self):
+        """
+        Sets the On-the-fly to wait for input.
+        @return:
+        """
+        self._list_write(listFlyWaitInput)
+
+    def list_fiber_open_mo(self, open_mo):
+        """
+        Sets motion operations, without MO set the laser does not automatically fire while moving.
+
+        @param open_mo:
+        @return:
+        """
+        self._list_write(listFiberOpenMO, open_mo)
+
+    def list_wait_for_input(self, wait_mask, wait_level):
+        """
+        Unknown.
+
+        @return:
+        """
+        self._list_write(listWaitForInput, wait_mask, wait_level)
+
+    def list_change_mark_count(self, count):
+        """
+        Unknown.
+
+        @param count:
+        @return:
+        """
+        self._list_write(listChangeMarkCount, count)
+
+    def list_set_weld_power_wave(self, weld_power_wave):
+        """
+        Unknown.
+
+        @param weld_power_wave:
+        @return:
+        """
+        self._list_write(listSetWeldPowerWave, weld_power_wave)
+
+    def list_enable_weld_power_wave(self, enabled):
+        """
+        Unknown.
+
+        @param enabled:
+        @return:
+        """
+        self._list_write(listEnableWeldPowerWave, enabled)
+
+    def list_fiber_ylpm_pulse_width(self, pulse_width):
+        """
+        Unknown.
+
+        @param pulse_width:
+        @return:
+        """
+        if self._pulse_width == pulse_width:
+            return
+        self._pulse_width = pulse_width
+        self._list_write(listFiberYLPMPulseWidth, pulse_width)
+
+    def list_fly_encoder_count(self, count):
+        """
+        Unknown.
+
+        @param count:
+        @return:
+        """
+        self._list_write(listFlyEncoderCount, count)
+
+    def list_set_da_z_word(self, word):
+        """
+        Unknown.
+
+        @param word:
+        @return:
+        """
+        self._list_write(listSetDaZWord, word)
+
+    def list_jpt_set_param(self, param):
+        """
+        Unknown.
+
+        @param param:
+        @return:
+        """
+        self._list_write(listJptSetParam, param)
+
+    def list_ready(self):
+        """
+        Seen at the start of any new command list.
+
+        @return:
+        """
+        self._list_write(listReadyMark)
+
+    #######################
+    # COMMAND LIST SHORTCUTS
+    #######################
+
+    def disable_laser(self):
+        return self._command(DisableLaser)
+
+    def enable_laser(self):
+        return self._command(EnableLaser)
+
+    def execute_list(self):
+        return self._command(ExecuteList)
+
+    def set_pwm_pulse_width(self, pulse_width):
+        return self._command(SetPwmPulseWidth, pulse_width)
+
+    def get_version(self):
+        return self._command(GetVersion)
+
+    def get_serial_number(self):
+        if self.serial_number_found is None:
+            self.serial_number_found = self._command(GetSerialNo)
+        return self.serial_number_found
+
+    def get_list_status(self):
+        return self._command(GetListStatus)
+
+    def get_position_xy(self):
+        return self._command(GetPositionXY)
+
+    def goto_xy(self, x, y, angle=0, distance=0):
+        self._last_x = x
+        self._last_y = y
+        return self._command(GotoXY, int(x), int(y), int(angle), int(distance))
+
+    def laser_signal_off(self):
+        return self._command(LaserSignalOff)
+
+    def laser_signal_on(self):
+        return self._command(LaserSignalOn)
+
+    def write_cor_line(self, dx, dy, non_first):
+        self._command(WriteCorLine, dx, dy, non_first, read=False)
+
+    def reset_list(self):
+        return self._command(ResetList)
+
+    def restart_list(self):
+        return self._command(RestartList)
+
+    def write_cor_table(self, table: bool = True):
+        return self._command(WriteCorTable, int(table))
+
+    def set_control_mode(self, mode):
+        return self._command(SetControlMode, mode)
+
+    def set_delay_mode(self, mode):
+        return self._command(SetDelayMode, mode)
+
+    def set_max_poly_delay(self, delay):
+        return self._command(
+            SetMaxPolyDelay, abs(delay), 0x0000 if delay > 0 else 0x8000
+        )
+
+    def set_end_of_list(self, end):
+        return self._command(SetEndOfList, end)
+
+    def set_first_pulse_killer(self, fpk):
+        return self._command(SetFirstPulseKiller, fpk)
+
+    def set_laser_mode(self, mode):
+        return self._command(SetLaserMode, mode)
+
+    def set_timing(self, timing):
+        return self._command(SetTiming, timing)
+
+    def set_standby(self, standby1, standby2):
+        return self._command(SetStandby, standby1, standby2)
+
+    def set_pwm_half_period(self, pwm_half_period):
+        return self._command(SetPwmHalfPeriod, pwm_half_period)
+
+    def stop_execute(self):
+        return self._command(StopExecute)
+
+    def stop_list(self):
+        return self._command(StopList)
+
+    def write_port(self):
+        return self._command(WritePort, self._port_bits)
+
+    def write_analog_port_1(self, port):
+        return self._command(WriteAnalogPort1, port)
+
+    def write_analog_port_2(self, port):
+        return self._command(WriteAnalogPort2, port)
+
+    def write_analog_port_x(self, port):
+        return self._command(WriteAnalogPortX, port)
+
+    def read_port(self):
+        return self._command(ReadPort)
+
+    def set_axis_motion_param(self, *param):
+        return self._command(SetAxisMotionParam, *param)
+
+    def set_axis_origin_param(self, *param):
+        return self._command(SetAxisOriginParam, *param)
+
+    def axis_go_origin(self):
+        return self._command(AxisGoOrigin)
+
+    def move_axis_to(self, position, invert):
+        return self._command(MoveAxisTo, position, invert)
+
+    def get_axis_pos(self, index=0):
+        return self._command(GetAxisPos, index)
+
+    def get_fly_wait_count(self):
+        return self._command(GetFlyWaitCount)
+
+    def get_mark_count(self):
+        return self._command(GetMarkCount)
+
+    def set_pfk_param_2(self, param1, param2, param3, param4):
+        return self._command(SetFpkParam2, param1, param2, param3, param4)
+
+    def set_fiber_mo(self, mo):
+        """
+        mo == 0 close
+        mo == 1 open
+
+        @param mo:
+        @return:
+        """
+        return self._command(Fiber_SetMo, mo)
+
+    def get_fiber_st_mo_ap(self):
+        return self._command(Fiber_GetStMO_AP)
+
+    def enable_z(self):
+        return self._command(EnableZ)
+
+    def disable_z(self):
+        return self._command(DisableZ)
+
+    def set_z_data(self, zdata):
+        return self._command(SetZData, zdata)
+
+    def set_spi_simmer_current(self, current):
+        return self._command(SetSPISimmerCurrent, current)
+
+    def set_fpk_param(self, param):
+        return self._command(SetFpkParam, param)
+
+    def reset(self):
+        return self._command(Reset)
+
+    def get_fly_speed(self):
+        return self._command(GetFlySpeed)
+
+    def fiber_pulse_width(self):
+        return self._command(FiberPulseWidth)
+
+    def get_fiber_config_extend(self):
+        return self._command(FiberGetConfigExtend)
+
+    def input_port(self, port):
+        return self._command(InputPort, port)
+
+    def clear_lock_input_port(self):
+        return self._command(InputPort, 0x04)
+
+    def enable_lock_input_port(self):
+        return self._command(InputPort, 0x02)
+
+    def disable_lock_input_port(self):
+        return self._command(InputPort, 0x01)
+
+    def get_input_port(self):
+        return self._command(InputPort)
+
+    def get_mark_time(self):
+        """
+        Get Mark Time is always called with data 3. With 0 it returns 0. It is unknown what the payload means.
+        @return:
+        """
+        return self._command(GetMarkTime, 3)
+
+    def get_user_data(self):
+        return self._command(GetUserData)
+
+    def set_fly_res(self, fly_res1, fly_res2, fly_res3, fly_res4):
+        return self._command(SetFlyRes, fly_res1, fly_res2, fly_res3, fly_res4)