microeye 2.3.2__py3-none-any.whl

microEye/hardware/stages/kinesis/kdc101/enums.py

@@ -0,0 +1,1002 @@
+import struct
+from dataclasses import dataclass
+from enum import Enum, IntFlag, auto
+from typing import Any, Optional, Union
+
+
+class CommandType(Enum):
+    GENERIC = auto()
+    CHANNEL = auto()
+    COMPLEX = auto()
+
+
+class DataType(Enum):
+    WORD = 'H'  # Unsigned 16-bit integer
+    SHORT = 'h'  # Signed 16-bit integer
+    DWORD = 'I'  # Unsigned 32-bit integer
+    LONG = 'i'  # Signed 32-bit integer
+    CHAR = 'B'  # 1 byte
+    STRING = 's'  # String of N characters
+
+
+@dataclass
+class DataField:
+    name: str
+    data_type: DataType
+    length: int = 1  # For strings, specify the number of characters
+
+
+@dataclass
+class PacketStructure:
+    data_fields: list[DataField]
+
+    @property
+    def has_data(self) -> bool:
+        return len(self.data_fields) > 0
+
+    @property
+    def has_length(self) -> bool:
+        return any(field.name == 'length' for field in self.data_fields)
+
+
+class KDC101_RESPONSES(Enum):
+    def __init__(self, value, packet: Optional[PacketStructure] = None):
+        self._value_ = value
+        self.packet = packet
+
+
+    MGMSG_MOD_GET_CHANENABLESTATE = (
+        0x0212,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('channel', DataType.CHAR),
+                DataField('enable_state', DataType.CHAR),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOD_REQ_CHANENABLESTATE'''
+
+    MGMSG_HW_RESPONSE = (
+        0x0080,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('code', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+            ]
+        ),
+    )
+    '''Sent by the controllers to notify Thorlabs Server of some event that
+    requires user intervention, usually some fault or error condition that
+    needs to be handled before normal operation can resume.
+
+    The message transmits the fault code as a numerical value – see the
+    Return Codes listed in the Thorlabs Server helpfile for details on the
+    specific return codes.
+    '''
+    MGMSG_HW_RICHRESPONSE = (
+        0x0081,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('msg_id', DataType.WORD),
+                DataField('code', DataType.WORD),
+                DataField('notes', DataType.STRING, length=64),
+            ]
+        ),
+    )
+    '''
+    Similarly, to HW_RESPONSE, this message is sent by the controllers
+    to notify Thorlabs Server of some event that requires user
+    intervention,
+
+    usually some fault or error condition that needs to be
+    handled before normal operation can resume.
+
+    However, unlike HW_RESPONSE, this message also transmits a printable text string.
+
+    Upon receiving the message, Thorlabs Server displays both the
+    numerical value and the text information, which is useful in finding
+    the cause of the problem.
+    '''
+
+    MGMSG_HW_GET_INFO = (
+        0x0006,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('serial number', DataType.LONG),
+                DataField('model', DataType.STRING, length=8),
+                DataField('type', DataType.WORD),
+                DataField('minor revision number', DataType.CHAR),
+                DataField('interim revision number', DataType.CHAR),
+                DataField('major revision number', DataType.CHAR),
+                DataField('unused', DataType.CHAR),
+                DataField('hw version', DataType.WORD),
+                DataField('mod state', DataType.WORD),
+                DataField('nchs', DataType.WORD),
+            ]
+        ),
+    )
+    '''Response of MGMSG_HW_REQ_INFO'''
+
+    MGMSG_HUB_GET_BAYUSED = (
+        0x0066,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('bay id', DataType.CHAR),
+                DataField('unused', DataType.CHAR),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+            ]
+        ),
+    )
+    '''Response of MGMSG_HUB_REQ_BAYUSED'''
+
+    MGMSG_MOT_GET_POSCOUNTER = (
+        0x0412,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('position', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_POSCOUNTER'''
+
+    MGMSG_MOT_GET_ENCCOUNTER = (
+        0x040B,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('encoder count', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_ENCCOUNTER'''
+
+    MGMSG_MOT_GET_VELPARAMS = (
+        0x0415,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('min velocity', DataType.LONG),
+                DataField('acceleration', DataType.LONG),
+                DataField('max velocity', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_VELPARAMS'''
+
+    MGMSG_MOT_GET_JOGPARAMS = (
+        0x0418,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('jog mode', DataType.WORD),
+                DataField('jog step size', DataType.LONG),
+                DataField('jog min velocity', DataType.LONG),
+                DataField('jog acceleration', DataType.LONG),
+                DataField('jog max velocity', DataType.LONG),
+                DataField('jog stop mode', DataType.WORD),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_JOGPARAMS'''
+
+    MGMSG_MOT_GET_LIMSWITCHPARAMS = (
+        0x0425,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('cw hard limit', DataType.WORD),
+                DataField('ccw hard limit', DataType.WORD),
+                DataField('cw soft limit', DataType.LONG),
+                DataField('ccw soft limit', DataType.LONG),
+                DataField('soft limit mode', DataType.WORD),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_LIMSWITCHPARAMS'''
+
+    MGMSG_MOT_GET_GENMOVEPARAMS = (
+        0x043C,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('distance', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_GENMOVEPARAMS'''
+
+    MGMSG_MOT_GET_HOMEPARAMS = (
+        0x0442,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('direction', DataType.WORD),
+                DataField('limit switch', DataType.WORD),
+                DataField('velocity', DataType.LONG),
+                DataField('zero offset', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_HOMEPARAMS'''
+
+    MGMSG_MOT_MOVE_HOMED = (
+        0x0444,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('channel', DataType.CHAR),
+                DataField('unused', DataType.CHAR),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+            ]
+        ),
+    )
+    '''
+    No response on initial message, but upon completion of home
+    sequence controller sends a “homing completed” message'''
+
+    MGMSG_MOT_GET_MOVERELPARAMS = (
+        0x0447,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('distance', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_MOVERELPARAMS'''
+
+    MGMSG_MOT_GET_MOVEABSPARAMS = (
+        0x0452,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('position', DataType.LONG),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_MOVEABSPARAMS'''
+
+    MGMSG_MOT_MOVE_COMPLETED = (
+        0x0464,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('channel', DataType.CHAR),
+                DataField('unused', DataType.CHAR),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                # MOT DC STATUS
+                DataField('channel', DataType.WORD),
+                DataField('position', DataType.LONG),
+                DataField('velocity', DataType.WORD),
+                DataField('motor current', DataType.WORD),
+                DataField('status bits', DataType.DWORD),
+            ]
+        ),
+    )
+    '''
+    No response on initial message, but upon completion of the relative
+    or absolute move sequence, the controller sends a “move
+    completed” message.
+    '''
+
+    MGMSG_MOT_MOVE_STOPPED = (
+        0x0466,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                # MOT DC STATUS
+                DataField('channel', DataType.WORD),
+                DataField('position', DataType.LONG),
+                DataField('velocity', DataType.WORD),
+                DataField('motor current', DataType.WORD),
+                DataField('status bits', DataType.DWORD),
+            ]
+        ),
+    )
+    '''
+    No response on initial message, but upon completion of the stop
+    move, the controller sends a “move stopped” message.
+    '''
+
+    MGMSG_MOT_GET_DCSTATUSUPDATE = (
+        0x0491,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                # MOT DC STATUS
+                DataField('channel', DataType.WORD),
+                DataField('position', DataType.LONG),
+                DataField('velocity', DataType.WORD),
+                DataField('motor current', DataType.WORD),
+                DataField('status bits', DataType.DWORD),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_DCSTATUSUPDATE'''
+
+    # MGMSG_MOT_ACK_DCSTATUSUPDATE = 0x0492
+    '''Acknowledgement of MGMSG_MOT_REQ_DCSTATUSUPDATE
+
+    Only Applicable If Using USB COMMS. Does not apply to RS-232 COMMS'''
+
+    MGMSG_MOT_GET_STATUSBITS = (
+        0x042A,
+        PacketStructure(
+            [
+                DataField('id', DataType.WORD),
+                DataField('length', DataType.WORD),
+                DataField('destination', DataType.CHAR),
+                DataField('source', DataType.CHAR),
+                DataField('channel', DataType.WORD),
+                DataField('status bits', DataType.DWORD),
+            ]
+        ),
+    )
+    '''Response of MGMSG_MOT_REQ_STATUSBITS'''
+
+    @classmethod
+    def get(cls, response: Union[int, list]):
+        '''Get the response enum for a given response code.'''
+        try:
+            if isinstance(response, list):
+                if len(response) < 2:
+                    raise ValueError('Not enough bytes to get command.')
+
+                response = (response[1] << 8) | response[0]
+
+            if not isinstance(response, int):
+                raise ValueError(
+                    'Command must be an integer or list of integers/bytes.'
+                )
+
+            # Iterate through enum members to find the one with the matching value
+            for member in cls:
+                if member.value == response:
+                    return member
+        except ValueError:
+            return None
+
+
+class KDC101_CMDS(Enum):
+    def __init__(
+        self,
+        value,
+        cmd_type: CommandType,
+        packet: Optional[PacketStructure] = None,
+        response: Optional[KDC101_RESPONSES] = None,
+    ):
+        self._value_ = value
+        self.cmd_type = cmd_type
+        self.packet = packet
+        self.response = response
+
+    MGMSG_MOD_IDENTIFY = (0x0223, CommandType.CHANNEL)
+    '''Instruct hardware unit to identify itself (by flashing its front panel
+    LEDs).'''
+
+    MGMSG_MOD_SET_CHANENABLESTATE = (0x0210, CommandType.CHANNEL)
+    '''Sent to enable or disable the specified drive channel.'''
+    MGMSG_MOD_REQ_CHANENABLESTATE = (
+        0x0211,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOD_GET_CHANENABLESTATE,
+    )
+    '''Sent to request the enable state of the specified drive channel.'''
+
+    MGMSG_HW_DISCONNECT = (0x0002, CommandType.GENERIC)
+    '''Sent by the hardware unit or host to disconnect from the
+    Ethernet/USB bus.'''
+
+    MGMSG_HW_START_UPDATEMSGS = (0x0011, CommandType.GENERIC)
+    '''Sent to start automatic status updates from the embedded controller.'''
+    MGMSG_HW_STOP_UPDATEMSGS = (0x0012, CommandType.GENERIC)
+    '''
+    Sent to stop automatic status updates from the controller – usually
+    called by a client application when it is shutting down, to instruct
+    the controller to turn off status updates to prevent USB buffer
+    overflows on the PC.
+    '''
+
+    MGMSG_HW_REQ_INFO = (
+        0x0005,
+        CommandType.GENERIC,
+        None,
+        KDC101_RESPONSES.MGMSG_HW_GET_INFO,
+    )
+    '''Sent to request hardware information from the controller.'''
+
+    MGMSG_HUB_REQ_BAYUSED = (
+        0x0065,
+        CommandType.GENERIC,
+        None,
+        KDC101_RESPONSES.MGMSG_HUB_GET_BAYUSED,
+    )
+    '''Sent to determine to which bay a specific unit is fitted.'''
+
+    MGMSG_MOT_REQ_POSCOUNTER = (
+        0x0411,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_POSCOUNTER,
+    )
+    '''Used to request the ‘live’ position count in the controller.'''
+
+    MGMSG_MOT_REQ_ENCCOUNTER = (
+        0x040A,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_ENCCOUNTER,
+    )
+    '''
+    Used to set the encoder count in the controller and is
+    only applicable to stages and actuators fitted with an encoder.
+    '''
+
+    MGMSG_MOT_SET_VELPARAMS = (
+        0x0413,
+        CommandType.COMPLEX,
+        PacketStructure(
+            [
+                DataField('min_velocity', DataType.LONG),
+                DataField('acceleration', DataType.LONG),
+                DataField('max_velocity', DataType.LONG),
+            ]
+        ),
+    )
+    '''
+    Used to set the trapezoidal velocity parameters for the specified
+    motor channel.
+
+    For DC servo controllers, the velocity is set in
+    encoder counts/sec and acceleration is set in encoder
+    counts/sec/sec.
+
+    For stepper motor controllers the velocity is set in microsteps/sec
+    and acceleration is set in microsteps/sec/sec.'''
+    MGMSG_MOT_REQ_VELPARAMS = (
+        0x0414,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_VELPARAMS,
+    )
+    '''
+    Used to request the trapezoidal velocity parameters for the specified motor channel.
+    '''
+
+    MGMSG_MOT_SET_JOGPARAMS = (
+        0x0416,
+        CommandType.COMPLEX,
+        PacketStructure(
+            [
+                DataField('jog_mode', DataType.WORD),
+                DataField('jog_step_size', DataType.LONG),
+                DataField('jog_min_velocity', DataType.LONG),
+                DataField('jog_acceleration', DataType.LONG),
+                DataField('jog_max_velocity', DataType.LONG),
+                DataField('jog_stop_mode', DataType.WORD),
+            ]
+        ),
+    )
+    '''
+    Used to set the velocity jog parameters for the specified motor
+    channel.
+
+    For DC servo controllers, values set in encoder counts.
+
+    For stepper motor controllers the values is set in microsteps.'''
+    MGMSG_MOT_REQ_JOGPARAMS = (
+        0x0417,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_JOGPARAMS,
+    )
+    '''Used to request the velocity jog parameters for the specified motor channel.'''
+
+    MGMSG_MOT_SET_LIMSWITCHPARAMS = (
+        0x0423,
+        CommandType.COMPLEX,
+        PacketStructure(
+            [
+                DataField('cw_hard_limit', DataType.WORD),
+                DataField('ccw_hard_limit', DataType.WORD),
+                DataField('cw_soft_limit', DataType.LONG),
+                DataField('ccw_soft_limit', DataType.LONG),
+                DataField('soft_limit_mode', DataType.WORD),
+            ]
+        ),
+    )
+    '''
+    Used to set the limit switch parameters for the specified motor channel.
+    '''
+    MGMSG_MOT_REQ_LIMSWITCHPARAMS = (
+        0x0424,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_LIMSWITCHPARAMS,
+    )
+    '''Used to request the limit switch parameters for the specified motor channel.'''
+
+    MGMSG_MOT_SET_GENMOVEPARAMS = (
+        0x043A,
+        CommandType.COMPLEX,
+        PacketStructure([DataField('distance', DataType.LONG)]),
+    )
+    '''
+    Used to set the general move parameters for the specified motor channel.
+
+    Currently this refers specifically to the backlash settings. '''
+    MGMSG_MOT_REQ_GENMOVEPARAMS = (
+        0x043B,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_GENMOVEPARAMS,
+    )
+    '''Used to request the general move parameters for the specified motor channel.'''
+
+    MGMSG_MOT_SET_HOMEPARAMS = (
+        0x0440,
+        CommandType.COMPLEX,
+        PacketStructure(
+            [
+                DataField('direction', DataType.WORD),
+                DataField('lim_switch', DataType.WORD),
+                DataField('velocity', DataType.LONG),
+                DataField('zero_offset', DataType.LONG),
+            ]
+        ),
+    )
+    '''
+    Used to set the home parameters for the specified motor channel.
+
+    These parameters are stage specific and for the MLS203 stage
+    implementation the only parameter that can be changed is the
+    homing velocity.'''
+
+    MGMSG_MOT_REQ_HOMEPARAMS = (
+        0x0441,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_HOMEPARAMS,
+    )
+    '''
+    Used to request the home parameters for the specified motor channel.'''
+
+    MGMSG_MOT_SET_MOVERELPARAMS = (
+        0x0445,
+        CommandType.COMPLEX,
+        PacketStructure([DataField('distance', DataType.LONG)]),
+    )
+    '''
+    Used to set the relative move parameters for the specified motor channel.
+
+    The only significant parameter currently is the relative move distance itself.
+
+    This gets stored by the controller and is used the next time a relative move
+    is initiated.'''
+    MGMSG_MOT_REQ_MOVERELPARAMS = (
+        0x0446,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_MOVERELPARAMS,
+    )
+    '''Used to request the relative move parameters for the specified motor channel.'''
+
+    MGMSG_MOT_SET_MOVEABSPARAMS = (
+        0x0450,
+        CommandType.COMPLEX,
+        PacketStructure([DataField('position', DataType.LONG)]),
+    )
+    '''
+    Used to set the absolute move parameters for the specified motor channel.
+
+    The only significant parameter currently is the absolute
+    move position itself.
+
+    This gets stored by the controller and is used
+    the next time an absolute move is initiated.
+    '''
+    MGMSG_MOT_REQ_MOVEABSPARAMS = (
+        0x0451,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_MOVEABSPARAMS,
+    )
+    '''Used to request the absolute move parameters for the specified motor channel.'''
+
+    MGMSG_MOT_MOVE_HOME = (
+        0x0443,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_HOMED,
+    )
+    '''Sent to start a home move sequence on the specified motor channel.'''
+
+    MGMSG_MOT_MOVE_RELATIVE = (
+        0x0448,
+        CommandType.COMPLEX,
+        PacketStructure([DataField('distance', DataType.LONG)]),
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_COMPLETED,
+    )
+    '''
+    This command can be used to start a relative move on the specified
+    motor channel (using the relative move distance parameter above).
+
+    There are two versions of this command: a shorter (6-byte header
+    only) version and a longer (6 byte header plus 6 data bytes) version.
+
+    When the first one is used, the relative distance parameter used for
+    the move will be the parameter sent previously by a
+    MGMSG_MOT_SET_MOVERELPARAMS command.
+
+    If the longer version of the command is used, the relative distance
+    is encoded in the data packet that follows the header.
+    '''
+
+    MGMSG_MOT_MOVE_ABSOLUTE = (
+        0x0453,
+        CommandType.COMPLEX,
+        PacketStructure([DataField('position', DataType.LONG)]),
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_COMPLETED,
+    )
+    '''
+    Used to start an absolute move on the specified motor channel
+    (using the absolute move position parameter above).
+
+    As previously described in the “MOVE RELATIVE” command, there are two
+    versions of this command: a shorter (6-byte header only) version
+    and a longer (6 byte header plus 6 data bytes) version.
+
+    When the first one is used, the absolute move position parameter used for the
+    move will be the parameter sent previously by a MGMSG_MOT_SET_MOVEABSPARAMS command.
+
+    If the longer version of the command is used, the absolute position is encoded in
+    the data packet that follows the header.
+
+    Upon completion of the absolute move the controller sends a Move Completed message
+    as previously described.
+    '''
+
+    MGMSG_MOT_MOVE_JOG = (
+        0x046A,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_COMPLETED,
+    )
+    '''Sent to start a jog move on the specified motor channel.
+
+    Upon completion of the jog move the controller sends a Move Completed message as
+    previously described.
+
+    **Note:**
+    The direction of the jog move is device dependent, i.e., on some devices jog forward
+    may be towards the home position while on other devices it could be the opposite.'''
+
+    MGMSG_MOT_MOVE_VELOCITY = (
+        0x0457,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_COMPLETED,
+    )
+    '''
+    This command can be used to start a move on the specified motor
+    channel.
+
+    When this method is called, the motor will move continuously in the
+    specified direction, using the velocity parameters set in the
+    MGMSG_MOT_SET_VELPARAMS command until either a stop
+    command (either StopImmediate or StopProfiled) is called, or a limit
+    switch is reached.
+    '''
+
+    MGMSG_MOT_MOVE_STOP = (
+        0x0465,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_MOVE_STOPPED,
+    )
+    '''
+    Sent to stop any type of motor move (relative, absolute, homing or move at velocity)
+    on the specified motor channel.
+    '''
+
+    MGMSG_MOT_REQ_DCSTATUSUPDATE = (
+        0x0490,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_DCSTATUSUPDATE,
+    )
+    '''
+    Used to request a status update for the specified motor channel.
+
+    This request can be used instead of enabling regular updates as
+    described above.'''
+
+    MGMSG_MOT_REQ_STATUSBITS = (
+        0x0429,
+        CommandType.CHANNEL,
+        None,
+        KDC101_RESPONSES.MGMSG_MOT_GET_STATUSBITS,
+    )
+    '''
+    Used to request a “cut down” version of the status update message,
+    only containing the status bits, without data about position and
+    velocity.
+    '''
+
+    MGMSG_MOT_SUSPEND_ENDOFMOVEMSGS = (0x046B, CommandType.GENERIC)
+    '''
+    Sent to disable all unsolicited end of move messages and error
+    messages returned by the controller, i.e.
+
+    - MGMSG_MOT_MOVE_STOPPED
+    - MGMSG_MOT_MOVE_COMPLETED
+    - MGMSG_MOT_MOVE_HOMED
+    '''
+
+    MGMSG_MOT_RESUME_ENDOFMOVEMSGS = (0x046C, CommandType.GENERIC)
+    '''
+    Sent to resume all unsolicited end of move messages and error
+    messages returned by the controller, i.e.
+
+    - MGMSG_MOT_MOVE_STOPPED
+    - MGMSG_MOT_MOVE_COMPLETED
+    - MGMSG_MOT_MOVE_HOMED
+
+    The command also disables the error messages that the controller
+    sends when an error conditions is detected:
+
+    - MGMSG_HW_RESPONSE
+    - MGMSG_HW_RICHRESPONSE
+
+    This is the default state when the controller is powered up.'''
+
+    @classmethod
+    def get(cls, cmd: Union[int, list]):
+        '''Get the command enum for a given command code.'''
+        try:
+            if isinstance(cmd, list):
+                if len(cmd) < 2:
+                    raise ValueError('Not enough bytes to get command.')
+
+                cmd = (cmd[1] << 8) | cmd[0]
+
+            if not isinstance(cmd, int):
+                raise ValueError(
+                    'Command must be an integer or list of integers/bytes.'
+                )
+
+            # Iterate through enum members to find the one with the matching value
+            for member in cls:
+                if member.value == cmd:
+                    return member
+        except ValueError:
+            return None
+
+
+class Channels(Enum):
+    NA = 0x00
+    CHAN1 = 0x01
+    CHAN2 = 0x02
+    CHAN3 = 0x04
+    CHAN4 = 0x08
+
+
+class ChannelEnableState(Enum):
+    ENABLE = 0x01
+    DISABLE = 0x02
+
+
+class BayStates(Enum):
+    BAY_OCCUPIED = 0x01
+    BAY_EMPTY = 0x02
+
+
+class HubBayIdents(Enum):
+    STANDALONE = 0x01  # T-Cube being standalone, i.e., off the hub
+    UNKNOWN = 0x00  # T-Cube on hub, but bay unknown
+    BAY_1 = 0x01  # Bay 1
+    BAY_2 = 0x02  # Bay 2
+    BAY_3 = 0x03  # Bay 3
+    BAY_4 = 0x04  # Bay 4
+    BAY_5 = 0x05  # Bay 5
+    BAY_6 = 0x06  # Bay 6
+
+
+class JogDirection(Enum):
+    FORWARD = 0x01  # Jog forward
+    REVERSE = 0x02  # Jog in the reverse direction
+
+
+class JogMode(Enum):
+    CONTINUOUS = 0x01  # Continuous jogging
+    SINGLE_STEP = 0x02  # Single step jogging
+
+
+class StopMode(Enum):
+    IMMEDIATE = 0x01  # Stop immediately (abrupt)
+    PROFILED = 0x02  # Stop in a controller (profiled) manner
+
+
+class MotorStatusBits(Enum):
+    P_MOT_SB_CWHARDLIMIT = 0x00000001
+    '''
+    Clockwise hardware limit switch.
+
+    On linear stages, this corresponds to the forward limit switch.'''
+
+    P_MOT_SB_CCWHARDLIMIT = 0x00000002
+    '''
+    Counter-clockwise hardware limit switch.
+
+    On linear stages, this corresponds to the reverse limit switch.'''
+
+    P_MOT_SB_CWSOFTLIMIT = 0x00000004
+    '''
+    Clockwise software limit switch.
+
+    Restricts motion to a narrower range than the hardware limit switch.'''
+
+    P_MOT_SB_CCWSOFTLIMIT = 0x00000008
+    '''
+    Counter-clockwise software limit switch.
+
+    Restricts motion to a narrower range than the hardware limit switch.'''
+
+    P_MOT_SB_INMOTIONCW = 0x00000010
+    '''Indicates that the motor is in motion, moving clockwise.'''
+
+    P_MOT_SB_INMOTIONCCW = 0x00000020
+    '''Indicates that the motor is in motion, moving counter-clockwise.'''
+
+    P_MOT_SB_JOGGINGCW = 0x00000040
+    '''Indicates that the motor is jogging, moving clockwise.'''
+
+    P_MOT_SB_JOGGINGCCW = 0x00000080
+    '''Indicates that the motor is jogging, moving counter-clockwise.'''
+
+    P_MOT_SB_CONNECTED = 0x00000100
+    '''Indicates that the motor has been recognized by the controller.'''
+
+    P_MOT_SB_HOMING = 0x00000200
+    '''Indicates that the motor is performing a homing move.'''
+
+    P_MOT_SB_HOMED = 0x00000400
+    '''Indicates that the motor has completed the homing move,
+    and the absolute position is known.'''
+
+    P_MOT_SB_POSITIONERROR = 0x00004000
+    '''
+    Indicates that the actual position is outside the margin specified around the
+    trajectory position.
+
+    (In simple terms the motor is not where it should be.)
+
+    This can occur momentarily during fast acceleration
+    (the motor lags behind the trajectory) or when the motor
+    is jammed, or the move is obstructed.
+
+    Typically the condition can trigger the controller to disable
+    the motor in order to prevent damage, which in turn will clear the error.
+    '''
+    P_MOT_SB_DIGIP1 = 0x00100000
+    P_MOT_SB_DIGIP2 = 0x00200000
+
+    P_MOT_SB_ERROR = 0x40000000
+    '''
+    Indicates an error condition, either listed above or arising as a result of another
+    abnormal condition.'''
+    P_MOT_SB_ENABLED = 0x80000000
+    '''
+    Indicates that the motor output is enabled and the controller is in charge of
+    maintaining the required position.
+
+    When the output is disabled, the motor is not controlled by the electronics
+    and can be moved manually, as much as the mechanical construction (such as
+    any leadscrew and gearbox fitted) allows.
+
+    This is not full list of all the bits but the remaining bits reflect information
+    about the state of the hardware that in most cases does not affect motion.
+    '''
+
+
+class LimitSwitchOperation(IntFlag):
+    '''Clockwise Limit switch operation flags.
+
+    Flag SWAP_CW_CCW is required for CCW.'''
+
+    IGNORE_SWITCH = 0x01
+    '''Ignore switch or switch not present'''
+    MAKES_ON_CONTACT = 0x02
+    '''Switch makes on contact'''
+    BREAKS_ON_CONTACT = 0x03
+    '''Switch breaks on contact'''
+    MAKES_ON_CONTACT_HOMING = 0x04
+    '''Switch makes on contact (for homing)'''
+    BREAKS_ON_CONTACT_HOMING = 0x05
+    '''Switch breaks on contact (for homing)'''
+    INDEX_MARK_HOMING = 0x06
+    '''PMD based brushless servo controllers only, uses index mark for homing'''
+    SWAP_CW_CCW = 0x80
+    '''
+    Bitwise OR this with one of the settings above to swap CW and CCW limit switches
+    '''
+
+
+class LimitSwitchMode(IntFlag):
+    '''Software limit switch mode.
+
+    Flag ROTATION_STAGE_LIMIT is required for rotation stage.'''
+
+    IGNORE_LIMIT = 0x01
+    '''Ignore limit'''
+    STOP_IMMEDIATE = 0x02
+    '''Stop immediately at limit'''
+    PROFILED_STOP = 0x03
+    '''Profiled stop at limit'''
+    ROTATION_STAGE_LIMIT = 0x80
+    '''
+    Bitwise OR this with one of the settings
+    above to set rotation stage limit.
+
+    (Not applicable to TDC001 units)'''