symetrie-hexapod 0.17.3__py3-none-any.whl

egse/hexapod/symetrie/zonda.py

@@ -0,0 +1,846 @@
+"""
+This module defines the device classes to be used to connect to and control the Hexapod ZONDA from Symétrie.
+"""
+
+import math
+import random
+import time
+from typing import Dict
+
+from egse.device import DeviceInterface
+from egse.hexapod import HexapodError
+from egse.hexapod.symetrie import logger
+from egse.hexapod.symetrie.alpha import AlphaPlusControllerInterface
+from egse.hexapod.symetrie.hexapod import HexapodSimulator
+from egse.hexapod.symetrie.zonda_devif import RETURN_CODES
+from egse.hexapod.symetrie.zonda_devif import ZondaError
+from egse.hexapod.symetrie.zonda_devif import ZondaTelnetInterface
+from egse.hexapod.symetrie.zonda_devif import decode_command
+from egse.proxy import Proxy
+from egse.registry.client import RegistryClient
+from egse.settings import Settings
+from egse.system import Timer
+from egse.system import wait_until
+from egse.zmq_ser import connect_address
+from numpy import loadtxt
+from time import sleep
+
+DEVICE_SETTINGS = Settings.load(filename="zonda.yaml")
+
+HOME_COMPLETE = 6
+IN_POSITION = 3
+IN_MOTION = 4
+
+GENERAL_STATE = [
+    "Error",
+    "System initialized",
+    "Control on",
+    "In position",
+    "Motion task running",
+    "Home task running",
+    "Home complete",
+    "Home virtual",
+    "Phase found",
+    "Brake on",
+    "Motion restricted",
+    "Power on encoders",
+    "Power on limit switches",
+    "Power on drives",
+    "Emergency stop",
+]
+
+ACTUATOR_STATE = [
+    "Error",
+    "Control on",
+    "In position",
+    "Motion task running",
+    "Home task running",
+    "Home complete",
+    "Phase found",
+    "Brake on",
+    "Home hardware input",
+    "Negative hardware limit switch",
+    "Positive hardware limit switch",
+    "Software limit reached",
+    "Following error",
+    "Drive fault",
+    "Encoder error",
+]
+
+VALIDATION_LIMITS = [
+    "Factory workspace limits",
+    "Machine workspace limits",
+    "User workspace limits",
+    "Actuator limits",
+    "Joints limits",
+    "Due to backlash compensation",
+]
+
+
+class ZondaInterface(AlphaPlusControllerInterface, DeviceInterface):
+    """
+    Interface definition for the ZondaController, the ZondaProxy and the ZondaSimulator.
+    """
+
+
+class ZondaController(ZondaInterface):
+    def __init__(self, hostname: str, port: int):
+        super().__init__()
+
+        logger.info(f"Initializing ZondaController with {hostname=} on {port=}")
+
+        self.v_pos = None
+
+        self.cm = ["absolute", "object relative", "user relative"]
+
+        self.speed = {"vt": 0, "vr": 0, "vtmin": 0, "vrmin": 0, "vtmax": 0, "vrmax": 0}
+
+        try:
+            self.hexapod = ZondaTelnetInterface(hostname=hostname, port=port)
+
+        except ZondaError as exc:
+            logger.warning(
+                f"HexapodError: Couldn't establish connection with the Hexapod ZONDA Hardware Controller: ({exc})"
+            )
+
+    def is_simulator(self):
+        return False
+
+    def is_connected(self):
+        return self.hexapod.is_connected()
+
+    def connect(self):
+        try:
+            self.hexapod.connect()
+        except ZondaError as exc:
+            logger.warning(f"ZondaError caught: Couldn't establish connection ({exc})")
+            raise HexapodError("Couldn't establish a connection with the Hexapod.") from exc
+
+    def disconnect(self):
+        try:
+            self.hexapod.disconnect()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't disconnect from Hexapod.") from exc
+
+    def reconnect(self):
+        if self.is_connected():
+            self.disconnect()
+        self.connect()
+
+    def info(self):
+        try:
+            _version = self.hexapod.trans("VERS")
+            msg = "Info about the Hexapod ZONDA:\n"
+            msg += f"version = {_version}\n"
+        except ZondaError as exc:
+            raise HexapodError("Couldn't retrieve information from Hexapod ZONDA Hardware Controller.") from exc
+
+        return msg
+
+    def get_general_state(self):
+        """
+        Asks the general state of the hexapod on all the motors following the bits definition
+        presented below.
+
+        GENERAL_STATE =
+            0: "Error",
+            1: "System initialized",
+            2: "Control on",
+            3: "In position",
+            4: "Motion task running",
+            5: "Home task running",
+            6: "Home complete",
+            7: "Home virtual",
+            8: "Phase found",
+            9: "Brake on",
+            10:"Motion restricted",
+            11:"Power on encoders",
+            12:"Power on limit switches",
+            13:"Power on drives",
+            14:"Emergency stop"
+
+        Returns:
+            A dictionary with the bits value of each parameter.
+        """
+        try:
+            rc = self.hexapod.trans("s_hexa")
+            rc = int(rc[0])
+
+            # from int to bit list of 15 elements corresponding to the hexapod state bits
+            # the bit list must be reversed to get lsb
+
+            s_hexa = [int(x) for x in f"{rc:015b}"[::-1]]
+            state = {k: v for k, v in zip(GENERAL_STATE, s_hexa)}
+        except ZondaError as exc:
+            raise HexapodError("Couldn't retrieve the state from Hexapod.") from exc
+
+        return [state, list(state.values())]
+
+    def stop(self):
+        try:
+            self.hexapod.trans("c_cmd=C_STOP")
+            sc = self.hexapod.check_command_status()
+            logger.warning(f"Stop command has been executed: {sc}")
+        except ZondaError as exc:
+            raise HexapodError("Couldn't disconnect from Hexapod.") from exc
+        return sc
+
+    def clear_error(self):
+        try:
+            print("Cleaning errors from buffer")
+            sc = self.hexapod.trans("c_cmd=C_CLEARERROR")
+            number = self.hexapod.trans("s_err_nr")
+            number = int(number[0])
+
+            if number == 0:
+                logger.info("All the errors have been cleared.")
+            else:
+                logger.warning("Couldn't clear all errors from Hexapod.")
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't clear all the errors from Hexapod.") from exc
+        return sc
+
+    def reset(self, wait=True):
+        try:
+            print("Resetting the Hexapod Controller")
+            print("STOP and CONTROLOFF commands are sent to the controller before resetting...")
+            self.stop()
+            print("Hexapod is stopped")
+            self.deactivate_control_loop()
+            print("Hexapod control loop has been deactivated")
+
+            print("Rebooting the controller: will take 2 min to initialize")
+
+            # FIXME: you might want to rethink this, because the reboot will close the Ethernet
+            #     connection and therefore we need to reconnect after a two minutes waiting time.
+            #     During the waiting time, the GUI should have all functions disabled and the
+            #     connection icon should show a disconnected icon. Don't use `time.sleep()` as
+            #     that will block the GUI, run a timer in a QThread signaling a reconnect when
+            #     the sleep time is over.
+            self.hexapod.trans("system reboot")
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return None
+
+    def jog(self, axis: int, inc: float):
+        try:
+            self.hexapod.trans("c_ax={} c_par(0)={} c_cmd=C_JOG")
+            sc = self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def perform_maintenance(self, axis):
+        try:
+            if axis == 10:
+                self.hexapod.trans("c_par(0)=3 c_cmd=C_MAINTENANCE")
+            else:
+                self.hexapod.trans("c_par(0)=2 c_par(1)={} c_cmd=C_MAINTENANCE".format(str(axis)))
+
+            sc = self.hexapod.check_command_status()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def set_default(self):
+        try:
+            print("Resetting the hexapod to the factory default parameters...:")
+            self.hexapod.trans("c_cfg=1 c_cmd=C_CFG_DEFAULT")
+            sc = self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def homing(self):
+        try:
+            print("Executing homing command")
+            self.hexapod.trans("c_cmd=C_HOME")
+            sc = self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def goto_specific_position(self, pos):
+        try:
+            sc = self.hexapod.trans("c_par(0)={} c_cmd=C_MOVE_SPECIFICPOS".format(str(pos)))
+            print(sc)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return sc
+
+    def goto_zero_position(self):
+        try:
+            sc = self.hexapod.trans("c_par(0)=1 c_cmd=C_MOVE_SPECIFICPOS")
+            print(sc)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return sc
+
+    def goto_retracted_position(self):
+        try:
+            sc = self.hexapod.trans("c_par(0)=2 c_cmd=C_MOVE_SPECIFICPOS")
+            print(sc)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return sc
+
+    def is_homing_done(self):
+        try:
+            sc = self.get_general_state()
+            homing = sc[1][HOME_COMPLETE]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return homing
+
+    def is_in_position(self):
+        try:
+            sc = self.get_general_state()
+            in_position = sc[1][IN_POSITION]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return in_position
+
+    def activate_control_loop(self):
+        try:
+            self.hexapod.trans("c_cmd=C_CONTROLON")
+            print("Executing activate_control_loop command")
+            sc = self.hexapod.check_command_status()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def deactivate_control_loop(self):
+        try:
+            self.hexapod.trans("c_cmd=C_CONTROLOFF")
+            print("Executing deactivate_control_loop")
+            sc = self.hexapod.check_command_status()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return sc
+
+    def machine_limit_enable(self, state: int):
+        try:
+            command = decode_command("CFG_LIMITENABLE", 1, state)
+            print(f"Executing machine_limit_enable command to state {state}. ")
+            self.hexapod.trans(command)
+            rc = self.hexapod.check_command_status()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return rc
+
+    def machine_limit_set(self, tx_n, ty_n, tz_n, rx_n, ry_n, rz_n, tx_p, ty_p, tz_p, rx_p, ry_p, rz_p):
+        try:
+            name = "CFG_LIMIT"
+            arguments = [1, tx_n, ty_n, tz_n, rx_n, ry_n, rz_n, tx_p, ty_p, tz_p, rx_p, ry_p, rz_p]
+
+            cmd = decode_command(name, *arguments)
+
+            print("Executing machine_limit_set command {}...: ".format(cmd), end="")
+            self.hexapod.trans(cmd)
+            self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+    def user_limit_enable(self, state: int):
+        try:
+            command = decode_command("CFG_LIMITENABLE", 2, state)
+            print(f"Executing user_limit_enable command to state {state}...: ")
+            self.hexapod.trans(command)
+            self.hexapod.check_command_status()
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return None
+
+    def user_limit_set(self, tx_n, ty_n, tz_n, rx_n, ry_n, rz_n, tx_p, ty_p, tz_p, rx_p, ry_p, rz_p):
+        try:
+            name = "CFG_LIMIT"
+            arguments = [2, tx_n, ty_n, tz_n, rx_n, ry_n, rz_n, tx_p, ty_p, tz_p, rx_p, ry_p, rz_p]
+
+            cmd = decode_command(name, *arguments)
+
+            print(f"Executing user_limit_set command {cmd}...: ")
+            self.hexapod.trans(cmd)
+            rc = self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return rc
+
+    def __move(self, cm, tx, ty, tz, rx, ry, rz):
+        """
+        Ask the controller to perform the movement defined by the arguments and the command MOVE_PTP.
+
+        For all control modes cm, the rotation centre coincides with the Object
+        Coordinates System origin and the movements are controlled with translation
+        components at first (Tx, Ty, tZ) and then the rotation components (Rx, Ry, Rz).
+
+        Control mode cm:
+            * 0 = absolute control, object coordinate system position and orientation
+                    expressed in the invariant user coordinate system
+            * 1 = object relative, motion expressed in the Object Coordinate System
+            * 2 = user relative, motion expressed in the User Coordinate System
+
+        Args:
+            cm (int): control mode
+            tx (float): position on the X-axis [mm]
+            ty (float): position on the Y-axis [mm]
+            tz (float): position on the Z-axis [mm]
+            rx (float): rotation around the X-axis [deg]
+            ry (float): rotation around the Y-axis [deg]
+            rz (float): rotation around the Z-axis [deg]
+        """
+
+        name = "MOVE_PTP"
+        arguments = [cm, tx, ty, tz, rx, ry, rz]
+
+        command = decode_command(name, *arguments)
+        print(f"Executing move_ptp command in {self.cm[cm]} mode ... {command}")
+        self.hexapod.trans(command)
+        return self.hexapod.check_command_status()
+
+    def validate_position(self, vm, cm, tx, ty, tz, rx, ry, rz):
+        # Currently only the vm=1 mode is developed by Symétrie
+        """
+        Ask the controller if the movement defined by the arguments is feasible.
+
+        Returns a tuple where the first element is an integer that represents the
+        bitfield encoding the errors. The second element is a dictionary with the
+        bit numbers that were (on) and the corresponding error description as
+        defined by VALIDATION_LIMITS.
+
+        Args:
+            tx (float): position on the X-axis [mm]
+            ty (float): position on the Y-axis [mm]
+            tz (float): position on the Z-axis [mm]
+            rx (float): rotation around the X-axis [deg]
+            ry (float): rotation around the Y-axis [deg]
+            rz (float): rotation around the Z-axis [deg]
+
+        """
+        name = "VALID_PTP"
+        arguments = [vm, cm, tx, ty, tz, rx, ry, rz]
+
+        command = decode_command(name, *arguments)
+
+        # print(f"Executing validate_position command: {command}")
+
+        self.hexapod.trans(command)
+        rc = self.hexapod.check_command_status()
+        pc = self.hexapod.get_pars(0)
+        pc = int(pc[0])
+
+        if pc == 0:
+            return 0, {}
+
+        if pc > 0:
+            d = decode_validation_error(pc)
+            return pc, d
+
+        # When coming here the command returned an error
+
+        msg = f"{RETURN_CODES.get(pc, 'unknown error code')}"
+        logger.error(f"Validate position: error code={pc} - {msg}")
+
+        return pc, {pc: msg}
+
+    def move_absolute(self, tx, ty, tz, rx, ry, rz):
+        try:
+            rc = self.__move(0, tx, ty, tz, rx, ry, rz)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return rc
+
+    def move_relative_object(self, tx, ty, tz, rx, ry, rz):
+        try:
+            rc = self.__move(1, tx, ty, tz, rx, ry, rz)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return rc
+
+    def move_relative_user(self, tx, ty, tz, rx, ry, rz):
+        try:
+            rc = self.__move(2, tx, ty, tz, rx, ry, rz)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return rc
+
+    def check_absolute_movement(self, tx, ty, tz, rx, ry, rz):
+        # Currently only the vm=1 mode is developed by Symétrie
+        # Parameter cm = 0
+        return self.validate_position(1, 0, tx, ty, tz, rx, ry, rz)
+
+    def check_relative_object_movement(self, tx, ty, tz, rx, ry, rz):
+        # Currently only the vm=1 mode is developed by Symétrie
+        # Parameter cm = 1 for object
+        return self.validate_position(1, 1, tx, ty, tz, rx, ry, rz)
+
+    def check_relative_user_movement(self, tx, ty, tz, rx, ry, rz):
+        # Currently only the vm=1 mode is developed by Symétrie
+        # Parameter cm = 2 for user relative
+        return self.validate_position(1, 2, tx, ty, tz, rx, ry, rz)
+
+    def get_temperature(self):
+        # TODO: to be tested with the real Hexapod (the emulator does not implement this and only returns zeros)
+        try:
+            temp = self.hexapod.trans("s_ai_1,6,1")
+            temp = [float(x) for x in temp]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return temp
+
+    def get_user_positions(self):
+        try:
+            uto = self.hexapod.trans("s_uto_tx,6,1")
+            uto = [float(x) for x in uto]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return uto
+
+    def get_machine_positions(self):
+        try:
+            mtp = self.hexapod.trans("s_mtp_tx,6,1")
+            mtp = [float(x) for x in mtp]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return mtp
+
+    def get_actuator_length(self):
+        try:
+            pos = self.hexapod.trans("s_pos_ax_1,6,1")
+            pos = [float(x) for x in pos]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return pos
+
+    def get_actuator_state(self):
+        response = []
+        try:
+            actuator_states = self.hexapod.trans("s_ax_1,6,1")
+            actuator_states = [int(x) for x in actuator_states]
+
+            for idx, state in enumerate(actuator_states):
+                state_bits = [int(x) for x in f"{state:015b}"[::-1]]
+                state_dict = {k: v for k, v in zip(ACTUATOR_STATE, state_bits)}
+                response.append([state_dict, state_bits])
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return response
+
+    def get_coordinates_systems(self):
+        try:
+            command = decode_command("CFG_CS?")
+            print(f"Executing get_coordinate_system command: {command}")
+            self.hexapod.trans(command)
+            sc = self.hexapod.check_command_status()
+            cs = self.hexapod.get_pars(12)
+            cs = [float(x) for x in cs]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return cs
+
+    def configure_coordinates_systems(self, tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o):
+        try:
+            name = "CFG_CS"
+            arguments = [tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o]
+            command = decode_command(name, *arguments)
+            print(f"Executing configure_coordinates_systems: {command}")
+            self.hexapod.trans(command)
+            rc = self.hexapod.check_command_status()
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return rc
+
+    def get_limits_value(self, lim):
+        # Not implemented in Puna
+        # lim: int | 0 = Factory, 1 = machine cs limits, 2 = user cs limits
+        try:
+            cmd = decode_command("CFG_LIMIT?", lim)
+            print(f"Executing get_limits_value command: {cmd=}")
+            self.hexapod.trans(cmd)
+            self.hexapod.check_command_status()
+
+            pc = self.hexapod.get_pars(13)
+            pc = [float(x) for x in pc[1:]]
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return pc
+
+    def get_limits_state(self):
+        # not implemented in Puna
+        try:
+            command = decode_command("CFG_LIMITENABLE?")
+            print(f"Executing get_limits_state command: {command=}")
+            self.hexapod.trans(command)
+            sc = self.hexapod.check_command_status()
+
+            if sc[0] == 0:
+                pc = self.hexapod.get_pars(3)
+                pc = [int(i) for i in pc]
+            else:
+                pc = ["nan", "nan", "nan"]
+
+            keys = VALIDATION_LIMITS[:3]
+            ls = {k: v for k, v in zip(keys, pc)}
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+
+        return ls
+
+    def get_speed(self):
+        try:
+            command = decode_command("CFG_SPEED?")
+            print(f"Executing get_speed command: {command}")
+            self.hexapod.trans(command)
+            sc = self.hexapod.check_command_status()
+            speed = self.hexapod.get_pars(6)
+            speed = [float(x) for x in speed]
+            keys = list(self.speed.keys())
+
+            s = {k: v for k, v in zip(keys, speed)}
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return s
+
+    def set_speed(self, vt, vr):
+        try:
+            name = "CFG_SPEED"
+            arguments = [vt, vr]
+            command = decode_command(name, *arguments)
+            # The parameters are automatically limited by the controller between the factory
+            # configured min/max speeds
+            self.hexapod.trans(command)
+
+        except ZondaError as exc:
+            raise HexapodError("Couldn't Execute command on Hexapod.") from exc
+        return
+
+    def sequence(self, file_path: str, time_sleep: float):
+        file = file_path + ".txt"
+        SEQUENCE = loadtxt(file)
+        for step in SEQUENCE:
+            state = self.check_absolute_movement(step[0], step[1], step[2], step[3], step[4], step[5])
+            if state[0] != 0:
+                print("Error: Out of bounds! One point is out of the workspace!")
+                return
+        print("OK! The entire trajectory is reachable in the defined workspace.")
+        step_number = 0
+        for step in SEQUENCE:
+            step_number += 1
+            print("\nExecuting step number ", step_number, "over ", len(SEQUENCE), ": ", step)
+            self.move_absolute(step[0], step[1], step[2], step[3], step[4], step[5])
+            in_pos = self.get_general_state()[1][3]
+            while not (in_pos):
+                in_pos = self.get_general_state()[1][3]
+            print("Step ", step_number, "done.\nWaiting for ", time_sleep, "seconds.")
+            sleep(time_sleep)
+        print('Sequence "' + file_path + '" done with success!')
+
+
+class ZondaSimulator(HexapodSimulator, DeviceInterface):
+    """
+    HexapodSimulator simulates the Symétrie Hexapod ZONDA. The class is heavily based on the
+    ReferenceFrames in the `egse.coordinates` package.
+
+    The simulator implements the same methods as the HexapodController class which acts on the
+    real hardware controller in either simulation mode or with a real Hexapod ZONDA connected.
+
+    Therefore, the HexapodSimulator can be used instead of the Hexapod class in test harnesses
+    and when the hardware is not available.
+
+    This class simulates all the movements and status of the Hexapod.
+    """
+
+    def __init__(self):
+        super().__init__()
+
+    def get_temperature(self) -> list[float]:
+        return [random.random() for _ in range(6)]
+
+
+class ZondaProxy(Proxy, ZondaInterface):
+    """The ZondaProxy class is used to connect to the control server and send commands to the
+    Hexapod ZONDA remotely.
+
+    Args:
+        protocol: the transport protocol
+        hostname: location of the control server (IP address)
+        port: TCP port on which the control server is listening for commands
+
+    """
+
+    def __init__(self, protocol: str, hostname: str, port: int):
+        super().__init__(connect_address(protocol, hostname, port))
+
+    @classmethod
+    def from_identifier(cls, device_id: str):
+        with RegistryClient() as reg:
+            service = reg.discover_service(device_id)
+
+            if service:
+                protocol = service.get("protocol", "tcp")
+                hostname = service["host"]
+                port = service["port"]
+
+            else:
+                raise RuntimeError(f"No service registered as {device_id}")
+
+        logger.info(f"{protocol=}:{hostname=}:{port=}")
+
+        return cls(protocol, hostname, port)
+
+
+def decode_validation_error(value) -> Dict:
+    """
+    Decode the bitfield variable that is returned by the VALID_PTP command.
+
+    Each bit in this variable represents a particular error in the validation of a movement.
+    Several errors can be combined into the given variable.
+
+    Returns a dictionary with the bit numbers that were (on) and the corresponding error description.
+    """
+
+    return {bit: VALIDATION_LIMITS[bit] for bit in range(6) if value >> bit & 0b01}
+
+
+if __name__ == "__main__":
+    from rich import print as rp
+
+    zonda = ZondaController()
+    zonda.connect()
+
+    with Timer("ZondaController"):
+        rp(zonda.info())
+        rp(zonda.is_homing_done())
+        rp(zonda.is_in_position())
+        rp(zonda.activate_control_loop())
+        rp(zonda.get_general_state())
+        rp(zonda.get_actuator_state())
+        rp(zonda.deactivate_control_loop())
+        rp(zonda.get_general_state())
+        rp(zonda.get_actuator_state())
+        rp(zonda.stop())
+        rp(zonda.get_limits_value(0))
+        rp(zonda.get_limits_value(1))
+        rp(zonda.check_absolute_movement(1, 1, 1, 1, 1, 1))
+        rp(zonda.check_absolute_movement(51, 51, 51, 1, 1, 1))
+        rp(zonda.get_speed())
+        rp(zonda.set_speed(2.0, 1.0))
+        time.sleep(0.5)  # if we do not sleep, the get_speed() will get the old values
+        speed = zonda.get_speed()
+
+        if not math.isclose(speed["vt"], 2.0):
+            rp(f"[red]{speed['vt']} != 2.0[/red]")
+        if not math.isclose(speed["vr"], 1.0):
+            rp(f"[red]{speed['vr']} != 1.0[/red]")
+
+        rp(zonda.get_actuator_length())
+
+        # rp(zonda.machine_limit_enable(0))
+        # rp(zonda.machine_limit_enable(1))
+        # rp(zonda.get_limits_state())
+        rp(zonda.get_coordinates_systems())
+        rp(
+            zonda.configure_coordinates_systems(
+                0.033000,
+                -0.238000,
+                230.205000,
+                0.003282,
+                0.005671,
+                0.013930,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+            )
+        )
+        rp(zonda.get_coordinates_systems())
+        rp(zonda.get_machine_positions())
+        rp(zonda.get_user_positions())
+        rp(
+            zonda.configure_coordinates_systems(
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+                0.000000,
+            )
+        )
+        rp(zonda.validate_position(1, 0, 0, 0, 0, 0, 0, 0))
+        rp(zonda.validate_position(1, 0, 0, 0, 50, 0, 0, 0))
+
+        rp(zonda.goto_zero_position())
+        rp(zonda.is_in_position())
+        if wait_until(zonda.is_in_position, interval=1, timeout=300):
+            rp("[red]Task zonda.is_in_position() timed out after 30s.[/red]")
+        rp(zonda.is_in_position())
+
+        rp(zonda.get_machine_positions())
+        rp(zonda.get_user_positions())
+
+        rp(zonda.move_absolute(0, 0, 12, 0, 0, 10))
+
+        rp(zonda.is_in_position())
+        if wait_until(zonda.is_in_position, interval=1, timeout=300):
+            rp("[red]Task zonda.is_in_position() timed out after 30s.[/red]")
+        rp(zonda.is_in_position())
+
+        rp(zonda.get_machine_positions())
+        rp(zonda.get_user_positions())
+
+        rp(zonda.move_absolute(0, 0, 0, 0, 0, 0))
+
+        rp(zonda.is_in_position())
+        if wait_until(zonda.is_in_position, interval=1, timeout=300):
+            rp("[red]Task zonda.is_in_position() timed out after 30s.[/red]")
+        rp(zonda.is_in_position())
+
+        rp(zonda.get_machine_positions())
+        rp(zonda.get_user_positions())
+
+        # zonda.reset()
+        zonda.disconnect()
+
+        # rp(0, decode_validation_error(0))
+        # rp(11, decode_validation_error(11))
+        # rp(8, decode_validation_error(8))
+        # rp(24, decode_validation_error(24))