zaber-motion 7.10.0__py3-none-win32.whl → 7.12.0__py3-none-win32.whl

zaber_motion/__init__.py

@@ -9,6 +9,7 @@ from .tools import Tools as Tools
 from .unit_table import UnitTable as UnitTable
 from .dto.axis_address import AxisAddress as AxisAddress
 from .dto.channel_address import ChannelAddress as ChannelAddress
+from .dto.device_db_source import DeviceDbSource as DeviceDbSource
 from .dto.device_db_source_type import DeviceDbSourceType as DeviceDbSourceType
 from .dto.firmware_version import FirmwareVersion as FirmwareVersion
 from .dto.log_output_mode import LogOutputMode as LogOutputMode
@@ -83,6 +84,7 @@ from .dto.exceptions.command_failed_exception_data import CommandFailedException
 from .dto.exceptions.command_too_long_exception_data import CommandTooLongExceptionData as CommandTooLongExceptionData
 from .dto.exceptions.device_address_conflict_exception_data import DeviceAddressConflictExceptionData as DeviceAddressConflictExceptionData
 from .dto.exceptions.device_db_failed_exception_data import DeviceDbFailedExceptionData as DeviceDbFailedExceptionData
+from .dto.exceptions.device_db_inner_error import DeviceDbInnerError as DeviceDbInnerError
 from .dto.exceptions.g_code_execution_exception_data import GCodeExecutionExceptionData as GCodeExecutionExceptionData
 from .dto.exceptions.g_code_syntax_exception_data import GCodeSyntaxExceptionData as GCodeSyntaxExceptionData
 from .dto.exceptions.invalid_packet_exception_data import InvalidPacketExceptionData as InvalidPacketExceptionData

zaber_motion/ascii/all_axes.py

@@ -23,7 +23,7 @@ class AllAxes:
         return self._device
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def home(
             self,

zaber_motion/ascii/axis.py

@@ -112,11 +112,11 @@ class Axis:
         return self.__retrieve_label()
 
     def __init__(self, device: 'Device', axis_number: int):
-        self._device = device
-        self._axis_number = axis_number
-        self._settings = AxisSettings(self)
-        self._storage = AxisStorage(self)
-        self._warnings = Warnings(device, axis_number)
+        self._device: 'Device' = device
+        self._axis_number: int = axis_number
+        self._settings: AxisSettings = AxisSettings(self)
+        self._storage: AxisStorage = AxisStorage(self)
+        self._warnings: Warnings = Warnings(device, axis_number)
 
     def home(
             self,

zaber_motion/ascii/axis_group.py

@@ -30,7 +30,7 @@ class AxisGroup:
         """
         Initializes the group with the axes to be controlled.
         """
-        self._axes = axes.copy()
+        self._axes: List[Axis] = axes.copy()
 
     def home(
             self

zaber_motion/ascii/axis_settings.py

@@ -20,7 +20,7 @@ class AxisSettings:
     """
 
     def __init__(self, axis: 'Axis'):
-        self._axis = axis
+        self._axis: 'Axis' = axis
 
     def get(
             self,
@@ -669,7 +669,7 @@ class AxisSettings:
             axis_settings=list(axis_settings),
         )
         response = call(
-            "device/get_many_settings",
+            "device/get_many_axis_settings",
             request,
             dto.GetAxisSettingResults.from_binary)
         return response.results
@@ -694,7 +694,7 @@ class AxisSettings:
             axis_settings=list(axis_settings),
         )
         response = await call_async(
-            "device/get_many_settings",
+            "device/get_many_axis_settings",
             request,
             dto.GetAxisSettingResults.from_binary)
         return response.results
@@ -720,7 +720,7 @@ class AxisSettings:
             axis_settings=list(axis_settings),
         )
         response = call(
-            "device/get_sync_settings",
+            "device/get_sync_axis_settings",
             request,
             dto.GetAxisSettingResults.from_binary)
         return response.results
@@ -746,7 +746,7 @@ class AxisSettings:
             axis_settings=list(axis_settings),
         )
         response = await call_async(
-            "device/get_sync_settings",
+            "device/get_sync_axis_settings",
             request,
             dto.GetAxisSettingResults.from_binary)
         return response.results

zaber_motion/ascii/connection.py

@@ -123,7 +123,7 @@ class Connection:
         return self.__retrieve_is_open()
 
     def __init__(self, interface_id: int):
-        self._interface_id = interface_id
+        self._interface_id: int = interface_id
         self.__setup_events(0)
 
     @staticmethod

zaber_motion/ascii/device.py

@@ -180,17 +180,17 @@ class Device:
         return self._pvt
 
     def __init__(self, connection: 'Connection', device_address: int):
-        self._connection = connection
-        self._device_address = device_address
-        self._settings = DeviceSettings(self)
-        self._storage = DeviceStorage(self)
-        self._io = DeviceIO(self)
-        self._all_axes = AllAxes(self)
-        self._warnings = Warnings(self, 0)
-        self._oscilloscope = Oscilloscope(self)
-        self._triggers = Triggers(self)
-        self._streams = Streams(self)
-        self._pvt = Pvt(self)
+        self._connection: 'Connection' = connection
+        self._device_address: int = device_address
+        self._settings: DeviceSettings = DeviceSettings(self)
+        self._storage: DeviceStorage = DeviceStorage(self)
+        self._io: DeviceIO = DeviceIO(self)
+        self._all_axes: AllAxes = AllAxes(self)
+        self._warnings: Warnings = Warnings(self, 0)
+        self._oscilloscope: Oscilloscope = Oscilloscope(self)
+        self._triggers: Triggers = Triggers(self)
+        self._streams: Streams = Streams(self)
+        self._pvt: Pvt = Pvt(self)
 
     def identify(
             self,

zaber_motion/ascii/device_io.py

@@ -21,7 +21,7 @@ class DeviceIO:
     """
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get_channels_info(
             self

zaber_motion/ascii/device_settings.py

@@ -20,7 +20,7 @@ class DeviceSettings:
     """
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get(
             self,

zaber_motion/ascii/lockstep.py

@@ -32,8 +32,8 @@ class Lockstep:
         return self._lockstep_group_id
 
     def __init__(self, device: 'Device', lockstep_group_id: int):
-        self._device = device
-        self._lockstep_group_id = lockstep_group_id
+        self._device: 'Device' = device
+        self._lockstep_group_id: int = lockstep_group_id
 
     def enable(
             self,

zaber_motion/ascii/oscilloscope.py

@@ -26,7 +26,7 @@ class Oscilloscope:
         return self._device
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def add_channel(
             self,

zaber_motion/ascii/oscilloscope_data.py

@@ -57,7 +57,7 @@ class OscilloscopeData:
         return self.__retrieve_properties().io_channel
 
     def __init__(self, data_id: int):
-        self._data_id = data_id
+        self._data_id: int = data_id
 
     def get_timebase(
             self,

zaber_motion/ascii/pvt.py

@@ -26,7 +26,7 @@ class Pvt:
         return self._device
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get_sequence(
             self,

zaber_motion/ascii/pvt_buffer.py

@@ -1,6 +1,7 @@
 # ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
 # ============== DO NOT EDIT DIRECTLY ============== #
 from typing import TYPE_CHECKING, List
+from ..dto.ascii.pvt_sequence_data import PvtSequenceData
 from ..dto import requests as dto
 from ..call import call, call_async
 
@@ -29,8 +30,8 @@ class PvtBuffer:
         return self._buffer_id
 
     def __init__(self, device: 'Device', buffer_id: int):
-        self._device = device
-        self._buffer_id = buffer_id
+        self._device: 'Device' = device
+        self._buffer_id: int = buffer_id
 
     def get_content(
             self
@@ -74,6 +75,46 @@ class PvtBuffer:
             dto.StreamBufferGetContentResponse.from_binary)
         return response.buffer_lines
 
+    def retrieve_sequence_data(
+            self
+    ) -> PvtSequenceData:
+        """
+        Gets the buffer contents as a PvtSequenceData object.
+
+        Returns:
+            The PVT data loaded from the buffer.
+        """
+        request = dto.PvtBufferGetSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            buffer_id=self.buffer_id,
+        )
+        response = call(
+            "device/pvt_buffer_get_data",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    async def retrieve_sequence_data_async(
+            self
+    ) -> PvtSequenceData:
+        """
+        Gets the buffer contents as a PvtSequenceData object.
+
+        Returns:
+            The PVT data loaded from the buffer.
+        """
+        request = dto.PvtBufferGetSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            buffer_id=self.buffer_id,
+        )
+        response = await call_async(
+            "device/pvt_buffer_get_data",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
     def erase(
             self
     ) -> None:

zaber_motion/ascii/pvt_io.py

@@ -18,8 +18,8 @@ class PvtIo:
     """
 
     def __init__(self, device: 'Device', stream_id: int):
-        self._device = device
-        self._stream_id = stream_id
+        self._device: 'Device' = device
+        self._stream_id: int = stream_id
 
     def set_digital_output(
             self,

zaber_motion/ascii/pvt_sequence.py

@@ -66,9 +66,9 @@ class PvtSequence:
         return self._io
 
     def __init__(self, device: 'Device', pvt_id: int):
-        self._device = device
-        self._pvt_id = pvt_id
-        self._io = PvtIo(device, pvt_id)
+        self._device: 'Device' = device
+        self._pvt_id: int = pvt_id
+        self._io: PvtIo = PvtIo(device, pvt_id)
 
     def setup_live_composite(
             self,
@@ -525,6 +525,8 @@ class PvtSequence:
         per axis, And the values arrays for each sequence must be equal in length to each other and also to the
         times sequence.
 
+        Does not support native units.
+
         Args:
             positions: Positions for the axes to move through, relative to their home positions.
                 Each MeasurementSequence represents a sequence of positions along a particular dimension.
@@ -569,6 +571,8 @@ class PvtSequence:
         per axis, And the values arrays for each sequence must be equal in length to each other and also to the
         times sequence.
 
+        Does not support native units.
+
         Args:
             positions: Positions for the axes to move through, relative to their home positions.
                 Each MeasurementSequence represents a sequence of positions along a particular dimension.
@@ -610,6 +614,8 @@ class PvtSequence:
         velocity measurement sequence per axis, and the values arrays for each sequence
         must be equal in length to each other and also to the times sequence.
 
+        Does not support native units.
+
         Args:
             velocities: The sequence of velocities for each axis.
                 Each MeasurementSequence represents a sequence of velocities along particular dimension.
@@ -647,6 +653,8 @@ class PvtSequence:
         velocity measurement sequence per axis, and the values arrays for each sequence
         must be equal in length to each other and also to the times sequence.
 
+        Does not support native units.
+
         Args:
             velocities: The sequence of velocities for each axis.
                 Each MeasurementSequence represents a sequence of velocities along particular dimension.
@@ -670,6 +678,108 @@ class PvtSequence:
             PvtSequenceData.from_binary)
         return response
 
+    @staticmethod
+    def generate_velocities_and_times(
+            positions: List[MeasurementSequence],
+            target_speed: Measurement,
+            target_acceleration: Measurement,
+            resample_number: Optional[int] = None
+    ) -> PvtSequenceData:
+        """
+        Generates sequences of velocities and times for a sequence of positions.
+        This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,
+        natural cubic for 3, and a straight line for 2) over the position sequence
+        and then calculates the velocity and time information by traversing it using a
+        trapezoidal motion profile.
+
+        This generation scheme attempts to keep speed and acceleration less than the
+        specified target values, but does not guarantee it. Generally speaking, a higher
+        resample number will bring the generated trajectory closer to respecting these
+        limits.
+
+        Note that consecutive duplicate points will be automatically removed as they
+        have no geometric significance without additional time information. Also note that
+        for multi-dimensional paths this function expects axes to be linear and orthogonal,
+        however for paths of a single dimension rotary units are accepted.
+
+        Does not support native units.
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            target_speed: The target speed used to generate positions and times.
+            target_acceleration: The target acceleration used to generate positions and times.
+            resample_number: The number of points to resample the sequence by.
+                Leave undefined to use the specified points.
+
+        Returns:
+            Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+        """
+        if target_speed.value <= 0 or target_acceleration.value <= 0:
+            raise ValueError('Target speed and acceleration values must be greater than zero.')
+
+        request = dto.PvtGenerateVelocitiesAndTimesRequest(
+            positions=positions,
+            target_speed=target_speed,
+            target_acceleration=target_acceleration,
+            resample_number=resample_number,
+        )
+        response = call(
+            "device/pvt_generate_velocities_and_times",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
+    @staticmethod
+    async def generate_velocities_and_times_async(
+            positions: List[MeasurementSequence],
+            target_speed: Measurement,
+            target_acceleration: Measurement,
+            resample_number: Optional[int] = None
+    ) -> PvtSequenceData:
+        """
+        Generates sequences of velocities and times for a sequence of positions.
+        This function fits a geometric spline (not-a-knot cubic for sequences of >3 points,
+        natural cubic for 3, and a straight line for 2) over the position sequence
+        and then calculates the velocity and time information by traversing it using a
+        trapezoidal motion profile.
+
+        This generation scheme attempts to keep speed and acceleration less than the
+        specified target values, but does not guarantee it. Generally speaking, a higher
+        resample number will bring the generated trajectory closer to respecting these
+        limits.
+
+        Note that consecutive duplicate points will be automatically removed as they
+        have no geometric significance without additional time information. Also note that
+        for multi-dimensional paths this function expects axes to be linear and orthogonal,
+        however for paths of a single dimension rotary units are accepted.
+
+        Does not support native units.
+
+        Args:
+            positions: Positions for the axes to move through, relative to their home positions.
+            target_speed: The target speed used to generate positions and times.
+            target_acceleration: The target acceleration used to generate positions and times.
+            resample_number: The number of points to resample the sequence by.
+                Leave undefined to use the specified points.
+
+        Returns:
+            Object containing the generated PVT sequence. Note that returned time sequence is always relative.
+        """
+        if target_speed.value <= 0 or target_acceleration.value <= 0:
+            raise ValueError('Target speed and acceleration values must be greater than zero.')
+
+        request = dto.PvtGenerateVelocitiesAndTimesRequest(
+            positions=positions,
+            target_speed=target_speed,
+            target_acceleration=target_acceleration,
+            resample_number=resample_number,
+        )
+        response = await call_async(
+            "device/pvt_generate_velocities_and_times",
+            request,
+            PvtSequenceData.from_binary)
+        return response
+
     def wait_until_idle(
             self,
             throw_error_on_fault: bool = True
@@ -1144,11 +1254,12 @@ class PvtSequence:
 
         Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
         Additionally, native units are the default if no units are specified.
+        Time values default to milliseconds if no units are provided.
         If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
         In this case the number of columns must be odd.
 
         Args:
-            path: The path from which the csv file will be loaded.
+            path: The path to the csv file to load.
 
         Returns:
             The PVT csv data loaded from the file.
@@ -1183,11 +1294,12 @@ class PvtSequence:
 
         Units must be wrapped in parens or square braces: ie. (µm/s), [µm/s].
         Additionally, native units are the default if no units are specified.
+        Time values default to milliseconds if no units are provided.
         If no header is included, then column order is assumed to be "T,P1,V1,P2,V2,...".
         In this case the number of columns must be odd.
 
         Args:
-            path: The path from which the csv file will be loaded.
+            path: The path to the csv file to load.
 
         Returns:
             The PVT csv data loaded from the file.
@@ -1201,6 +1313,42 @@ class PvtSequence:
             PvtCsvData.from_binary)
         return response
 
+    def submit_sequence_data(
+            self,
+            sequence_data: PvtSequenceData
+    ) -> None:
+        """
+        Writes the contents of a PvtSequenceData object to the sequence.
+
+        Args:
+            sequence_data: The PVT sequence data to submit.
+        """
+        request = dto.PvtSubmitSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            sequence_data=sequence_data,
+        )
+        call("device/stream_pvt_submit_data", request)
+
+    async def submit_sequence_data_async(
+            self,
+            sequence_data: PvtSequenceData
+    ) -> None:
+        """
+        Writes the contents of a PvtSequenceData object to the sequence.
+
+        Args:
+            sequence_data: The PVT sequence data to submit.
+        """
+        request = dto.PvtSubmitSequenceDataRequest(
+            interface_id=self.device.connection.interface_id,
+            device=self.device.device_address,
+            stream_id=self.pvt_id,
+            sequence_data=sequence_data,
+        )
+        await call_async("device/stream_pvt_submit_data", request)
+
     def set_digital_output(
             self,
             channel_number: int,

zaber_motion/ascii/servo_tuner.py

@@ -32,7 +32,7 @@ class ServoTuner:
         """
         Creates instance of ServoTuner for the given axis.
         """
-        self._axis = axis
+        self._axis: Axis = axis
 
     def get_startup_paramset(
             self

zaber_motion/ascii/storage.py

@@ -18,7 +18,7 @@ class AxisStorage:
     """
 
     def __init__(self, axis: 'Axis'):
-        self._axis = axis
+        self._axis: 'Axis' = axis
 
     def set_string(
             self,
@@ -474,7 +474,7 @@ class DeviceStorage:
     """
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def set_string(
             self,

zaber_motion/ascii/stream.py

@@ -61,9 +61,9 @@ class Stream:
         return self._io
 
     def __init__(self, device: 'Device', stream_id: int):
-        self._device = device
-        self._stream_id = stream_id
-        self._io = StreamIo(device, stream_id)
+        self._device: 'Device' = device
+        self._stream_id: int = stream_id
+        self._io: StreamIo = StreamIo(device, stream_id)
 
     def setup_live_composite(
             self,

zaber_motion/ascii/stream_buffer.py

@@ -29,8 +29,8 @@ class StreamBuffer:
         return self._buffer_id
 
     def __init__(self, device: 'Device', buffer_id: int):
-        self._device = device
-        self._buffer_id = buffer_id
+        self._device: 'Device' = device
+        self._buffer_id: int = buffer_id
 
     def get_content(
             self

zaber_motion/ascii/stream_io.py

@@ -18,8 +18,8 @@ class StreamIo:
     """
 
     def __init__(self, device: 'Device', stream_id: int):
-        self._device = device
-        self._stream_id = stream_id
+        self._device: 'Device' = device
+        self._stream_id: int = stream_id
 
     def set_digital_output(
             self,

zaber_motion/ascii/streams.py

@@ -26,7 +26,7 @@ class Streams:
         return self._device
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get_stream(
             self,

zaber_motion/ascii/transport.py

@@ -22,7 +22,7 @@ class Transport:
         return self._transport_id
 
     def __init__(self, transport_id: int):
-        self._transport_id = transport_id
+        self._transport_id: int = transport_id
 
     @staticmethod
     def open() -> 'Transport':

zaber_motion/ascii/trigger.py

@@ -38,8 +38,8 @@ class Trigger:
         return self._trigger_number
 
     def __init__(self, device: 'Device', trigger_number: int):
-        self._device = device
-        self._trigger_number = trigger_number
+        self._device: 'Device' = device
+        self._trigger_number: int = trigger_number
 
     def enable(
             self,

zaber_motion/ascii/triggers.py

@@ -26,7 +26,7 @@ class Triggers:
         return self._device
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get_number_of_triggers(
             self

zaber_motion/ascii/warnings.py

@@ -16,8 +16,8 @@ class Warnings:
     """
 
     def __init__(self, device: 'Device', axis_number: int):
-        self._device = device
-        self._axis_number = axis_number
+        self._device: 'Device' = device
+        self._axis_number: int = axis_number
 
     def get_flags(
             self

zaber_motion/binary/connection.py

@@ -75,7 +75,7 @@ class Connection:
         return self.__retrieve_is_open()
 
     def __init__(self, interface_id: int):
-        self._interface_id = interface_id
+        self._interface_id: int = interface_id
         self.__setup_events()
 
     @staticmethod

zaber_motion/binary/device.py

@@ -124,9 +124,9 @@ class Device:
         return self.identity.device_type
 
     def __init__(self, connection: 'Connection', device_address: int):
-        self._connection = connection
-        self._settings = DeviceSettings(self)
-        self._device_address = device_address
+        self._connection: 'Connection' = connection
+        self._settings: DeviceSettings = DeviceSettings(self)
+        self._device_address: int = device_address
 
     def generic_command(
             self,

zaber_motion/binary/device_settings.py

@@ -18,7 +18,7 @@ class DeviceSettings:
     """
 
     def __init__(self, device: 'Device'):
-        self._device = device
+        self._device: 'Device' = device
 
     def get(
             self,