zaber-motion 7.12.0__py3-none-win32.whl → 7.14.0__py3-none-win32.whl

zaber_motion/gcode/offline_translator.py

@@ -1,401 +1,401 @@
-# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
-# ============== DO NOT EDIT DIRECTLY ============== #
-
-from typing import List, Optional
-from ..call import call, call_async, call_sync
-
-from ..dto import requests as dto
-from ..units import LengthUnits, VelocityUnits
-from ..ascii import Device
-from ..dto.gcode.device_definition import DeviceDefinition
-from ..dto.gcode.translator_config import TranslatorConfig
-from ..dto.gcode.translate_result import TranslateResult
-
-
-class OfflineTranslator:
-    """
-    Represents an offline G-Code translator.
-    It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.
-    This translator does not need a connected device to perform translation.
-    Requires at least Firmware 7.11.
-    """
-
-    @property
-    def translator_id(self) -> int:
-        """
-        The ID of the translator that serves to identify native resources.
-        """
-        return self._translator_id
-
-    @property
-    def coordinate_system(self) -> str:
-        """
-        Current coordinate system.
-        """
-        return self.__get_current_coordinate_system()
-
-    def __init__(self, translator_id: int):
-        self._translator_id: int = translator_id
-
-    @staticmethod
-    def setup(
-            definition: DeviceDefinition,
-            config: Optional[TranslatorConfig] = None
-    ) -> 'OfflineTranslator':
-        """
-        Sets up translator from provided device definition and configuration.
-
-        Args:
-            definition: Definition of device and its peripherals.
-                The definition must match a device that later performs the commands.
-            config: Configuration of the translator.
-
-        Returns:
-            New instance of translator.
-        """
-        request = dto.TranslatorCreateRequest(
-            definition=definition,
-            config=config,
-        )
-        response = call(
-            "gcode/create",
-            request,
-            dto.TranslatorCreateResponse.from_binary)
-        return OfflineTranslator(response.translator_id)
-
-    @staticmethod
-    async def setup_async(
-            definition: DeviceDefinition,
-            config: Optional[TranslatorConfig] = None
-    ) -> 'OfflineTranslator':
-        """
-        Sets up translator from provided device definition and configuration.
-
-        Args:
-            definition: Definition of device and its peripherals.
-                The definition must match a device that later performs the commands.
-            config: Configuration of the translator.
-
-        Returns:
-            New instance of translator.
-        """
-        request = dto.TranslatorCreateRequest(
-            definition=definition,
-            config=config,
-        )
-        response = await call_async(
-            "gcode/create",
-            request,
-            dto.TranslatorCreateResponse.from_binary)
-        return OfflineTranslator(response.translator_id)
-
-    @staticmethod
-    def setup_from_device(
-            device: Device,
-            axes: List[int],
-            config: Optional[TranslatorConfig] = None
-    ) -> 'OfflineTranslator':
-        """
-        Sets up an offline translator from provided device, axes, and configuration.
-
-        Args:
-            device: Device that later performs the command streaming.
-            axes: Axis numbers that are later used to setup the stream.
-                For a lockstep group specify only the first axis of the group.
-            config: Configuration of the translator.
-
-        Returns:
-            New instance of translator.
-        """
-        request = dto.TranslatorCreateFromDeviceRequest(
-            interface_id=device.connection.interface_id,
-            device=device.device_address,
-            axes=axes,
-            config=config,
-        )
-        response = call(
-            "gcode/create_from_device",
-            request,
-            dto.TranslatorCreateResponse.from_binary)
-        return OfflineTranslator(response.translator_id)
-
-    @staticmethod
-    async def setup_from_device_async(
-            device: Device,
-            axes: List[int],
-            config: Optional[TranslatorConfig] = None
-    ) -> 'OfflineTranslator':
-        """
-        Sets up an offline translator from provided device, axes, and configuration.
-
-        Args:
-            device: Device that later performs the command streaming.
-            axes: Axis numbers that are later used to setup the stream.
-                For a lockstep group specify only the first axis of the group.
-            config: Configuration of the translator.
-
-        Returns:
-            New instance of translator.
-        """
-        request = dto.TranslatorCreateFromDeviceRequest(
-            interface_id=device.connection.interface_id,
-            device=device.device_address,
-            axes=axes,
-            config=config,
-        )
-        response = await call_async(
-            "gcode/create_from_device",
-            request,
-            dto.TranslatorCreateResponse.from_binary)
-        return OfflineTranslator(response.translator_id)
-
-    def translate(
-            self,
-            block: str
-    ) -> TranslateResult:
-        """
-        Translates a single block (line) of G-code.
-
-        Args:
-            block: Block (line) of G-code.
-
-        Returns:
-            Result of translation containing the stream commands.
-        """
-        request = dto.TranslatorTranslateRequest(
-            translator_id=self.translator_id,
-            block=block,
-        )
-        response = call_sync(
-            "gcode/translate",
-            request,
-            TranslateResult.from_binary)
-        return response
-
-    def flush(
-            self
-    ) -> List[str]:
-        """
-        Flushes the remaining stream commands waiting in optimization buffer.
-        The flush is also performed by M2 and M30 codes.
-
-        Returns:
-            The remaining stream commands.
-        """
-        request = dto.TranslatorEmptyRequest(
-            translator_id=self.translator_id,
-        )
-        response = call_sync(
-            "gcode/flush",
-            request,
-            dto.TranslatorFlushResponse.from_binary)
-        return response.commands
-
-    def set_traverse_rate(
-            self,
-            traverse_rate: float,
-            unit: VelocityUnits
-    ) -> None:
-        """
-        Sets the speed at which the device moves when traversing (G0).
-
-        Args:
-            traverse_rate: The traverse rate.
-            unit: Units of the traverse rate.
-        """
-        request = dto.TranslatorSetTraverseRateRequest(
-            translator_id=self.translator_id,
-            traverse_rate=traverse_rate,
-            unit=unit,
-        )
-        call_sync("gcode/set_traverse_rate", request)
-
-    def set_axis_position(
-            self,
-            axis: str,
-            position: float,
-            unit: LengthUnits
-    ) -> None:
-        """
-        Sets position of translator's axis.
-        Use this method to set position after performing movement outside of the translator.
-        This method does not cause any movement.
-
-        Args:
-            axis: Letter of the axis.
-            position: The position.
-            unit: Units of position.
-        """
-        request = dto.TranslatorSetAxisPositionRequest(
-            translator_id=self.translator_id,
-            axis=axis,
-            position=position,
-            unit=unit,
-        )
-        call_sync("gcode/set_axis_position", request)
-
-    def get_axis_position(
-            self,
-            axis: str,
-            unit: LengthUnits
-    ) -> float:
-        """
-        Gets position of translator's axis.
-        This method does not query device but returns value from translator's state.
-
-        Args:
-            axis: Letter of the axis.
-            unit: Units of position.
-
-        Returns:
-            Position of translator's axis.
-        """
-        request = dto.TranslatorGetAxisPositionRequest(
-            translator_id=self.translator_id,
-            axis=axis,
-            unit=unit,
-        )
-        response = call_sync(
-            "gcode/get_axis_position",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def set_axis_home_position(
-            self,
-            axis: str,
-            position: float,
-            unit: LengthUnits
-    ) -> None:
-        """
-        Sets the home position of translator's axis.
-        This position is used by G28.
-
-        Args:
-            axis: Letter of the axis.
-            position: The home position.
-            unit: Units of position.
-        """
-        request = dto.TranslatorSetAxisPositionRequest(
-            translator_id=self.translator_id,
-            axis=axis,
-            position=position,
-            unit=unit,
-        )
-        call_sync("gcode/set_axis_home", request)
-
-    def set_axis_secondary_home_position(
-            self,
-            axis: str,
-            position: float,
-            unit: LengthUnits
-    ) -> None:
-        """
-        Sets the secondary home position of translator's axis.
-        This position is used by G30.
-
-        Args:
-            axis: Letter of the axis.
-            position: The home position.
-            unit: Units of position.
-        """
-        request = dto.TranslatorSetAxisPositionRequest(
-            translator_id=self.translator_id,
-            axis=axis,
-            position=position,
-            unit=unit,
-        )
-        call_sync("gcode/set_axis_secondary_home", request)
-
-    def get_axis_coordinate_system_offset(
-            self,
-            coordinate_system: str,
-            axis: str,
-            unit: LengthUnits
-    ) -> float:
-        """
-        Gets offset of an axis in a given coordinate system.
-
-        Args:
-            coordinate_system: Coordinate system (e.g. G54).
-            axis: Letter of the axis.
-            unit: Units of position.
-
-        Returns:
-            Offset in translator units of the axis.
-        """
-        request = dto.TranslatorGetAxisOffsetRequest(
-            translator_id=self.translator_id,
-            coordinate_system=coordinate_system,
-            axis=axis,
-            unit=unit,
-        )
-        response = call_sync(
-            "gcode/get_axis_offset",
-            request,
-            dto.DoubleResponse.from_binary)
-        return response.value
-
-    def reset_after_stream_error(
-            self
-    ) -> None:
-        """
-        Resets internal state after device rejected generated command.
-        Axis positions become uninitialized.
-        """
-        request = dto.TranslatorEmptyRequest(
-            translator_id=self.translator_id,
-        )
-        call_sync("gcode/reset_after_stream_error", request)
-
-    def set_feed_rate_override(
-            self,
-            coefficient: float
-    ) -> None:
-        """
-        Allows to scale feed rate of the translated code by a coefficient.
-
-        Args:
-            coefficient: Coefficient of the original feed rate.
-        """
-        request = dto.TranslatorSetFeedRateOverrideRequest(
-            translator_id=self.translator_id,
-            coefficient=coefficient,
-        )
-        call_sync("gcode/set_feed_rate_override", request)
-
-    @staticmethod
-    def __free(
-            translator_id: int
-    ) -> None:
-        """
-        Releases native resources of a translator.
-
-        Args:
-            translator_id: The ID of the translator.
-        """
-        request = dto.TranslatorEmptyRequest(
-            translator_id=translator_id,
-        )
-        call_sync("gcode/free", request)
-
-    def __get_current_coordinate_system(
-            self
-    ) -> str:
-        """
-        Gets current coordinate system (e.g. G54).
-
-        Returns:
-            Current coordinate system.
-        """
-        request = dto.TranslatorEmptyRequest(
-            translator_id=self.translator_id,
-        )
-        response = call_sync(
-            "gcode/get_current_coordinate_system",
-            request,
-            dto.StringResponse.from_binary)
-        return response.value
-
-    def __del__(self) -> None:
-        OfflineTranslator.__free(self.translator_id)
+# ===== THIS FILE IS GENERATED FROM A TEMPLATE ===== #
+# ============== DO NOT EDIT DIRECTLY ============== #
+
+from typing import List, Optional
+from ..call import call, call_async, call_sync
+
+from ..dto import requests as dto
+from ..units import LengthUnits, VelocityUnits
+from ..ascii import Device
+from ..dto.gcode.device_definition import DeviceDefinition
+from ..dto.gcode.translator_config import TranslatorConfig
+from ..dto.gcode.translate_result import TranslateResult
+
+
+class OfflineTranslator:
+    """
+    Represents an offline G-Code translator.
+    It allows to translate G-Code blocks to Zaber ASCII protocol stream commands.
+    This translator does not need a connected device to perform translation.
+    Requires at least Firmware 7.11.
+    """
+
+    @property
+    def translator_id(self) -> int:
+        """
+        The ID of the translator that serves to identify native resources.
+        """
+        return self._translator_id
+
+    @property
+    def coordinate_system(self) -> str:
+        """
+        Current coordinate system.
+        """
+        return self.__get_current_coordinate_system()
+
+    def __init__(self, translator_id: int):
+        self._translator_id: int = translator_id
+
+    @staticmethod
+    def setup(
+            definition: DeviceDefinition,
+            config: Optional[TranslatorConfig] = None
+    ) -> 'OfflineTranslator':
+        """
+        Sets up translator from provided device definition and configuration.
+
+        Args:
+            definition: Definition of device and its peripherals.
+                The definition must match a device that later performs the commands.
+            config: Configuration of the translator.
+
+        Returns:
+            New instance of translator.
+        """
+        request = dto.TranslatorCreateRequest(
+            definition=definition,
+            config=config,
+        )
+        response = call(
+            "gcode/create",
+            request,
+            dto.TranslatorCreateResponse.from_binary)
+        return OfflineTranslator(response.translator_id)
+
+    @staticmethod
+    async def setup_async(
+            definition: DeviceDefinition,
+            config: Optional[TranslatorConfig] = None
+    ) -> 'OfflineTranslator':
+        """
+        Sets up translator from provided device definition and configuration.
+
+        Args:
+            definition: Definition of device and its peripherals.
+                The definition must match a device that later performs the commands.
+            config: Configuration of the translator.
+
+        Returns:
+            New instance of translator.
+        """
+        request = dto.TranslatorCreateRequest(
+            definition=definition,
+            config=config,
+        )
+        response = await call_async(
+            "gcode/create",
+            request,
+            dto.TranslatorCreateResponse.from_binary)
+        return OfflineTranslator(response.translator_id)
+
+    @staticmethod
+    def setup_from_device(
+            device: Device,
+            axes: List[int],
+            config: Optional[TranslatorConfig] = None
+    ) -> 'OfflineTranslator':
+        """
+        Sets up an offline translator from provided device, axes, and configuration.
+
+        Args:
+            device: Device that later performs the command streaming.
+            axes: Axis numbers that are later used to setup the stream.
+                For a lockstep group specify only the first axis of the group.
+            config: Configuration of the translator.
+
+        Returns:
+            New instance of translator.
+        """
+        request = dto.TranslatorCreateFromDeviceRequest(
+            interface_id=device.connection.interface_id,
+            device=device.device_address,
+            axes=axes,
+            config=config,
+        )
+        response = call(
+            "gcode/create_from_device",
+            request,
+            dto.TranslatorCreateResponse.from_binary)
+        return OfflineTranslator(response.translator_id)
+
+    @staticmethod
+    async def setup_from_device_async(
+            device: Device,
+            axes: List[int],
+            config: Optional[TranslatorConfig] = None
+    ) -> 'OfflineTranslator':
+        """
+        Sets up an offline translator from provided device, axes, and configuration.
+
+        Args:
+            device: Device that later performs the command streaming.
+            axes: Axis numbers that are later used to setup the stream.
+                For a lockstep group specify only the first axis of the group.
+            config: Configuration of the translator.
+
+        Returns:
+            New instance of translator.
+        """
+        request = dto.TranslatorCreateFromDeviceRequest(
+            interface_id=device.connection.interface_id,
+            device=device.device_address,
+            axes=axes,
+            config=config,
+        )
+        response = await call_async(
+            "gcode/create_from_device",
+            request,
+            dto.TranslatorCreateResponse.from_binary)
+        return OfflineTranslator(response.translator_id)
+
+    def translate(
+            self,
+            block: str
+    ) -> TranslateResult:
+        """
+        Translates a single block (line) of G-code.
+
+        Args:
+            block: Block (line) of G-code.
+
+        Returns:
+            Result of translation containing the stream commands.
+        """
+        request = dto.TranslatorTranslateRequest(
+            translator_id=self.translator_id,
+            block=block,
+        )
+        response = call_sync(
+            "gcode/translate",
+            request,
+            TranslateResult.from_binary)
+        return response
+
+    def flush(
+            self
+    ) -> List[str]:
+        """
+        Flushes the remaining stream commands waiting in optimization buffer.
+        The flush is also performed by M2 and M30 codes.
+
+        Returns:
+            The remaining stream commands.
+        """
+        request = dto.TranslatorEmptyRequest(
+            translator_id=self.translator_id,
+        )
+        response = call_sync(
+            "gcode/flush",
+            request,
+            dto.TranslatorFlushResponse.from_binary)
+        return response.commands
+
+    def set_traverse_rate(
+            self,
+            traverse_rate: float,
+            unit: VelocityUnits
+    ) -> None:
+        """
+        Sets the speed at which the device moves when traversing (G0).
+
+        Args:
+            traverse_rate: The traverse rate.
+            unit: Units of the traverse rate.
+        """
+        request = dto.TranslatorSetTraverseRateRequest(
+            translator_id=self.translator_id,
+            traverse_rate=traverse_rate,
+            unit=unit,
+        )
+        call_sync("gcode/set_traverse_rate", request)
+
+    def set_axis_position(
+            self,
+            axis: str,
+            position: float,
+            unit: LengthUnits
+    ) -> None:
+        """
+        Sets position of translator's axis.
+        Use this method to set position after performing movement outside of the translator.
+        This method does not cause any movement.
+
+        Args:
+            axis: Letter of the axis.
+            position: The position.
+            unit: Units of position.
+        """
+        request = dto.TranslatorSetAxisPositionRequest(
+            translator_id=self.translator_id,
+            axis=axis,
+            position=position,
+            unit=unit,
+        )
+        call_sync("gcode/set_axis_position", request)
+
+    def get_axis_position(
+            self,
+            axis: str,
+            unit: LengthUnits
+    ) -> float:
+        """
+        Gets position of translator's axis.
+        This method does not query device but returns value from translator's state.
+
+        Args:
+            axis: Letter of the axis.
+            unit: Units of position.
+
+        Returns:
+            Position of translator's axis.
+        """
+        request = dto.TranslatorGetAxisPositionRequest(
+            translator_id=self.translator_id,
+            axis=axis,
+            unit=unit,
+        )
+        response = call_sync(
+            "gcode/get_axis_position",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def set_axis_home_position(
+            self,
+            axis: str,
+            position: float,
+            unit: LengthUnits
+    ) -> None:
+        """
+        Sets the home position of translator's axis.
+        This position is used by G28.
+
+        Args:
+            axis: Letter of the axis.
+            position: The home position.
+            unit: Units of position.
+        """
+        request = dto.TranslatorSetAxisPositionRequest(
+            translator_id=self.translator_id,
+            axis=axis,
+            position=position,
+            unit=unit,
+        )
+        call_sync("gcode/set_axis_home", request)
+
+    def set_axis_secondary_home_position(
+            self,
+            axis: str,
+            position: float,
+            unit: LengthUnits
+    ) -> None:
+        """
+        Sets the secondary home position of translator's axis.
+        This position is used by G30.
+
+        Args:
+            axis: Letter of the axis.
+            position: The home position.
+            unit: Units of position.
+        """
+        request = dto.TranslatorSetAxisPositionRequest(
+            translator_id=self.translator_id,
+            axis=axis,
+            position=position,
+            unit=unit,
+        )
+        call_sync("gcode/set_axis_secondary_home", request)
+
+    def get_axis_coordinate_system_offset(
+            self,
+            coordinate_system: str,
+            axis: str,
+            unit: LengthUnits
+    ) -> float:
+        """
+        Gets offset of an axis in a given coordinate system.
+
+        Args:
+            coordinate_system: Coordinate system (e.g. G54).
+            axis: Letter of the axis.
+            unit: Units of position.
+
+        Returns:
+            Offset in translator units of the axis.
+        """
+        request = dto.TranslatorGetAxisOffsetRequest(
+            translator_id=self.translator_id,
+            coordinate_system=coordinate_system,
+            axis=axis,
+            unit=unit,
+        )
+        response = call_sync(
+            "gcode/get_axis_offset",
+            request,
+            dto.DoubleResponse.from_binary)
+        return response.value
+
+    def reset_after_stream_error(
+            self
+    ) -> None:
+        """
+        Resets internal state after device rejected generated command.
+        Axis positions become uninitialized.
+        """
+        request = dto.TranslatorEmptyRequest(
+            translator_id=self.translator_id,
+        )
+        call_sync("gcode/reset_after_stream_error", request)
+
+    def set_feed_rate_override(
+            self,
+            coefficient: float
+    ) -> None:
+        """
+        Allows to scale feed rate of the translated code by a coefficient.
+
+        Args:
+            coefficient: Coefficient of the original feed rate.
+        """
+        request = dto.TranslatorSetFeedRateOverrideRequest(
+            translator_id=self.translator_id,
+            coefficient=coefficient,
+        )
+        call_sync("gcode/set_feed_rate_override", request)
+
+    @staticmethod
+    def __free(
+            translator_id: int
+    ) -> None:
+        """
+        Releases native resources of a translator.
+
+        Args:
+            translator_id: The ID of the translator.
+        """
+        request = dto.TranslatorEmptyRequest(
+            translator_id=translator_id,
+        )
+        call_sync("gcode/free", request)
+
+    def __get_current_coordinate_system(
+            self
+    ) -> str:
+        """
+        Gets current coordinate system (e.g. G54).
+
+        Returns:
+            Current coordinate system.
+        """
+        request = dto.TranslatorEmptyRequest(
+            translator_id=self.translator_id,
+        )
+        response = call_sync(
+            "gcode/get_current_coordinate_system",
+            request,
+            dto.StringResponse.from_binary)
+        return response.value
+
+    def __del__(self) -> None:
+        OfflineTranslator.__free(self.translator_id)