zaber-motion 7.14.0__py3-none-win_amd64.whl → 8.0.0__py3-none-win_amd64.whl

zaber_motion/ascii/stream.py

@@ -12,7 +12,6 @@ from .stream_buffer import StreamBuffer
 from ..dto.ascii.stream_mode import StreamMode
 from ..dto.ascii.stream_axis_definition import StreamAxisDefinition
 from .stream_io import StreamIo
-from ..dto.ascii.digital_output_action import DigitalOutputAction
 
 if TYPE_CHECKING:
     from .device import Device
@@ -1906,277 +1905,3 @@ class Stream:
             request,
             dto.StreamModeResponse.from_binary)
         return response.stream_mode
-
-    def wait_digital_input(
-            self,
-            channel_number: int,
-            value: bool
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitDigitalInput instead.
-
-        Wait for a digital input channel to reach a given value.
-
-        Args:
-            channel_number: The number of the digital input channel.
-                Channel numbers are numbered from one.
-            value: The value that the stream should wait for.
-        """
-        request = dto.StreamWaitDigitalInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_wait_digital_input", request)
-
-    async def wait_digital_input_async(
-            self,
-            channel_number: int,
-            value: bool
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitDigitalInput instead.
-
-        Wait for a digital input channel to reach a given value.
-
-        Args:
-            channel_number: The number of the digital input channel.
-                Channel numbers are numbered from one.
-            value: The value that the stream should wait for.
-        """
-        request = dto.StreamWaitDigitalInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_wait_digital_input", request)
-
-    def wait_analog_input(
-            self,
-            channel_number: int,
-            condition: str,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitAnalogInput instead.
-
-        Wait for the value of a analog input channel to reach a condition concerning a given value.
-
-        Args:
-            channel_number: The number of the analog input channel.
-                Channel numbers are numbered from one.
-            condition: A condition (e.g. <, <=, ==, !=).
-            value: The value that the condition concerns, in Volts.
-        """
-        request = dto.StreamWaitAnalogInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            condition=condition,
-            value=value,
-        )
-        call("device/stream_wait_analog_input", request)
-
-    async def wait_analog_input_async(
-            self,
-            channel_number: int,
-            condition: str,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.WaitAnalogInput instead.
-
-        Wait for the value of a analog input channel to reach a condition concerning a given value.
-
-        Args:
-            channel_number: The number of the analog input channel.
-                Channel numbers are numbered from one.
-            condition: A condition (e.g. <, <=, ==, !=).
-            value: The value that the condition concerns, in Volts.
-        """
-        request = dto.StreamWaitAnalogInputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            condition=condition,
-            value=value,
-        )
-        await call_async("device/stream_wait_analog_input", request)
-
-    def set_digital_output(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_digital_output", request)
-
-    async def set_digital_output_async(
-            self,
-            channel_number: int,
-            value: DigitalOutputAction
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.SetDigitalOutput instead.
-
-        Sets value for the specified digital output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetDigitalOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_digital_output", request)
-
-    def set_all_digital_outputs(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            values=values,
-        )
-        call("device/stream_set_all_digital_outputs", request)
-
-    async def set_all_digital_outputs_async(
-            self,
-            values: List[DigitalOutputAction]
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.SetAllDigitalOutputs instead.
-
-        Sets values for all digital output channels.
-
-        Args:
-            values: The type of action to perform on the channel.
-        """
-        request = dto.StreamSetAllDigitalOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            values=values,
-        )
-        await call_async("device/stream_set_all_digital_outputs", request)
-
-    def set_analog_output(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.setAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        call("device/stream_set_analog_output", request)
-
-    async def set_analog_output_async(
-            self,
-            channel_number: int,
-            value: float
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.setAnalogOutput instead.
-
-        Sets value for the specified analog output channel.
-
-        Args:
-            channel_number: Channel number starting at 1.
-            value: Value to set the output channel voltage to.
-        """
-        request = dto.StreamSetAnalogOutputRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            channel_number=channel_number,
-            value=value,
-        )
-        await call_async("device/stream_set_analog_output", request)
-
-    def set_all_analog_outputs(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.setAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            values=values,
-        )
-        call("device/stream_set_all_analog_outputs", request)
-
-    async def set_all_analog_outputs_async(
-            self,
-            values: List[float]
-    ) -> None:
-        """
-        Deprecated: Use Stream.Io.setAllAnalogOutputs instead.
-
-        Sets values for all analog output channels.
-
-        Args:
-            values: Voltage values to set the output channels to.
-        """
-        request = dto.StreamSetAllAnalogOutputsRequest(
-            interface_id=self.device.connection.interface_id,
-            device=self.device.device_address,
-            stream_id=self.stream_id,
-            values=values,
-        )
-        await call_async("device/stream_set_all_analog_outputs", request)

zaber_motion/binary/connection.py

@@ -59,6 +59,19 @@ class Connection:
     Default baud rate for serial connections.
     """
 
+    TCP_PORT_CHAIN = 55550
+    """
+    Commands sent over this port are forwarded to the device chain.
+    The bandwidth may be limited as the commands are forwarded over a serial connection.
+    """
+
+    TCP_PORT_DEVICE_ONLY = 55551
+    """
+    Commands send over this port are processed only by the device
+    and not forwarded to the rest of the chain.
+    Using this port typically makes the communication faster.
+    """
+
     @property
     def interface_id(self) -> int:
         """
@@ -137,7 +150,7 @@ class Connection:
     @staticmethod
     def open_tcp(
             host_name: str,
-            port: int,
+            port: int = TCP_PORT_CHAIN,
             use_message_ids: bool = False
     ) -> 'Connection':
         """
@@ -145,7 +158,7 @@ class Connection:
 
         Args:
             host_name: Hostname or IP address.
-            port: Port number.
+            port: Optional port number (defaults to 55550).
             use_message_ids: Enable use of message IDs (defaults to disabled).
                 All your devices must be pre-configured to match.
 
@@ -167,7 +180,7 @@ class Connection:
     @staticmethod
     def open_tcp_async(
             host_name: str,
-            port: int,
+            port: int = TCP_PORT_CHAIN,
             use_message_ids: bool = False
     ) -> 'AsyncBinaryConnectionOpener':
         """
@@ -175,7 +188,7 @@ class Connection:
 
         Args:
             host_name: Hostname or IP address.
-            port: Port number.
+            port: Optional port number (defaults to 55550).
             use_message_ids: Enable use of message IDs (defaults to disabled).
                 All your devices must be pre-configured to match.
 

zaber_motion/dto/__init__.py

@@ -9,3 +9,4 @@ from .log_output_mode import LogOutputMode as LogOutputMode
 from .measurement import Measurement as Measurement
 from .named_parameter import NamedParameter as NamedParameter
 from .rotation_direction import RotationDirection as RotationDirection
+from .unit_conversion_descriptor import UnitConversionDescriptor as UnitConversionDescriptor

zaber_motion/dto/ascii/__init__.py

@@ -15,7 +15,6 @@ from .get_setting import GetSetting as GetSetting
 from .get_setting_result import GetSettingResult as GetSettingResult
 from .io_port_label import IoPortLabel as IoPortLabel
 from .io_port_type import IoPortType as IoPortType
-from .lockstep_axes import LockstepAxes as LockstepAxes
 from .measurement_sequence import MeasurementSequence as MeasurementSequence
 from .message_type import MessageType as MessageType
 from .optional_measurement_sequence import OptionalMeasurementSequence as OptionalMeasurementSequence

zaber_motion/dto/ascii/response.py

@@ -26,16 +26,19 @@ class Response:
     reply_flag: str
     """
     The reply flag indicates if the request was accepted (OK) or rejected (RJ).
+    Does not apply to info messages.
     """
 
     status: str
     """
     The device status contains BUSY when the axis is moving and IDLE otherwise.
+    Does not apply to info messages.
     """
 
     warning_flag: str
     """
     The warning flag contains the highest priority warning currently active for the device or axis.
+    Does not apply to info messages.
     """
 
     data: str
@@ -45,7 +48,7 @@ class Response:
 
     message_type: MessageType
     """
-    Type of the reply received.
+    Type of the response received (only Reply or Info).
     """
 
     @staticmethod

zaber_motion/dto/ascii/simple_tuning.py

@@ -25,9 +25,10 @@ class SimpleTuning:
     If this paramset has been tuned using the simple tuning method, whether or not it's currently in use.
     """
 
-    load_mass: float
+    load_inertia: float
     """
-    The mass of the load in kg, excluding the mass of the carriage.
+    The inertia of the load in kg (for linear devices) or kg⋅m² (for rotary devices),
+    excluding the inertia of the carriage.
     """
 
     tuning_params: List[ServoTuningParam]
@@ -35,9 +36,9 @@ class SimpleTuning:
     The parameters used by simple tuning.
     """
 
-    carriage_mass: Optional[float] = None
+    carriage_inertia: Optional[float] = None
     """
-    The mass of the carriage in kg.
+    The inertia of the carriage in kg (for linear devices) or kg⋅m² (for rotary devices).
     """
 
     motor_inertia: Optional[float] = None
@@ -50,9 +51,9 @@ class SimpleTuning:
         return SimpleTuning(
             is_used=False,
             is_set=False,
-            carriage_mass=None,
+            carriage_inertia=None,
             motor_inertia=None,
-            load_mass=0,
+            load_inertia=0,
             tuning_params=[],
         )
 
@@ -71,9 +72,9 @@ class SimpleTuning:
         return {
             'isUsed': bool(self.is_used),
             'isSet': bool(self.is_set),
-            'carriageMass': float(self.carriage_mass) if self.carriage_mass is not None else None,
+            'carriageInertia': float(self.carriage_inertia) if self.carriage_inertia is not None else None,
             'motorInertia': float(self.motor_inertia) if self.motor_inertia is not None else None,
-            'loadMass': float(self.load_mass),
+            'loadInertia': float(self.load_inertia),
             'tuningParams': [item.to_dict() for item in self.tuning_params] if self.tuning_params is not None else [],
         }
 
@@ -82,27 +83,27 @@ class SimpleTuning:
         return SimpleTuning(
             is_used=data.get('isUsed'),  # type: ignore
             is_set=data.get('isSet'),  # type: ignore
-            carriage_mass=data.get('carriageMass'),  # type: ignore
+            carriage_inertia=data.get('carriageInertia'),  # type: ignore
             motor_inertia=data.get('motorInertia'),  # type: ignore
-            load_mass=data.get('loadMass'),  # type: ignore
+            load_inertia=data.get('loadInertia'),  # type: ignore
             tuning_params=[ServoTuningParam.from_dict(item) for item in data.get('tuningParams')],  # type: ignore
         )
 
     def validate(self) -> None:
         """" Validates the properties of the instance. """
-        if self.carriage_mass is not None:
-            if not isinstance(self.carriage_mass, (int, float, decimal.Decimal)):
-                raise ValueError(f'Property "CarriageMass" of "SimpleTuning" is not a number.')
+        if self.carriage_inertia is not None:
+            if not isinstance(self.carriage_inertia, (int, float, decimal.Decimal)):
+                raise ValueError(f'Property "CarriageInertia" of "SimpleTuning" is not a number.')
 
         if self.motor_inertia is not None:
             if not isinstance(self.motor_inertia, (int, float, decimal.Decimal)):
                 raise ValueError(f'Property "MotorInertia" of "SimpleTuning" is not a number.')
 
-        if self.load_mass is None:
-            raise ValueError(f'Property "LoadMass" of "SimpleTuning" is None.')
+        if self.load_inertia is None:
+            raise ValueError(f'Property "LoadInertia" of "SimpleTuning" is None.')
 
-        if not isinstance(self.load_mass, (int, float, decimal.Decimal)):
-            raise ValueError(f'Property "LoadMass" of "SimpleTuning" is not a number.')
+        if not isinstance(self.load_inertia, (int, float, decimal.Decimal)):
+            raise ValueError(f'Property "LoadInertia" of "SimpleTuning" is not a number.')
 
         if self.tuning_params is not None:
             if not isinstance(self.tuning_params, Iterable):

zaber_motion/dto/ascii/unknown_response_event.py

@@ -26,16 +26,19 @@ class UnknownResponseEvent:
     reply_flag: str
     """
     The reply flag indicates if the request was accepted (OK) or rejected (RJ).
+    Does not apply to info messages.
     """
 
     status: str
     """
     The device status contains BUSY when the axis is moving and IDLE otherwise.
+    Does not apply to info messages.
     """
 
     warning_flag: str
     """
     The warning flag contains the highest priority warning currently active for the device or axis.
+    Does not apply to info messages.
     """
 
     data: str
@@ -45,7 +48,7 @@ class UnknownResponseEvent:
 
     message_type: MessageType
     """
-    Type of the reply received.
+    Type of the response received (only Reply or Info).
     """
 
     @staticmethod

zaber_motion/dto/requests/__init__.py

@@ -96,6 +96,7 @@ from .generic_command_request import GenericCommandRequest as GenericCommandRequ
 from .generic_command_response_collection import GenericCommandResponseCollection as GenericCommandResponseCollection
 from .get_all_io_port_labels_response import GetAllIoPortLabelsResponse as GetAllIoPortLabelsResponse
 from .get_axis_setting_results import GetAxisSettingResults as GetAxisSettingResults
+from .get_command_unit_conversion_response import GetCommandUnitConversionResponse as GetCommandUnitConversionResponse
 from .get_io_port_label_request import GetIoPortLabelRequest as GetIoPortLabelRequest
 from .get_setting_results import GetSettingResults as GetSettingResults
 from .get_simple_tuning_param_definition_response import GetSimpleTuningParamDefinitionResponse as GetSimpleTuningParamDefinitionResponse
@@ -242,6 +243,7 @@ from .trigger_on_fire_set_request import TriggerOnFireSetRequest as TriggerOnFir
 from .trigger_on_fire_set_to_setting_request import TriggerOnFireSetToSettingRequest as TriggerOnFireSetToSettingRequest
 from .trigger_set_label_request import TriggerSetLabelRequest as TriggerSetLabelRequest
 from .trigger_states import TriggerStates as TriggerStates
+from .unit_convert_native_request import UnitConvertNativeRequest as UnitConvertNativeRequest
 from .unit_convert_unit_request import UnitConvertUnitRequest as UnitConvertUnitRequest
 from .unit_get_enum_request import UnitGetEnumRequest as UnitGetEnumRequest
 from .unit_get_enum_response import UnitGetEnumResponse as UnitGetEnumResponse

zaber_motion/dto/requests/channel_on.py

@@ -1,9 +1,10 @@
 # This file is generated. Do not modify by hand.
 # pylint: disable=line-too-long, unused-argument, f-string-without-interpolation, too-many-branches, too-many-statements, unnecessary-pass
 from dataclasses import dataclass
-from typing import Any, Dict
+from typing import Any, Dict, Optional
 import decimal
 import zaber_bson
+from ..measurement import Measurement
 
 
 @dataclass
@@ -17,6 +18,8 @@ class ChannelOn:
 
     on: bool = False
 
+    duration: Optional[Measurement] = None
+
     @staticmethod
     def zero_values() -> 'ChannelOn':
         return ChannelOn(
@@ -24,6 +27,7 @@ class ChannelOn:
             device=0,
             axis=0,
             on=False,
+            duration=None,
         )
 
     @staticmethod
@@ -43,6 +47,7 @@ class ChannelOn:
             'device': int(self.device),
             'axis': int(self.axis),
             'on': bool(self.on),
+            'duration': self.duration.to_dict() if self.duration is not None else None,
         }
 
     @staticmethod
@@ -52,6 +57,7 @@ class ChannelOn:
             device=data.get('device'),  # type: ignore
             axis=data.get('axis'),  # type: ignore
             on=data.get('on'),  # type: ignore
+            duration=Measurement.from_dict(data.get('duration')) if data.get('duration') is not None else None,  # type: ignore
         )
 
     def validate(self) -> None:
@@ -82,3 +88,9 @@ class ChannelOn:
 
         if int(self.axis) != self.axis:
             raise ValueError(f'Property "Axis" of "ChannelOn" is not integer value.')
+
+        if self.duration is not None:
+            if not isinstance(self.duration, Measurement):
+                raise ValueError(f'Property "Duration" of "ChannelOn" is not an instance of "Measurement".')
+
+            self.duration.validate()

zaber_motion/dto/requests/get_command_unit_conversion_response.py

@@ -0,0 +1,54 @@
+# This file is generated. Do not modify by hand.
+# pylint: disable=line-too-long, unused-argument, f-string-without-interpolation, too-many-branches, too-many-statements, unnecessary-pass
+from dataclasses import dataclass, field
+from typing import Any, Dict, List, Optional
+from collections.abc import Iterable
+import zaber_bson
+from ..unit_conversion_descriptor import UnitConversionDescriptor
+
+
+@dataclass
+class GetCommandUnitConversionResponse:
+
+    value: List[Optional[UnitConversionDescriptor]] = field(default_factory=list)
+
+    @staticmethod
+    def zero_values() -> 'GetCommandUnitConversionResponse':
+        return GetCommandUnitConversionResponse(
+            value=[],
+        )
+
+    @staticmethod
+    def from_binary(data_bytes: bytes) -> 'GetCommandUnitConversionResponse':
+        """" Deserialize a binary representation of this class. """
+        data = zaber_bson.loads(data_bytes)  # type: Dict[str, Any]
+        return GetCommandUnitConversionResponse.from_dict(data)
+
+    def to_binary(self) -> bytes:
+        """" Serialize this class to a binary representation. """
+        self.validate()
+        return zaber_bson.dumps(self.to_dict())  # type: ignore
+
+    def to_dict(self) -> Dict[str, Any]:
+        return {
+            'value': [item.to_dict() if item is not None else None for item in self.value] if self.value is not None else [],
+        }
+
+    @staticmethod
+    def from_dict(data: Dict[str, Any]) -> 'GetCommandUnitConversionResponse':
+        return GetCommandUnitConversionResponse(
+            value=[UnitConversionDescriptor.from_dict(item) if item is not None else None for item in data.get('value')],  # type: ignore
+        )
+
+    def validate(self) -> None:
+        """" Validates the properties of the instance. """
+        if self.value is not None:
+            if not isinstance(self.value, Iterable):
+                raise ValueError('Property "Value" of "GetCommandUnitConversionResponse" is not iterable.')
+
+            for i, value_item in enumerate(self.value):
+                if value_item is not None:
+                    if not isinstance(value_item, UnitConversionDescriptor):
+                        raise ValueError(f'Item {i} in property "Value" of "GetCommandUnitConversionResponse" is not an instance of "UnitConversionDescriptor".')
+
+                    value_item.validate()