pnpq.apt package

Submodules

pnpq.apt.connection module

class pnpq.apt.connection.AptConnection(*, serial_number: str, baudrate: int = 115200, bytesize: int = 8, exclusive: bool = True, parity: str = 'N', rtscts: bool = True, stopbits: int = 1, timeout: None | int = None, rx_dispatcher_thread_lock: _thread.lock = <factory>, rx_dispatcher_subscribers: dict[int, queue.Queue[pnpq.apt.protocol.AptMessage]] = <factory>, rx_dispatcher_subscribers_lock: _thread.lock = <factory>, tx_connection_lock: _thread.lock = <factory>, tx_ordered_sender_awaiting_reply: threading.Event = <factory>, tx_ordered_sender_queue: queue.Queue[typing.Tuple[pnpq.apt.protocol.AptMessage, typing.Optional[typing.Callable[[pnpq.apt.protocol.AptMessage], bool]], None | queue.Queue[pnpq.apt.protocol.AptMessage]]] = <factory>, tx_ordered_sender_thread_lock: _thread.lock = <factory>, stop_event: threading.Event = <factory>)

Bases: object

Parameters:

• serial_number (str)

• baudrate (int)

• bytesize (int)

• exclusive (bool)

• parity (str)

• rtscts (bool)

• stopbits (int)

• timeout (None | int)

• rx_dispatcher_thread_lock (lock)

• rx_dispatcher_subscribers (dict[int, Queue[AptMessage]])

• rx_dispatcher_subscribers_lock (lock)

• tx_connection_lock (lock)

• tx_ordered_sender_awaiting_reply (Event)

• tx_ordered_sender_queue (Queue[Tuple[AptMessage, None | Callable[[AptMessage], bool], None | Queue[AptMessage]]])

• tx_ordered_sender_thread_lock (lock)

• stop_event (Event)

baudrate: int = 115200

bytesize: int = 8

close()

Return type:

None

connection: Serial

exclusive: bool = True

is_closed()

Return type:

bool

log = <BoundLoggerLazyProxy(logger=None, wrapper_class=None, processors=None, context_class=None, initial_values={}, logger_factory_args=())>

open()

Return type:

None

parity: str = 'N'

rtscts: bool = True

rx_dispatch()

Return type:

None

rx_dispatcher_subscribers: dict[int, Queue[AptMessage]]

rx_dispatcher_subscribers_lock: lock

rx_dispatcher_thread: Thread

rx_dispatcher_thread_lock: lock

rx_subscribe()

Return type:

Iterator[Queue[AptMessage]]

send_message_expect_reply(message, match_reply)

Send a message and block until an expected reply is received.

message: AptMessage - The message to send

match_reply: Callable - A function that returns True if a received message should be recognized as a reply to this message, and False otherwise.

Parameters:

• message (AptMessage)

• match_reply (Callable[[AptMessage], bool])

Return type:

AptMessage

send_message_no_reply(message)

Send a message and return immediately, without waiting for any reply.

Parameters:

message (AptMessage)

Return type:

None

send_message_unordered(message)

Send a message as soon as the connection lock will allow, bypassing the message queue. This allows us to poll for status messages while the main message thread is blocked waiting for a reply.

Parameters:

message (AptMessage)

Return type:

None

serial_number: str

stop_event: Event

stopbits: int = 1

timeout: None | int = None

tx_connection_lock: lock

tx_ordered_send()

Return type:

None

tx_ordered_sender_awaiting_reply: Event

tx_ordered_sender_queue: Queue[Tuple[AptMessage, None | Callable[[AptMessage], bool], None | Queue[AptMessage]]]

tx_ordered_sender_thread: Thread

tx_ordered_sender_thread_lock: lock

pnpq.apt.protocol module

class pnpq.apt.protocol.ATS(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: StrEnum

ATS = Apt To Struct

Map Python struct format strings to the names used by the APT documentation. Unfortunately, those names are not used consistently.

BYTE = 'b'

CHAR = 'c'

CHAR_N = 's'

DWORD = 'I'

LONG = 'i'

SHORT = 'h'

U_BYTE = 'B'

WORD = 'H'

class pnpq.apt.protocol.Address(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

BAY_0 = 33

BAY_1 = 34

BAY_2 = 35

BAY_3 = 36

BAY_4 = 37

BAY_5 = 38

BAY_6 = 39

BAY_7 = 40

BAY_8 = 41

BAY_9 = 42

GENERIC_USB = 80

HOST_CONTROLLER = 1

RACK_CONTROLLER = 17

class pnpq.apt.protocol.AptMessage(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address)

Bases: ABC

Parameters:

• destination (Address)

• source (Address)

destination: Address

abstract property destination_serialization: int

abstract classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId]

source: Address

abstract to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageForStreamParsing(*, message_id, data_length)

Bases: object

This is used to parse streams of incoming messages and understand if they are header-only or data-attached messages. Note that it does NOT implement the AptMessage abstract base class.

Parameters:

• message_id (int)

• data_length (int)

data_length: int

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

header_struct: ClassVar[Struct] = Struct('<HH2B')

message_id: int

class pnpq.apt.protocol.AptMessageHeaderOnly(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address)

Bases: AptMessage

Parameters:

• destination (Address)

• source (Address)

property destination_serialization: int

class pnpq.apt.protocol.AptMessageHeaderOnlyChanEnableState(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, enable_state: pnpq.apt.protocol.EnableState)

Bases: AptMessageHeaderOnly

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• enable_state (EnableState)

chan_ident: ChanIdent

enable_state: EnableState

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_struct: ClassVar[Struct] = Struct('<H2B2B')

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageHeaderOnlyChanIdent(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnly

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

chan_ident: ChanIdent

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_struct: ClassVar[Struct] = Struct('<HBc2B')

param2: bytes = b'\x00'

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageHeaderOnlyNoParams(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnly

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_struct: ClassVar[Struct] = Struct('<H2c2B')

param1: bytes = b'\x00'

param2: bytes = b'\x00'

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageId(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

MGMSG_HW_DISCONNECT = 2

MGMSG_HW_GET_INFO = 6

MGMSG_HW_REQ_INFO = 5

MGMSG_HW_START_UPDATEMSGS = 17

MGMSG_HW_STOP_UPDATEMSGS = 18

MGMSG_MOD_GET_CHANENABLESTATE = 530

MGMSG_MOD_IDENTIFY = 547

MGMSG_MOD_REQ_CHANENABLESTATE = 529

MGMSG_MOD_SET_CHANENABLESTATE = 528

MGMSG_MOT_ACK_USTATUSUPDATE = 1170

MGMSG_MOT_GET_HOMEPARAMS = 1090

MGMSG_MOT_GET_JOGPARAMS = 1048

MGMSG_MOT_GET_POSCOUNTER = 1042

MGMSG_MOT_GET_STATUSUPDATE = 1153

MGMSG_MOT_GET_USTATUSUPDATE = 1169

MGMSG_MOT_GET_VELPARAMS = 1045

MGMSG_MOT_MOVE_ABSOLUTE = 1107

MGMSG_MOT_MOVE_COMPLETED = 1124

MGMSG_MOT_MOVE_HOME = 1091

MGMSG_MOT_MOVE_HOMED = 1092

MGMSG_MOT_MOVE_JOG = 1130

MGMSG_MOT_MOVE_STOP = 1125

MGMSG_MOT_MOVE_STOPPED = 1126

MGMSG_MOT_REQ_HOMEPARAMS = 1089

MGMSG_MOT_REQ_JOGPARAMS = 1047

MGMSG_MOT_REQ_POSCOUNTER = 1041

MGMSG_MOT_REQ_STATUSUPDATE = 1152

MGMSG_MOT_REQ_USTATUSUPDATE = 1168

MGMSG_MOT_REQ_VELPARAMS = 1044

MGMSG_MOT_RESUME_ENDOFMOVEMSGS = 1132

MGMSG_MOT_SET_EEPROMPARAMS = 1209

MGMSG_MOT_SET_HOMEPARAMS = 1088

MGMSG_MOT_SET_JOGPARAMS = 1046

MGMSG_MOT_SET_POSCOUNTER = 1040

MGMSG_MOT_SET_VELPARAMS = 1043

MGMSG_POL_GET_PARAMS = 1330

MGMSG_POL_REQ_PARAMS = 1329

MGMSG_POL_SET_PARAMS = 1328

MGMSG_RESTOREFACTORYSETTINGS = 1670

class pnpq.apt.protocol.AptMessageWithData(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address)

Bases: AptMessage

Parameters:

• destination (Address)

• source (Address)

property destination_serialization: int

header_struct_str: ClassVar[str] = '<HH2B'

class pnpq.apt.protocol.AptMessageWithDataMotorStatus(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int, velocity: int, motor_current: pint.registry.Quantity, status: pnpq.apt.protocol.UStatus)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

• velocity (int)

• motor_current (Quantity)

• status (UStatus)

chan_ident: ChanIdent

data_length: ClassVar[int] = 14

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_struct: ClassVar[Struct] = Struct('<HH2BHihhI')

motor_current: Quantity

position: int

status: UStatus

to_bytes()

Return type:

bytes

velocity: int

class pnpq.apt.protocol.AptMessageWithDataPolParams(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, unused: int = 0, velocity: int, home_position: int, jog_step_1: int, jog_step_2: int, jog_step_3: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• unused (int)

• velocity (int)

• home_position (int)

• jog_step_1 (int)

• jog_step_2 (int)

• jog_step_3 (int)

data_length: ClassVar[int] = 12

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

home_position: int

jog_step_1: int

jog_step_2: int

jog_step_3: int

message_struct: ClassVar[Struct] = Struct('<HH2B6H')

to_bytes()

Return type:

bytes

unused: int = 0

velocity: int

class pnpq.apt.protocol.AptMessageWithDataPosition(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

chan_ident: ChanIdent

data_length: ClassVar[int] = 6

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_struct: ClassVar[Struct] = Struct('<HH2BHi')

position: int

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageWithDataVelParams(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, minimum_velocity: int, acceleration: int, maximum_velocity: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• minimum_velocity (int)

• acceleration (int)

• maximum_velocity (int)

acceleration: int

chan_ident: ChanIdent

data_length: ClassVar[int] = 14

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

maximum_velocity: int

message_struct: ClassVar[Struct] = Struct('<HH2BHiii')

minimum_velocity: int

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageWithHomeParams(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, home_direction: pnpq.apt.protocol.HomeDirection, limit_switch: pnpq.apt.protocol.LimitSwitch, home_velocity: int, offset_distance: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• home_direction (HomeDirection)

• limit_switch (LimitSwitch)

• home_velocity (int)

• offset_distance (int)

chan_ident: ChanIdent

data_length: ClassVar[int] = 14

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

home_direction: HomeDirection

home_velocity: int

limit_switch: LimitSwitch

message_struct: ClassVar[Struct] = Struct('<HH2B3H2i')

offset_distance: int

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessageWithJogParams(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, jog_mode: pnpq.apt.protocol.JogMode, jog_step_size: int, jog_minimum_velocity: int, jog_acceleration: int, jog_maximum_velocity: int, jog_stop_mode: pnpq.apt.protocol.StopMode)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• jog_mode (JogMode)

• jog_step_size (int)

• jog_minimum_velocity (int)

• jog_acceleration (int)

• jog_maximum_velocity (int)

• jog_stop_mode (StopMode)

chan_ident: ChanIdent

data_length: ClassVar[int] = 22

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

jog_acceleration: int

jog_maximum_velocity: int

jog_minimum_velocity: int

jog_mode: JogMode

jog_step_size: int

jog_stop_mode: StopMode

message_struct: ClassVar[Struct] = Struct('<HH2B2H4iH')

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_HW_DISCONNECT(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 2

class pnpq.apt.protocol.AptMessage_MGMSG_HW_GET_INFO(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, firmware_version: pnpq.apt.protocol.FirmwareVersion, hardware_type: pnpq.apt.protocol.HardwareType, hardware_version: int, internal_use: bytes, model_number: str, modification_state: int, number_of_channels: int, serial_number: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• firmware_version (FirmwareVersion)

• hardware_type (HardwareType)

• hardware_version (int)

• internal_use (bytes)

• model_number (str)

• modification_state (int)

• number_of_channels (int)

• serial_number (int)

data_length: ClassVar[int] = 84

firmware_version: FirmwareVersion

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_HW_GET_INFO

hardware_type: HardwareType

hardware_version: int

internal_use: bytes

message_id: ClassVar[AptMessageId] = 6

message_struct: ClassVar[Struct] = Struct('<HH2Bi8sH4B60s3H')

model_number: str

modification_state: int

number_of_channels: int

serial_number: int

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_HW_REQ_INFO(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 5

class pnpq.apt.protocol.AptMessage_MGMSG_HW_START_UPDATEMSGS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 17

class pnpq.apt.protocol.AptMessage_MGMSG_HW_STOP_UPDATEMSGS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 18

class pnpq.apt.protocol.AptMessage_MGMSG_MOD_GET_CHANENABLESTATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, enable_state: pnpq.apt.protocol.EnableState)

Bases: AptMessageHeaderOnlyChanEnableState

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• enable_state (EnableState)

message_id: ClassVar[AptMessageId] = 530

class pnpq.apt.protocol.AptMessage_MGMSG_MOD_IDENTIFY(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 547

class pnpq.apt.protocol.AptMessage_MGMSG_MOD_REQ_CHANENABLESTATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 529

class pnpq.apt.protocol.AptMessage_MGMSG_MOD_SET_CHANENABLESTATE(*, destination, source, chan_ident, enable_state)

Bases: AptMessageHeaderOnlyChanEnableState

Sets the state of the motor channels to enabled or disabled. The official APT specification and the message itself are designed in a way that suggests this operates on one channel ID at a time; however, in reality, on the MPC320 motorized polarization controller, the chan_ident field is actually a bitmask.

In other words, at least on the MPC devices, enable_state should always be set to EnableState.CHANNEL_ENABLED, and the presence of a 1 or 0 in the appropriate position in chan_ident should be used to indicate if that channel should be enabled or disabled.

Parameters:

• chan_ident (ChanIdent) – A bitmask indicating which channels should be enabled. See the class documentation for more information.

• enable_state (EnableState) – Should always be set to EnableState.CHANNEL_ENABLED. See the class documentation for more information.

• destination (Address)

• source (Address)

message_id: ClassVar[AptMessageId] = 528

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_ACK_USTATUSUPDATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1170

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_HOMEPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, home_direction: pnpq.apt.protocol.HomeDirection, limit_switch: pnpq.apt.protocol.LimitSwitch, home_velocity: int, offset_distance: int)

Bases: AptMessageWithHomeParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• home_direction (HomeDirection)

• limit_switch (LimitSwitch)

• home_velocity (int)

• offset_distance (int)

message_id: ClassVar[AptMessageId] = 1090

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_JOGPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, jog_mode: pnpq.apt.protocol.JogMode, jog_step_size: int, jog_minimum_velocity: int, jog_acceleration: int, jog_maximum_velocity: int, jog_stop_mode: pnpq.apt.protocol.StopMode)

Bases: AptMessageWithJogParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• jog_mode (JogMode)

• jog_step_size (int)

• jog_minimum_velocity (int)

• jog_acceleration (int)

• jog_maximum_velocity (int)

• jog_stop_mode (StopMode)

message_id: ClassVar[AptMessageId] = 1048

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_POSCOUNTER(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int)

Bases: AptMessageWithDataPosition

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

message_id: ClassVar[AptMessageId] = 1042

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_STATUSUPDATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int, enc_count: int, status: pnpq.apt.protocol.Status)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

• enc_count (int)

• status (Status)

chan_ident: ChanIdent

data_length: ClassVar[int] = 14

enc_count: int

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId] = 1153

message_struct: ClassVar[Struct] = Struct('<HH2BHiiI')

position: int

status: Status

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_USTATUSUPDATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int, velocity: int, motor_current: pint.registry.Quantity, status: pnpq.apt.protocol.UStatus)

Bases: AptMessageWithDataMotorStatus

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

• velocity (int)

• motor_current (Quantity)

• status (UStatus)

message_id: ClassVar[AptMessageId] = 1169

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_GET_VELPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, minimum_velocity: int, acceleration: int, maximum_velocity: int)

Bases: AptMessageWithDataVelParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• minimum_velocity (int)

• acceleration (int)

• maximum_velocity (int)

message_id: ClassVar[AptMessageId] = 1045

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_ABSOLUTE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, absolute_distance: int)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• absolute_distance (int)

absolute_distance: int

chan_ident: ChanIdent

data_length: ClassVar[int] = 6

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_MOVE_ABSOLUTE

message_id: ClassVar[AptMessageId] = 1107

message_struct: ClassVar[Struct] = Struct('<HH2BHi')

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_COMPLETED(*, destination, source)

Bases: AptMessage

Note that the APT documentation indicates that this should be followed by a full USTATUS data packet. So, two separate methods will be defined. One for the full 20 byte message, and another for the 6 byte message.

Parameters:

• destination (Address)

• source (Address)

data_length: ClassVar[int]

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_MOVE_COMPLETED

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_COMPLETED_20_BYTES(*, destination, source, chan_ident, position, velocity, motor_current, status)

Bases: AptMessageWithDataMotorStatus, AptMessage_MGMSG_MOT_MOVE_COMPLETED

For the K10CR1 and KBD101, a full USTATUS data packet follows the main move completed message, so this message is used.

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

• velocity (int)

• motor_current (Quantity)

• status (UStatus)

data_length: ClassVar[int] = 14

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId] = 1124

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_COMPLETED_6_BYTES(*, destination, source, chan_ident, param2=b'\x00')

Bases: AptMessageHeaderOnlyChanIdent, AptMessage_MGMSG_MOT_MOVE_COMPLETED

For the MPC320, no data packet follows the main move completed message, so this message is used.

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

data_length: ClassVar[int] = 0

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId] = 1124

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_HOME(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1091

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_HOMED(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1092

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_JOG(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, jog_direction: pnpq.apt.protocol.JogDirection)

Bases: AptMessageHeaderOnly

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• jog_direction (JogDirection)

chan_ident: ChanIdent

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_MOVE_JOG

jog_direction: JogDirection

message_id: ClassVar[AptMessageId] = 1130

message_struct: ClassVar[Struct] = Struct('<H2B2B')

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_STOP(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, stop_mode: pnpq.apt.protocol.StopMode)

Bases: AptMessageHeaderOnly

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• stop_mode (StopMode)

chan_ident: ChanIdent

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_MOVE_STOP

message_id: ClassVar[AptMessageId] = 1125

message_struct: ClassVar[Struct] = Struct('<H2B2B')

stop_mode: StopMode

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_STOPPED(*, destination, source)

Bases: AptMessage

Note that the APT documentation indicates that this should be followed by a full USTATUS data packet. So, two separate methods will be defined. One for the full 20 byte message, and another for the 6 byte message.

Parameters:

• destination (Address)

• source (Address)

data_length: ClassVar[int]

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_MOVE_STOPPED

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_STOPPED_20_BYTES(*, destination, source, chan_ident, position, velocity, motor_current, status)

Bases: AptMessageWithDataMotorStatus, AptMessage_MGMSG_MOT_MOVE_STOPPED

For the K10CR1 and KBD101, a full USTATUS data packet follows the main move completed message, so this message is used.

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

• velocity (int)

• motor_current (Quantity)

• status (UStatus)

data_length: ClassVar[int] = 14

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId] = 1126

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_MOVE_STOPPED_6_BYTES(*, destination, source, chan_ident, param2=b'\x00')

Bases: AptMessageHeaderOnlyChanIdent, AptMessage_MGMSG_MOT_MOVE_STOPPED

For the MPC320, no data packet follows the main move completed message, so this message is used.

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

data_length: ClassVar[int] = 0

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId] = 1126

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_HOMEPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1089

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_JOGPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1047

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_POSCOUNTER(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1041

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_STATUSUPDATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1152

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_USTATUSUPDATE(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1168

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_REQ_VELPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyChanIdent

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1044

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_RESUME_ENDOFMOVEMSGS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1132

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_SET_EEPROMPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, message_id_to_save: pnpq.apt.protocol.AptMessageId)

Bases: AptMessageWithData

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• message_id_to_save (AptMessageId)

chan_ident: ChanIdent

data_length: ClassVar[int] = 4

classmethod from_bytes(raw)

Parameters:

raw (bytes)

Return type:

AptMessage_MGMSG_MOT_SET_EEPROMPARAMS

message_id: ClassVar[AptMessageId] = 1209

message_id_to_save: AptMessageId

message_struct: ClassVar[Struct] = Struct('<HH2BHH')

to_bytes()

Return type:

bytes

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_SET_HOMEPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, home_direction: pnpq.apt.protocol.HomeDirection, limit_switch: pnpq.apt.protocol.LimitSwitch, home_velocity: int, offset_distance: int)

Bases: AptMessageWithHomeParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• home_direction (HomeDirection)

• limit_switch (LimitSwitch)

• home_velocity (int)

• offset_distance (int)

message_id: ClassVar[AptMessageId] = 1088

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_SET_JOGPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, jog_mode: pnpq.apt.protocol.JogMode, jog_step_size: int, jog_minimum_velocity: int, jog_acceleration: int, jog_maximum_velocity: int, jog_stop_mode: pnpq.apt.protocol.StopMode)

Bases: AptMessageWithJogParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• jog_mode (JogMode)

• jog_step_size (int)

• jog_minimum_velocity (int)

• jog_acceleration (int)

• jog_maximum_velocity (int)

• jog_stop_mode (StopMode)

message_id: ClassVar[AptMessageId] = 1046

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_SET_POSCOUNTER(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, position: int)

Bases: AptMessageWithDataPosition

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• position (int)

message_id: ClassVar[AptMessageId] = 1040

class pnpq.apt.protocol.AptMessage_MGMSG_MOT_SET_VELPARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, chan_ident: pnpq.apt.protocol.ChanIdent, minimum_velocity: int, acceleration: int, maximum_velocity: int)

Bases: AptMessageWithDataVelParams

Parameters:

• destination (Address)

• source (Address)

• chan_ident (ChanIdent)

• minimum_velocity (int)

• acceleration (int)

• maximum_velocity (int)

message_id: ClassVar[AptMessageId] = 1043

class pnpq.apt.protocol.AptMessage_MGMSG_POL_GET_PARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, unused: int = 0, velocity: int, home_position: int, jog_step_1: int, jog_step_2: int, jog_step_3: int)

Bases: AptMessageWithDataPolParams

Parameters:

• destination (Address)

• source (Address)

• unused (int)

• velocity (int)

• home_position (int)

• jog_step_1 (int)

• jog_step_2 (int)

• jog_step_3 (int)

message_id: ClassVar[AptMessageId] = 1330

class pnpq.apt.protocol.AptMessage_MGMSG_POL_REQ_PARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1329

class pnpq.apt.protocol.AptMessage_MGMSG_POL_SET_PARAMS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, unused: int = 0, velocity: int, home_position: int, jog_step_1: int, jog_step_2: int, jog_step_3: int)

Bases: AptMessageWithDataPolParams

Parameters:

• destination (Address)

• source (Address)

• unused (int)

• velocity (int)

• home_position (int)

• jog_step_1 (int)

• jog_step_2 (int)

• jog_step_3 (int)

message_id: ClassVar[AptMessageId] = 1328

class pnpq.apt.protocol.AptMessage_MGMSG_RESTOREFACTORYSETTINGS(*, destination: pnpq.apt.protocol.Address, source: pnpq.apt.protocol.Address, param1: bytes = b'\x00', param2: bytes = b'\x00')

Bases: AptMessageHeaderOnlyNoParams

Parameters:

• destination (Address)

• source (Address)

• param1 (bytes)

• param2 (bytes)

message_id: ClassVar[AptMessageId] = 1670

class pnpq.apt.protocol.ChanIdent(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

Used in IDENTIFY and CHANENABLESTATE commands.

CHANNEL_1 = 1

CHANNEL_2 = 2

CHANNEL_3 = 4

CHANNEL_4 = 8

classmethod from_linear(linear)

Parameters:

linear (int)

Return type:

ChanIdent

class pnpq.apt.protocol.EnableState(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

Used in CHANENABLESTATE commands.

CHANNEL_DISABLED = 2

CHANNEL_ENABLED = 1

classmethod from_bool(toggle)

Parameters:

toggle (bool)

Return type:

EnableState

class pnpq.apt.protocol.FirmwareVersion(*, major_revision, interim_revision, minor_revision, unused=0)

Bases: object

Used in MGMSG_HW_GET_INFO.

Judging by the order in the documentation, “interim revision” comes betwen major and minor.

On the other hand, judging by the example in the documentation, this is intended to be read as a 3-byte unsigned integer. It’s unclear which representation is correct.

Parameters:

• major_revision (int)

• interim_revision (int)

• minor_revision (int)

• unused (int)

interim_revision: int

major_revision: int

minor_revision: int

unused: int = 0

class pnpq.apt.protocol.HardwareType(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

Used in MGMSG_HW_GET_INFO. This is marked as a Flag because we expect to receive unknown values. It is not actually a bit-mappable flag.

BRUSHLESS_DC_CONTROLLER = 44

MULTI_CHANNEL_CONTROLLER_MOTHERBOARD = 45

class pnpq.apt.protocol.HomeDirection(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

Used in MSMSG_MOT_SET_HOMEPARAMS, MSMSG_MOT_GET_HOMEPARAMS.

FORWARD = 1

FORWARD_0 = 0

REVERSE = 2

class pnpq.apt.protocol.JogDirection(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

Used in MSMSG_MOT_MOVE_JOG.

FORWARD = 1

REVERSE = 2

class pnpq.apt.protocol.JogMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

Used in MGMSG_MOT_SET_JOGPARAMS.

CONTINUOUS = 1

SINGLE_STEP = 2

class pnpq.apt.protocol.LimitSwitch(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

The limit switch associated with the home position. Used in MSMSG_MOT_SET_HOMEPARAMS, MSMSG_MOT_GET_HOMEPARAMS.

HARDWARE_FORWARD = 4

HARDWARE_REVERSE = 1

NULL = 0

class pnpq.apt.protocol.Status(*, CWHARDLIMIT=False, CCWHARDLIMIT=False, CWSOFTLIMIT=False, CCWSOFTLIMIT=False, INMOTIONCW=False, INMOTIONCCW=False, JOGGINGCW=False, JOGGINGCCW=False, CONNECTED=False, HOMING=False, HOMED=False, INTERLOCK=False)

Bases: object

Dataclass-based representation of StatusBits to enable more legible output formats such as JSON.

Parameters:

• CWHARDLIMIT (bool)

• CCWHARDLIMIT (bool)

• CWSOFTLIMIT (bool)

• CCWSOFTLIMIT (bool)

• INMOTIONCW (bool)

• INMOTIONCCW (bool)

• JOGGINGCW (bool)

• JOGGINGCCW (bool)

• CONNECTED (bool)

• HOMING (bool)

• HOMED (bool)

• INTERLOCK (bool)

CCWHARDLIMIT: bool = False

CCWSOFTLIMIT: bool = False

CONNECTED: bool = False

CWHARDLIMIT: bool = False

CWSOFTLIMIT: bool = False

HOMED: bool = False

HOMING: bool = False

INMOTIONCCW: bool = False

INMOTIONCW: bool = False

INTERLOCK: bool = False

JOGGINGCCW: bool = False

JOGGINGCW: bool = False

classmethod from_bits(bits)

Parameters:

bits (StatusBits)

Return type:

Self

to_bits()

Return type:

StatusBits

class pnpq.apt.protocol.StatusBits(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

Bitmask used in MGMSG_MOT_GET_STATUSUPDATE to indicate motor conditions. In the official documentation, these values are not given clear, parseable names. However, nearly all of them correspond to values defined for the slightly different MGMSG_MOT_GET_USTATUSUPDATE command that do have clear names; we re-use those names here.

CCWHARDLIMIT = 2

CCWSOFTLIMIT = 8

CONNECTED = 256

CWHARDLIMIT = 1

CWSOFTLIMIT = 4

HOMED = 1024

HOMING = 512

INMOTIONCCW = 32

INMOTIONCW = 16

INTERLOCK = 4096

JOGGINGCCW = 128

JOGGINGCW = 64

class pnpq.apt.protocol.StopMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: int, Enum

Used in MSMSG_MOT_MOVE_STOP, MGMSG_MOT_SET_JOGPARAMS

CONTROLLED = 2

IMMEDIATE = 1

class pnpq.apt.protocol.UStatus(*, CWHARDLIMIT=False, CCWHARDLIMIT=False, CWSOFTLIMIT=False, CCWSOFTLIMIT=False, INMOTIONCW=False, INMOTIONCCW=False, JOGGINGCW=False, JOGGINGCCW=False, CONNECTED=False, HOMING=False, HOMED=False, INITILIZING=False, TRACKING=False, SETTLED=False, POSITIONERROR=False, INSTRERROR=False, INTERLOCK=False, OVERTEMP=False, BUSVOLTFAULT=False, COMMUTATIONERROR=False, DIGIP1=False, DIGIP2=False, DIGIP3=False, DIGIP4=False, OVERLOAD=False, ENCODERFAULT=False, OVERCURRENT=False, BUSCURRENTFAULT=False, POWEROK=False, ACTIVE=False, ERROR=False, ENABLED=False)

Bases: object

Dataclass-based representation of UStatusBits to enable more legible output formats such as JSON.

Parameters:

• CWHARDLIMIT (bool)

• CCWHARDLIMIT (bool)

• CWSOFTLIMIT (bool)

• CCWSOFTLIMIT (bool)

• INMOTIONCW (bool)

• INMOTIONCCW (bool)

• JOGGINGCW (bool)

• JOGGINGCCW (bool)

• CONNECTED (bool)

• HOMING (bool)

• HOMED (bool)

• INITILIZING (bool)

• TRACKING (bool)

• SETTLED (bool)

• POSITIONERROR (bool)

• INSTRERROR (bool)

• INTERLOCK (bool)

• OVERTEMP (bool)

• BUSVOLTFAULT (bool)

• COMMUTATIONERROR (bool)

• DIGIP1 (bool)

• DIGIP2 (bool)

• DIGIP3 (bool)

• DIGIP4 (bool)

• OVERLOAD (bool)

• ENCODERFAULT (bool)

• OVERCURRENT (bool)

• BUSCURRENTFAULT (bool)

• POWEROK (bool)

• ACTIVE (bool)

• ERROR (bool)

• ENABLED (bool)

ACTIVE: bool = False

BUSCURRENTFAULT: bool = False

BUSVOLTFAULT: bool = False

CCWHARDLIMIT: bool = False

CCWSOFTLIMIT: bool = False

COMMUTATIONERROR: bool = False

CONNECTED: bool = False

CWHARDLIMIT: bool = False

CWSOFTLIMIT: bool = False

DIGIP1: bool = False

DIGIP2: bool = False

DIGIP3: bool = False

DIGIP4: bool = False

ENABLED: bool = False

ENCODERFAULT: bool = False

ERROR: bool = False

HOMED: bool = False

HOMING: bool = False

INITILIZING: bool = False

INMOTIONCCW: bool = False

INMOTIONCW: bool = False

INSTRERROR: bool = False

INTERLOCK: bool = False

JOGGINGCCW: bool = False

JOGGINGCW: bool = False

OVERCURRENT: bool = False

OVERLOAD: bool = False

OVERTEMP: bool = False

POSITIONERROR: bool = False

POWEROK: bool = False

SETTLED: bool = False

TRACKING: bool = False

classmethod from_bits(bits)

Parameters:

bits (UStatusBits)

Return type:

Self

to_bits()

Return type:

UStatusBits

class pnpq.apt.protocol.UStatusBits(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

Bitmask used in MGMSG_MOT_GET_USTATUSUPDATE to indicate motor conditions. In the official documentation, all of these names have P_MOT_SB prepended to them.

All spelling errors (e.g. “INITILIZING”) are from the official documentation.

ACTIVE = 536870912

BUSCURRENTFAULT = 134217728

BUSVOLTFAULT = 262144

CCWHARDLIMIT = 2

CCWSOFTLIMIT = 8

COMMUTATIONERROR = 524288

CONNECTED = 256

CWHARDLIMIT = 1

CWSOFTLIMIT = 4

DIGIP1 = 1048576

DIGIP2 = 2097152

DIGIP3 = 4194304

DIGIP4 = 8388608

ENABLED = 2147483648

ENCODERFAULT = 33554432

ERROR = 1073741824

HOMED = 1024

HOMING = 512

INITILIZING = 2048

INMOTIONCCW = 32

INMOTIONCW = 16

INSTRERROR = 32768

INTERLOCK = 65536

JOGGINGCCW = 128

JOGGINGCW = 64

OVERCURRENT = 67108864

OVERLOAD = 16777216

OVERTEMP = 131072

POSITIONERROR = 16384

POWEROK = 268435456

SETTLED = 8192

TRACKING = 4096

Module contents