pnpq.apt.protocol module

Contents

pnpq.apt.protocol module#

class pnpq.apt.protocol.ATS(*values)#

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(*values)#

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#
abstract property destination_serialization: int#
abstractmethod classmethod from_bytes(raw)#
Parameters:

raw (bytes)

Return type:

Self

message_id: ClassVar[AptMessageId]#
source: Address#
abstractmethod 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:
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:
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:
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(*values)#

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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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:
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(*values)#

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(*values)#

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(new_class_name, /, names, *, 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(*values)#

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(*values)#

Bases: int, Enum

Used in MSMSG_MOT_MOVE_JOG.

FORWARD = 1#
REVERSE = 2#
class pnpq.apt.protocol.JogMode(*values)#

Bases: int, Enum

Used in MGMSG_MOT_SET_JOGPARAMS.

CONTINUOUS = 1#
SINGLE_STEP = 2#
class pnpq.apt.protocol.LimitSwitch(*values)#

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(*values)#

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(*values)#

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(*values)#

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#
Contents