fixed app to use new thorlabs driver
This commit is contained in:
Thomas Ales [M S E]
@@ -0,0 +1,318 @@
|
||||
'''
|
||||
ThorLABS APT Protocol Message Registry
|
||||
Thomas Ales | Feb 2026
|
||||
Version 1
|
||||
'''
|
||||
import struct
|
||||
from .apt_constants import StatusBits as sb
|
||||
|
||||
class APTProtocol():
|
||||
ADDRESSES = { 'HOST_PC': 0x01, 'CONTROLLER': 0x11,
|
||||
'X_AXIS': 0x21, 'Y_AXIS': 0x22
|
||||
}
|
||||
|
||||
# N.B.: If the format is anything other than the following
|
||||
# two, it is considered a 'long' message. In this case
|
||||
# the format key refers only to the payload part of the
|
||||
# message.
|
||||
# BB - Short Message, Only Source/Destination
|
||||
# BBBB - Short Message, Using Parameters 1 & 2
|
||||
|
||||
# Dictionary entries MUST BE in the order they
|
||||
# appear in the thorlabs documentation, if you don't
|
||||
# the unpacking logic goes all to 💩 and 'fun' things
|
||||
# happen.
|
||||
|
||||
MSGS = {
|
||||
0x0002: {
|
||||
'name': 'MGMSG_HW_DISCONNECT',
|
||||
'format': 'BB',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0005: {
|
||||
'name': 'MGMSG_HW_REQ_INFO',
|
||||
'format': 'BB',
|
||||
'response': 0x0006,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0006: {
|
||||
'name': 'MGMSG_HW_GET_INFO',
|
||||
'format': '<I8sH3B61xHHH',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['serial', 'model', 'type',
|
||||
'fw_minor', 'fw_interim', 'fw_major',
|
||||
'hw_ver', 'mod_state', 'num_channels']
|
||||
},
|
||||
0x0011: {
|
||||
'name': 'MGMSG_HW_START_UPDATEMSGS',
|
||||
'format': 'BB',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0012: {
|
||||
'name': 'MGMSG_HW_STOP_UPDATEMSGS',
|
||||
'format': 'BB',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0060: {
|
||||
'name': 'MGMSG_RACK_REQ_BAYUSED',
|
||||
'format': 'BBBB',
|
||||
'response': 0x0061,
|
||||
'fields': ['bay_id', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0061: {
|
||||
'name': 'MGMSG_RACK_GET_BAYUSED',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['bay_id', 'bay_state', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0210: {
|
||||
'name': 'MGMSG_MOD_SET_CHANENABLESTATE',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['chan_ident', 'enable_state', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0211: {
|
||||
'name': 'MGMSG_MOD_REQ_CHANENABLESTATE',
|
||||
'format': 'BB',
|
||||
'response': 0x0212,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0212: {
|
||||
'name': 'MGMSG_MOD_GET_CHANENABLESTATE',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['chan_ident', 'enable_state', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0413: {
|
||||
'name': 'MGMSG_MOT_SET_VELPARAMS',
|
||||
'format': '<Hlll',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'min_velocity', 'acceleration',
|
||||
'max_velocity']
|
||||
},
|
||||
0x0414: {
|
||||
'name': 'MGMSG_MOT_REQ_VELPARAMS',
|
||||
'format': 'BBBB',
|
||||
'response': 0x0415,
|
||||
'fields': ['chan_ident', 'zero_this', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0415: {
|
||||
'name': 'MGMSG_MOT_GET_VELPARAMS',
|
||||
'format': '<Hlll',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'min_velocity', 'acceleration',
|
||||
'max_velocity']
|
||||
},
|
||||
0x0443: {
|
||||
'name': 'MGMSG_MOT_MOVE_HOME',
|
||||
'format': 'BBBB',
|
||||
'response': 0x0444,
|
||||
'fields': ['chan_ident', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0444: {
|
||||
'name': 'MGMSG_MOT_MOVE_HOMED',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['chan_ident', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0448: {
|
||||
'name': 'MGMSG_MOT_MOVE_RELATIVE',
|
||||
'format': '<Hl',
|
||||
'response': 0x0464,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'relative_distance']
|
||||
},
|
||||
0x0453: {
|
||||
'name': 'MGMSG_MOT_MOVE_ABSOLUTE',
|
||||
'format': '<Hl',
|
||||
'response': 0x0464,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'absolute_distance']
|
||||
},
|
||||
0x0464: {
|
||||
'name': 'MGMSG_MOT_MOVE_COMPLETED',
|
||||
'format': '<Hl2HI',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'position', 'velocity',
|
||||
'motor_current', 'status_bits']
|
||||
},
|
||||
0x0490: {
|
||||
'name': 'MGMSG_MOT_REQ_USTATUSUPDATE',
|
||||
'format': 'BB',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0491: {
|
||||
'name': 'MGMSG_MOT_GET_USTATUSUPDATE',
|
||||
'format': '<Hl2HI',
|
||||
'response': 0x0492,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': ['chan_ident', 'position',
|
||||
'velocity', 'motor_current', 'status_bits']
|
||||
},
|
||||
0x0492: {
|
||||
'name': 'MGMSG_MOT_ACK_USTATUSUPDATE',
|
||||
'format': 'BB',
|
||||
'response': None,
|
||||
'fields': ['destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0500: {
|
||||
'name': 'MGMSG_MOT_SET_TRIGGER',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['chan_ident', 'mode', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0501: {
|
||||
'name': 'MGMSG_MOT_REQ_TRIGGER',
|
||||
'format': 'BBBB',
|
||||
'response': 0x0502,
|
||||
'fields': ['chan_ident', 'mode', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
},
|
||||
0x0502: {
|
||||
'name': 'MGMSG_MOT_GET_TRIGGER',
|
||||
'format': 'BBBB',
|
||||
'response': None,
|
||||
'fields': ['chan_ident', 'mode', 'destination', 'source'],
|
||||
'data_fields': None
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
@classmethod
|
||||
def build_message(cls, msg_id, **kwargs):
|
||||
if msg_id not in APTProtocol.MSGS:
|
||||
raise ValueError(f'Unknown Message ID: {hex(msg_id)}')
|
||||
|
||||
msg_spec = APTProtocol.MSGS[msg_id]
|
||||
|
||||
for param in msg_spec['fields']:
|
||||
if param not in kwargs:
|
||||
raise ValueError(f"Missing required parameter '{param}' for {msg_spec['name']}.")
|
||||
|
||||
msg_format = msg_spec.get('format')
|
||||
|
||||
if msg_format == 'BB':
|
||||
# this is a simple source/destination command
|
||||
dest = kwargs['destination']
|
||||
src = kwargs['source']
|
||||
message = struct.pack('<HBBBB', msg_id,
|
||||
0x00, 0x00,
|
||||
dest, src)
|
||||
|
||||
elif msg_format == 'BBBB':
|
||||
# this is a source/destination plus parameters
|
||||
# fields order: [param1, param2, destination, source] or
|
||||
# [param1, destination, source] (param2 = 0)
|
||||
fields = msg_spec['fields']
|
||||
dest = kwargs['destination']
|
||||
src = kwargs['source']
|
||||
# Get param fields (everything except destination/source)
|
||||
param_fields = [f for f in fields if f not in ('destination', 'source')]
|
||||
p1 = kwargs.get(param_fields[0], 0x00) if len(param_fields) > 0 else 0x00
|
||||
p2 = kwargs.get(param_fields[1], 0x00) if len(param_fields) > 1 else 0x00
|
||||
message = struct.pack('<HBBBB', msg_id,
|
||||
p1, p2, dest, src)
|
||||
|
||||
else:
|
||||
data_fields = msg_spec.get('data_fields')
|
||||
# verify data fields are available
|
||||
if data_fields is None:
|
||||
raise ValueError("I need data for a long message!")
|
||||
|
||||
# Extract the message specific values and
|
||||
# calculate payload size
|
||||
df_values = [kwargs[field] for field in data_fields]
|
||||
data_payload = struct.pack(msg_format, *df_values)
|
||||
payload_len = len(data_payload)
|
||||
header = struct.pack('<HHBB', msg_id, payload_len,
|
||||
kwargs['destination'] | 0x80,
|
||||
kwargs['source'])
|
||||
# put message together
|
||||
message = header + data_payload
|
||||
return message
|
||||
|
||||
@classmethod
|
||||
def unpack_message(cls, bdata):
|
||||
# Get the message ID
|
||||
msg_id = struct.unpack("<H", bdata[0:2])[0]
|
||||
|
||||
# See if the message ID has been implemented
|
||||
# in the registry
|
||||
if msg_id not in APTProtocol.MSGS:
|
||||
raise ValueError(f"This op-code {msg_id} isn't in the registry!")
|
||||
|
||||
msg_spec = APTProtocol.MSGS[msg_id]
|
||||
fmt_string = msg_spec.get('format')
|
||||
# Check if it's a long message, or just a header
|
||||
if bdata[4] & 0x80:
|
||||
# this is a long message.
|
||||
payload_size = struct.unpack("<H", bdata[2:4])[0]
|
||||
src = bdata[5]
|
||||
dest = bdata[4] & 0x7F
|
||||
payload = bdata[6:6+payload_size]
|
||||
data_fields = msg_spec.get('data_fields')
|
||||
if data_fields is None:
|
||||
raise ValueError(f"No data fields have been defined for {msg_spec['name']}!")
|
||||
|
||||
unpacked_payload = struct.unpack(fmt_string, payload)
|
||||
data = {field: value for field, value in zip(data_fields,
|
||||
unpacked_payload)}
|
||||
data['destination'] = dest
|
||||
data['source'] = src
|
||||
|
||||
return msg_id, data
|
||||
|
||||
else:
|
||||
# it is a header only message
|
||||
# determine type
|
||||
dest = bdata[4]
|
||||
src = bdata[5]
|
||||
if fmt_string == 'BB':
|
||||
# simple source/dest command
|
||||
data = {'destination': dest, 'source': src}
|
||||
return msg_id, data
|
||||
|
||||
elif fmt_string == 'BBBB':
|
||||
# simple command with parameters
|
||||
# Use field names from spec
|
||||
fields = msg_spec['fields']
|
||||
param_fields = [f for f in fields if f not in ('destination', 'source')]
|
||||
data = {'destination': dest, 'source': src}
|
||||
if len(param_fields) > 0:
|
||||
data[param_fields[0]] = bdata[2]
|
||||
if len(param_fields) > 1:
|
||||
data[param_fields[1]] = bdata[3]
|
||||
return msg_id, data
|
||||
else:
|
||||
raise ValueError(f"Message format {fmt_string} isn't defined/valid!")
|
||||
|
||||
@classmethod
|
||||
def get_name(cls, msg_id):
|
||||
return cls.MSGS.get(msg_id, {}).get('name', f'UNKNOWN_{hex(msg_id)}')
|
||||
|
||||
Reference in New Issue
Block a user