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