Merge pull request #73 from QuTech-Delft/62-new-qmi-driver-for-thorla…

…bs-mpc320

62 new qmi driver for thorlabs mpc320

CHANGELOG.md

@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 - QMI driver for TeraXion TFN in `qmi.instruments.teraxion` with CLI client.
+- QMI driver for Thorlabs MPC320 in `qmi.instruments.thorlabs`.
 
 ### Changed
 - In `setup.py` limited NumPy and SciPy versions to be <2. Also added missing line for Tenma 72 PSU CLI.

qmi/instruments/thorlabs/__init__.py

@@ -6,9 +6,13 @@
 - MFF10X filter flip mounts
 - PM100D power meter
 - TSP01, TSP01B environmental sensors.
+- MPC320 Polarisation Controller.
 """
+
 from qmi.instruments.thorlabs.pm100d import SensorInfo
 from qmi.instruments.thorlabs.tc200 import Tc200Status
+from qmi.instruments.thorlabs.apt_protocol import AptChannelState
+
 # Alternative, QMI naming convention approved names
 from qmi.instruments.thorlabs.k10cr1 import Thorlabs_K10CR1 as Thorlabs_K10Cr1
 from qmi.instruments.thorlabs.mff10x import Thorlabs_MFF10X as Thorlabs_Mff10X
@@ -19,3 +23,4 @@
 from qmi.instruments.thorlabs.tc200 import Thorlabs_TC200 as Thorlabs_Tc200
 from qmi.instruments.thorlabs.tsp01 import Thorlabs_TSP01 as Thorlabs_Tsp01
 from qmi.instruments.thorlabs.tsp01b import Thorlabs_TSP01B as Thorlabs_Tsp01b
+from qmi.instruments.thorlabs.mpc320 import Thorlabs_Mpc320

qmi/instruments/thorlabs/apt_packets.py

@@ -0,0 +1,191 @@
+"""Module containing the packets for the APT protocol."""
+
+from typing import List, Tuple
+from qmi.instruments.thorlabs.apt_protocol import (
+    AptMessage,
+    AptMessageId,
+    apt_long,
+    apt_dword,
+    apt_char,
+    apt_word,
+    apt_byte,
+    apt_short,
+)
+
+
+class HW_GET_INFO(AptMessage):
+    """
+    Data packet structure for the HW_GET_INFO response. This packet is sent as a response to HW_GET_INFO.
+
+    Fields:
+        serial_number:      Serial number of device.
+        model_number:       Model number of device.
+        type:               Hardware type of device.
+        firmware_version:   Firmware version of device.
+        hw_version:         Hardware version of device.
+        mod_state:          Modification state of device.
+        num_channels:       Number of channels in device.
+    """
+
+    MESSAGE_ID = AptMessageId.HW_GET_INFO.value
+    _fields_: List[Tuple[str, type]] = [
+        ("serial_number", apt_long),
+        ("model_number", apt_char * 8),
+        ("type", apt_word),
+        ("firmware_version", apt_dword),
+        (
+            "internal",
+            apt_dword * 15,
+        ),  # this is for internal use, so we don't know what type it returns
+        ("hw_version", apt_word),
+        ("mod_state", apt_word),
+        ("num_channels", apt_word),
+    ]
+
+
+class MOD_GET_CHANENABLESTATE(AptMessage):
+    """
+    Header structure for the MOD_GET_CHANENABLESTATE response. This header is sent as a response to
+    MOD_REQ_CHANENABLESTATE.
+
+    Fields:
+        message_id:     ID of message.
+        chan_ident:     Channel number.
+        enable_state:   Indicate whether chanel is enabled or disabled.
+        dest:           Destination of message.
+        source:         Source of message.
+    """
+
+    MESSAGE_ID = AptMessageId.MOD_GET_CHANENABLESTATE.value
+    HEADER_ONLY = True
+    _fields_: List[Tuple[str, type]] = [
+        ("message_id", apt_word),
+        ("chan_ident", apt_byte),
+        ("enable_state", apt_byte),
+        ("dest", apt_byte),
+        ("source", apt_byte),
+    ]
+
+
+class MOT_MOVE_HOMED(AptMessage):
+    """
+    Header structure for the MOT_MOVE_HOMED response. This header is sent as a response to MOT_MOVE_HOME
+    once homing is complete.
+
+    Fields:
+        message_id:     ID of message.
+        chan_ident:     Channel number.
+        param2:         To be left as 0x00.
+        dest:           Destination of message.
+        source:         Source of message.
+    """
+
+    MESSAGE_ID = AptMessageId.MOT_MOVE_HOMED.value
+    HEADER_ONLY = True
+    _fields_: List[Tuple[str, type]] = [
+        ("message_id", apt_word),
+        ("chan_ident", apt_byte),
+        ("param2", apt_byte),
+        ("dest", apt_byte),
+        ("source", apt_byte),
+    ]
+
+
+class MOT_MOVE_ABSOLUTE(AptMessage):
+    """
+    Data packet structure for a MOT_SMOVE_ABSOLUTE command.
+
+    Fields:
+        chan_ident:         The channel being addressed.
+        absolute_distance:  The distance to move in encoder units.
+    """
+
+    MESSAGE_ID = AptMessageId.MOT_MOVE_ABSOLUTE.value
+    _fields_: List[Tuple[str, type]] = [
+        ("chan_ident", apt_word),
+        ("absolute_distance", apt_long),
+    ]
+
+
+class MOT_MOVE_COMPLETED(AptMessage):
+    """
+    Header structure for the MOT_MOVE_COMPLETED response. This header is sent as a response to a relative or absolute
+    move command once the move has been completed.
+
+    Fields:
+        message_id:     ID of message.
+        chan_ident:     Channel number.
+        param2:         To be left as 0x00.
+        dest:           Destination of message.
+        source:         Source of message.
+    """
+
+    MESSAGE_ID = AptMessageId.MOT_MOVE_COMPLETED.value
+    HEADER_ONLY = True
+    _fields_: List[Tuple[str, type]] = [
+        ("message_id", apt_word),
+        ("chan_ident", apt_byte),
+        ("param2", apt_byte),
+        ("dest", apt_byte),
+        ("source", apt_byte),
+    ]
+
+
+class MOT_GET_USTATUSUPDATE(AptMessage):
+    """
+    Data packet structure for a MOT_GET_USTATUSUPDATE command.
+
+    Fields:
+        chan_ident:     The channel being addressed.
+        position:       The position in encoder counts.
+        velocity:       Velocity in controller units. Note that this is reported as a 16 bit
+                        unsigned integer in the manual but it is actually signed according to the example.
+        motor_current:  Motor current in mA.
+        status_bits:    Status bits that provide various errors and indications.
+    """
+
+    MESSAGE_ID = AptMessageId.MOT_GET_USTATUSUPDATE.value
+    _fields_: List[Tuple[str, type]] = [
+        ("chan_ident", apt_word),
+        ("position", apt_long),
+        ("velocity", apt_word),
+        ("motor_current", apt_short),
+        ("status_bits", apt_dword),
+    ]
+
+
+class MOT_SET_EEPROMPARAMS(AptMessage):
+    """
+    Data packet structure for a MOT_SET_EEPROMPARAMS command.
+
+    Fields:
+        chan_ident: The channel being addressed.
+        msg_id:     ID of message whose settings should be save.
+    """
+
+    MESSAGE_ID = AptMessageId.MOT_SET_EEPROMPARAMS.value
+    _fields_: List[Tuple[str, type]] = [("chan_ident", apt_word), ("msg_id", apt_word)]
+
+
+class POL_GET_SET_PARAMS(AptMessage):
+    """ "
+    Data packet structure for POL_SET_PARAMS command. It is also the data packet structure for the POL_GET_PARAMS.
+
+    Fields:
+        not_used:       This field is not used, but needs to be in the field structure to not break it.
+        velocity:       Velocity in range 10% to 100% of 400 degrees/s.
+        home_position:  Home position in encoder counts.
+        jog_step1:      Size fo jog step to be performed on paddle 1.
+        jog_step2:      Size fo jog step to be performed on paddle 2.
+        jog_step3:      Size fo jog step to be performed on paddle 3.
+    """
+
+    MESSAGE_ID = AptMessageId.POL_GET_PARAMS.value
+    _fields_: List[Tuple[str, type]] = [
+        ("not_used", apt_word),
+        ("velocity", apt_word),
+        ("home_position", apt_word),
+        ("jog_step1", apt_word),
+        ("jog_step2", apt_word),
+        ("jog_step3", apt_word),
+    ]