"""
Structs defined in Thorlabs Kinesis v1.14.10
"""
from __future__ import annotations
from ctypes import Structure
from ctypes import c_bool
from ctypes import c_byte
from ctypes import c_char
from ctypes import c_float
from ctypes import c_int
from ctypes import c_int16
from ctypes import c_int32
from ctypes import c_short
from ctypes import c_uint
from ctypes import c_uint16
from ctypes import c_uint32
from ctypes import c_ushort
from ...utils import BYTE
from ...utils import DWORD
from ...utils import WORD
NUM_TIA_RANGES = 16
[docs]
class TLI_DeviceInfo(Structure):
_fields_ = [
('typeID', DWORD),
('description', c_char * 65),
('serialNo', c_char * 9),
('PID', DWORD),
('isKnownType', c_bool),
('motorType', c_int),
('isPiezoDevice', c_bool),
('isLaser', c_bool),
('isCustomType', c_bool),
('isRack', c_bool),
('maxChannels', c_short),
]
[docs]
class MOT_VelocityParameters(Structure):
_fields_ = [
('minVelocity', c_int),
('acceleration', c_int),
('maxVelocity', c_int),
]
[docs]
class MOT_JogParameters(Structure):
_fields_ = [
('mode', c_short),
('stepSize', c_uint),
('velParams', MOT_VelocityParameters),
('stopMode', c_short),
]
[docs]
class MOT_HomingParameters(Structure):
_fields_ = [
('direction', c_short),
('limitSwitch', c_short),
('velocity', c_uint),
('offsetDistance', c_uint),
]
[docs]
class MOT_VelocityProfileParameters(Structure):
_fields_ = [
('mode', WORD),
('jerk', DWORD),
('notUsed', WORD),
('lastNotUsed', WORD),
]
[docs]
class MOT_StageAxisParameters(Structure):
_fields_ = [
('stageID', WORD),
('axisID', WORD),
('partNumber', c_char * 16),
('serialNumber', DWORD),
('countsPerUnit', DWORD),
('minPosition', c_int),
('maxPosition', c_int),
('maxAcceleration', c_int),
('maxDecceleration', c_int),
('maxVelocity', c_int),
('reserved1', WORD),
('reserved2', WORD),
('reserved3', WORD),
('reserved4', WORD),
('reserved5', DWORD),
('reserved6', DWORD),
('reserved7', DWORD),
('reserved8', DWORD),
]
[docs]
class MOT_JoystickParameters(Structure):
_fields_ = [
('lowGearMaxVelocity', DWORD),
('highGearMaxVelocity', DWORD),
('lowGearAcceleration', DWORD),
('highGearAcceleration', DWORD),
('directionSense', c_short),
]
[docs]
class MOT_BrushlessPositionLoopParameters(Structure):
_fields_ = [
('proportionalGain', WORD),
('integralGain', WORD),
('integralLimit', DWORD),
('differentialGain', WORD),
('derivativeRecalculationTime', WORD),
('factorForOutput', WORD),
('velocityFeedForward', WORD),
('accelerationFeedForward', WORD),
('positionErrorLimit', DWORD),
('notUsed', WORD),
('lastNotUsed', WORD),
]
[docs]
class MOT_BrushlessTrackSettleParameters(Structure):
_fields_ = [
('time', WORD),
('settledError', WORD),
('maxTrackingError', WORD),
('notUsed', WORD),
('lastNotUsed', WORD),
]
[docs]
class MOT_BrushlessCurrentLoopParameters(Structure):
_fields_ = [
('phase', WORD),
('proportionalGain', WORD),
('integralGain', WORD),
('integralLimit', WORD),
('deadErrorBand', WORD),
('feedForward', WORD),
('notUsed', WORD),
('lastNotUsed', WORD),
]
[docs]
class MOT_BrushlessElectricOutputParameters(Structure):
_fields_ = [
('continuousCurrentLimit', WORD),
('excessEnergyLimit', WORD),
('motorSignalLimit', c_short),
('motorSignalBias', c_short),
('notUsed', WORD),
('lastNotUsed', WORD),
]
[docs]
class MOT_LimitSwitchParameters(Structure):
_fields_ = [
('clockwiseHardwareLimit', WORD),
('anticlockwiseHardwareLimit', WORD),
('clockwisePosition', DWORD),
('anticlockwisePosition', DWORD),
('softLimitMode', WORD),
]
[docs]
class MOT_PowerParameters(Structure):
_fields_ = [
('restPercentage', WORD),
('movePercentage', WORD),
]
[docs]
class MOT_DC_PIDParameters(Structure):
_fields_ = [
('proportionalGain', c_int),
('integralGain', c_int),
('differentialGain', c_int),
('integralLimit', c_int),
('parameterFilter', WORD),
]
[docs]
class BNT_IO_Settings(Structure):
_fields_ = [
('channel', WORD),
('amplifierCurrentLimit', WORD),
('amplifierLowPassFilter', WORD),
('feedbackSignal', WORD),
('BNCtriggerOrLowVoltageOut', WORD),
]
[docs]
class NT_HVComponent(Structure):
_fields_ = [
('horizontalComponent', WORD),
('verticalComponent', WORD),
]
[docs]
class NT_CircleParameters(Structure):
_fields_ = [
('mode', WORD),
('diameter', WORD),
('samplesPerRevolution', WORD),
('minDiameter', WORD),
('maxDiameter', WORD),
('algorithmAdjustment', WORD),
]
[docs]
class NT_CircleDiameterLUT(Structure):
_fields_ = [
('LUTdiameter', WORD * NUM_TIA_RANGES),
]
[docs]
class NT_TIARangeParameters(Structure):
_fields_ = [
('mode', WORD),
('upLimit', WORD),
('downLimit', WORD),
('settleSamples', c_short),
('changeToOddOrEven', WORD),
('newRange', WORD),
]
[docs]
class NT_LowPassFilterParameters(Structure):
_fields_ = [
('param1', WORD),
('param2', WORD),
('param3', WORD),
('param4', WORD),
('param5', WORD),
]
[docs]
class NT_TIAReading(Structure):
_fields_ = [
('absoluteReading', c_float),
('relativeReading', WORD),
('selectedRange', WORD),
('underOrOverRead', WORD),
]
[docs]
class NT_IOSettings(Structure):
_fields_ = [
('lowVoltageOutRange', WORD),
('lowVoltageOutputRoute', WORD),
('notYetInUse', WORD),
('unused', WORD),
]
[docs]
class NT_GainParameters(Structure):
_fields_ = [
('controlMode', WORD),
('gain', c_short),
]
[docs]
class PZ_FeedbackLoopConstants(Structure):
_fields_ = [
('proportionalTerm', c_short),
('integralTerm', c_short),
]
[docs]
class PZ_LUTWaveParameters(Structure):
_fields_ = [
('mode', c_short),
('cycleLength', c_short),
('numCycles', c_uint),
('LUTValueDelay', c_uint),
('preCycleDelay', c_uint),
('postCycleDelay', c_uint),
('outTriggerStart', c_short),
('outTriggerDuration', c_uint),
('numOutTriggerRepeat', c_short),
]
[docs]
class PPC_PIDConsts(Structure):
_fields_ = [
('PIDConstsP', c_float),
('PIDConstsI', c_float),
('PIDConstsD', c_float),
('PIDConstsDFc', c_float),
('PIDDerivFilterOn', c_short),
]
[docs]
class PPC_NotchParams(Structure):
_fields_ = [
('filterNo', c_short),
('filter1Fc', c_float),
('filter1Q', c_float),
('notchFilter1On', c_short),
('filter2Fc', c_float),
('filter2Q', c_float),
('notchFilter2On', c_short),
]
[docs]
class PPC_IOSettings(Structure):
_fields_ = [
('controlSrc', c_short),
('monitorOPSig', c_short),
('monitorOPBandwidth', c_short),
('feedbackSrc', c_short),
('FPBrightness', c_short),
('reserved1', WORD),
]
[docs]
class MOT_PIDLoopEncoderParams(Structure):
_fields_ = [
('loopMode', WORD),
('proportionalGain', c_int),
('integralGain', c_int),
('differentialGain', c_int),
('PIDOutputLimit', c_int),
('PIDTolerance', c_int),
]
[docs]
class FF_IOSettings(Structure):
_fields_ = [
('transitTime', c_uint),
('ADCspeedValue', c_uint),
('digIO1OperMode', WORD),
('digIO1SignalMode', WORD),
('digIO1PulseWidth', c_uint),
('digIO2OperMode', WORD),
('digIO2SignalMode', WORD),
('digIO2PulseWidth', c_uint),
('reserved1', c_int),
('reserved2', c_uint),
]
[docs]
class MOT_PotentiometerStep(Structure):
_fields_ = [
('thresholdDeflection', WORD),
('velocity', DWORD),
]
[docs]
class MOT_PotentiometerSteps(Structure):
_fields_ = [
('potentiometerStepParameters', MOT_PotentiometerStep * 4),
]
[docs]
class KMOT_MMIParams(Structure):
_fields_ = [
('WheelMode', c_int16),
('WheelMaxVelocity', c_int32),
('WheelAcceleration', c_int32),
('WheelDirectionSense', c_short),
('PresetPos1', c_int32),
('PresetPos2', c_int32),
('DisplayIntensity', c_int16),
('DisplayTimeout', c_int16),
('DisplayDimIntensity', c_int16),
('reserved', c_int16 * 4),
]
[docs]
class KMOT_TriggerConfig(Structure):
_fields_ = [
('Trigger1Mode', c_int16),
('Trigger1Polarity', c_int16),
('Trigger2Mode', c_int16),
('Trigger2Polarity', c_int16),
]
[docs]
class KMOT_TriggerParams(Structure):
_fields_ = [
('TriggerStartPositionFwd', c_int32),
('TriggerIntervalFwd', c_int32),
('TriggerPulseCountFwd', c_int32),
('TriggerStartPositionRev', c_int32),
('TriggerIntervalRev', c_int32),
('TriggerPulseCountRev', c_int32),
('TriggerPulseWidth', c_int32),
('CycleCount', c_int32),
('reserved', c_int32 * 6),
]
[docs]
class KIM_DriveOPParameters(Structure):
_fields_ = [
('_maxVoltage', c_int16),
('_stepRate', c_int32),
('_stepAcceleration', c_int32),
]
[docs]
class KIM_JogParameters(Structure):
_fields_ = [
('_jogMode', c_uint16),
('_jogStepSizeFwd', c_int32),
('_jogStepSizeRev', c_int32),
('_jogStepRate', c_int32),
('_jogStepAcceleration', c_int32),
]
[docs]
class KIM_LimitSwitchParameters(Structure):
_fields_ = [
('_forwardLimit', c_int16),
('_reverseLimit', c_int16),
('_stageID', c_int16),
]
[docs]
class KIM_HomeParameters(Structure):
_fields_ = [
('_homeDirection', c_byte),
('_homeLimitSwitch', c_byte),
('_homeStepRate', c_int32),
('_homeOffset', c_int32),
]
[docs]
class KIM_MMIParameters(Structure):
_fields_ = [
('_joystickMode', c_int16),
('_maxStepRate', c_int32),
('_directionSense', c_int16),
('_displayIntensity', c_int16),
]
[docs]
class KIM_MMIChannelParameters(Structure):
_fields_ = [
('_presetPos1', c_int32),
('_presetPos2', c_int32),
]
[docs]
class KIM_TrigIOConfig(Structure):
_fields_ = [
('_trigChannel1', c_uint16),
('_trigChannel2', c_uint16),
('_trig1Mode', c_int16),
('_trig1Polarity', c_int16),
('_trig2Mode', c_int16),
('_trig2Polarity', c_int16),
]
[docs]
class KIM_TrigParamsParameters(Structure):
_fields_ = [
('_startPosFwd', c_int32),
('_intervalFwd', c_int32),
('_numberOfPulsesFwd', c_int32),
('_startPosRev', c_int32),
('_intervalRev', c_int32),
('_numberOfPulsesRev', c_int32),
('_pulseWidth', c_int32),
('_numberOfCycles', c_int32),
('_reserved', c_int16 * 6),
]
[docs]
class KIM_FeedbackSigParams(Structure):
_fields_ = [
('_feedbackSignalMode', c_int16),
('_encoderConst', c_int32),
('_reserved', c_int16 * 4),
]
[docs]
class KIM_Status(Structure):
_fields_ = [
('_position', c_int32),
('_encoderCount', c_int32),
('_statusBits', c_uint32),
]
[docs]
class KLD_MMIParams(Structure):
_fields_ = [
('displayIntensity', c_int16),
('reserved', c_int16 * 3),
]
[docs]
class KLD_TrigIOParams(Structure):
_fields_ = [
('mode1', c_ushort),
('polarity1', c_ushort),
('reserved1', c_int16),
('mode2', c_ushort),
('polarity2', c_ushort),
('reserved2', c_int16),
]
[docs]
class KLS_MMIParams(Structure):
_fields_ = [
('displayIntensity', c_int16),
('reserved', c_int16 * 3),
]
[docs]
class KLS_TrigIOParams(Structure):
_fields_ = [
('mode1', c_ushort),
('polarity1', c_ushort),
('reserved1', c_int16),
('mode2', c_ushort),
('polarity2', c_ushort),
('reserved2', c_int16),
]
[docs]
class KNA_TIARangeParameters(Structure):
_fields_ = [
('mode', WORD),
('upLimit', WORD),
('downLimit', WORD),
('settleSamples', c_short),
('changeToOddOrEven', WORD),
('newRange', WORD),
]
[docs]
class KNA_TIAReading(Structure):
_fields_ = [
('absoluteReading', c_float),
('relativeReading', WORD),
('selectedRange', WORD),
('underOrOverRead', WORD),
]
[docs]
class KNA_IOSettings(Structure):
_fields_ = [
('lowVoltageOutRange', WORD),
('lowVoltageOutputRoute', WORD),
('highVoltageOutRange', WORD),
('highVoltageOutputRoute', WORD),
]
[docs]
class KNA_MMIParams(Structure):
_fields_ = [
('WheelAdjustRate', c_int16),
('DisplayIntensity', c_int16),
('reserved', c_int16 * 6),
]
[docs]
class KNA_TriggerConfig(Structure):
_fields_ = [
('Trigger1Mode', c_int16),
('Trigger1Polarity', c_int16),
('unused1', c_int16),
('Trigger2Mode', c_int16),
('Trigger2Polarity', c_int16),
('unused2', c_int16),
('reserved', c_int16 * 4),
]
[docs]
class KNA_FeedbackLoopConstants(Structure):
_fields_ = [
('proportionalTerm', c_short),
('integralTerm', c_short),
]
[docs]
class TPZ_IOSettings(Structure):
_fields_ = [
('_hubAnalogueInput', c_short),
('_maximumOutputVoltage', c_short),
]
[docs]
class KPZ_MMIParams(Structure):
_fields_ = [
('JoystickMode', c_int16),
('VoltageAdjustRate', c_int16),
('VoltageStep', c_int32),
('JoystickDirectionSense', c_int16),
('PresetPos1', c_int32),
('PresetPos2', c_int32),
('DisplayIntensity', c_int16),
('DisplayTimeout', c_int16),
('DisplayDimIntensity', c_int16),
('reserved', c_int16 * 4),
]
[docs]
class KPZ_TriggerConfig(Structure):
_fields_ = [
('Trigger1Mode', c_int16),
('Trigger1Polarity', c_int16),
('Trigger2Mode', c_int16),
('Trigger2Polarity', c_int16),
('reserved', c_int16 * 6),
]
[docs]
class QD_LoopParameters(Structure):
_fields_ = [
('proportionalGain', c_float),
('integralGain', c_float),
('differentialGain', c_float),
('lowPassFilterCutOffFreq', c_float),
('notchFilterCenterFrequency', c_float),
('notchFilterQ', c_float),
('notchFilterEnabled', WORD),
('lowPassFilterEnabled', WORD),
]
[docs]
class QD_PIDParameters(Structure):
_fields_ = [
('proportionalGain', c_float),
('integralGain', c_float),
('differentialGain', c_float),
]
[docs]
class QD_LowPassFilterParameters(Structure):
_fields_ = [
('lowPassFilterCutOffFreq', c_float),
('lowPassFilterEnabled', WORD),
]
[docs]
class QD_NotchFilterParameters(Structure):
_fields_ = [
('notchFilterCenterFrequency', c_float),
('notchFilterQ', c_float),
('notchFilterEnabled', WORD),
]
[docs]
class QD_PositionDemandParameters(Structure):
_fields_ = [
('minXdemand', c_uint16),
('minYdemand', c_uint16),
('maxXdemand', c_uint16),
('maxYdemand', c_uint16),
('lowVoltageOutputRoute', c_short),
('openLoopOption', c_short),
('xFeedbackSignedGain', c_uint16),
('yFeedbackSignedGain', c_uint16),
]
[docs]
class QD_Position(Structure):
_fields_ = [
('x', c_uint16),
('y', c_uint16),
]
[docs]
class QD_Readings(Structure):
_fields_ = [
('posDifference', QD_Position),
('sum', WORD),
('demandedPos', QD_Position),
]
[docs]
class QD_KPA_TrigIOConfig(Structure):
_fields_ = [
('trig1Mode', WORD),
('trig1Polarity', WORD),
('trig1SumMin', WORD),
('trig1SumMax', WORD),
('trig1DiffThreshold', WORD),
('trig2Mode', WORD),
('trig2Polarity', WORD),
('trig2SumMin', WORD),
('trig2SumMax', WORD),
('trig2DiffThreshold', WORD),
('wReserved', WORD * 6),
]
[docs]
class QD_KPA_DigitalIO(Structure):
_fields_ = [
('wDigOPs', WORD),
('wReserved', WORD * 6),
]
[docs]
class SC_CycleParameters(Structure):
_fields_ = [
('openTime', c_uint),
('closedTime', c_uint),
('numCycles', c_uint),
]
[docs]
class KSC_MMIParams(Structure):
_fields_ = [
('unused', c_int16 * 10),
('DisplayIntensity', c_int16),
('DisplayTimeout', c_int16),
('DisplayDimIntensity', c_int16),
('reserved', c_int16 * 4),
]
[docs]
class KSC_TriggerConfig(Structure):
_fields_ = [
('Trigger1Mode', c_int16),
('Trigger1Polarity', c_int16),
('Trigger2Mode', c_int16),
('Trigger2Polarity', c_int16),
('reserved', c_int16 * 6),
]
[docs]
class TSG_IOSettings(Structure):
_fields_ = [
('hubAnalogOutput', c_short),
('displayMode', c_short),
('forceCalibration', c_uint),
('notYetInUse', WORD),
('futureUse', WORD),
]
[docs]
class KSG_MMIParams(Structure):
_fields_ = [
('DisplayIntensity', c_int16),
('DisplayTimeout', c_int16),
('DisplayDimIntensity', c_int16),
('reserved', c_int16 * 4),
]
[docs]
class KSG_TriggerConfig(Structure):
_fields_ = [
('Trigger1Mode', c_int16),
('Trigger1Polarity', c_int16),
('Trigger2Mode', c_int16),
('Trigger2Polarity', c_int16),
('LowerLimit', c_int32),
('UpperLimit', c_int32),
('SmoothingSamples', c_int16),
('reserved', c_int16 * 6),
]
[docs]
class TIM_DriveOPParameters(Structure):
_fields_ = [
('_maxVoltage', c_int16),
('_stepRate', c_int32),
('_stepAcceleration', c_int32),
]
[docs]
class TIM_JogParameters(Structure):
_fields_ = [
('_jogMode', c_uint16),
('_jogStepSize', c_int32),
('_jogStepRate', c_int32),
('_jogStepAcceleration', c_int32),
]
[docs]
class TIM_Status(Structure):
_fields_ = [
('_position', c_int32),
('_encoderCount', c_int32),
('_statusBits', c_uint32),
]
[docs]
class TC_LoopParameters(Structure):
_fields_ = [
('proportionalGain', c_ushort),
('integralGain', c_ushort),
('differentialGain', c_ushort),
]
STRUCT_LIST = [
'BNT_IO_Settings',
'FF_IOSettings',
'KIM_DriveOPParameters',
'KIM_FeedbackSigParams',
'KIM_HomeParameters',
'KIM_JogParameters',
'KIM_LimitSwitchParameters',
'KIM_MMIChannelParameters',
'KIM_MMIParameters',
'KIM_Status',
'KIM_TrigIOConfig',
'KIM_TrigParamsParameters',
'KLD_MMIParams',
'KLD_TrigIOParams',
'KLS_MMIParams',
'KLS_TrigIOParams',
'KMOT_MMIParams',
'KMOT_TriggerConfig',
'KMOT_TriggerParams',
'KNA_FeedbackLoopConstants',
'KNA_IOSettings',
'KNA_MMIParams',
'KNA_TIARangeParameters',
'KNA_TIAReading',
'KNA_TriggerConfig',
'KPZ_MMIParams',
'KPZ_TriggerConfig',
'KSC_MMIParams',
'KSC_TriggerConfig',
'KSG_MMIParams',
'KSG_TriggerConfig',
'MOT_BrushlessCurrentLoopParameters',
'MOT_BrushlessElectricOutputParameters',
'MOT_BrushlessPositionLoopParameters',
'MOT_BrushlessTrackSettleParameters',
'MOT_ButtonParameters',
'MOT_DC_PIDParameters',
'MOT_HomingParameters',
'MOT_JogParameters',
'MOT_JoystickParameters',
'MOT_LimitSwitchParameters',
'MOT_PIDLoopEncoderParams',
'MOT_PotentiometerStep',
'MOT_PotentiometerSteps',
'MOT_PowerParameters',
'MOT_StageAxisParameters',
'MOT_VelocityParameters',
'MOT_VelocityProfileParameters',
'NT_CircleDiameterLUT',
'NT_CircleParameters',
'NT_GainParameters',
'NT_HVComponent',
'NT_IOSettings',
'NT_LowPassFilterParameters',
'NT_TIARangeParameters',
'NT_TIAReading',
'PPC_IOSettings',
'PPC_NotchParams',
'PPC_PIDConsts',
'PZ_FeedbackLoopConstants',
'PZ_LUTWaveParameters',
'QD_KPA_DigitalIO',
'QD_KPA_TrigIOConfig',
'QD_LoopParameters',
'QD_LowPassFilterParameters',
'QD_NotchFilterParameters',
'QD_PIDParameters',
'QD_Position',
'QD_PositionDemandParameters',
'QD_Readings',
'SC_CycleParameters',
'TC_LoopParameters',
'TIM_ButtonParameters',
'TIM_DriveOPParameters',
'TIM_JogParameters',
'TIM_Status',
'TLI_DeviceInfo',
'TLI_HardwareInformation',
'TPZ_IOSettings',
'TSG_IOSettings',
]
if __name__ == '__main__':
# The following was used to automatically generate the above...
import os
from msl.equipment.resources.utils import CHeader
structs = {}
root = r'C:\Program Files\Thorlabs\Kinesis'
for f in os.listdir(root):
if f.endswith('.h'):
header = CHeader(os.path.join(root, f))
for key, value in header.structs().items():
if key not in structs:
structs[key] = value
for key, value in structs.items():
print('class {}(Structure):'.format(key))
print(' _fields_ = [')
for field in value:
print(" ('{}', {}),".format(field[1], field[0]))
print(' ]\n\n')
print('STRUCT_LIST = [')
for item in sorted(structs):
print(" '{}',".format(item))
print(']')