Maskbits

All statuses in jaeger are expressed as classes that subclass from enum.IntFlag. This allows them to behave as a series of values that can be combined with bitwise operations while also containing a representation of the name associated with a bit. IntFlag objects are ultimately just integers and can be used as such

>>> dat_init = PositionerStatusV4_1.DATUM_INITIALIZED
>>> dat_init
<PositionerStatusV4_1.DATUM_INITIALIZED: 536870912>
>>> dat_init.name
'DATUM_INITIALIZED'
>>> int(dat_init)
536870912
>>> isinstance(dat_init, int)
True

To create a new enumeration from an integer

>>> PositionerStatusV4_1(117440512)
<PositionerStatusV4_1.BETA_DISPLACEMENT_COMPLETED|ALPHA_DISPLACEMENT_COMPLETED|DISPLACEMENT_COMPLETED: 117440512>

Enumerations can be combined using bitwise operations

>>> status = PositionerStatusV4_1.DATUM_INITIALIZED | PositionerStatusV4_1.SYSTEM_INITIALIZED
<PositionerStatusV4_1.DATUM_INITIALIZED|SYSTEM_INITIALIZED: 536870913>
>>> status.active_bits
[<PositionerStatusV4_1.SYSTEM_INITIALIZED: 1>,
 <PositionerStatusV4_1.DATUM_INITIALIZED: 536870912>]
>>> status & PositionerStatusV4_1.ALPHA_DISPLACEMENT_COMPLETED
<PositionerStatusV4_1.0: 0>

Maskbits API

class jaeger.maskbits.Maskbit(value)

Bases: enum.IntFlag

A maskbit enumeration. Intended for subclassing.

property version

The version of the flags.

property active_bits

Returns a list of flags that match the value.

jaeger.maskbits.PositionerStatus

Alias to the default positioner status flags.

class jaeger.maskbits.CommandStatus(value)

Bases: jaeger.maskbits.Maskbit

Maskbits for command status.

DONE = 1

CANCELLED = 2

FAILED = 4

READY = 8

RUNNING = 16

TIMEDOUT = 32

property is_done

Returns True if the command is done (completed or failed).

property is_running

Returns True if the command is running.

property failed

Returns True if the command failed (or got cancelled).

property timed_out

Returns True if the command timed out.

class jaeger.maskbits.ResponseCode(value)

Bases: enum.IntFlag

Maskbit for the status of the bootloader.

• 0: All OK

• 1: Received parameter is out of range

• 2: Trajectory not accepted

• 3: Already in motion, cannot accept command

• 4: Datum not initialized

• 5: Incorrect amount of data in packet

• 6: One of the calibration modes is active: MOTOR_CALIBRATION, COGGING_CALIBRATION, DATUM_CALIBRATION, DATUM _INITIALIZATION

• 7: The motors are not calibrated and therefore the hall sensors can’t be used

• 8: A collision is detected, the flag has to be first cleared with stop trajectory

• 9: Hall sensors are disabled and can therefore not be used

• 10: Broadcast command not valid

• 11: Command not supported by bootloader

• 12: Invalid command

• 13: Unknown command

• 14: Datum not calibrated

• 15: Halls sensors have been disabled

COMMAND_ACCEPTED = 0

VALUE_OUT_OF_RANGE = 1

INVALID_TRAJECTORY = 2

ALREADY_IN_MOTION = 3

DATUM_NOT_INITIALIZED = 4

INCORRECT_AMOUNT_OF_DATA = 5

CALIBRATION_MODE_ACTIVE = 6

MOTOR_NOT_CALIBRATED = 7

COLLISION_DETECTED = 8

HALL_SENSOR_DISABLED = 9

INVALID_BROADCAST_COMMAND = 10

INVALID_BOOTLOADER_COMMAND = 11

INVALID_COMMAND = 12

UNKNOWN_COMMAND = 13

DATUM_NOT_CALIBRATED = 14

HALL_SENSORS_DISABLED = 15

class jaeger.maskbits.BootloaderStatus(value)

Bases: jaeger.maskbits.Maskbit

Maskbits for positioner status when in bootloader mode.

BOOTLOADER_INIT = 1

BOOTLOADER_TIMEOUT = 2

BSETTINGS_CHANGED = 512

RECEIVING_NEW_FIRMWARE = 65536

NEW_FIRMWARE_RECEIVED = 16777216

NEW_FIRMWARE_CHECK_OK = 33554432

NEW_FIRMWARE_CHECK_BAD = 67108864

UNKNOWN = 1073741824

class jaeger.maskbits.FPSStatus(value)

Bases: enum.Flag

Status of the FPS.

IDLE = 1

MOVING = 2

COLLIDED = 4

ERRORED = 8

TEMPERATURE_NORMAL = 16

TEMPERATURE_COLD = 32

TEMPERATURE_VERY_COLD = 64

TEMPERATURE_UNKNOWN = 128

TEMPERATURE_BITS = 240

STATUS_BITS = 15