Modules

harp.devices.laserdrivercontroller

Bncs

Bases: IntFlag

Specifies the state of BNCs

Attributes:

Name	Type	Description
BNC1	int	No description currently available
BNC2	int	No description currently available

Device

The Device class provides the interface for interacting with Harp devices. This implementation of the Harp device was based on the official documentation available on the harp-tech website.

Attributes:

Name	Type	Description
WHO_AM_I	int	The device ID number. A list of devices can be found here
DEFAULT_DEVICE_NAME	str	The device name, i.e. "Behavior". This name is derived by cross-referencing the WHO_AM_I identifier with the corresponding device name in the device_names dictionary
HW_VERSION_H	int	The major hardware version
HW_VERSION_L	int	The minor hardware version
ASSEMBLY_VERSION	int	The version of the assembled components
HARP_VERSION_H	int	The major Harp core version
HARP_VERSION_L	int	The minor Harp core version
FIRMWARE_VERSION_H	int	The major firmware version
FIRMWARE_VERSION_L	int	The minor firmware version
DEVICE_NAME	str	The device name stored in the Harp device
SERIAL_NUMBER	(int, optional)	The serial number of the device

__enter__()

Support for using Device with 'with' statement.

Returns:

Type	Description
Device	The Device instance

__exit__(exc_type, exc_val, exc_tb)

Cleanup resources when exiting the 'with' block.

Parameters:

Name	Type	Description	Default
exc_type	Exception type or None	Type of the exception that caused the context to be exited	required
exc_val	Exception or None	Exception instance that caused the context to be exited	required
exc_tb	traceback or None	Traceback if an exception occurred	required

__init__(serial_port, dump_file_path=None, read_timeout_s=1, timeout_strategy=TimeoutStrategy.RAISE)

Parameters:

Name	Type	Description	Default
serial_port	str	The serial port used to establish the connection with the Harp device. It must be denoted as /dev/ttyUSBx in Linux and COMx in Windows, where x is the number of the serial port	required
dump_file_path	Optional[str]	The binary file to which all Harp messages will be written	None
read_timeout_s	float	TODO	1

alive_en(enable)

Sets the ALIVE_EN bit of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the ALIVE_EN bit. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

connect()

Connects to the Harp device.

disconnect()

Disconnects from the Harp device.

dump_registers()

Asserts the DUMP bit to dump the values of all core and app registers as Harp Read Reply Messages. More information on the DUMP bit can be found here.

Returns:

Type	Description
list	The list containing the reply Harp messages for all the device's registers

event_count()

Gets the number of events in the event queue.

Returns:

Type	Description
int	The number of events in the event queue

get_events()

Gets all events from the event queue.

Returns:

Type	Description
list	The list containing every Harp event message that were on the queue

info()

Prints the device information.

load()

Loads the data stored in the device's common registers.

mute_reply(enable)

Sets the MUTE_REPLY bit of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, the Replies to all the Commands are muted. If False, un-mutes them	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

op_led_en(enable)

Sets the operation LED of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the operation LED. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

read_float(address)

Reads the value of a register of type Float.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_operation_ctrl()

Reads the OPERATION_CTRL register of the device.

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

read_s16(address)

Reads the value of a register of type S16.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s32(address)

Reads the value of a register of type S32.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s64(address)

Reads the value of a register of type S64.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_s8(address)

Reads the value of a register of type S8.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u16(address)

Reads the value of a register of type U16.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u32(address)

Reads the value of a register of type U32.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u64(address)

Reads the value of a register of type U64.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

read_u8(address)

Reads the value of a register of type U8.

Parameters:

Name	Type	Description	Default
address	int	The register to be read	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message that will contain the value read from the register

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

reset_device(reset_mode=ResetMode.RST_DEF)

Resets the device and reboots with all the registers with the default values. Beware that the EEPROM will be erased. More information on the reset device register can be found here.

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

send(message, *, expect_reply=True, timeout_strategy=None)

Sends a Harp message and (optionally) waits for a reply.

Parameters:

Name	Type	Description	Default
message	HarpMessage	The HarpMessage to be sent to the device	required
expect_reply	bool	If False, do not wait for a reply (fire-and-forget)	True
timeout_strategy	TimeoutStrategy | None	Override the device-level timeout strategy for this call	None

Returns:

Type	Description
ReplyHarpMessage | None	Reply (or None when allowed by the timeout strategy or expect_reply=False)

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

set_clock_config(clock_config)

Sets the clock configuration of the device.

Parameters:

Name	Type	Description	Default
clock_config	ClockConfig	The clock configuration value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

set_mode(mode)

Sets the operation mode of the device.

Parameters:

Name	Type	Description	Default
mode	DeviceMode	The new device mode value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

set_timestamp_offset(timestamp_offset)

When the value of this register is above 0 (zero), the device's timestamp will be offset by this amount. The register is sensitive to 500 microsecond increments. This register is non-volatile.

Parameters:

Name	Type	Description	Default
timestamp_offset	int	The timestamp offset value	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

visual_en(enable)

Sets the status led of the device.

Parameters:

Name	Type	Description	Default
enable	bool	If True, enables the status led. If False, disables it	required

Returns:

Type	Description
bool	True if the operation was successful, False otherwise

write_float(address, value)

Writes the value of a register of type Float.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	float | list[float]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_operation_ctrl(mode=None, mute_rpl=None, visual_en=None, op_led_en=None, alive_en=None)

Writes the OPERATION_CTRL register of the device.

Parameters:

Name	Type	Description	Default
mode	OperationMode	The new operation mode value	None
mute_rpl	bool	If True, the Replies to all the Commands are muted	None
visual_en	bool	If True, enables the status led	None
op_led_en	bool	If True, enables the operation LED	None
alive_en	bool	If True, enables the ALIVE_EN bit	None

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

write_s16(address, value)

Writes the value of a register of type S16.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s32(address, value)

Writes the value of a register of type S32.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s64(address, value)

Writes the value of a register of type S64.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_s8(address, value)

Writes the value of a register of type S8.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u16(address, value)

Writes the value of a register of type U16.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u32(address, value)

Writes the value of a register of type U32.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u64(address, value)

Writes the value of a register of type U64.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

write_u8(address, value)

Writes the value of a register of type U8.

Parameters:

Name	Type	Description	Default
address	int	The register to be written on	required
value	int | list[int]	The value to be written to the register	required

Returns:

Type	Description
ReplyHarpMessage	The reply to the Harp message

Raises:

Type	Description
HarpTimeoutError	If no reply is received and the effective strategy requires raising

DigitalOutputs

Bases: IntFlag

Specifies the state of port digital output lines.

Attributes:

Name	Type	Description
DO1	int	No description currently available
DO2	int	No description currently available

FrequencySelect

Bases: IntEnum

Selects laser frequency mode

Attributes:

Name	Type	Description
NONE	int	No description currently available
F1	int	No description currently available
F2	int	No description currently available
F3	int	No description currently available
C_W	int	No description currently available

HarpMessage

The HarpMessage class implements the Harp message as described in the protocol.

Attributes:

Name	Type	Description
frame	bytearray	The bytearray containing the whole Harp message
message_type	MessageType	The message type
length	int	The length parameter of the Harp message
address	int	The address of the register to which the Harp message refers to
port	int	Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value).
payload_type	PayloadType	The payload type
checksum	int	The sum of all bytes contained in the Harp message

address property

The address of the register to which the Harp message refers to.

Returns:

Type	Description
int	The address of the register to which the Harp message refers to

checksum property

The sum of all bytes contained in the Harp message.

Returns:

Type	Description
int	The sum of all bytes contained in the Harp message

frame property

The bytearray containing the whole Harp message.

Returns:

Type	Description
bytearray	The bytearray containing the whole Harp message

length property

The length parameter of the Harp message.

Returns:

Type	Description
int	The length parameter of the Harp message

message_type property

The message type.

Returns:

Type	Description
MessageType	The message type

payload property

The payload sent in the write Harp message.

Returns:

Type	Description
Union[int, list[int]]	The payload sent in the write Harp message

payload_type property

The payload type.

Returns:

Type	Description
PayloadType	The payload type

port property writable

Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value).

Returns:

Type	Description
int	The port value

__repr__()

Prints debug representation of the reply message.

Returns:

Type	Description
str	The debug representation of the reply message

__str__()

Prints friendly representation of a Harp message.

Returns:

Type	Description
str	The representation of the Harp message

calculate_checksum()

Calculates the checksum of the Harp message.

Returns:

Type	Description
int	The value of the checksum

create(message_type, address, payload_type, value=None) staticmethod

Creates a Harp message.

Parameters:

Name	Type	Description	Default
message_type	MessageType	The message type. It can only be of type READ or WRITE	required
address	int	The address of the register that the message will interact with	required
payload_type	PayloadType	The payload type	required
value	Optional[int | list[int] | float | list[float]]	The payload of the message. If message_type == MessageType.WRITE, the value cannot be None	None

parse(frame) staticmethod

Parses a bytearray to a (reply) Harp message.

Parameters:

Name	Type	Description	Default
frame	bytearray	The bytearray will be parsed into a (reply) Harp message	required

Returns:

Type	Description
ReplyHarpMessage	The Harp message object parsed from the original bytearray

HarpReadException

Bases: HarpException

Exception raised when there is an error reading from a register in the Harp device.

HarpWriteException

Bases: HarpException

Exception raised when there is an error writing to a register in the Harp device.

LaserDriverController

Bases: Device

LaserDriverController class for controlling the device.

read_bnc1_off()

Reads the contents of the Bnc1Off register.

Returns:

Type	Description
int	Value read from the Bnc1Off register.

read_bnc1_on()

Reads the contents of the Bnc1On register.

Returns:

Type	Description
int	Value read from the Bnc1On register.

read_bnc1_pulses()

Reads the contents of the Bnc1Pulses register.

Returns:

Type	Description
int	Value read from the Bnc1Pulses register.

read_bnc1_tail()

Reads the contents of the Bnc1Tail register.

Returns:

Type	Description
int	Value read from the Bnc1Tail register.

read_bnc2_off()

Reads the contents of the Bnc2Off register.

Returns:

Type	Description
int	Value read from the Bnc2Off register.

read_bnc2_on()

Reads the contents of the Bnc2On register.

Returns:

Type	Description
int	Value read from the Bnc2On register.

read_bnc2_pulses()

Reads the contents of the Bnc2Pulses register.

Returns:

Type	Description
int	Value read from the Bnc2Pulses register.

read_bnc2_tail()

Reads the contents of the Bnc2Tail register.

Returns:

Type	Description
int	Value read from the Bnc2Tail register.

read_bncs_state()

Reads the contents of the BncsState register.

Returns:

Type	Description
Bncs	Value read from the BncsState register.

read_event_enable()

Reads the contents of the EventEnable register.

Returns:

Type	Description
LaserDriverControllerEvents	Value read from the EventEnable register.

read_laser_frequency_select()

Reads the contents of the LaserFrequencySelect register.

Returns:

Type	Description
FrequencySelect	Value read from the LaserFrequencySelect register.

read_laser_intensity()

Reads the contents of the LaserIntensity register.

Returns:

Type	Description
int	Value read from the LaserIntensity register.

read_laser_state()

Reads the contents of the LaserState register.

Returns:

Type	Description
int	Value read from the LaserState register.

read_output_clear()

Reads the contents of the OutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputClear register.

read_output_set()

Reads the contents of the OutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputSet register.

read_output_state()

Reads the contents of the OutputState register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputState register.

read_output_toggle()

Reads the contents of the OutputToggle register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputToggle register.

read_signal_a_off()

Reads the contents of the SignalAOff register.

Returns:

Type	Description
int	Value read from the SignalAOff register.

read_signal_a_on()

Reads the contents of the SignalAOn register.

Returns:

Type	Description
int	Value read from the SignalAOn register.

read_signal_a_pulses()

Reads the contents of the SignalAPulses register.

Returns:

Type	Description
int	Value read from the SignalAPulses register.

read_signal_a_tail()

Reads the contents of the SignalATail register.

Returns:

Type	Description
int	Value read from the SignalATail register.

read_signal_b_off()

Reads the contents of the SignalBOff register.

Returns:

Type	Description
int	Value read from the SignalBOff register.

read_signal_b_on()

Reads the contents of the SignalBOn register.

Returns:

Type	Description
int	Value read from the SignalBOn register.

read_signal_b_pulses()

Reads the contents of the SignalBPulses register.

Returns:

Type	Description
int	Value read from the SignalBPulses register.

read_signal_b_tail()

Reads the contents of the SignalBTail register.

Returns:

Type	Description
int	Value read from the SignalBTail register.

read_signal_state()

Reads the contents of the SignalState register.

Returns:

Type	Description
Signals	Value read from the SignalState register.

read_spad_switch()

Reads the contents of the SpadSwitch register.

Returns:

Type	Description
int	Value read from the SpadSwitch register.

write_bnc1_off(value)

Writes a value to the Bnc1Off register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Off register.	required

write_bnc1_on(value)

Writes a value to the Bnc1On register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1On register.	required

write_bnc1_pulses(value)

Writes a value to the Bnc1Pulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Pulses register.	required

write_bnc1_tail(value)

Writes a value to the Bnc1Tail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Tail register.	required

write_bnc2_off(value)

Writes a value to the Bnc2Off register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Off register.	required

write_bnc2_on(value)

Writes a value to the Bnc2On register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2On register.	required

write_bnc2_pulses(value)

Writes a value to the Bnc2Pulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Pulses register.	required

write_bnc2_tail(value)

Writes a value to the Bnc2Tail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Tail register.	required

write_bncs_state(value)

Writes a value to the BncsState register.

Parameters:

Name	Type	Description	Default
value	Bncs	Value to write to the BncsState register.	required

write_event_enable(value)

Writes a value to the EventEnable register.

Parameters:

Name	Type	Description	Default
value	LaserDriverControllerEvents	Value to write to the EventEnable register.	required

write_laser_frequency_select(value)

Writes a value to the LaserFrequencySelect register.

Parameters:

Name	Type	Description	Default
value	FrequencySelect	Value to write to the LaserFrequencySelect register.	required

write_laser_intensity(value)

Writes a value to the LaserIntensity register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the LaserIntensity register.	required

write_laser_state(value)

Writes a value to the LaserState register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the LaserState register.	required

write_output_clear(value)

Writes a value to the OutputClear register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputClear register.	required

write_output_set(value)

Writes a value to the OutputSet register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputSet register.	required

write_output_state(value)

Writes a value to the OutputState register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputState register.	required

write_output_toggle(value)

Writes a value to the OutputToggle register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputToggle register.	required

write_signal_a_off(value)

Writes a value to the SignalAOff register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAOff register.	required

write_signal_a_on(value)

Writes a value to the SignalAOn register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAOn register.	required

write_signal_a_pulses(value)

Writes a value to the SignalAPulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAPulses register.	required

write_signal_a_tail(value)

Writes a value to the SignalATail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalATail register.	required

write_signal_b_off(value)

Writes a value to the SignalBOff register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBOff register.	required

write_signal_b_on(value)

Writes a value to the SignalBOn register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBOn register.	required

write_signal_b_pulses(value)

Writes a value to the SignalBPulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBPulses register.	required

write_signal_b_tail(value)

Writes a value to the SignalBTail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBTail register.	required

write_signal_state(value)

Writes a value to the SignalState register.

Parameters:

Name	Type	Description	Default
value	Signals	Value to write to the SignalState register.	required

write_spad_switch(value)

Writes a value to the SpadSwitch register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SpadSwitch register.	required

LaserDriverControllerEvents

Bases: IntFlag

Specifies the active events in the device

Attributes:

Name	Type	Description
EVENT_SPAD_SWITCH	int	No description currently available
EVENT_LASER_STATE	int	No description currently available

LaserDriverControllerRegisters

Bases: IntEnum

Enum for all available registers in the LaserDriverController device.

Attributes:

Name	Type	Description
SPAD_SWITCH	int	Turns ON/OFF the relay to switch SPADs supply
LASER_STATE	int	State of the laser, ON/OFF
LASER_FREQUENCY_SELECT	int	Set the laser frequency
LASER_INTENSITY	int	Laser intensity value [0:255]
OUTPUT_SET	int	Set the specified digital output lines
OUTPUT_CLEAR	int	Clear the specified digital output lines
OUTPUT_TOGGLE	int	Toggle the specified digital output lines
OUTPUT_STATE	int	Write the state of all digital output lines
BNCS_STATE	int	Configure BNCs to start
SIGNAL_STATE	int	Configure Signals to start
BNC1_ON	int	Time ON of BNC1 (milliseconds) [1:65535]
BNC1_OFF	int	Time OFF of BNC1 (milliseconds) [1:65535]
BNC1_PULSES	int	Number of pulses (BNC1) [0;65535], 0-> infinite repeat
BNC1_TAIL	int	Wait time to start (milliseconds) (BNC1) [1;65535]
BNC2_ON	int	Time ON of BNC2 (milliseconds) [1:65535]
BNC2_OFF	int	Time OFF of BNC2 (milliseconds) [1:65535]
BNC2_PULSES	int	Number of pulses (BNC2) [0;65535], 0-> infinite repeat
BNC2_TAIL	int	Wait time to start (milliseconds) (BNC2) [1;65535]
SIGNAL_A_ON	int	Time ON of SignalA (milliseconds) [1:65535]
SIGNAL_A_OFF	int	Time OFF of SignalA (milliseconds) [1:65535]
SIGNAL_A_PULSES	int	Number of pulses (SignalA) [0;65535], 0-> infinite repeat
SIGNAL_A_TAIL	int	Wait time to start (milliseconds) (SignalA) [1;65535]
SIGNAL_B_ON	int	Time ON of SignalB (milliseconds) [1:65535]
SIGNAL_B_OFF	int	Time OFF of SignalB (milliseconds) [1:65535]
SIGNAL_B_PULSES	int	Number of pulses (SignalB) [0;65535], 0-> infinite repeat
SIGNAL_B_TAIL	int	Wait time to start (milliseconds) (SignalB) [1;65535]
EVENT_ENABLE	int	Specifies the active events in the device

MessageType

Bases: IntEnum

An enumeration of the allowed message types of a Harp message. More information on the MessageType byte of a Harp message can be found here.

Attributes:

Name	Type	Description
READ	int	The value that corresponds to a Read Harp message (1)
WRITE	int	The value that corresponds to a Write Harp message (2)
EVENT	int	The value that corresponds to an Event Harp message (3). Messages of this type are only meant to be send by the device
READ_ERROR	int	The value that corresponds to a Read Error Harp message (9). Messages of this type are only meant to be send by the device
WRITE_ERROR	int	The value that corresponds to a Write Error Harp message (10). Messages of this type are only meant to be send by the device

PayloadType

Bases: IntEnum

An enumeration of the allowed payload types of a Harp message. More information on the PayloadType byte of a Harp message can be found here.

Attributes:

Name	Type	Description
U8	int	The value that corresponds to a message of type U8
S8	int	The value that corresponds to a message of type S8
U16	int	The value that corresponds to a message of type U16
S16	int	The value that corresponds to a message of type S16
U32	int	The value that corresponds to a message of type U32
S32	int	The value that corresponds to a message of type S32
U64	int	The value that corresponds to a message of type U64
S64	int	The value that corresponds to a message of type S64
Float	int	The value that corresponds to a message of type Float
Timestamp	int	The value that corresponds to a message of type Timestamp. This is not a valid PayloadType, but it is used to indicate that the message has a timestamp.
TimestampedU8	int	The value that corresponds to a message of type TimestampedU8
TimestampedS8	int	The value that corresponds to a message of type TimestampedS8
TimestampedU16	int	The value that corresponds to a message of type TimestampedU16
TimestampedS16	int	The value that corresponds to a message of type TimestampedS16
TimestampedU32	int	The value that corresponds to a message of type TimestampedU32
TimestampedS32	int	The value that corresponds to a message of type TimestampedS32
TimestampedU64	int	The value that corresponds to a message of type TimestampedU64
TimestampedS64	int	The value that corresponds to a message of type TimestampedS64
TimestampedFloat	int	The value that corresponds to a message of type TimestampedFloat

ReplyHarpMessage

Bases: HarpMessage

A response message from a Harp device.

Attributes:

Name	Type	Description
payload	Union[int, list[int]]	The message payload formatted as the appropriate type
timestamp	float	The Harp timestamp at which the message was sent

is_error property

Indicates if this HarpMessage is an error message or not.

Returns:

Type	Description
bool	Returns True if this HarpMessage is an error message, False otherwise.

timestamp property

The Harp timestamp at which the message was sent.

Returns:

Type	Description
float	The Harp timestamp at which the message was sent

__init__(frame)

Parameters:

Name	Type	Description	Default
frame	bytearray	The Harp message in bytearray format	required

payload_as_string()

Returns the payload as a str.

Returns:

Type	Description
str	The payload parsed as a str

Signals

Bases: IntFlag

Specifies the state of Signals

Attributes:

Name	Type	Description
SIGNAL_A	int	No description currently available
SIGNAL_B	int	No description currently available

harpdevice

Bncs

Bases: IntFlag

Specifies the state of BNCs

Attributes:

Name	Type	Description
BNC1	int	No description currently available
BNC2	int	No description currently available

DigitalOutputs

Bases: IntFlag

Specifies the state of port digital output lines.

Attributes:

Name	Type	Description
DO1	int	No description currently available
DO2	int	No description currently available

FrequencySelect

Bases: IntEnum

Selects laser frequency mode

Attributes:

Name	Type	Description
NONE	int	No description currently available
F1	int	No description currently available
F2	int	No description currently available
F3	int	No description currently available
C_W	int	No description currently available

LaserDriverController

Bases: Device

LaserDriverController class for controlling the device.

read_bnc1_off()

Reads the contents of the Bnc1Off register.

Returns:

Type	Description
int	Value read from the Bnc1Off register.

read_bnc1_on()

Reads the contents of the Bnc1On register.

Returns:

Type	Description
int	Value read from the Bnc1On register.

read_bnc1_pulses()

Reads the contents of the Bnc1Pulses register.

Returns:

Type	Description
int	Value read from the Bnc1Pulses register.

read_bnc1_tail()

Reads the contents of the Bnc1Tail register.

Returns:

Type	Description
int	Value read from the Bnc1Tail register.

read_bnc2_off()

Reads the contents of the Bnc2Off register.

Returns:

Type	Description
int	Value read from the Bnc2Off register.

read_bnc2_on()

Reads the contents of the Bnc2On register.

Returns:

Type	Description
int	Value read from the Bnc2On register.

read_bnc2_pulses()

Reads the contents of the Bnc2Pulses register.

Returns:

Type	Description
int	Value read from the Bnc2Pulses register.

read_bnc2_tail()

Reads the contents of the Bnc2Tail register.

Returns:

Type	Description
int	Value read from the Bnc2Tail register.

read_bncs_state()

Reads the contents of the BncsState register.

Returns:

Type	Description
Bncs	Value read from the BncsState register.

read_event_enable()

Reads the contents of the EventEnable register.

Returns:

Type	Description
LaserDriverControllerEvents	Value read from the EventEnable register.

read_laser_frequency_select()

Reads the contents of the LaserFrequencySelect register.

Returns:

Type	Description
FrequencySelect	Value read from the LaserFrequencySelect register.

read_laser_intensity()

Reads the contents of the LaserIntensity register.

Returns:

Type	Description
int	Value read from the LaserIntensity register.

read_laser_state()

Reads the contents of the LaserState register.

Returns:

Type	Description
int	Value read from the LaserState register.

read_output_clear()

Reads the contents of the OutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputClear register.

read_output_set()

Reads the contents of the OutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputSet register.

read_output_state()

Reads the contents of the OutputState register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputState register.

read_output_toggle()

Reads the contents of the OutputToggle register.

Returns:

Type	Description
DigitalOutputs	Value read from the OutputToggle register.

read_signal_a_off()

Reads the contents of the SignalAOff register.

Returns:

Type	Description
int	Value read from the SignalAOff register.

read_signal_a_on()

Reads the contents of the SignalAOn register.

Returns:

Type	Description
int	Value read from the SignalAOn register.

read_signal_a_pulses()

Reads the contents of the SignalAPulses register.

Returns:

Type	Description
int	Value read from the SignalAPulses register.

read_signal_a_tail()

Reads the contents of the SignalATail register.

Returns:

Type	Description
int	Value read from the SignalATail register.

read_signal_b_off()

Reads the contents of the SignalBOff register.

Returns:

Type	Description
int	Value read from the SignalBOff register.

read_signal_b_on()

Reads the contents of the SignalBOn register.

Returns:

Type	Description
int	Value read from the SignalBOn register.

read_signal_b_pulses()

Reads the contents of the SignalBPulses register.

Returns:

Type	Description
int	Value read from the SignalBPulses register.

read_signal_b_tail()

Reads the contents of the SignalBTail register.

Returns:

Type	Description
int	Value read from the SignalBTail register.

read_signal_state()

Reads the contents of the SignalState register.

Returns:

Type	Description
Signals	Value read from the SignalState register.

read_spad_switch()

Reads the contents of the SpadSwitch register.

Returns:

Type	Description
int	Value read from the SpadSwitch register.

write_bnc1_off(value)

Writes a value to the Bnc1Off register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Off register.	required

write_bnc1_on(value)

Writes a value to the Bnc1On register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1On register.	required

write_bnc1_pulses(value)

Writes a value to the Bnc1Pulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Pulses register.	required

write_bnc1_tail(value)

Writes a value to the Bnc1Tail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc1Tail register.	required

write_bnc2_off(value)

Writes a value to the Bnc2Off register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Off register.	required

write_bnc2_on(value)

Writes a value to the Bnc2On register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2On register.	required

write_bnc2_pulses(value)

Writes a value to the Bnc2Pulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Pulses register.	required

write_bnc2_tail(value)

Writes a value to the Bnc2Tail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the Bnc2Tail register.	required

write_bncs_state(value)

Writes a value to the BncsState register.

Parameters:

Name	Type	Description	Default
value	Bncs	Value to write to the BncsState register.	required

write_event_enable(value)

Writes a value to the EventEnable register.

Parameters:

Name	Type	Description	Default
value	LaserDriverControllerEvents	Value to write to the EventEnable register.	required

write_laser_frequency_select(value)

Writes a value to the LaserFrequencySelect register.

Parameters:

Name	Type	Description	Default
value	FrequencySelect	Value to write to the LaserFrequencySelect register.	required

write_laser_intensity(value)

Writes a value to the LaserIntensity register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the LaserIntensity register.	required

write_laser_state(value)

Writes a value to the LaserState register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the LaserState register.	required

write_output_clear(value)

Writes a value to the OutputClear register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputClear register.	required

write_output_set(value)

Writes a value to the OutputSet register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputSet register.	required

write_output_state(value)

Writes a value to the OutputState register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputState register.	required

write_output_toggle(value)

Writes a value to the OutputToggle register.

Parameters:

Name	Type	Description	Default
value	DigitalOutputs	Value to write to the OutputToggle register.	required

write_signal_a_off(value)

Writes a value to the SignalAOff register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAOff register.	required

write_signal_a_on(value)

Writes a value to the SignalAOn register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAOn register.	required

write_signal_a_pulses(value)

Writes a value to the SignalAPulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalAPulses register.	required

write_signal_a_tail(value)

Writes a value to the SignalATail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalATail register.	required

write_signal_b_off(value)

Writes a value to the SignalBOff register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBOff register.	required

write_signal_b_on(value)

Writes a value to the SignalBOn register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBOn register.	required

write_signal_b_pulses(value)

Writes a value to the SignalBPulses register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBPulses register.	required

write_signal_b_tail(value)

Writes a value to the SignalBTail register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SignalBTail register.	required

write_signal_state(value)

Writes a value to the SignalState register.

Parameters:

Name	Type	Description	Default
value	Signals	Value to write to the SignalState register.	required

write_spad_switch(value)

Writes a value to the SpadSwitch register.

Parameters:

Name	Type	Description	Default
value	int	Value to write to the SpadSwitch register.	required

LaserDriverControllerEvents

Bases: IntFlag

Specifies the active events in the device

Attributes:

Name	Type	Description
EVENT_SPAD_SWITCH	int	No description currently available
EVENT_LASER_STATE	int	No description currently available

LaserDriverControllerRegisters

Bases: IntEnum

Enum for all available registers in the LaserDriverController device.

Attributes:

Name	Type	Description
SPAD_SWITCH	int	Turns ON/OFF the relay to switch SPADs supply
LASER_STATE	int	State of the laser, ON/OFF
LASER_FREQUENCY_SELECT	int	Set the laser frequency
LASER_INTENSITY	int	Laser intensity value [0:255]
OUTPUT_SET	int	Set the specified digital output lines
OUTPUT_CLEAR	int	Clear the specified digital output lines
OUTPUT_TOGGLE	int	Toggle the specified digital output lines
OUTPUT_STATE	int	Write the state of all digital output lines
BNCS_STATE	int	Configure BNCs to start
SIGNAL_STATE	int	Configure Signals to start
BNC1_ON	int	Time ON of BNC1 (milliseconds) [1:65535]
BNC1_OFF	int	Time OFF of BNC1 (milliseconds) [1:65535]
BNC1_PULSES	int	Number of pulses (BNC1) [0;65535], 0-> infinite repeat
BNC1_TAIL	int	Wait time to start (milliseconds) (BNC1) [1;65535]
BNC2_ON	int	Time ON of BNC2 (milliseconds) [1:65535]
BNC2_OFF	int	Time OFF of BNC2 (milliseconds) [1:65535]
BNC2_PULSES	int	Number of pulses (BNC2) [0;65535], 0-> infinite repeat
BNC2_TAIL	int	Wait time to start (milliseconds) (BNC2) [1;65535]
SIGNAL_A_ON	int	Time ON of SignalA (milliseconds) [1:65535]
SIGNAL_A_OFF	int	Time OFF of SignalA (milliseconds) [1:65535]
SIGNAL_A_PULSES	int	Number of pulses (SignalA) [0;65535], 0-> infinite repeat
SIGNAL_A_TAIL	int	Wait time to start (milliseconds) (SignalA) [1;65535]
SIGNAL_B_ON	int	Time ON of SignalB (milliseconds) [1:65535]
SIGNAL_B_OFF	int	Time OFF of SignalB (milliseconds) [1:65535]
SIGNAL_B_PULSES	int	Number of pulses (SignalB) [0;65535], 0-> infinite repeat
SIGNAL_B_TAIL	int	Wait time to start (milliseconds) (SignalB) [1;65535]
EVENT_ENABLE	int	Specifies the active events in the device

Signals

Bases: IntFlag

Specifies the state of Signals

Attributes:

Name	Type	Description
SIGNAL_A	int	No description currently available
SIGNAL_B	int	No description currently available