Modules

harp.devices.syringepump

DI0TriggerConfig

Bases: IntEnum

Configures the function executed when digital input is triggered.

Attributes:

Name	Type	Description
NONE	int	No description currently available
STEP	int	No description currently available
START_PROTOCOL	int	No description currently available

DO0SyncConfig

Bases: IntEnum

Configures which signal is mimicked in the digital output 0.

Attributes:

Name	Type	Description
NONE	int	No description currently available
SWITCH_STATE	int	No description currently available

DO1SyncConfig

Bases: IntEnum

Configures which signal is mimicked in the digital output 1.

Attributes:

Name	Type	Description
NONE	int	No description currently available
HEARTBEAT	int	No description currently available
STEP	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

DigitalInputs

Bases: IntFlag

The state of the digital input pin.

Attributes:

Name	Type	Description
DI0	int	No description currently available

DigitalOutputs

Bases: IntFlag

The digital output lines.

Attributes:

Name	Type	Description
DO0	int	No description currently available
DO1	int	No description currently available

DirectionState

Bases: IntEnum

The state of the DIR motor controller pin.

Attributes:

Name	Type	Description
REVERSE	int	No description currently available
FORWARD	int	No description currently available

ForwardSwitchState

Bases: IntEnum

The state of the forward limit switch.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	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.

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

ProtocolDirectionState

Bases: IntEnum

The state of the protocol execution.

Attributes:

Name	Type	Description
REVERSE	int	No description currently available
FORWARD	int	No description currently available

ProtocolState

Bases: IntEnum

The state of the protocol execution.

Attributes:

Name	Type	Description
IDLE	int	No description currently available
RUNNING	int	No description currently available

PumpBoardType

Bases: IntEnum

Available board configurations.

Attributes:

Name	Type	Description
PUMP	int	No description currently available
FISH_FEEDER	int	No description currently available
STEPPER_MOTOR	int	No description currently available

PumpEvents

Bases: IntFlag

The events that can be enabled/disabled.

Attributes:

Name	Type	Description
STEP	int	No description currently available
DIRECTION	int	No description currently available
FORWARD_SWITCH	int	No description currently available
REVERSE_SWITCH	int	No description currently available
DIGITAL_INPUT	int	No description currently available
PROTOCOL	int	No description currently available

PumpProtocolType

Bases: IntEnum

Available protocol types.

Attributes:

Name	Type	Description
STEP	int	No description currently available
VOLUME	int	No description currently available

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

ReverseSwitchState

Bases: IntEnum

The state of the reverse limit switch.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	int	No description currently available

StepModeType

Bases: IntEnum

Available step modes.

Attributes:

Name	Type	Description
FULL	int	No description currently available
HALF	int	No description currently available
QUARTER	int	No description currently available
EIGHTH	int	No description currently available
SIXTEENTH	int	No description currently available

StepState

Bases: IntEnum

The state of the STEP motor controller pin.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	int	No description currently available

SyringePump

Bases: Device

SyringePump class for controlling the device.

read_di0_trigger()

Reads the contents of the DI0Trigger register.

Returns:

Type	Description
DI0TriggerConfig	Value read from the DI0Trigger register.

read_digital_input_state()

Reads the contents of the DigitalInputState register.

Returns:

Type	Description
DigitalInputs	Value read from the DigitalInputState register.

read_digital_output_clear()

Reads the contents of the DigitalOutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the DigitalOutputClear register.

read_digital_output_set()

Reads the contents of the DigitalOutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the DigitalOutputSet register.

read_direction()

Reads the contents of the Direction register.

Returns:

Type	Description
DirectionState	Value read from the Direction register.

read_do0_sync()

Reads the contents of the DO0Sync register.

Returns:

Type	Description
DO0SyncConfig	Value read from the DO0Sync register.

read_do1_sync()

Reads the contents of the DO1Sync register.

Returns:

Type	Description
DO1SyncConfig	Value read from the DO1Sync register.

read_enable_events()

Reads the contents of the EnableEvents register.

Returns:

Type	Description
PumpEvents	Value read from the EnableEvents register.

read_enable_motor_driver()

Reads the contents of the EnableMotorDriver register.

Returns:

Type	Description
bool	Value read from the EnableMotorDriver register.

read_enable_protocol()

Reads the contents of the EnableProtocol register.

Returns:

Type	Description
bool	Value read from the EnableProtocol register.

read_forward_switch()

Reads the contents of the ForwardSwitch register.

Returns:

Type	Description
ForwardSwitchState	Value read from the ForwardSwitch register.

read_protocol()

Reads the contents of the Protocol register.

Returns:

Type	Description
ProtocolState	Value read from the Protocol register.

read_protocol_direction()

Reads the contents of the ProtocolDirection register.

Returns:

Type	Description
ProtocolDirectionState	Value read from the ProtocolDirection register.

read_protocol_period()

Reads the contents of the ProtocolPeriod register.

Returns:

Type	Description
int	Value read from the ProtocolPeriod register.

read_protocol_step_count()

Reads the contents of the ProtocolStepCount register.

Returns:

Type	Description
int	Value read from the ProtocolStepCount register.

read_reverse_switch()

Reads the contents of the ReverseSwitch register.

Returns:

Type	Description
ReverseSwitchState	Value read from the ReverseSwitch register.

read_step()

Reads the contents of the Step register.

Returns:

Type	Description
StepState	Value read from the Step register.

read_step_mode()

Reads the contents of the StepMode register.

Returns:

Type	Description
StepModeType	Value read from the StepMode register.

write_di0_trigger(value)

Writes a value to the DI0Trigger register.

Parameters:

Name	Type	Description	Default
value	DI0TriggerConfig	Value to write to the DI0Trigger register.	required

write_digital_output_clear(value)

Writes a value to the DigitalOutputClear register.

Parameters:

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

write_digital_output_set(value)

Writes a value to the DigitalOutputSet register.

Parameters:

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

write_direction(value)

Writes a value to the Direction register.

Parameters:

Name	Type	Description	Default
value	DirectionState	Value to write to the Direction register.	required

write_do0_sync(value)

Writes a value to the DO0Sync register.

Parameters:

Name	Type	Description	Default
value	DO0SyncConfig	Value to write to the DO0Sync register.	required

write_do1_sync(value)

Writes a value to the DO1Sync register.

Parameters:

Name	Type	Description	Default
value	DO1SyncConfig	Value to write to the DO1Sync register.	required

write_enable_events(value)

Writes a value to the EnableEvents register.

Parameters:

Name	Type	Description	Default
value	PumpEvents	Value to write to the EnableEvents register.	required

write_enable_motor_driver(value)

Writes a value to the EnableMotorDriver register.

Parameters:

Name	Type	Description	Default
value	bool	Value to write to the EnableMotorDriver register.	required

write_enable_protocol(value)

Writes a value to the EnableProtocol register.

Parameters:

Name	Type	Description	Default
value	bool	Value to write to the EnableProtocol register.	required

write_protocol_direction(value)

Writes a value to the ProtocolDirection register.

Parameters:

Name	Type	Description	Default
value	ProtocolDirectionState	Value to write to the ProtocolDirection register.	required

write_protocol_period(value)

Writes a value to the ProtocolPeriod register.

Parameters:

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

write_protocol_step_count(value)

Writes a value to the ProtocolStepCount register.

Parameters:

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

write_step(value)

Writes a value to the Step register.

Parameters:

Name	Type	Description	Default
value	StepState	Value to write to the Step register.	required

write_step_mode(value)

Writes a value to the StepMode register.

Parameters:

Name	Type	Description	Default
value	StepModeType	Value to write to the StepMode register.	required

SyringePumpRegisters

Bases: IntEnum

Enum for all available registers in the SyringePump device.

Attributes:

Name	Type	Description
ENABLE_MOTOR_DRIVER	int	Enables the motor driver.
ENABLE_PROTOCOL	int	Enables the currently defined protocol.
STEP	int	Status of the STEP motor controller pin.
DIRECTION	int	Status of the DIR motor controller pin.
FORWARD_SWITCH	int	Status of the forward limit switch.
REVERSE_SWITCH	int	Status of the reverse limit switch.
DIGITAL_INPUT_STATE	int	Status of the digital input pin.
DIGITAL_OUTPUT_SET	int	Set the specified digital output lines.
DIGITAL_OUTPUT_CLEAR	int	Clear the specified digital output lines.
DO0_SYNC	int	Configures which signal is mimicked in the digital output 0.
DO1_SYNC	int	Configures which signal is mimicked in the digital output 1.
DI0_TRIGGER	int	Configures the callback function triggered when digital input is triggered.
STEP_MODE	int	Sets the motor step mode from a list of available types.
PROTOCOL_STEP_COUNT	int	Sets the number of steps to be executed in the current protocol.
PROTOCOL_PERIOD	int	Sets the period, in ms, of of each step in the protocol.
ENABLE_EVENTS	int	Specifies all the active events in the device.
PROTOCOL	int	Status of the protocol execution.
PROTOCOL_DIRECTION	int	Sets the direction of the protocol execution.

harpdevice

DI0TriggerConfig

Bases: IntEnum

Configures the function executed when digital input is triggered.

Attributes:

Name	Type	Description
NONE	int	No description currently available
STEP	int	No description currently available
START_PROTOCOL	int	No description currently available

DO0SyncConfig

Bases: IntEnum

Configures which signal is mimicked in the digital output 0.

Attributes:

Name	Type	Description
NONE	int	No description currently available
SWITCH_STATE	int	No description currently available

DO1SyncConfig

Bases: IntEnum

Configures which signal is mimicked in the digital output 1.

Attributes:

Name	Type	Description
NONE	int	No description currently available
HEARTBEAT	int	No description currently available
STEP	int	No description currently available

DigitalInputs

Bases: IntFlag

The state of the digital input pin.

Attributes:

Name	Type	Description
DI0	int	No description currently available

DigitalOutputs

Bases: IntFlag

The digital output lines.

Attributes:

Name	Type	Description
DO0	int	No description currently available
DO1	int	No description currently available

DirectionState

Bases: IntEnum

The state of the DIR motor controller pin.

Attributes:

Name	Type	Description
REVERSE	int	No description currently available
FORWARD	int	No description currently available

ForwardSwitchState

Bases: IntEnum

The state of the forward limit switch.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	int	No description currently available

ProtocolDirectionState

Bases: IntEnum

The state of the protocol execution.

Attributes:

Name	Type	Description
REVERSE	int	No description currently available
FORWARD	int	No description currently available

ProtocolState

Bases: IntEnum

The state of the protocol execution.

Attributes:

Name	Type	Description
IDLE	int	No description currently available
RUNNING	int	No description currently available

PumpBoardType

Bases: IntEnum

Available board configurations.

Attributes:

Name	Type	Description
PUMP	int	No description currently available
FISH_FEEDER	int	No description currently available
STEPPER_MOTOR	int	No description currently available

PumpEvents

Bases: IntFlag

The events that can be enabled/disabled.

Attributes:

Name	Type	Description
STEP	int	No description currently available
DIRECTION	int	No description currently available
FORWARD_SWITCH	int	No description currently available
REVERSE_SWITCH	int	No description currently available
DIGITAL_INPUT	int	No description currently available
PROTOCOL	int	No description currently available

PumpProtocolType

Bases: IntEnum

Available protocol types.

Attributes:

Name	Type	Description
STEP	int	No description currently available
VOLUME	int	No description currently available

ReverseSwitchState

Bases: IntEnum

The state of the reverse limit switch.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	int	No description currently available

StepModeType

Bases: IntEnum

Available step modes.

Attributes:

Name	Type	Description
FULL	int	No description currently available
HALF	int	No description currently available
QUARTER	int	No description currently available
EIGHTH	int	No description currently available
SIXTEENTH	int	No description currently available

StepState

Bases: IntEnum

The state of the STEP motor controller pin.

Attributes:

Name	Type	Description
LOW	int	No description currently available
HIGH	int	No description currently available

SyringePump

Bases: Device

SyringePump class for controlling the device.

read_di0_trigger()

Reads the contents of the DI0Trigger register.

Returns:

Type	Description
DI0TriggerConfig	Value read from the DI0Trigger register.

read_digital_input_state()

Reads the contents of the DigitalInputState register.

Returns:

Type	Description
DigitalInputs	Value read from the DigitalInputState register.

read_digital_output_clear()

Reads the contents of the DigitalOutputClear register.

Returns:

Type	Description
DigitalOutputs	Value read from the DigitalOutputClear register.

read_digital_output_set()

Reads the contents of the DigitalOutputSet register.

Returns:

Type	Description
DigitalOutputs	Value read from the DigitalOutputSet register.

read_direction()

Reads the contents of the Direction register.

Returns:

Type	Description
DirectionState	Value read from the Direction register.

read_do0_sync()

Reads the contents of the DO0Sync register.

Returns:

Type	Description
DO0SyncConfig	Value read from the DO0Sync register.

read_do1_sync()

Reads the contents of the DO1Sync register.

Returns:

Type	Description
DO1SyncConfig	Value read from the DO1Sync register.

read_enable_events()

Reads the contents of the EnableEvents register.

Returns:

Type	Description
PumpEvents	Value read from the EnableEvents register.

read_enable_motor_driver()

Reads the contents of the EnableMotorDriver register.

Returns:

Type	Description
bool	Value read from the EnableMotorDriver register.

read_enable_protocol()

Reads the contents of the EnableProtocol register.

Returns:

Type	Description
bool	Value read from the EnableProtocol register.

read_forward_switch()

Reads the contents of the ForwardSwitch register.

Returns:

Type	Description
ForwardSwitchState	Value read from the ForwardSwitch register.

read_protocol()

Reads the contents of the Protocol register.

Returns:

Type	Description
ProtocolState	Value read from the Protocol register.

read_protocol_direction()

Reads the contents of the ProtocolDirection register.

Returns:

Type	Description
ProtocolDirectionState	Value read from the ProtocolDirection register.

read_protocol_period()

Reads the contents of the ProtocolPeriod register.

Returns:

Type	Description
int	Value read from the ProtocolPeriod register.

read_protocol_step_count()

Reads the contents of the ProtocolStepCount register.

Returns:

Type	Description
int	Value read from the ProtocolStepCount register.

read_reverse_switch()

Reads the contents of the ReverseSwitch register.

Returns:

Type	Description
ReverseSwitchState	Value read from the ReverseSwitch register.

read_step()

Reads the contents of the Step register.

Returns:

Type	Description
StepState	Value read from the Step register.

read_step_mode()

Reads the contents of the StepMode register.

Returns:

Type	Description
StepModeType	Value read from the StepMode register.

write_di0_trigger(value)

Writes a value to the DI0Trigger register.

Parameters:

Name	Type	Description	Default
value	DI0TriggerConfig	Value to write to the DI0Trigger register.	required

write_digital_output_clear(value)

Writes a value to the DigitalOutputClear register.

Parameters:

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

write_digital_output_set(value)

Writes a value to the DigitalOutputSet register.

Parameters:

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

write_direction(value)

Writes a value to the Direction register.

Parameters:

Name	Type	Description	Default
value	DirectionState	Value to write to the Direction register.	required

write_do0_sync(value)

Writes a value to the DO0Sync register.

Parameters:

Name	Type	Description	Default
value	DO0SyncConfig	Value to write to the DO0Sync register.	required

write_do1_sync(value)

Writes a value to the DO1Sync register.

Parameters:

Name	Type	Description	Default
value	DO1SyncConfig	Value to write to the DO1Sync register.	required

write_enable_events(value)

Writes a value to the EnableEvents register.

Parameters:

Name	Type	Description	Default
value	PumpEvents	Value to write to the EnableEvents register.	required

write_enable_motor_driver(value)

Writes a value to the EnableMotorDriver register.

Parameters:

Name	Type	Description	Default
value	bool	Value to write to the EnableMotorDriver register.	required

write_enable_protocol(value)

Writes a value to the EnableProtocol register.

Parameters:

Name	Type	Description	Default
value	bool	Value to write to the EnableProtocol register.	required

write_protocol_direction(value)

Writes a value to the ProtocolDirection register.

Parameters:

Name	Type	Description	Default
value	ProtocolDirectionState	Value to write to the ProtocolDirection register.	required

write_protocol_period(value)

Writes a value to the ProtocolPeriod register.

Parameters:

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

write_protocol_step_count(value)

Writes a value to the ProtocolStepCount register.

Parameters:

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

write_step(value)

Writes a value to the Step register.

Parameters:

Name	Type	Description	Default
value	StepState	Value to write to the Step register.	required

write_step_mode(value)

Writes a value to the StepMode register.

Parameters:

Name	Type	Description	Default
value	StepModeType	Value to write to the StepMode register.	required

SyringePumpRegisters

Bases: IntEnum

Enum for all available registers in the SyringePump device.

Attributes:

Name	Type	Description
ENABLE_MOTOR_DRIVER	int	Enables the motor driver.
ENABLE_PROTOCOL	int	Enables the currently defined protocol.
STEP	int	Status of the STEP motor controller pin.
DIRECTION	int	Status of the DIR motor controller pin.
FORWARD_SWITCH	int	Status of the forward limit switch.
REVERSE_SWITCH	int	Status of the reverse limit switch.
DIGITAL_INPUT_STATE	int	Status of the digital input pin.
DIGITAL_OUTPUT_SET	int	Set the specified digital output lines.
DIGITAL_OUTPUT_CLEAR	int	Clear the specified digital output lines.
DO0_SYNC	int	Configures which signal is mimicked in the digital output 0.
DO1_SYNC	int	Configures which signal is mimicked in the digital output 1.
DI0_TRIGGER	int	Configures the callback function triggered when digital input is triggered.
STEP_MODE	int	Sets the motor step mode from a list of available types.
PROTOCOL_STEP_COUNT	int	Sets the number of steps to be executed in the current protocol.
PROTOCOL_PERIOD	int	Sets the period, in ms, of of each step in the protocol.
ENABLE_EVENTS	int	Specifies all the active events in the device.
PROTOCOL	int	Status of the protocol execution.
PROTOCOL_DIRECTION	int	Sets the direction of the protocol execution.