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from .base import DeviceBase
from .control_common import interlock_keys, triggers_keys
class Motor(DeviceBase):
control_keys = [
('AActualVelocity', 'f8', ()),
('AEncoderResolution', 'u4', ()),
('AHomingVelocityOffPlcCam', 'f8', ()),
('AHomingVelocityToPlcCam', 'f8', ()),
('ANCParam', 'u4', ()),
('ANomCurrent', 'u4', ()),
('AOpenloopCurrent', 'u4', ()),
('APeakCurrent', 'u4', ()),
('AProfileAcceleration', 'u4', ()),
('AQuickStopDecceleration', 'u4', ()),
('AStandByCurrent', 'u4', ()),
('AStepperResolution', 'u4', ()),
('Acontrolword', 'u2', ()),
('actualPosition', 'f8', ()),
('axisBacklash', 'f8', ()),
('busy', 'u1', ()),
('calibrateTarget', 'f8', ()),
('enableSWLimitHigh', 'u1', ()),
('enableSWLimitLow', 'u1', ()),
('encoderPosition', 'f8', ()),
('epsilon', 'f4', ()),
('epsilonActualPosition', 'f8', ()),
('epsilonActualVelocity', 'f8', ()),
('force', 'u1', ()),
('hardwareErrorDescriptor', 'u4', ()),
('hardwareStatusBitField', 'u4', ()),
('isCCWLimit', 'u1', ()),
('isCWLimit', 'u1', ()),
('isInterlockLimitHigh', 'u1', ()),
('isInterlockLimitLow', 'u1', ()),
('isOnTarget', 'u1', ()),
('isSWLimitHigh', 'u1', ()),
('isSWLimitLow', 'u1', ()),
('isSlave', 'u1', ()),
('maxUpdateFrequency', 'f4', ()),
('mc2/aaxisacc', 'f8', ()),
('mc2/aaxiscalibrationvelocitybackward', 'f8', ()),
('mc2/aaxiscalibrationvelocityforward', 'f8', ()),
('mc2/aaxiscycletime', 'f8', ()),
('mc2/aaxisdec', 'f8', ()),
('mc2/aaxisdelaytimeveloposition', 'f8', ()),
('mc2/aaxisenableposcorrection', 'u1', ()),
('mc2/aaxisenbacklashcompensation', 'u1', ()),
('mc2/aaxisencoderdirectioninverse', 'u1', ()),
('mc2/aaxisencodermask', 'u4', ()),
('mc2/aaxisencodermodulovalue', 'f8', ()),
('mc2/aaxisencoderoffset', 'f8', ()),
('mc2/aaxisencoderscalingfactor', 'f8', ()),
('mc2/aaxisendatapersistence', 'u1', ()),
('mc2/aaxisenintargettimeout', 'u1', ()),
('mc2/aaxisenloopingdistance', 'u1', ()),
('mc2/aaxisenpositionlagmonitoring', 'u1', ()),
('mc2/aaxisenpositionrangemonitoring', 'u1', ()),
('mc2/aaxisentargetpositionmonitoring', 'u1', ()),
('mc2/aaxisfastacc', 'f8', ()),
('mc2/aaxisfastjerk', 'f8', ()),
('mc2/aaxisfaststopsignaltype', 'u4', ()),
('mc2/aaxisid', 'f8', ()),
('mc2/aaxisintargettimeout', 'f8', ()),
('mc2/aaxisjerk', 'f8', ()),
('mc2/aaxisjogincrementbackward', 'f8', ()),
('mc2/aaxisjogincrementforward', 'f8', ()),
('mc2/aaxisloopingdistance', 'f8', ()),
('mc2/aaxismanualvelocityfast', 'f8', ()),
('mc2/aaxismanualvelocityslow', 'f8', ()),
('mc2/aaxismaxposlagfiltertime', 'f8', ()),
('mc2/aaxismaxposlagvalue', 'f8', ()),
('mc2/aaxismaxvelocity', 'f8', ()),
('mc2/aaxismodulotolerancewindow', 'f8', ()),
('mc2/aaxismotionmonitoringtime', 'f8', ()),
('mc2/aaxismotionmonitoringwindow', 'f8', ()),
('mc2/aaxismotordirectioninverse', 'u1', ()),
('mc2/aaxisoverridetype', 'f8', ()),
('mc2/aaxisposcorrectionfiltertime', 'f8', ()),
('mc2/aaxispositionrangewindow', 'f8', ()),
('mc2/aaxisrapidtraversevelocity', 'f8', ()),
('mc2/aaxisrefveloonrefoutput', 'f8', ()),
('mc2/aaxistargetpositionmonitoringtime', 'f8', ()),
('mc2/aaxistargetpositionwindow', 'f8', ()),
('mc2/aaxisunitinterpretation', 'f8', ()),
('mc2/acommandedvelocity', 'f8', ()),
('mc2/aencoderaxisoffset', 'f8', ()),
('mc2/aencoderaxisscalingfactor', 'f8', ()),
('mc2/aencoderreferencemode', 'u1', ()),
('mc2/ahomingvelocitoffplccam', 'f8', ()),
('mc2/ahomingvelocittowardsplccam', 'f8', ()),
('mc2/ainvertdircalibrationcamsearch', 'u1', ()),
('mc2/ainvertdirsyncpulssearch', 'u1', ()),
('mc2/amodulotargetposition', 'f8', ()),
('mc2/amovedirection', 'i4', ()),
('mc2/ancsvbcycletime', 'f8', ()),
('mc2/axisenmotionmonitoring', 'u1', ()),
('mc2/axisfastdec', 'f8', ()),
('mc2/extendedStateWord', 'u4', ()),
('mc2/ncsafcycletime', 'f8', ()),
('mc2ContinuousMotion', 'u1', ()),
('mc2DiscreteMotion', 'u1', ()),
('mc2ErrorStop', 'u1', ()),
('pollInterval', 'f4', ()),
('softDeviceId', 'u4', ()),
('specificError', 'u4', ()),
('stepSize', 'f8', ()),
('swLimitHigh', 'f8', ()),
('swLimitLow', 'f8', ()),
('targetPosition', 'f8', ()),
('targetVelocity', 'f8', ()),
('terminal', 'u4', ()),
] + interlock_keys + triggers_keys
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