Automation¶

Description¶

Module: geocompy.geo.aut

Definitions for the GeoCOM Automation subsystem.

Types¶

GeoComAUT

Definitions¶

class GeoComAUT(parent: GeoComType)[source]¶

Automation subsystem of the GeoCOM protocol.

This subsystem controls most of the motorized functions of a total station, such as positioning of the axes, target search, target lock, etc.

Parameters:

parent: GeoComType¶: The parent protocol instance of this subsystem.

aim_at_pixel(x: int, y: int, camera: Camera | str = Camera.OVERVIEW) → GeoComResponse[None][source]¶

RPC 9081, AUT_CAM_PositToPixelCoord

Added in version GeoCOM-VivaTPS.

Turns the instrument to face the coordinates specified in the image coordinates.

Parameters:

x: int¶: Horizontal pixel coordinate.
y: int¶: Vertical pixel coordinate.
camera: Camera | str = Camera.OVERVIEW¶: Camera device, by default OVERVIEW

Returns:

Error codes:

NA: Imaging license not found.
AUT_SIDECOVER_ERR: Sidecover is open.

Return type:

GeoComResponse

change_face(posmode: Position | str = Position.NORMAL, atrmode: ATR | str = ATR.POSITION) → GeoComResponse[None][source]¶

RPC 9028, AUT_ChangeFace

Turns the telescope to the opposite face.

Parameters:

posmode: Position | str = Position.NORMAL¶: Positioning precision mode, by default Position.NORMAL
atrmode: ATR | str = ATR.POSITION¶: ATR mode, by default ATR.POSITION

Returns:

Error codes:

IVPARAM: Invalid parameter
AUT_TIMEOUT: Positioning timed out.
AUT_MOTOR_ERROR: Instrument has no motorization.
AUT_ANGLE_ERROR: Angle measurement error.
AUT_INACC: Inexact position.
ABORT: Function aborted.
COM_TIMEDOUT: Communication timeout.
AUT_NO_TARGET: No ATR target found.
AUT_MULTIPLE_TARGETS: Multiple ATR targets found.
AUT_BAD_ENVIRONMENT: Inadequate environmental conditions.
AUT_ACCURACY: Position is not within tolerances. Repeat positioning!
AUT_DEV_ERROR: Angle deviation calculation error. Repeat positioning!
AUT_NOT_ENABLED: ATR mode is not active.

Return type:

GeoComResponse

See also

get_atr_status, switch_atr, get_lock_status, switch_lock, get_tolerance, set_tolerance, get_timeout, set_timeout, com.get_timeout, com.set_timeout, tmc.get_face

fine_adjust(width: SupportsFloat, height: SupportsFloat) → GeoComResponse[None][source]¶

RPC 9037, AUT_FineAdjust

Precisely targets a prism. If the prism is not within the view of the ATR, a target search is executed in the specified window.

Parameters:

width: SupportsFloat¶: Width of target search window.
height: SupportsFloat¶: Heigth of target search window.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
IVPARAM: Invalid parameter
AUT_TIMEOUT: Positioning timed out.
AUT_MOTOR_ERROR: Instrument has no motorization.
FATAL: Fatal error.
ABORT: Function aborted.
COM_TIMEDOUT: Communication timeout.
AUT_NO_TARGET: No ATR target found.
AUT_MULTIPLE_TARGETS: Multiple ATR targets found.
AUT_BAD_ENVIRONMENT: Inadequate environmental conditions.
AUT_DEV_ERROR: Angle deviation calculation error. Repeat positioning!
AUT_NOT_ENABLED: ATR mode is not active.
AUT_DETECTOR_ERROR: Error in target acquisition.

Return type:

GeoComResponse

get_atr_status() → GeoComResponse[bool][source]¶

RPC 9019, AUT_GetATRStatus

Deprecated since version GeoCOM-TPS1100: The command is still available, but should not be used with instruments that support the new aus.get_user_atr_state command.

Removed in version GeoCOM-TPS1200.

Gets whether or not the ATR mode is active.

Returns:

Params:

bool: ATR mode is active.

Error codes:

NOT_IMPL: ATR is not available.

Return type:

GeoComResponse

Notes

This command does not indicate if the ATR has acquired a prism.

See also

switch_atr

get_fine_adjust_mode() → GeoComResponse[Adjust][source]¶

RPC 9030, AUT_GetFineAdjustMode

Gets the fine adjustment mode.

Returns:

Params:

Adjust: Current fine adjustment mode.

Return type:

GeoComResponse

See also

set_fine_adjust_mode

get_lock_onthefly_status() → GeoComResponse[bool][source]¶

RPC 9102, AUT_GetLockFlyMode

Added in version GeoCOM-VivaTPS.

Gets the current state of the on-the-fly lock mode.

Returns:

Params:

bool: On-the-fly lock mode is enabled.

Return type:

GeoComResponse

See also

get_lock_onthefly_status

get_lock_status() → GeoComResponse[bool][source]¶

RPC 9021, AUT_GetLockStatus

Deprecated since version GeoCOM-TPS1100: The command is still available, but should not be used with instruments that support the new aus.get_user_lock_state command.

Removed in version GeoCOM-TPS1200.

Gets whether or not the lock mode is active.

Returns:

Params:

bool: Lock mode is active.

Error codes:

NOT_IMPL: ATR is not available.

Return type:

GeoComResponse

See also

switch_lock, mot.get_lockon_status

get_search_area() → GeoComResponse[tuple[Angle, Angle, Angle, Angle, bool]][source]¶

RPC 9042, AUT_GetSearchArea

Added in version GeoCOM-TPS1100.

Gets current position and size of the PowerSearch window.

Returns:

Params:

Angle: Horizontal center of window.
Angle: Vertical center of window.
Angle: Width of window.
Angle: Height of window.
bool: If window is enabled.

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

set_search_area, bap.search_target

get_spiral() → GeoComResponse[tuple[Angle, Angle]][source]¶

RPC 9040, AUT_GetUserSpiral

Added in version GeoCOM-TPS1100.

Gets the size of the PowerSearch window.

Returns:

Params:

Angle: Width of window.
Angle: Height of window.

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

set_spiral, bap.search_target

get_timeout() → GeoComResponse[tuple[float, float]][source]¶

RPC 9012, AUT_ReadTimeout

Gets the positioning timeout for the Hz and V axes.

Returns:

Params:

float: Horizontal timeout [sec].
float: Vertical timeout [sec].

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

set_timeout

get_tolerance() → GeoComResponse[tuple[Angle, Angle]][source]¶

RPC 9008, AUT_ReadTol

Gets the positioning tolerances on the Hz and V axes.

Returns:

Params:

Angle: Horizontal tolerance.
Angle: Vertical tolerance.

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

set_tolerance

lock_in() → GeoComResponse[None][source]¶

RPC 9013, AUT_LockIn

Locks onto target prism and starts tracking. LOCK mode must be active, and fine adjustment must have been completed, before executing this command.

Returns:

Error codes:

AUT_NOT_ENABLED: ATR mode is not active.
AUT_MOTOR_ERROR: Instrument has not motorization.
AUT_DETECTOR_ERROR: Error in target acquisition.
AUT_NO_TARGET: No ATR target found.
AUT_BAD_ENVIRONMENT: Inadequate environmental conditions.

Return type:

GeoComResponse

See also

get_lock_status, switch_lock, mot.get_lockon_status

powersearch_next(direction: Turn | str, swing: bool) → GeoComResponse[None][source]¶

RPC 9051, AUT_PS_SearchNext

Added in version GeoCOM-TPS1200.

Executes 360° default PowerSearch to find the next target.

Parameters:

direction: Turn | str¶: Turning direction during PowerSearch.
swing: bool¶: Search starts -10 GON to the given turn direction.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
AUT_NO_TARGET: Target was not found.
IVPARAM: Invalid parameters.

Return type:

GeoComResponse

powersearch_window() → GeoComResponse[None][source]¶

RPC 9052, AUT_PS_SearchWindow

Added in version GeoCOM-TPS1200.

Executes PowerSearch in the predefined search window.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
AUT_NO_WORKING_AREA: Search window is not defined.
AUT_NO_TARGET: Target was not found.

Return type:

GeoComResponse

search(width: SupportsFloat, height: SupportsFloat) → GeoComResponse[None][source]¶

RPC 9029, AUT_Search

Search for target in the specified search window. The search is terminated once a prism appears in the view of the ATR. Fine adjustment must be executed afterwards.

Parameters:

width: SupportsFloat¶: Width of target search window.
height: SupportsFloat¶: Heigth of target search window.

Returns:

Error codes:

IVPARAM: Invalid parameter
AUT_MOTOR_ERROR: Instrument has no motorization.
TMC_NO_FULL_CORRECTION: Instrument might not be properly levelled.
FATAL: Fatal error.
ABORT: Function aborted.
COM_TIMEDOUT: Communication timeout.
AUT_NO_TARGET: No ATR target found.
AUT_BAD_ENVIRONMENT: Inadequate environmental conditions.
AUT_NOT_ENABLED: ATR mode is not active.
AUT_DETECTOR_ERROR: Error in target acquisition.

Return type:

GeoComResponse

set_fine_adjust_mode(mode: Adjust | str) → GeoComResponse[None][source]¶

RPC 9031, AUT_SetFineAdjustMode

Sets the fine adjustment mode.

Parameters:

mode: Adjust | str¶

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
IVPARAM: Invalid mode

Return type:

GeoComResponse

See also

get_fine_adjust_mode

set_powersearch_range(closest: int, farthest: int) → GeoComResponse[None][source]¶

RPC 9044, AUT_PS_SetRange

Added in version GeoCOM-TPS1200.

Sets the PowerSearch range limits.

Parameters:

closest: int¶: Minimum distance to prism [0; …].
farthest: int¶: Maxmimum distance to prism [closest + 10; 400].

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
IVPARAM: Invalid parameters.

Return type:

GeoComResponse

set_search_area(hz: SupportsFloat, v: SupportsFloat, width: SupportsFloat, height: SupportsFloat, enabled: bool = True) → GeoComResponse[None][source]¶

RPC 9043, AUT_SetSearchArea

Added in version GeoCOM-TPS1100.

Sets position and size of the PowerSearch window.

Parameters:

hz: SupportsFloat¶: Horizontal center of search window.
v: SupportsFloat¶: Vertical center of search window.
width: SupportsFloat¶: Width of search window.
height: SupportsFloat¶: Height of search window.
enabled: bool = True¶: Activation state of search window.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

get_search_area, bap.search_target

set_spiral(width: SupportsFloat, height: SupportsFloat) → GeoComResponse[None][source]¶

RPC 9041, AUT_SetUserSpiral

Added in version GeoCOM-TPS1100.

Sets the size of the PowerSearch window.

Parameters:

width: SupportsFloat¶: Width of the search window.
height: SupportsFloat¶: Height of the search window.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

See also

get_spiral, bap.search_target

set_timeout(hz: float, v: float) → GeoComResponse[None][source]¶

RPC 9011, AUT_SetTimeout

Sets the positioning timeout for the Hz and V axes.

Parameters:

hz: float¶: Horizontal timeout [sec].
v: float¶: Vertical timeout [sec]

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
IVPARAM: Timeout values are not in the [7; 60] range.

Return type:

GeoComResponse

See also

get_timeout

set_tolerance(hz: SupportsFloat, v: SupportsFloat) → GeoComResponse[None][source]¶

RPC 9007, AUT_SetTol

Sets the positioning tolerances on the Hz and V axes.

Parameters:

hz: SupportsFloat¶: Horizontal tolerance.
v: SupportsFloat¶: Vertical tolerance.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.
IVPARAM: Tolerances are out of the valid range.
MOT_UNREADY: Instrument has no motorization.

Return type:

GeoComResponse

See also

get_tolerance

switch_atr(activate: bool) → GeoComResponse[None][source]¶

RPC 9018, AUT_SetATRStatus

Deprecated since version GeoCOM-TPS1100: The command is still available, but should not be used with instruments that support the new aus.switch_user_atr command.

Removed in version GeoCOM-TPS1200.

Activates or deactivates the ATR mode.

Parameters:

activate: bool¶: Set ATR to active.

Returns:

Error codes:

NOT_IMPL: ATR is not available.

Return type:

GeoComResponse

Notes

If LOCK mode is active when the ATR is activated, then LOCK mode changes to ATR mode.

If the ATR is deactivated, the LOCK mode does not change.

switch_lock(activate: bool) → GeoComResponse[None][source]¶

RPC 9020, AUT_SetLockStatus

Deprecated since version GeoCOM-TPS1100: The command is still available, but should not be used with instruments that support the new aus.switch_user_lock command.

Removed in version GeoCOM-TPS1200.

Activates or deactivates the LOCK mode.

Parameters:

activate: bool¶: LOCK state to set

Returns:

Error codes:

NOT_IMPL: ATR is not available.

Return type:

GeoComResponse

Notes

Activating the LOCK mode does not mean that the instrument is automatically locked onto a prism.

switch_lock_onthefly(enabled: bool) → GeoComResponse[None][source]¶

RPC 9103, AUT_SetLockFlyMode

Added in version GeoCOM-VivaTPS.

Sets the state of on-the-fly mode for the lock mode.

Parameters:

enabled: bool¶: Enable on-the-fly lock mode.

Return type:

GeoComResponse

See also

get_lock_onthefly_status

switch_powersearch_range(enable: bool) → GeoComResponse[None][source]¶

RPC 9048, AUT_PS_EnableRange

Enables or disables the PowerSearch window and range limit.

Parameters:

enable: bool¶: Enable predefined PowerSearch window and range limits. Defaults to [0; 400] range when disabled.

Returns:

Error codes:

NA: GeoCOM Robotic license not found.

Return type:

GeoComResponse

turn_to(hz: SupportsFloat, v: SupportsFloat, posmode: Position | str = Position.NORMAL, atrmode: ATR | str = ATR.POSITION) → GeoComResponse[None][source]¶

RPC 9027, AUT_MakePositioning

Turns the telescope to the specified angular positions.

Parameters:

hz: SupportsFloat¶: Horizontal position.
v: SupportsFloat¶: Vertical position.
posmode: Position | str = Position.NORMAL¶: Positioning precision mode, by default Position.NORMAL
atrmode: ATR | str = ATR.POSITION¶: ATR mode, by default ATR.POSITION

Returns:

Error codes:

IVPARAM: Invalid parameter
AUT_TIMEOUT: Positioning timed out.
AUT_MOTOR_ERROR: Instrument has no motorization.
AUT_ANGLE_ERROR: Angle measurement error.
AUT_INACC: Inexact position.
ABORT: Function aborted.
COM_TIMEDOUT: Communication timeout.
AUT_NO_TARGET: No ATR target found.
AUT_MULTIPLE_TARGETS: Multiple ATR targets found.
AUT_BAD_ENVIRONMENT: Inadequate environmental conditions.
AUT_ACCURACY: Position is not within tolerances. Repeat positioning!
AUT_DEV_ERROR: Angle deviation calculation error. Repeat positioning!
AUT_NOT_ENABLED: ATR mode is not active.

Return type:

GeoComResponse

See also

get_atr_status, switch_atr, get_lock_status, switch_lock, get_tolerance, set_tolerance, get_timeout, set_timeout, com.get_timeout, com.set_timeout