#!/usr/bin/env python

from enum import *

class E_AxisParameters(Enum):
    # PLCopen specific parameters Index-Group 0x4000 + ID
    CommandedPosition = 1  # lreal taken from NcToPlc
    SWLimitFwd = 2  # lreal IndexOffset= 16#0001_000E
    SWLimitBwd = 3  # lreal IndexOffset= 16#0001_000D
    EnableLimitFwd = 4  # bool IndexOffset= 16#0001_000C
    EnableLimitBwd = 5  # bool IndexOffset= 16#0001_000B
    EnablePosLagMonitoring = 6  # bool IndexOffset= 16#0002_0010
    MaxPositionLag = 7  # lreal IndexOffset= 16#0002_0012
    AxisMaxVelocity = 8  # lreal IndexOffset= 16#0000_0027
    ActualVelocity = 10  # lreal taken from NcToPlc
    CommandedVelocity = 11  # lreal taken from NcToPlc
    AxisDefaultAcceleration = 12  # lreal IndexOffset= 16#0000_0101
    AxisDefaultDeceleration = 14  # lreal IndexOffset= 16#0000_0102
    AxisDefaultJerk = 16  # lreal IndexOffset= 16#0000_0103
    
    # Beckhoff specific parameters Index-Group 0x4000 + ID
    AxisId = 1000  # lreal IndexOffset= 16#0000_0001
    AxisManVelSlow = 1001  # lreal IndexOffset= 16#0000_0008
    AxisManVelFast = 1002  # lreal IndexOffset= 16#0000_0009
    AxisRapidTraverseVelocity = 1009  # lreal IndexOffset= 16#0000_000A
    AxisVelocityToCam = 1012  # lreal IndexOffset= 16#0000_0006
    AxisVelocityFromCam = 1013  # lreal IndexOffset= 16#0000_0007
    AxisJogIncrementForward = 1014  # lreal IndexOffset= 16#0000_0018
    AxisJogIncrementBackward = 1015  # lreal IndexOffset= 16#0000_0019
    AxisMaxPosLagFilterTime = 1022  # lreal IndexOffset= 16#0002_0013
    AxisEnPositionRangeMonitoring = 1023  # bool IndexOffset= 16#0000_000F
    AxisPositionRangeWindow = 1024  # lreal IndexOffset= 16#0000_0010
    AxisEnTargetPositionMonitoring = 1025  # bool IndexOffset= 16#0000_0015
    AxisTargetPositionWindow = 1026  # lreal IndexOffset= 16#0000_0016
    AxisTargetPositionMonitoringTime = 1027  # lreal IndexOffset= 16#0000_0017
    AxisEnInTargetTimeout = 1028  # bool IndexOffset= 16#0000_0029
    AxisInTargetTimeout = 1029  # lreal IndexOffset= 16#0000_002A
    AxisEnMotionMonitoring = 1030  # bool IndexOffset= 16#0000_0011
    AxisMotionMonitoringWindow = 1031  # lreal IndexOffset= 16#0000_0028
    AxisMotionMonitoringTime = 1032  # lreal IndexOffset= 16#0000_0012
    AxisDelayTimeVeloPosition = 1033  # lreal IndexOffset= 16#0000_0104
    AxisEnLoopingDistance = 1034  # bool IndexOffset= 16#0000_0013
    AxisLoopingDistance = 1035  # lreal IndexOffset= 16#0000_0014
    AxisEnBacklashCompensation = 1036  # bool IndexOffset= 16#0000_002B
    AxisBacklash = 1037  # lreal IndexOffset= 16#0000_002C
    AxisEnDataPersistence = 1038  # bool IndexOffset= 16#0000_0030
    AxisRefVeloOnRefOutput = 1039  # lreal IndexOffset= 16#0003_0101
    AxisOverrideType = 1040  # lreal IndexOffset= 16#0000_0105
    # new since 4/2007
    AxisEncoderOffset = 1042  # lreal IndexOffset= 16#0001_0007
    AxisEncoderDirectionInverse = 1043  # bool IndexOffset= 16#0001_0008
    AxisEncoderMask = 1044  # dword IndexOffset= 16#0001_0015
    AxisEncoderModuloValue = 1045  # lreal IndexOffset= 16#0001_0009
    AxisModuloToleranceWindow = 1046  # lreal IndexOffset= 16#0001_001B
    AxisEnablePosCorrection = 1047  # bool IndexOffset= 16#0001_0016
    AxisPosCorrectionFilterTime = 1048  # lreal IndexOffset= 16#0001_0017
    # new since 1/2010
    AxisUnitInterpretation = 1049  # lreal IndexOffset= 16#0000_0026
    AxisMotorDirectionInverse = 1050  # bool  IndexOffset= 16#0003_0006
    # new since 1/2011
    AxisCycleTime = 1051  # lreal IndexOffset= 16#0000_0004
    # new since 5/2011
    AxisFastStopSignalType = 1052  # dword IndexOffset= 16#0000_001E
    AxisFastAcc = 1053  # lreal IndexOffset= 16#0000_010A
    AxisFastDec = 1054  # lreal IndexOffset= 16#0000_010B
    AxisFastJerk = 1055  # lreal IndexOffset= 16#0000_010C
    # new since 1/2012 *)
    AxisEncoderScalingNumerator = 1056 # lreal IndexOffset= 16#0001_0023 - available in Tc3
    AxisEncoderScalingDenominator = 1057 # lreal IndexOffset= 16#0001_0024 - available in Tc3
    # new since 7/2016
    AxisMaximumAcceleration = 1058 # lreal IndexOffset= 16#0000_00F1
    AxisMaximumDeceleration = 1059 # lreal IndexOffset= 16#0000_00F2
    AxisVeloJumpFactor = 1060  # lreal IndexOffset= 16#0000_0106
    AxisToleranceBallAuxAxis = 1061  # lreal IndexOffset= 16#0000_0108
    AxisMaxPositionDeviationAuxAxis = 1062  # lreal IndexOffset= 16#0000_0109
    AxisErrorPropagationMode = 1063  # dword IndexOffset= 16#0000_001A
    AxisErrorPropagationDelay = 1064  # lreal IndexOffset= 16#0000_001B
    AxisCoupleSlaveToActualValues = 1065  # bool IndexOffset= 16#0000_001C
    AxisAllowMotionCmdToSlaveAxis = 1066  # bool IndexOffset= 16#0000_0020
    AxisAllowMotionCmdToExtSetAxis = 1067  # bool IndexOffset= 16#0000_0021
    AxisEncoderSubMask = 1068  # dword IndexOffset= 16#0001_0108
    AxisEncoderReferenceSystem = 1069  # dword IndexOffset= 16#0001_0019
    AxisEncoderPositionFilterPT1 = 1070  # lreal IndexOffset= 16#0001_0010
    AxisEncoderVelocityFilterPT1 = 1071  # lreal IndexOffset= 16#0001_0011
    AxisEncoderAccelerationFilterPT1 = 1072  # lreal IndexOffset= 16#0001_0012
    AxisEncoderMode = 1073  # dword IndexOffset= 16#0001_000A
    AxisEncoderHomingInvDirCamSearch = 1074  # bool IndexOffset= 16#0001_0101
    AxisEncoderHomingInvDirSyncSearch = 1075  # bool IndexOffset= 16#0001_0102
    AxisEncoderHomingCalibValue = 1076  # lreal IndexOffset= 16#0001_0103
    AxisEncoderReferenceMode = 1077  # dword IndexOffset= 16#0001_0107
    AxisRefVeloOutputRatio = 1078  # lreal IndexOffset= 16#0003_0102
    AxisDrivePositionOutputScaling = 1079  # lreal IndexOffset= 16#0003_0109
    AxisDriveVelocityOutputScaling = 1080  # lreal IndexOffset= 16#0003_0105
    AxisDriveVelocityOutputDelay = 1081  # lreal IndexOffset= 16#0003_010D
    AxisDriveMinOutputLimitation = 1082  # lreal IndexOffset= 16#0003_000B
    AxisDriveMaxOutputLimitation = 1083  # lreal IndexOffset= 16#0003_000C
    AxisTorqueInputScaling = 1084  # lreal IndexOffset= 16#0003_0031 - available in Tc3
    AxisTorqueInputFilterPT1 = 1085  # lreal IndexOffset= 16#0003_0032 - available in Tc3
    AxisTorqueDerivationInputFilterPT1 = 1086  # lreal IndexOffset= 16#0003_0033 - available in Tc3
    AxisTorqueOutputScaling = 1087  # lreal IndexOffset= 16#0003_010B
    AxisTorqueOutputDelay = 1088  # lreal IndexOffset= 16#0003_010F
    AxisAccelerationOutputScaling = 1089  # lreal IndexOffset= 16#0003_010A
    AxisAccelerationOutputDelay = 1090  # lreal IndexOffset= 16#0003_010E
    AxisDrivePositionOutputSmoothFilterType = 1091  # dword IndexOffset= 16#0003_0110
    AxisDrivePositionOutputSmoothFilterTime = 1092  # lreal IndexOffset= 16#0003_0111
    AxisDrivePositionOutputSmoothFilterOrder = 1093  # dword IndexOffset= 16#0003_0112
    AxisDriveMode = 1094  # dword IndexOffset= 16#0003_000A
    AxisDriftCompensationOffset = 1095  # lreal IndexOffset= 16#0003_0104
    AxisPositionControlKv = 1096  # lreal IndexOffset= 16#0002_0102
    AxisCtrlVelocityPreCtrlWeight = 1097  # lreal IndexOffset= 16#0002_000B
    AxisControllerMode = 1098  # dword IndexOffset= 16#0002_000A
    AxisCtrlAutoOffset = 1099  # bool IndexOffset= 16#0002_0110
    AxisCtrlAutoOffsetTimer = 1100  # lreal IndexOffset= 16#0002_0115
    AxisCtrlAutoOffsetLimit = 1101  # lreal IndexOffset= 16#0002_0114
    AxisSlaveCouplingControlKcp = 1102  # lreal IndexOffset= 16#0002_010F
    AxisCtrlOutputLimit = 1103  # lreal IndexOffset= 16#0002_0100

    # Beckhoff specific axis status information - READ ONLY Index-Group 0x4100 + ID
    AxisTargetPosition = 2000  # lreal IndexOffset= 16#0000_0013
    AxisRemainingTimeToGo = 2001  # lreal IndexOffset= 16#0000_0014
    AxisRemainingDistanceToGo = 2002  # lreal IndexOffset= 16#0000_0022, 16#0000_0042

    # Beckhoff specific axis functions
    # read/write gear ratio of a slave
    AxisGearRatio = 3000  # lreal read: IndexGroup=0x4100+ID IdxOffset=16#0000_0022
    # write:IndexGroup=0x4200+ID IdxOffset=16#0000_0042

    # Beckhoff specific other parameters
    # new since 1/2011
    NcSafCycleTime = 4000  # lreal IndexOffset= 16#0000_0010
    NcSvbCycleTime = 4001  # lreal IndexOffset= 16#0000_0012