U O%h@s8dZddlZddlZddlZdZdZGdddeZdS)zSCPI access to Red Pitaya.Nz%Luka Golinar, Iztok Jeras, Miha GjurazCopyright 2023, Red Pitayac@seZdZdZdZd_ddZddZd d Zd`d d ZdaddZ ddZ dbddZ ddZ dcddZ ddZddddZdeeeeeeeeejeeeeeeedd$d%d&Zdfeeeeeeeeeeeedd' d(d)Zdgeeed*d+d,Zdheeeeeeeeeed- d.d/Zdieeeeedd3d4d5Zed6d7d8Zdjeedd9d:d;Zeed<d=d>Zdkeeeedd?d@dAZed6dBdCZ dDdEZ!edFdGdHZ"dIdJZ#dKdLZ$dMdNZ%dOdPZ&dQdRZ'dSdTZ(dUdVZ)dWdXZ*dYdZZ+d[d\Z,d]d^Z-dS)lscpiz8SCPI class used to access Red Pitaya over an IP network.z Nc Cs||_||_||_z:ttjtj|_|dk r:|j||j||fWn6tj k r}zt d |||W5d}~XYnXdS)z{Initialize object and open IP connection. Host IP should be a string in parentheses, like '192.168.1.100'. Nz+SCPI >> connect({!s:s}:{:d}) failed: {!s:s}) hostporttimeoutsocketZAF_INETZ SOCK_STREAM_socketZ settimeoutZconnecterrorprintformat)selfrrrerC/dev/shm/golem/ActualShot/Devices/ITs/SignalLab-a/redpitaya_scpi.py__init__s z scpi.__init__cCs|jdk r|jd|_dSN)rcloser rrr__del__!s  z scpi.__del__cCs |dS)zClose IP connection.N)rrrrrr&sz scpi.closecCsNd}|j|d}||7}t|dkr|dd|jkr|ddSqdS)z?Receive text string and return it after removing the delimiter.utf-8N)rrecvdecodelen delimiter)r chunksizemsgZchunkrrrrx_txt*s z scpi.rx_txtTcCs||}|||Sr)r check_error)r rstoprrrrrx_txt_check_error3s  zscpi.rx_txt_check_errorcCsd}d}t|dkr"|jd}q|dkr.dSd}t|dkrL|jd}q2t|}|dkr`dSd}t||kr||jd7}qdt|}d}t||krt|t|d}||j|7}q|S)z% Recieve binary data from scpi serverr#Fr)rrrintmin)r Z numOfBytesdataZ numOfNumBytesZr_sizerrrrx_arb8s*    z scpi.rx_arbcCs|}|||Sr)r*r!)r r"r)rrrrx_arb_check_errorSs zscpi.rx_arb_check_errorcCs|j||jdS)z-Send text string ending and append delimiter.r)rZsendallrencoder rrrrtx_txtXsz scpi.tx_txtcCs||||dSr)r.r!)r rr"rrrtx_txt_check_error\s zscpi.tx_txt_check_errorcCs|||S)zSend/receive text string.)r.r r-rrrtxrx_txt`s z scpi.txrx_txtcCsht|}|d@rd|}|dr(qdt||d}t|dkr|rt|ddkrtdqdS)Nz0,,ri%r%)r'stb_qerr_n startswithr splitrexit)r r"reserrnrrrr!es    zscpi.check_errorsiner%r?Fr')chanfuncvoltfreqoffsetphasedcycr)burstncycnorperiodtrigsdrlabsiglabreturnc( Csddddddddd g }d d d d g}d}d}d}d}d}d}|rHd}d}n|rPd}z|dks^tWn,tk r}ztd|W5d}~XYnXz||kstWn6tk r}zt|d|W5d}~XYnXz||kr|ksntWn:tk r2}ztd||fd|W5d}~XYnXzt||ksHtWn<tk r}ztd| |fd|W5d}~XYnXzt||kstWn<tk r}ztd| |fd|W5d}~XYnXz"d|krdksntWn4tk r2}ztdd|W5d}~XYnXzt||ksHtWn<tk r}ztd | |fd!|W5d}~XYnX|dk rz|jd|kstWn4tk r}ztd"||W5d}~XYnXz| dkstWn.tk r } ztd#| W5d} ~ XYnXz| dks2tWn.tk rb}!ztd$|!W5d}!~!XYnX| dk rz| dks~tWn.tk r}"ztd%|"W5d}"~"XYnXz| |kstWn8tk r}#zt| d&|#W5d}#~#XYnXz|d'kr|d'krtWn.tk rJ}$ztd(|$W5d}$~$XYnXg}%|d)|d*||d)|d+|||d,d-kr|d)|d.||d)|d/||d)|d0||dkr|d)|d1||dk rT|dkrT|D]}&|%|&d2qd3tt |%}'|d)|d4|'| r|d)|d5|d)|d6| |d)|d7| | dk r|d)|d8| n|d)|d9|d)|d:| dS);ui Set the parameters for signal generator on one channel. Parameters ----------- chan (int) : Output channel (either 1 or 2). func (str, optional) : Waveform of the signal (SINE, SQUARE, TRIANGLE, SAWU, SAWD, PWM, ARBITRARY, DC, DC_NEG). Defaults to `sine`. volt (int, optional) : Amplitude of signal {-1, 1} Volts. {-5, 5} for SIGNALlab 250-12. Defaults to 1. freq (int, optional) : Frequency of signal. Not relevant if 'func' is "DC" or "DC_NEG". Defaults to 1000. offset (int, optional) : Signal offset {-1, 1} Volts. {-5, 5} for SIGNALlab 250-12. Defaults to 0. phase (int, optional) : Phase of signal {-360, 360} degrees. Defaults to 0. dcyc (float, optional) : Duty cycle, where 1 corresponds to 100%. Defaults to 0.5. data (ndarray, optional) : Numpy ``ndarray`` of max 16384 values, floats in range {-1,1} (or {-5,5} for SIGNALlab). Define the custom waveform if "func" is "ARBITRARY". Defaults to `None`. burst (bool, optional) : Enable/disable Burst mode. (`True` - BURST, `False` - CONINUOUS) Generate "nor" number of "ncyc" periods with total time "period". Defaults to `False`. ncyc (int, optional) : Number of periods in one burst. Defaults to 1. nor (int, optional) : Number of repeated bursts. Defaults to 1. period (_type_, optional) : Total time of one burst in µs {1, 5e8}. Includes the signal and delay. Defaults to `None`. trig (str, optional): Trigger source (EXT_PE, EXT_NE, INT, GATED). Defaults to `int` (internal). sdrlab (bool, optional): `True` if operating with SDRlab 122-16. Defaults to `False`. siglab (bool, optional): `True` if operating with SIGNALlab 250-12. Defaults to `False`. The settings will work on any Red Pitaya board. If operating on a board other than STEMlab 125-14, change the bool value of the appropriate parameter to true (sdrlab, siglab) Raises ------ Raises errors if the input parameters are out of range. ZSINEZSQUAREZTRIANGLEZSAWUZSAWDZPWMZ ARBITRARYDCZDC_NEGZEXT_PEZEXT_NEZINTZGATED@r%ihgׇArgOAr%r!Channel needs to be either 1 or 2Nz is not a defined waveformzFrequency is out of range z HzzAmplitude is out of range  VzOffset is out of range zDuty Cycle is out of range )rr%zPhase is out of range z degz&Data array is too long. Max length is zNCYC minimum is 1zNOR minimum is 1uMinimal burst period 1 µsz is not a defined trigger sourceTz[Please select only one board option. 'siglab' and 'sdrlab' cannot be true at the same time.ZSOURz:FUNC z:VOLT  z :FREQ:FIX z :VOLT:OFFS z:PHAS z:DCYC z.5f, z:TRAC:DATA:DATA z:BURS:STAT BURSTz :BURS:NCYC z :BURS:NOR z:BURS:INT:PER z:BURS:STAT CONTINUOUSz :TRIG:SOUR ) AssertionError ValueErrorupperabsshaper.appendjoinmapstr)(r r>r?r@rArBrCrDr)rErFrGrHrIrJrKZ waveform_listZ trigger_listZ buff_sizeZvolt_limZoffs_limZ phase_limZ freq_up_limZ freq_down_limZ channel_errZ waveform_errZfreq_errZampl_errZoffs_errZdcyc_errZ phase_errZdata_errZncyc_errZnor_errZ period_errtrig_err board_errZwf_datar:Zcust_wfrrrsour_setssU &(**""* " & z scpi.sour_set) dectrig_lvl trig_delay trig_delay_nsunits sample_format averaginggaincoupling ext_trig_lvlrKinput4rLc  Csddg} ddg}ddg}ddg}| r*d }nd }d }d}|d k r\|D]}|dkrBd }d}qBzt||ksntWnBtk r}z$td| |fdd||W5d }~XYnXz|dkstWn,tk r}ztd|W5d }~XYnX|d k rLz||kstWn8tk rJ}zt|d|W5d }~XYnX|d k rz||ksjtWn8tk r}zt|d|W5d }~XYnX|d k r(z,|d| kr|d| kstWnJtk r&}z*t|dd|dd|W5d }~XYnX| r| d k rz,| d|kr^| d|ksbtWnJtk r}z*t| dd| dd|W5d }~XYnXzt| |kstWn<tk r}ztd| |fd|W5d }~XYnXz| dkr| dkrtWn0tk rP}ztdd|W5d }~XYnX|d||rt|dn |d|r|d |n|d!||d k r|d"||d k r|d#||d k rt|D](}|d$|dd%||q|d&|| r| d k rt|D](}|d$|dd'| |qF|d(| d S))aZ Set the parameters for signal acquisition. Parameters ----------- dec (int, optional) : Decimation (1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768, 65536) Defaults to 1. trig_lvl (float, optional) : Trigger level in Volts. {-1, 1} Volts on LV gain or {-20, 20} Volts on HV gain. Defaults to 0. trig_delay (int, optional) : Trigger delay in samples (if trig_delay_ns = True, then the delay is in ns) Defaults to 0. trig_delay_ns (bool, optional) : Change the trigger delay to nanoseconds instead of samples. Defaults to False. units (str, optional) : The units in which the acquired data will be returned. Defaults to "VOLTS". sample_format (str, optional) : The format in which the acquired data will be returned. Defaults to "ASCII". averaging (bool, optional) : Enable/disable averaging. When True, if decimation is higher than 1, each returned sample is the average of the taken samples. For example, if dec = 4, the returned sample will be the average of the 4 decimated samples. Defaults to True. gain (list(str), optional) : HV / LV - (High (1:20) or Low (1:1 attenuation)) The first element in list applies to the SOUR1 and the second to SOUR2. Refers to jumper settings on Red Pitaya fast analog inputs. (1:20 and 1:1 attenuator for SIGNALlab 250-12) Defaults to ["LV","LV"]. coupling (list(str), optional) : AC / DC - coupling mode for fast analog inputs. The first element in list applies to the SOUR1 and the second to SOUR2. (Only SIGNALlab 250-12) Defaults to ["DC","DC"]. ext_trig_lvl (float, optional) : Set trigger external level in V. (Only SIGNALlab 250-12) Defaults to 0. siglab (bool, optional) : Set to True if operating with SIGNALlab 250-12. Defaults to False. input4 (bool, optional) : Set to True if operating with STEMlab 125-14 4-Input. Defaults to False. The settings will work on any Red Pitaya board. If operating on SIGNALlab 250-12 or STEMlab 125-14 4-Input change the bool value of the appropriate parameter to true (siglab, input4). This will change the available range of input parameters. Raises ------ Raises errors if the input parameters are out of range. ZLVZHVrMZACRAWVOLTSZBINASCIIr1rg?Ng4@zTrigger level out of range rRz for gain rz#Trigger delay cannot be less that 0z is not a defined unitz is not a defined formatr%z or z is not a defined gainzis not a defined couplingz#External trigger level out of rangeTz$Please select only one board option.z6'siglab' and 'input4' cannot be true at the same time.zACQ:DEC z ACQ:AVG ONz ACQ:AVG OFFzACQ:TRIG:DLY:NS z ACQ:TRIG:DLY zACQ:DATA:UNITS zACQ:DATA:FORMAT ACQ:SOURz:GAIN z ACQ:TRIG:LEV z:COUP zACQ:TRIG:EXT:LEV )rXrYrVrWr.range)r rbrcrdrerfrgrhrirjrkrKrlZ gain_listZ coupling_listZ units_list format_listr:Z trig_lvl_limZgain_lvlir_Z trig_dly_errZunit_errZ format_errZgain_errZ coupling_errZ ext_trig_errr`rrracq_setNsS  & & ,8,      & &z scpi.acq_set)rKrlrLc Csz|dkr|dkrtWn,tk rD}ztd|W5d}~XYnXg}|rTd}nd}||d||d||d||d ||d ||d t|D] }||d |d dq|r"tdD] }||d |d dq||dtd|dtd|d td|dtd|dtd|dtd|d|rtd|dd|dd|dd|dntd |dd|d|rtd!|dd|dtd"|d#|S)$a Retrieves the settings from Red Pitaya, prints them in console and returns them as an array with the following sequence: [decimation, avearge, trig_dly, trig_dly_ns, trig_lvl, buf_size, gain_ch1, gain_ch2, coup_ch1, coup_ch2, ext_trig_lvl] , gain_ch3, gain_ch4 Decimation - Current decimation Average - Current averaging status (ON/OFF) Trig_dly - Current trigger delay in samples Trig_dly_ns - Current trigger delay in nanoseconds Trig_lvl - Current triger level in Volts Buf_size - Buffer size Gain_ch1-4 - Current gain on channels (CH3 and CH4 STEMlab 125-14 4-Input only) Coup_ch1/2 - Current coupling mode for both channels (AC/DC) (SIGNALlab only) Ext_trig_lvl - Current external trigger level in Volts (SIGNALlab only) Note: The last three array elements won't exist if siglab = False Gain of channels 3 and 4 only if input4 = True Parameters ---------- siglab (bool, optional): Set to True if operating with SIGNALlab 250-12. Defaults to False. input4 (bool, optional): Set to True if operating with STEMlab 125-14 4-Input. Defaults to False. Tz[Please select only one board option. 'siglab' and 'input4' cannot be true at the same time.Nr1rzACQ:DEC?zACQ:AVG?z ACQ:TRIG:DLY?zACQ:TRIG:DLY:NS?z ACQ:TRIG:LEV?z ACQ:BUF:SIZE?rpr%z:GAIN?z:COUP?zACQ:TRIG:EXT:LEV?z Decimation: rz Averaging: zTrigger delay (samples): zTrigger delay (ns): zTrigger level (V): z Buffer size: rOzGain CH1/CH2/CH3/CH4: rUrSrTzGain CH1/CH2: zCoupling CH1/CH2: zExternal trigger level (V): )rVrWr[r0rqr )r rKrlr`settingsr:rsrrr get_settings sB#  2zscpi.get_settings) r>startend num_samplesoldlatbinaryconvertrlrLc  szd} d} | rLz|dkstWqtk rH} ztd| W5d} ~ XYqXn>z|dksZtWn,tk r} ztd| W5d} ~ XYnXz|dkr|dkrtWn,tk r} ztd | W5d} ~ XYnX|dk r2zd|krdksntWn8tk r0}ztd | | f|W5d}~XYnX|dk rz"d|krVdks\ntWn8tk r}ztd | | f|W5d}~XYnX|dk rz"d|krdksntWn8tk r}ztd | | f|W5d}~XYnX|d }|dk r:|dk r:|d|d|d|n|dk rl|dk rl|d|d|d|nb|r|dk r|d|d|n:|r|dk r|d|d|n|d|d|r<||r6|dkr fddtdtdD}n(|dkr:fddtdtdD}n}n:|}|rr|d dd d}t t t |}n|}|S)a Returns the acquired data on a channel from the Red Pitaya, with the following options (for a specific channel): - only channel => returns the whole buffer - start and end => returns the samples between them - start and n => returns 'n' samples from the start position - old and n => returns 'n' oldest samples in the buffer - lat and n => returns 'n' latest samples in the buffer Parameters ---------- chan (int) : Input channel (either 1 or 2). (1-4 for STEMlab 125-14 4-Input) start (int, optional): Start position of acquired data in the buffer {0,1,...16384} Defaults to None. end (int, optional): End position of acquired data in the buffer {0,1,...16384} Defaults to None. n (int, optional): Number of samples read. old (bool, optional): Read oldest samples in the buffer. lat (bool, optional): Read latest samples in the buffer. bin (bool, optional): Set to True if working with Binary data. Defaults to False. convert (bool, optional): Set to True to convert data to a list of floats (VOLTS) or integers (RAW). Otherwise returns a list of str (VOLTS) or int (RAW). Defaults to False. input4 (bool, optional) : Set to True if operating with STEMlab 125-14 4-Input. Defaults to False. Raises ------ Raises errors if the input parameters do not match one of the options. rrN)r%rrur1z'Channel needs to be either 1, 2, 3 or 4NrPrQTzHPlease select only one. 'old' and 'lat' cannot be True at the same time.zStart position out of range zEnd position out of range zSample number out of range zACQ:DATA:UNITS?rpz:DATA:STA:END? r2z :DATA:STA:N? z :DATA:OLD:N? z :DATA:LAT:N? z:DATA?rnc s,g|]$}tdt||ddqS)z!fr1rstructZunpack bytearray.0rsZ buff_byterr sz!scpi.acq_data..r1rmc s,g|]$}tdt||ddqS)z!hrrrrrrrrsr{}  r)rVrWr0r.r*rqrr stripreplacer6listr]float)r r>r{r|r}r~rrrrlZlow_limZup_limZ chanel_errZarg_errZ start_errZend_errZ sample_errrfZbuffZ buff_stringrrracq_data]sl8 & "& "&     z scpi.acq_data%CS8NONE)speedbitsparityr"rrLcCs$ddddddddd d d d d ddddddg}dddg}dddddg}z||ksPtWn2tk r} zt|d| W5d} ~ XYnXz||kstWn2tk r} zt|d| W5d} ~ XYnXz||kstWn4tk r} zt|d| W5d} ~ XYnXz|d ks tWn.tk rP} ztd!| W5d} ~ XYnXz"d"|krld#ksrntWn6tk r} ztd$|d%| W5d} ~ XYnX|d&|d'||d(||d)||d*||d+||d,td-dS).a4 Configures the provided settings for UART. Args: speed (int, optional): Baud rate/speed of UART connection (bits per second). Defaults to 9600. bits (str, optional): Character size in bits (CS6, CS7, CS8). Defaults to "CS8". parity (str, optional): Parity (NONE, EVEN, ODD, MARK, SPACE). Defaults to "NONE". stop (int, optional): Number of stop bits (1 or 2). Defaults to 1. timeout (int, optional): Timeout for reading from UART (in 1/10 of seconds) {0,...255}. Defaults to 0. ii` iriKiiiiii i@Bii`ii%&i-ig5i =ZCS6ZCS7rrZEVENZODDZMARKZSPACEzJ is not a defined speed for UART connection. Please check the speed table.Nz! is not a defined character size.z is not a defined parity.rPz*The number of stop bits can only be 1 or 2rzTimeout z is out of range [0, 255]z UART:INITz UART:SPEED z UART:BITS zUART:STOPB STOPz UART:PARITY z UART:TIMEOUT z UART:SETUPzUART is configured)rVrWr.rXr )r rrrr"rZ speed_listZ database_listZ parity_list speed_errbits_errZ parity_errZstop_errZ timeout_errrrruart_sets>* """"$  z scpi.uart_set)rLcCsg}||d||d|d}|dkrB|dn|dkrT|d||d||d td |d td |d td|dtd|dtd|d|S)z Retrieves the settings from Red Pitaya, prints them in console and returns them as an array with the following sequence: [speed, databits, stopbits, parity, timeout] z UART:SPEED?z UART:BITS?z UART:STOPB?ZSTOP11ZSTOP22z UART:PARITY?z UART:TIMEOUT?zBaudrate/Speed: rz Databits: r%z Stopbits: rzParity: ruzTimeout (0.1 sec): r1)r[r0r )r ryr"rrruart_get_settings&s    zscpi.uart_get_settings)string word_lengthrLcCsP|r d}nd}dddt||D}|dt|d|tdd S) aP Sends a string of characters through UART. Args: string (str, optional): String that will be sent. word_length (bool, optional): Set to True if UART word lenght is set to 7 (ASCII) or False if UART word length is set to 8 (UTF-8). Defaults to False. asciirz,#Hcss|]}t|dVqdS)XN)r rxrrr _sz)scpi.uart_write_string..z UART:WRITEz #Hz String sentN)r\rr.rr )r rrcodeZarrrrruart_write_stringHs zscpi.uart_write_string)lengthrLc Csz|dkstWn,tk r<}ztd|W5d}~XYnX|d||}|dddd}dd d |D}|S) z Reads a string of data from UART and decodes it from ASCII to string. Args: length (int): Length of data to read from UART. Returns: str: Read data in string format. rzLength must be greater than 0.Nz UART:READrrrr2css|]}tt|VqdSr)chrr'rrrrr{sz(scpi.uart_read_string..)rVrWr.r rrr6r\)r rZ length_errr8rrrruart_read_stringdszscpi.uart_read_string)spi_modecs_moderword_lenrLc Csd}d}ddg}ddg}ddd d g} d } z|| ks:tWn2tk rn} zt|d | W5d } ~ XYnXz||kstWn2tk r} zt|d| W5d } ~ XYnXz||kr|ksntWn@tk r} z t|d|d|d| W5d } ~ XYnXz|| ks(tWn:tk rd}ztd| d||W5d }~XYnX|d||d||d||d||dtdd S)a Configures the provided settings for SPI. Args: spi_mode (str, optional): Sets the mode for SPI; - LISL (Low Idle level, Sample Leading edge) - LIST (Low Idle level, Sample Trailing edge) - HISL (High Idle level, Sample Leading edge) - HIST (High Idle level, Sample Trailing edge) Defaults to LISL. cs_mode (str, optional): Sets the mode for CS: - NORMAL (After message transmission, CS => HIGH) - HIGH (After message transmission, CS => LOW) Defaults to NORMAL. speed (int, optional): Sets the speed of the SPI connection. Defaults to 5e7. word_len (int, optional): Character size in bits (CS6, CS7, CS8). Defaults to "CS8". gחAr%ZNORMALZHIGHZMSBZLSBZLISLZLISTZHISLZHISTrSz is not a defined SPI mode.Nz is not a defined CS mode.z is out of range [r2z].z!Word length must be greater than z. Current word length: z SPI:SET:MODE zSPI:SET:CSMODE zSPI:SET:SPEED z SPI:SET:WORD z SPI:SET:SETzSPI is configured)rXrVrWr.r )r rrrrZspeed_max_limitZspeed_min_limitZ cs_mode_listZ order_listZ spi_mode_listZbits_min_limitZ spi_mode_errZcs_errrrrrrspi_sets8 "".( z scpi.spi_setcCs|dg}||d||d||d||d||dtd|dtd |d td |d td |dtd|d|S)z Retrieves the SPI settings from Red Pitaya, prints them in console and returns them as an array with the following sequence: [mode, csmode, speed, word_len, msg_size] z SPI:SET:GETz SPI:SET:MODE?zSPI:SET:CSMODE?zSPI:SET:SPEED?z SPI:SET:WORD?z SPI:MSG:SIZE?z SPI mode: rz CS mode: r%zSpeed: rz Word length: ruzMessage queue length: r1)r.r[r0r )r ryrrrspi_get_settingss zscpi.spi_get_settingscCs |dS)zClear Status Commandz*CLSr.rrrrclsszscpi.cls)valuecCs|d|S)z$Standard Event Status Enable Commandz*ESE r)r rrrreseszscpi.esecCs |dS)z"Standard Event Status Enable Queryz*ESE?r0rrrrese_qsz scpi.ese_qcCs |dS)z$Standard Event Status Register Queryz*ESR?rrrrresr_qsz scpi.esr_qcCs |dS)zIdentification Queryz*IDN?rrrrridn_qsz scpi.idn_qcCs |dS)zOperation Complete Commandz*OPCrrrrropcszscpi.opccCs |dS)zOperation Complete Queryz*OPC?rrrrropc_qsz scpi.opc_qcCs |dS)z Reset Commandz*RSTrrrrrrstszscpi.rstcCs |dS)zService Request Enable Commandz*SRErrrrrsreszscpi.srecCs |dS)zService Request Enable Queryz*SRE?rrrrrsre_qsz scpi.sre_qcCs |dS)zRead Status Byte Queryz*STB?rrrrrr3 sz scpi.stb_qcCs |dS)z Error count.zSYST:ERR:COUN?rrrrrerr_csz scpi.err_ccCs |dS)z Error next.zSYST:ERR:NEXT?rrrrrr4sz scpi.err_n)Nr)r)rT)T)T)T)r;r%r<rrr=NFr%r%Nr'FF) r%rrFNNTNNrFF)FF)NNNFFFFF)rrrr%r)F)NNNN).__name__ __module__ __qualname____doc__rrrrr r#r*r+r.r/r0r!r'r^rnpZndarrayboolrarrtrzrrrrrrrrrrrrrrrrrr3rr4rrrrr s0      ^ ? V   A %   C r) rrrZnumpyr __author__Z __copyright__objectrrrrrs