fcs-lpc-motor-ctl

README

fcs-lpc-motor-ctl

A html5 application using the github.com/go-lsst/ncs control system to control the m702 motors.

Installation

sh> go get github.com/go-lsst/fcs-lpc-motor-ctl
sh> fcs-lpc-motor-ctl -addr=:7777 &
sh> open 0.0.0.0:7777

API

$> curl -u faux-fcs:faux-fcs clrbinetsrv.in2p3.fr:5555/api/mon
{"code":200,"infos":[{"motor":"x","online":true,"status":"ready","mode":"home","rpms":1300,"angle":0,"temps":[35,40,46,52],"histos":null,"webcam":""},{"motor":"z","online":true,"status":"ready","mode":"home","rpms":1300,"angle":0,"temps":[35,40,45,51],"histos":null,"webcam":""}]}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-pos --data '{"motor":"x", "value":1}'
{"code":200}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-angle-pos --data '{"motor":"x", "value":45}'
{"code":200}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-pos --data '{"motor":"z", "value":1}'
{"code":200}

$> curl -u faux-fcs:faux-fcs clrbinetsrv.in2p3.fr:5555/api/mon
{"code":200,"infos":[{"motor":"x","online":true,"status":"ready","mode":"pos","rpms":1300,"angle":13,"temps":[35,41,47,50],"histos":null,"webcam":""},{"motor":"z","online":true,"status":"ready","mode":"pos","rpms":1300,"angle":0,"temps":[36,40,46,50],"histos":null,"webcam":""}]}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"motor z\nget 0.18.002\nmotor x\nget 0.18.002"}'
{"code":200,"script":"Pr-00.18.002: hex=[0x00 0x00 0x00 0x00] dec=[  0   0   0   0] (0)\nPr-00.18.002: hex=[0x00 0x00 0x00 0xe1] dec=[  0   0   0 225] (225)\n"}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-script -F 'upload-file=@./test.script'
{"code":200,"script":"Pr-00.08.015: hex=[0x00 0x00 0x00 0x00] dec=[  0   0   0   0] (0)\nPr-00.08.015: hex=[0x00 0x00 0x00 0x01] dec=[  0   0   0   1] (1)\nset-x-angle-pos=20\nset-x-rpm=2000\nget-x-angle-pos=20\nget-x-rpm=2000\nset-z-angle-pos=-20\nset-z-rpm=2020\nget-z-rpm=2020\nget-z-angle-pos=-20\n"}

### high-level API

## find-home
$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-find-home"}'
{"code":200,"script":""}

$> curl -u faux-fcs:faux-fcs clrbinetsrv.in2p3.fr:5555/api/mon
{"code":200,"infos":[{"motor":"x","online":true,"status":"ready","mode":"pos","rpms":1300,"angle":45,"temps":[35,41,45,52],"histos":null,"webcam":""},{"motor":"z","online":true,"status":"ready","mode":"home","rpms":2000,"angle":0,"temps":[35,42,46,51],"histos":null,"webcam":""}]}

## set-pos-mode
$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-pos"}'
{"code":200,"script":""}

$> curl -u faux-fcs:faux-fcs clrbinetsrv.in2p3.fr:5555/api/mon
{"code":200,"infos":[{"motor":"x","online":true,"status":"ready","mode":"pos","rpms":1300,"angle":45,"temps":[36,41,46,52],"histos":null,"webcam":""},{"motor":"z","online":true,"status":"ready","mode":"pos","rpms":2000,"angle":0,"temps":[35,41,46,50],"histos":null,"webcam":""}]}

## get/set rpm
$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-rpm"}'
{"code":200,"script":"get-z-rpm=1300\n"}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-rpm 2000"}'
{"code":200,"script":"set-z-rpm=2000\n"}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-rpm"}'
{"code":200,"script":"get-z-rpm=2000\n"}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-rpm\nx-rpm"}'
{"code":200,"script":"get-z-rpm=2000\nget-x-rpm=1300\n"}

## get/set angular position

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-angle-pos -20"}'
{"code":200,"script":"set-z-angle-pos=-20\n"}

$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-angle-pos"}'
{"code":200,"script":"get-z-angle-pos=-20\n"}

## sleep for some time
$> curl -u faux-fcs:faux-fcs -X POST clrbinetsrv.in2p3.fr:5555/api/cmd/req-upload-cmds --data '{"motor":"z", "cmds":"z-angle-pos +5\n sleep 20s\n z-angle-pos"}'
{"code":200,"script":"set-z-angle-pos=5\nget-z-angle-pos=5\n"}

fcs-lpc-motor-cli

$> go get github.com/go-lsst/fcs-lpc-motor-ctl/cmd/fcs-lpc-motor-cli
$> fcs-lpc-motor-cli -h
Usage: fcs-lpc-motor-cli [options] [cmd-or-script-file]

ex:
 $> fcs-lpc-motor-cli ./test.script
 $> fcs-lpc-motor-cli x-angle-pos
 $> fcs-lpc-motor-cli z-angle-pos +20
 $> fcs-lpc-motor-cli

options:
  -addr string
    	address:port of the fcs-lpc-motor-cli (default "http://clrbinetsrv.in2p3.fr:5555")
  -p string
    	user password for the authentication (default "faux-fcs")
  -u string
    	user name for the authentication (default "faux-fcs")

$> fcs-lpc-motor-cli
fcs-lpc-motor-cli: code: 200
fcs-lpc-motor-cli: --- motor x ---
fcs-lpc-motor-cli:  online:  true
fcs-lpc-motor-cli:  status:  ready
fcs-lpc-motor-cli:  mode:    home
fcs-lpc-motor-cli:  RPMs:    1300
fcs-lpc-motor-cli:  angle:   0
fcs-lpc-motor-cli:  temp[0]: 35
fcs-lpc-motor-cli:  temp[1]: 40
fcs-lpc-motor-cli:  temp[2]: 46
fcs-lpc-motor-cli:  temp[3]: 50
fcs-lpc-motor-cli: --- motor z ---
fcs-lpc-motor-cli:  online:  true
fcs-lpc-motor-cli:  status:  ready
fcs-lpc-motor-cli:  mode:    home
fcs-lpc-motor-cli:  RPMs:    1300
fcs-lpc-motor-cli:  angle:   0
fcs-lpc-motor-cli:  temp[0]: 35
fcs-lpc-motor-cli:  temp[1]: 40
fcs-lpc-motor-cli:  temp[2]: 46
fcs-lpc-motor-cli:  temp[3]: 52

$> cat > test.script
get 0.8.15
set 0.8.15 1


x-angle-pos +20
sleep 50s
x-rpm 2000
x-angle-pos
x-rpm
x-find-home

z-angle-pos -20
sleep 20s
z-rpm 2020
z-rpm
z-angle-pos
z-find-home
^C

$> fcs-lpc-motor-cli ./test.script
fcs-lpc-motor-cli: code: 200
fcs-lpc-motor-cli: script:
Pr-00.08.015: hex=[0x00 0x00 0x00 0x00] dec=[  0   0   0   0] (0)
Pr-00.08.015: hex=[0x00 0x00 0x00 0x01] dec=[  0   0   0   1] (1)
set-x-angle-pos=20
set-x-rpm=2000
get-x-angle-pos=20
get-x-rpm=2000
set-z-angle-pos=-20
set-z-rpm=2020
get-z-rpm=2020
get-z-angle-pos=-20

$> fcs-lpc-motor-cli
fcs-lpc-motor-cli: code: 200
fcs-lpc-motor-cli: --- motor x ---
fcs-lpc-motor-cli:  online:  true
fcs-lpc-motor-cli:  status:  ready
fcs-lpc-motor-cli:  mode:    home
fcs-lpc-motor-cli:  RPMs:    2000
fcs-lpc-motor-cli:  angle:   0
fcs-lpc-motor-cli:  temp[0]: 36
fcs-lpc-motor-cli:  temp[1]: 41
fcs-lpc-motor-cli:  temp[2]: 45
fcs-lpc-motor-cli:  temp[3]: 50
fcs-lpc-motor-cli: --- motor z ---
fcs-lpc-motor-cli:  online:  true
fcs-lpc-motor-cli:  status:  ready
fcs-lpc-motor-cli:  mode:    home
fcs-lpc-motor-cli:  RPMs:    2020
fcs-lpc-motor-cli:  angle:   0
fcs-lpc-motor-cli:  temp[0]: 36
fcs-lpc-motor-cli:  temp[1]: 40
fcs-lpc-motor-cli:  temp[2]: 47
fcs-lpc-motor-cli:  temp[3]: 52