motion

Documentation

Overview

Package motion provides an HTTP interface to motion controllers

Index

• func GetEnabled(e Enabler) http.HandlerFunc
• func GetInPosition(i InPositionQueryer) http.HandlerFunc
• func GetPos(m Mover) http.HandlerFunc
• func GetSynchronous(s SynchronizationController) http.HandlerFunc
• func GetVelocity(s Speeder) http.HandlerFunc
• func HTTPEnable(iface Enabler, table generichttp.RouteTable)
• func HTTPHomeQuery(iface HomeQuerier, table generichttp.RouteTable)
• func HTTPInPosition(iface InPositionQueryer, table generichttp.RouteTable)
• func HTTPInitialize(i Initializer, table generichttp.RouteTable)
• func HTTPMove(iface Mover, table generichttp.RouteTable)
• func HTTPSpeed(iface Speeder, table generichttp.RouteTable)
• func HTTPStop(iface Stopper, table generichttp.RouteTable)
• func HTTPSync(iface SynchronizationController, table generichttp.RouteTable)
• func Home(m Mover) http.HandlerFunc
• func Homed(e HomeQuerier) http.HandlerFunc
• func Initialize(i Initializer) http.HandlerFunc
• func Limits(l LimitMiddleware) http.HandlerFunc
• func SetEnabled(e Enabler) http.HandlerFunc
• func SetPos(m Mover) http.HandlerFunc
• func SetSynchronous(s SynchronizationController) http.HandlerFunc
• func SetVelocity(s Speeder) http.HandlerFunc
• func Stop(m Stopper) http.HandlerFunc
• type Controller
• type Enabler
• type HTTPMotionController
  • func NewHTTPMotionController(c Controller) HTTPMotionController
  • func (h HTTPMotionController) RT() generichttp.RouteTable
• type HomeQuerier
• type InPositionQueryer
• type Initializer
• type LimitMiddleware
  • func (l *LimitMiddleware) Check(next http.Handler) http.Handler
  • func (l LimitMiddleware) Inject(h generichttp.HTTPer)
• type Mover
• type Speeder
• type Stopper
• type SynchronizationController

Functions

func GetEnabled

func GetEnabled(e Enabler) http.HandlerFunc

GetEnabled returns an HTTP handler func from an enabler that returns if the axis is enabled

func GetInPosition

func GetInPosition(i InPositionQueryer) http.HandlerFunc

GetInPosition returns an http.HandlerFunc for i.GetInPosition

func GetPos

func GetPos(m Mover) http.HandlerFunc

GetPos returns an HTTP handler func from a mover that gets the position of an axis

func GetSynchronous

func GetSynchronous(s SynchronizationController) http.HandlerFunc

GetSynchronous returns an http.HandlerFunc for s.GetSynchronous

func GetVelocity

func GetVelocity(s Speeder) http.HandlerFunc

GetVelocity returns an HTTP handler func which gets the velocity setpoint on an axis

func HTTPEnable

func HTTPEnable(iface Enabler, table generichttp.RouteTable)

HTTPEnable adds routes for the enabler to the route table

func HTTPHomeQuery

func HTTPHomeQuery(iface HomeQuerier, table generichttp.RouteTable)

HTTPHomeQuery adds routes for the homequerier to the route tabler

func HTTPInPosition

func HTTPInPosition(iface InPositionQueryer, table generichttp.RouteTable)

HTTPInPosition adds routes for InPosition to the route table

func HTTPInitialize

func HTTPInitialize(i Initializer, table generichttp.RouteTable)

HTTPInitialize adds routes for initialization to the route table

func HTTPMove

func HTTPMove(iface Mover, table generichttp.RouteTable)

HTTPMove adds routes for the mover to the route tabler

func HTTPSpeed

func HTTPSpeed(iface Speeder, table generichttp.RouteTable)

HTTPSpeed adds routes for the speeder to the route table

func HTTPStop

func HTTPStop(iface Stopper, table generichttp.RouteTable)

HTTPStop adds routes for the mover to the route tabler

func HTTPSync

func HTTPSync(iface SynchronizationController, table generichttp.RouteTable)

HTTPInitialize adds routes for synchronization to the route table

func Home

func Home(m Mover) http.HandlerFunc

Home returns an HTTP handler func from a mover that homes an axis

func Homed

func Homed(e HomeQuerier) http.HandlerFunc

Homed returns an HTTP handler func from a homer that returns if the axis is homed

func Initialize

func Initialize(i Initializer) http.HandlerFunc

Initialize returns an HTTP handler func that calls Initialize for an axis

func Limits

func Limits(l LimitMiddleware) http.HandlerFunc

Limits returns an HTTP handler func that returns the limits for an axis

func SetEnabled

func SetEnabled(e Enabler) http.HandlerFunc

SetEnabled returns an HTTP handler func from an enabler that enables or disables the axis

func SetPos

func SetPos(m Mover) http.HandlerFunc

SetPos returns an HTTP handler func from a mover that triggers an absolute or relative move on an axis based on the relative query parameter

func SetSynchronous

func SetSynchronous(s SynchronizationController) http.HandlerFunc

SetSynchronous returns an http.HandlerFunc for s.SetSynchronous

func SetVelocity

func SetVelocity(s Speeder) http.HandlerFunc

SetVelocity returns an HTTP handler func which sets the velocity setpoint on an axis

func Stop

func Stop(m Stopper) http.HandlerFunc

Home returns an HTTP handler func from a mover that homes an axis

Types

type Controller

type Controller interface {
	// Mover - all Controllers must be Movers
	Mover
}

Controller is used for the HTTP interface, which will check if the concrete type satisfies the other interfaces in this package and inject their routes automaticlaly

type Enabler

type Enabler interface {
	// Enable enables an axis
	Enable(string) error

	// Disable disables an axis
	Disable(string) error

	// GetEnabled gets if an axis is enabled
	GetEnabled(string) (bool, error)
}

Enabler describes an interface with enable/disable methods for axes

type HTTPMotionController

type HTTPMotionController struct {
	Controller

	RouteTable generichttp.RouteTable
}

HTTPMotionController wraps a motion controller with HTTP

func NewHTTPMotionController

func NewHTTPMotionController(c Controller) HTTPMotionController

NewHTTPMotionController returns a new HTTP wrapper with the route table pre-configured

func (HTTPMotionController) RT

func (h HTTPMotionController) RT() generichttp.RouteTable

RT satisfies the HTTPer interface

type HomeQuerier

type HomeQuerier interface {
	// Homed gets if an axis is homed
	Homed(string) (bool, error)
}

type InPositionQueryer

type InPositionQueryer interface {
	// GetInPosition returns True if the axis is in position
	GetInPosition(string) (bool, error)
}

InpositionQueryer is a type which can query whether an axis is in position

type Initializer

type Initializer interface {
	// Initialize an axis, engaging the control electronic controls
	Initialize(string) error
}

Initializer is a type which may initialize an axis

type LimitMiddleware

type LimitMiddleware struct {
	// Limits contains the server imposed limits on the controller
	Limits map[string]util.Limiter

	// Mov is a reference to the mover, used to query axis positions
	Mov Mover
}

LimitMiddleware is a type that can impose axis-specific limits on motion it returns a boolean "notOK" that indicates if the limit would be violated by a motion, stopping the chain of handling calls

func (*LimitMiddleware) Check

func (l *LimitMiddleware) Check(next http.Handler) http.Handler

Check verifies if a motion would violate the axis limit, if it exists, and if it does, responds with StatusBadRequest otherwise, flows control to the next handler

func (LimitMiddleware) Inject

func (l LimitMiddleware) Inject(h generichttp.HTTPer)

Inject places a /axis/{axis}/limits route on the table of the HTTPer

type Mover

type Mover interface {
	// GetPos gets the current position of an axis
	GetPos(string) (float64, error)

	// MoveAbs moves an axis to an absolute position
	MoveAbs(string, float64) error

	// MoveRel moves an axis a relative amount
	MoveRel(string, float64) error

	// Home homes an axis
	Home(string) error
}

Mover describes an interface with position-related methods for axes

type Speeder

type Speeder interface {
	// SetVelocity sets the velocity setpoint on the axis
	SetVelocity(string, float64) error

	// GetVelocity gets the velocity setpoint on the axis
	GetVelocity(string) (float64, error)
}

Speeder describes an interface with velocity-related methods for axes

type Stopper

type Stopper interface {
	// Stop aborts motion of the axis
	Stop(string) error
}

Stopper describes an interface with stop-related methods for axes

type SynchronizationController

type SynchronizationController interface {
	// SetSynchronous places axis (string) in sync mode
	SetSynchronous(string, bool) error

	// GetSynchronous queries whether axis (string) is in sync mode
	GetSynchronous(string) (bool, error)
}

SynchronizationController is a type which can control whether an axis is in synchronous mode or not