Changes between Initial Version and Version 1 of Resources/Services/XYTable

Timestamp:

Jan 10, 2021, 9:26:01 PM (5 years ago)

Author:

jkol

Comment:

—

Resources/Services/XYTable

@@ +1 @@
+[[Include(WikiToC)]]
+
+=== Service: XY Table
+
+This service is used to control the positioning of the [wiki:Hardware/SubSystems/Sivers Sivers 60GHz] antenna arrays mounted on the XY-tables in COSMOS Sandbox 1.
+
+XY Tables:
+ ||= '''Name''' =||= '''Location''' =||= Mounted Device =||
+ ||  xytable1.sb1.cosmos-lab.org  ||  COSMOS Sandbox 1  ||  rfdev3-5  ||
+ ||  xytable2.sb1.cosmos-lab.org  ||  COSMOS Sandbox 1  ||  rfdev3-6  ||
+
+Please visit the [wiki:Architecture/Domains/cosmos_sb1 Sandbox 1 page] for more details.
+
+[[BR]]
+
+=== Usage ===
+
+All the available methods are accessible from the a testbed console via an HTTP API located at `am1.cosmos-lab.org:5054/xy_table`. This API can be interacted with via a command line tool such as "curl" or any script using a "REST client" library.
+
+[[BR]]
+
+=== Get the Current Status & Positions ===
+
+This API call is used to get the current status of the XY-table(s). The response will specify the current movement state of the XY platform and angular rotation systems as well as their current and target positions.
+
+HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/status`
+
+Parameters:
+ ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =||
+ ||  name ||  Comma separated list of XY-table FQDNs  ||  Y  ||  (list of XY table FQDNs)  ||
+
+Selected response values and their meaning:
+* '''xy_status''':
+
+ ||= '''Value''' =||= '''Decription''' =||
+ ||  Idle  || Platform is stopped in the X and Y plane. ||
+ ||  Run  || Platform is moving in the X and/or Y directions. ||
+ ||  ''other values''  || Indicate possible error, may require staff intervention if persistent. ||
+
+* '''rotator_status''':
+
+ ||= '''Value''' =||= '''Decription''' =||
+ ||  Limp  || Rotator is stopped but the motor is not trying to hold the position fixed. ||
+ ||  Holding  || Rotator is stopped and the motor is trying to hold the position fixed. ||
+ ||  Accelerating[[BR]]Travelling[[BR]]Decelerating  || Rotator is moving. ||
+ ||  ''other values''  || Indicate possible error, may require staff intervention if persistent. ||
+
+* '''current_position''': The position information at the time the request was issued. Note that this is not real-time and may have up to a 1 second delay.
+
+* '''target_position''': The last requested X, Y, and angle positions.
+
+==== Example 1 ====
+
+Get status of `xytable1`.
+
+HTTP Request:
+{{{
+am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org
+}}}
+
+Response:
+{{{
+<response status="OK">
+  <action service="xy_table" name="status">
+    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
+      <current_position x="650.998" y="0.997" angle="-0.4"/>
+      <target_position x="650" y="0" angle="0.0"/>
+    </xy_table>
+  </action>
+</response>
+}}}
+
+==== Example 2 ====
+
+Get status of `xytable1` and `xytable2`.
+
+HTTP Request:
+{{{
+am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org,xytable2.sb1.cosmos-lab.org
+}}}
+
+Response:
+{{{
+<response status="OK">
+  <action service="xy_table" name="status">
+    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
+      <current_position x="650.998" y="0.997" angle="-0.4"/>
+      <target_position x="650" y="0" angle="0.0"/>
+    </xy_table>
+    <xy_table xy_status="Run" rotator_status="Holding" name="xytable2.sb1.cosmos-lab.org">
+      <current_position x="641.916" y="0.997" angle="0.4"/>
+      <target_position x="650" y="0" angle="0.0"/>
+    </xy_table>
+  </action>
+</response>
+}}}
+
+[[BR]]
+
+=== Move XY Table Platform ===
+
+Moves the platform(s) to the desired X, Y coordinates and rotates it to the desired angle. The response will be a "status" style response immediately following the execution of the command.
+
+HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/move_to`
+
+Parameters:
+ ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =||
+ ||  name  ||  Comma separated list of XY table FQDNs  ||  Y  ||  (list of XY table FQDNs)  ||
+ ||  x  ||  X-axis target coordinate (mm)  ||  Y  ||  0 to 1300  ||
+ ||  y  ||  Y-axis target coordinate (mm)  ||  Y  ||  0 to 1300  ||
+ ||  angle  ||  Target angle (deg)  ||  Y  ||  -45 to 45  ||
+
+==== Example 1 ====
+
+Move the platform of `xytable1` to X=500 and Y=30, and rotate to 15 degrees. 
+
+HTTP Request:
+{{{
+am1.cosmos-lab.org:5054/xy_table/move_to?name=xytable1.sb1.cosmos-lab.org&x=500&y=30&angle=15
+}}}
+
+Response:
+{{{
+<response status="OK">
+  <action service="xy_table" name="move_to">
+    <xy_table xy_status="Run" rotator_status="Traveling" name="xytable1.sb1.cosmos-lab.org">
+      <current_position x="650.998" y="0.997" angle="-0.4"/>
+      <target_position x="500" y="30" angle="15.0"/>
+    </xy_table>
+  </action>
+</response>
+}}}
+
+[[BR]]
+
+=== Stop the Current Movement ===
+
+Immediately cancels the last requested movement and bring the platform(s) to a stop.
+
+HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/stop`
+
+Parameters:
+ ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =||
+ ||  name  ||  Comma separated list of XY table FQDNs  ||  Y  ||  (list of XY table FQDNs)  ||
+
+==== Example 1 ====
+
+Stop the current movement of `xytable1`. 
+
+HTTP Request:
+{{{
+am1.cosmos-lab.org:5054/xy_table/stop?name=xytable1.sb1.cosmos-lab.org
+}}}
+
+Response:
+{{{
+<response status="OK">
+  <action service="xy_table" name="stop">
+    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
+      <current_position x="650.998" y="0.997" angle="-0.4"/>
+    </xy_table>
+  </action>
+</response>
+}}}