| 1 | [[Include(WikiToC)]] |
| 2 | |
| 3 | === Service: XY Table |
| 4 | |
| 5 | 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. |
| 6 | |
| 7 | XY Tables: |
| 8 | ||= '''Name''' =||= '''Location''' =||= Mounted Device =|| |
| 9 | || xytable1.sb1.cosmos-lab.org || COSMOS Sandbox 1 || rfdev3-5 || |
| 10 | || xytable2.sb1.cosmos-lab.org || COSMOS Sandbox 1 || rfdev3-6 || |
| 11 | |
| 12 | Please visit the [wiki:Architecture/Domains/cosmos_sb1 Sandbox 1 page] for more details. |
| 13 | |
| 14 | [[BR]] |
| 15 | |
| 16 | === Usage === |
| 17 | |
| 18 | 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. |
| 19 | |
| 20 | [[BR]] |
| 21 | |
| 22 | === Get the Current Status & Positions === |
| 23 | |
| 24 | 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. |
| 25 | |
| 26 | HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/status` |
| 27 | |
| 28 | Parameters: |
| 29 | ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =|| |
| 30 | || name || Comma separated list of XY-table FQDNs || Y || (list of XY table FQDNs) || |
| 31 | |
| 32 | Selected response values and their meaning: |
| 33 | * '''xy_status''': |
| 34 | |
| 35 | ||= '''Value''' =||= '''Decription''' =|| |
| 36 | || Idle || Platform is stopped in the X and Y plane. || |
| 37 | || Run || Platform is moving in the X and/or Y directions. || |
| 38 | || ''other values'' || Indicate possible error, may require staff intervention if persistent. || |
| 39 | |
| 40 | * '''rotator_status''': |
| 41 | |
| 42 | ||= '''Value''' =||= '''Decription''' =|| |
| 43 | || Limp || Rotator is stopped but the motor is not trying to hold the position fixed. || |
| 44 | || Holding || Rotator is stopped and the motor is trying to hold the position fixed. || |
| 45 | || Accelerating[[BR]]Travelling[[BR]]Decelerating || Rotator is moving. || |
| 46 | || ''other values'' || Indicate possible error, may require staff intervention if persistent. || |
| 47 | |
| 48 | * '''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. |
| 49 | |
| 50 | * '''target_position''': The last requested X, Y, and angle positions. |
| 51 | |
| 52 | ==== Example 1 ==== |
| 53 | |
| 54 | Get status of `xytable1`. |
| 55 | |
| 56 | HTTP Request: |
| 57 | {{{ |
| 58 | am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org |
| 59 | }}} |
| 60 | |
| 61 | Response: |
| 62 | {{{ |
| 63 | <response status="OK"> |
| 64 | <action service="xy_table" name="status"> |
| 65 | <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org"> |
| 66 | <current_position x="650.998" y="0.997" angle="-0.4"/> |
| 67 | <target_position x="650" y="0" angle="0.0"/> |
| 68 | </xy_table> |
| 69 | </action> |
| 70 | </response> |
| 71 | }}} |
| 72 | |
| 73 | ==== Example 2 ==== |
| 74 | |
| 75 | Get status of `xytable1` and `xytable2`. |
| 76 | |
| 77 | HTTP Request: |
| 78 | {{{ |
| 79 | am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org,xytable2.sb1.cosmos-lab.org |
| 80 | }}} |
| 81 | |
| 82 | Response: |
| 83 | {{{ |
| 84 | <response status="OK"> |
| 85 | <action service="xy_table" name="status"> |
| 86 | <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org"> |
| 87 | <current_position x="650.998" y="0.997" angle="-0.4"/> |
| 88 | <target_position x="650" y="0" angle="0.0"/> |
| 89 | </xy_table> |
| 90 | <xy_table xy_status="Run" rotator_status="Holding" name="xytable2.sb1.cosmos-lab.org"> |
| 91 | <current_position x="641.916" y="0.997" angle="0.4"/> |
| 92 | <target_position x="650" y="0" angle="0.0"/> |
| 93 | </xy_table> |
| 94 | </action> |
| 95 | </response> |
| 96 | }}} |
| 97 | |
| 98 | [[BR]] |
| 99 | |
| 100 | === Move XY Table Platform === |
| 101 | |
| 102 | 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. |
| 103 | |
| 104 | HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/move_to` |
| 105 | |
| 106 | Parameters: |
| 107 | ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =|| |
| 108 | || name || Comma separated list of XY table FQDNs || Y || (list of XY table FQDNs) || |
| 109 | || x || X-axis target coordinate (mm) || Y || 0 to 1300 || |
| 110 | || y || Y-axis target coordinate (mm) || Y || 0 to 1300 || |
| 111 | || angle || Target angle (deg) || Y || -45 to 45 || |
| 112 | |
| 113 | ==== Example 1 ==== |
| 114 | |
| 115 | Move the platform of `xytable1` to X=500 and Y=30, and rotate to 15 degrees. |
| 116 | |
| 117 | HTTP Request: |
| 118 | {{{ |
| 119 | am1.cosmos-lab.org:5054/xy_table/move_to?name=xytable1.sb1.cosmos-lab.org&x=500&y=30&angle=15 |
| 120 | }}} |
| 121 | |
| 122 | Response: |
| 123 | {{{ |
| 124 | <response status="OK"> |
| 125 | <action service="xy_table" name="move_to"> |
| 126 | <xy_table xy_status="Run" rotator_status="Traveling" name="xytable1.sb1.cosmos-lab.org"> |
| 127 | <current_position x="650.998" y="0.997" angle="-0.4"/> |
| 128 | <target_position x="500" y="30" angle="15.0"/> |
| 129 | </xy_table> |
| 130 | </action> |
| 131 | </response> |
| 132 | }}} |
| 133 | |
| 134 | [[BR]] |
| 135 | |
| 136 | === Stop the Current Movement === |
| 137 | |
| 138 | Immediately cancels the last requested movement and bring the platform(s) to a stop. |
| 139 | |
| 140 | HTTP API Path: `am1.cosmos-lab.org:5054/xy_table/stop` |
| 141 | |
| 142 | Parameters: |
| 143 | ||= '''Name''' =||= '''Decription''' =||= '''Required''' =||= '''Acceptable Input''' =|| |
| 144 | || name || Comma separated list of XY table FQDNs || Y || (list of XY table FQDNs) || |
| 145 | |
| 146 | ==== Example 1 ==== |
| 147 | |
| 148 | Stop the current movement of `xytable1`. |
| 149 | |
| 150 | HTTP Request: |
| 151 | {{{ |
| 152 | am1.cosmos-lab.org:5054/xy_table/stop?name=xytable1.sb1.cosmos-lab.org |
| 153 | }}} |
| 154 | |
| 155 | Response: |
| 156 | {{{ |
| 157 | <response status="OK"> |
| 158 | <action service="xy_table" name="stop"> |
| 159 | <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org"> |
| 160 | <current_position x="650.998" y="0.997" angle="-0.4"/> |
| 161 | </xy_table> |
| 162 | </action> |
| 163 | </response> |
| 164 | }}} |