yaq/daemons/acton-2150i


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installation

The acton-2150i daemon can be installed using the following package managers:

PyPI

traits

The acton-2150i daemon is composed of the following traits:

uses-serial
has-position
has-turret
is-daemon
uses-uart
has-limits

configuration

baud_rate (int) default: 9600
from uses-uart

limits (array) default: [-inf, inf]
Configuration limits are strictly optional.
from has-limits

make (['null', 'string']) default: __null__
from is-daemon

model (['null', 'string']) default: __null__
from is-daemon

out_of_limits (enum) default: closest
Control behavior of daemon when set_position is given a value outside of limits.
from has-limits

port (int)
TCP port for daemon to occupy.
from is-daemon

serial (['null', 'string']) default: __null__
Serial number for the particular device represented by the daemon
from is-daemon

serial_port (string)
from uses-uart

state

The acton-2150i daemon will provide the following state information:

destination (float)

hw_limits (array)

position (float)

turret (int)

messages

Daemons with the acton-2150i trait expose the following public messages:

busy ➜ boolean
Returns true if daemon is currently busy.

direct_serial_write ➜ null
Expose direct access to the serial port to clients. This should not be encouraged for normal use, but may be very important for debugging. If a device is expected to return data, it should be logged at the INFO level, not returned to the client. This is done to allow long tasks to be run asynchronously, and to explicitly discourage use of this method except when debugging. Setting `busy` to true is encouraged, but individual daemon writers should consider their own use case.
parameters:

message (bytes)

get_config ➜ string
Full configuration for the individual daemon as defined in the TOML file. This includes defaults and shared settings not directly specified in the daemon-specific TOML table.

get_config_filepath ➜ string
String representing the absolute filepath of the configuration file on the host machine.

get_destination ➜ float
Get current daemon destination.

get_limits ➜ {'items': 'float', 'type': 'array'}
Get daemon limits.Limits will be the intersection of config limits and driver limits (when appliciable).

get_position ➜ float
Get current daemon position.

get_state ➜ string
Get version of the running daemon

get_turret ➜ int
Get current turret index.

get_units ➜ ['null', 'string']
Get units of daemon. These units apply to the position and destination fields.

id ➜ {'type': 'map', 'values': ['null', 'string']}
JSON object with information to identify the daemon, including name, kind, make, model, serial.

in_limits ➜ boolean
Check if a given position is within daemon limits.
parameters:

position (float)

set_position ➜ null
Give the daemon a new destination, and begin motion towards that destination.
parameters:

position (float)

set_relative ➜ float
Give the daemon a new destination relative to its current position. Daemon will immediately begin motion towards new destination. Returns new destination.
parameters:

distance (float)

set_turret ➜ null
Set the turret to a given index.
parameters:

turret (int)

shutdown ➜ null
Cleanly shutdown (or restart) daemon.
parameters:

restart (boolean) default: False


built 2020-07-31 16:06:40                                      CC0: no copyright