The wright-aerotech daemon can be installed using the following package managers:
The wright-aerotech daemon is composed of the following traits:
has-limits
has-position
is-daemon
is-homeable
uses-serial
uses-uart
baud_rate (int)
default: 57600
from uses-uart
enable (boolean)
default: True
Disable this daemon. The kind entry-point will not attempt to start this daemon.
from is-daemon
limits (array)
default: [-inf, inf]
Configuration limits are strictly optional.
from has-limits
log_level ({'name': 'level', 'symbols': ['debug', 'info', 'notice', 'warning', 'error', 'critical', 'alert', 'emergency'], 'type': 'enum'})
default: info
Set daemon log-level.
from is-daemon
log_to_file (boolean)
default: False
Optionally force logging to a file.
from is-daemon
make (['null', 'string'])
default: None
from is-daemon
model (['null', 'string'])
default: None
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: None
Serial number for the particular device represented by the daemon
from is-daemon
serial_port (string)
from uses-uart
The wright-aerotech daemon will provide the following state information:
destination (double)
from has-position
hw_limits (array)
from has-limits
position (double)
from has-position
The wright-aerotech daemon will expose the following public messages:
busy
➜ boolean
Returns true if daemon is currently busy.
from is-daemon
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.
from uses-serial
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.
from is-daemon
get_config_filepath
➜ string
String representing the absolute filepath of the configuration file on the host machine.
from is-daemon
get_destination
➜ double
Get current daemon destination.
from has-position
get_limits
➜ {'items': 'double', 'type': 'array'}
Get daemon limits.Limits will be the intersection of config limits and driver limits (when appliciable).
from has-limits
get_position
➜ double
Get current daemon position.
from has-position
get_state
➜ string
Get version of the running daemon
from is-daemon
get_units
➜ ['null', 'string']
Get units of daemon. These units apply to the position and destination properties.
from has-position
home
➜ null
Initiates the homing procedure.
The daemon will report as busy during the homing procedure.
After the homing procedure is complete, the daemon will return to the current destination.
from is-homeable
id
➜ {'type': 'map', 'values': ['null', 'string']}
JSON object with information to identify the daemon, including name, kind, make, model, serial.
from is-daemon
in_limits
➜ boolean
Check if a given position is within daemon limits.
from has-limits
parameters:
position (double)
set_position
➜ null
Give the daemon a new destination, and begin motion towards that destination.
from has-position
parameters:
position (double)
set_relative
➜ double
Give the daemon a new destination relative to its current position. Daemon will immediately begin motion towards new destination. Returns new destination.
from has-position
parameters:
distance (double)
shutdown
➜ null
Cleanly shutdown (or restart) daemon.
from is-daemon
parameters:
restart (boolean)
default: False
built 2024-02-09 01:44:16 CC0: no copyright