TIPICO: Test Inutile per Provare Inutilmente pliCO

tipico is a useless application to test the plico environment.

Installation

On the client

pip install tipico

On the server

pip install tipico-server

The tipico-server package installs also the client package.

Config files

The server requires to be configured

The application uses appdirs to locate configurations, calibrations and log folders: the path varies as it is OS specific. Typical paths for config files are:

• On OS X $HOME/Library/Application Support/inaf.arcetri.ao.tipico_server/tipico_server.conf
• On Ubuntu $HOME/.config/inaf.arcetri.ao.tipico_server/tipico_server.conf

The configuration files are copied when the application is first used from their original location in the python package to the final destination, where they are supposed to be modified by the user. The application never touches an installed file (no delete, no overwriting)

The easiest way of checking which config file is used by the server is to start it (see below) and check for the config file name written in the standard output.

Another way of querying the system for config file location is to run python on the server and type:

import tipico_server
tipico_server.defaultConfigFilePath

The user can specify customized conf/calib/log file path for both servers and client (how? ask!)

Usage

Starting Servers

Starts the 2 servers that control one device each.

tipico_start

Using client

In a Python / IPython shell:

Create a client of the device (suppose the server is running on localhost on port 60010)

In [1]: import tipico

In [2]: instr= tipico.instrument('localhost', 60010)

Get position and move actuator

In [3]: instr.getPosition()
Out[3]: 0

In [6]: instr.moveTo(np.array([42, 3.14]))

In [7]: instr.getPosition()
Out[7]: array([42.  ,  3.14])

Get position and move actuator

In [8]: status=instr.getStatus()

In [9]: status.actuatorCommands()
Out[9]: array([42.  ,  3.14])

In [10]: status.commandCounter()
Out[10]: 1

In [11]: instr.moveTo(np.array([1, 2]))

In [12]: status=instr.getStatus()

In [13]: status.commandCounter()
Out[13]: 2

In [14]: status.actuatorCommands()
Out[14]: array([1, 2])

In [15]: instr.getPosition()
Out[15]: array([1, 2])

In [16]: instr.getSnapshot('tux')
Out[16]: {'tux.COMMAND_COUNTER': 2, 'tux.SERIAL_NUMBER': '1', 'tux.STEP_COUNTER': 17065}

In [17]: instr.getSnapshot('tux')
Out[17]: {'tux.COMMAND_COUNTER': 2, 'tux.SERIAL_NUMBER': '1', 'tux.STEP_COUNTER': 21225}

Stopping Tipico

To kill the servers run

tipico_stop

More hard:

tipico_kill_all