IFUM (RaspberryPi) Commands

2022-09-23: CRADLESTATE always returns 'NONE'
2022-06-03: updated the SLIT command
2022-05-09: reverted to the M2FS order of the LEDs: UV, BL, Vis, NR, FR, IR
2022-04-22: IFU hardhat commands
2022-04-20: added the SLITS_HARDHAT command
2022-03-02: added the SLITS_SLITPOS command
2021-11-29: re-order LED values: FR, NR, IR, Vis, BL, UV
2020-02-21: 15 temperatures, "IFU"--"IFUS"
2020-01-27: added the MODE command
2019-09-25: updated the IFU command(s) , updated the OCC command(s) , updated the SLIT command
2019-08-22: 3 calibration lamps (was 6)
2019-07-11: minor changes
2019-06-14: initial draft

Protocol

  • All communications are initiated by the IFUM-GUI.
  • Commands are terminated by a 'LF' (0x0a) character.
  • Responses are terminated by a 'LF' (0x0a) character.
    • Multi-line responses shall be separated by (0x0d) characters.
  • All commands will be "immediately" answered by the RaspberryPi (small delays upto 2 seconds are acceptable).
  • The Galil motor controllers have a concurrency limit of four axis.
    • If the IFUM-GUI attempts to start more than four motions simultaneously the RaspberryPi software will respond with an "ERROR".

  • Response strings to motion commands:
    • "OK"
    "!ERROR some explanation" (syntax error)
    "ERROR some explanation" (eg. hardware malfunction or the command cannot be executed at this time)

  • Response strings to status requests:
    • "#" (where '#' may be a space separated list of values)
    "MOVING"
    "INTERMEDIATE"
    "UNCALIBRATED"
    "UNKNOWN"
    "!ERROR some explanation" (syntax error)
    "ERROR some explanation" (eg. hardware malfunction)

    Commands

    Parameter types:
    {a,b,c}: a list of possible values
    {a-b}: a range of values
    # a single value
    # # #: a list of values (space separated)
  • IFU Selector
  • Occulter
  • Disperser Slide
  • LoRes
  • HiRes
  • Focus
  • Filter
  • Slits
  • Caibration Lamps
  • Other

    IFU Selector

    command: IFUS {HR,STD,LSB,STOW}
    response: {OK,ERROR}
    command: IFUS ?
    response: {HR,STD,LSB,STOW,INTERMEDIATE,MOVING,ERROR} #
    position name and encoder value

    command: IFUS_MOVE #
    response: {OK,ERROR}
    Moves the IFU to encoder position '#'

    command: IFUS_IFUPOS {HR,STD,LSB,STOW} #
    response: {OK,ERROR}
    command: IFUS_IFUPOS {HR,STD,LSB,STOW} ?
    response: {#,ERROR}
    set (#) or request (?) the encoder value of the named IFU position

    command: IFUS_ALARM ?
    response: alarm text string (may be long)
    command: IFUS_ALARM CLEAR
    response: {OK,ERROR}
    retrieve or clear the IFU alarm string

    Occulter

    command: OCC {H,S,L} #
    response: {OK,ERROR}
    range: TBD
    command: OCC {H,S,L} ?
    response: {#,MOVING,UNCALIBRATED,ERROR}

    command: OCC_STEP {H,S,L} #
    response: { OK,ERROR }
    This commands the occulter to move by a step amount ('#')

    command: OCC_CALIBRATE {H,S,L}
    response: {OK,ERROR}
    Causes the occulter to execute a calibration routine.

    Disperser Slide

    command: GES {R,B} {LORES,HIRES,LRSWAP}
    response: {OK,ERROR}
    Note: "LRSWAP" will automatically move the LO-Elevation to a special angle suitable for swapping the grating.

    command: GES {R,B} ?
    response: {LORES # #, HIRES # #, LRSWAP # #, INTERMEDIATE # #, UNCALIBRATED, MOVING}
    '# #' are the encoder value and the step position respectively.
    Note: "LASTKNOWN" may be appended to the return if the status is read back from a file.

    command: GES_CALIBRATE {R,B}
    response: {OK,ERROR}
    Causes the disperser slide to execute a calibration routine. After the calibration is done the state becomes 'INTERMEDIATE' with a 'step' value of '0'.

    command: GES_MOVE #
    response: {OK,ERROR}
    Note: TBD "nudge" command

    LoRes Elevation

    command: LREL {R,B} {a-b}
    response: {OK,ERROR}
    range: TBD

    command: LREL {R,B} ?
    response: {#,MOVING,UNCALIBRATED}
    Note: "LASTKNOWN" may be appended to the return if the status is read back from a file

    command: LREL_CALIBRATE {R,B}
    response: {OK,ERROR}
    Causes the LoRes Elevation to execute a calibration routine. During the motion a 'LREL ?' returns 'MOVING', afterwards '0'.

    HiRes Azimuth

    command: HRAZ {R,B} {a-b}
    response: {OK,ERROR}
    range: TBD

    command: HRAZ {R,B} ?
    response: {#,MOVING,UNCALIBRATED}
    Note: "LASTKNOWN" may be appended to the return if the status is read back from a file

    command: HRAZ_CALIBRATE {R,B}
    response: {OK,ERROR}
    Causes the HiRes Azimuth to execute a calibration routine. During the motion a 'HRAZ ?' returns 'MOVING', afterwards '0'.

    HiRes Elevation

    command: HREL {R,B} {a-b}
    response: {OK,ERROR}
    range: TBD

    command: HREL {R,B} ?
    response: {#,MOVING,UNCALIBRATED}
    Note: "LASTKNOWN" may be appended to the return if the status is read back from a file

    command: HREL_CALIBRATE {R,B}
    response: {OK,ERROR}
    Causes the HiRes Elevation to execute a calibration routine. During the motion a 'HREL ?' returns 'MOVING', afterwards '0'.

    Focus

    command: FOCUS {R,B} {a-b}
    response: {OK,ERROR}
    range: TBD
    command: FOCUS {R,B} ?
    response: {#,MOVING #}
    While the focus is moving the current encoder reading is appended to the 'MOVING' string.

    Filter

    command: FILTER {R,B} {1-18}
    response: {OK,ERROR}
    9: CHANGE 10: NONE
    11-18: move to positions 1-8 but do not insert the filter.
    command: FILTER {R,B} ?
    response: {#,MOVING,INTERMEDIATE,UNKNOWN} # # #

    Engineering commands:

    command: FILTER_MOVE {R,B} #
    response: { OK,ERROR }
    This commands the filter inserter to move by a step amount ('#') if the elevator is in a safe position.

    Slits

    command: SLIT {R,B} {H180,S300,S80,L300,L180,L80}
    response: {OK,ERROR}
    command: SLIT {R,B} ?
    response: {name,MOVING,INTERMEDIATE,ERROR} # #

    Engineering commands: (start with SLITS_)

    command: SLITS_SLITPOS {R,B} {UP,DOWN,PIPE} ?
    response: {# # # # # # , ERROR}
    command: SLITS_SLITPOS {R,B} {UP,DOWN,PIPE} # # # # # #
    response: {OK , ERROR}

    command: SLITS_HARDHAT {R,B}
    response: {# # # # # # , ERROR}
    The 6 numbers are pipe position, pipe error, pipe tolerance, height position, height error, height tolerance.

    Calibration Lamps

    command: BENEAr {0-10,?}
    response: {OK,ERROR,#.##}
    command: LIHE {0-10,?}
    response: {OK,ERROR,#.##}
    command: THXE {0-10,?}
    response: {OK,ERROR,#.##}

    Note:The return value to '?' is a floating point number.

    LEDs

    command: MCLED # # # # # #
    response: { OK,ERROR}

    command: MCLED ?
    response: {# # # # # #,ERROR}
    An ordered list of values (0-4096) for UV, Blue, Visible, N-Red, F-Red, IR.

    Slit Shoe Assignment

    command: CRADLESTATE ?
    response: CRADLE_R=string CRADLE_B=string
    where 'string' is one of {SHOE_R,SHOE_B,NONE}
    Note: In IFUM mode the rPi always returns 'NONE'.

    Instrument Temperatures

    command: TEMPS
    response: {# # # # # # # # # # # # # # #,ERROR}
    An ordered list [IFU_Entrance, IFU_Top, Fiber_Exit, IFU_Motor, IFU_Drive, IFU_Hoffman, IFU_Shoebox, CradleR/B, EchelleR/B, PrismR/B, LoResR/B] of 15 floating point numbers. Any temperature [Celsius] may be replaced by an 'U' (UNKNOWN) if it is currently not available.

    Instrument Status

    command: STATUS
    response: A list of strings separated by '\r' [CR]. Each string consists of one or more key:value pairs separated by a ' ' [SPACE].

    RaspberryPi Software version

    command: VERSION
    response: string
    The version of the director.

    GUI connection and Shutdown

    command: MODE {M2FS,IFUM}
    response: {OK, ERROR}
    Informs the RaspberryPi software what instrument mode to use. This may fail if the wrong instrument is connected.

    command: GUICLOSING
    response: OK
    Informs the RaspberryPi software that the M2FS-GUI will close.

    command: SHUTDOWN
    response: OK
    Exit the RaspberryPi software.