IFUM (RaspberryPi) Commands

2024-05-22: IFUS_CALIBRATE
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)

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
command: IFUS_CALIBRATE: response: {OK,ERROR}; Calibrate the IFU selector. Should finish in the "Stow" position.

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.