Provide two commands (vs, vs-api and vs-sentinel) that control the program VisualStage 2007.
These commands enable users to develop a program by talking to VisualStage 2007.
The command vs is for starting/stopping the program VisualStage 2007, opening/closing its data file, and outputting its adress and attachment.
The command vs-api is for executing VisualStageAPI as an argument.
The command vs-sentinel is for control VisualStage 2007 via network.
See
gem package -- visual_stage
and vs_attach_image.m in
Matlab script -- VisualSpots
that refer to this package.
TK confirmed this work with VisualStage 2007 (version 1.1). Very likely this also works with VisualStage 2007 (version 1.2).
Include "C:\Python37;C:\Python37\Scripts" in %PATH%.
Install this package as Administrator as:
ADMIN.CMD> pip install git+https://github.com/misasa/vs2007/archive/refs/heads/master.zip
or download vs2007-master.zip to a local directory and install it as Administrator as:
$ cd ~/Downloads/
$ wget https://github.com/misasa/vs2007/archive/refs/heads/master.zip
ADMIN.CMD> cd %USERPROFILE%\Downloads\
ADMIN.CMD> pip list
ADMIN.CMD> pip uninstall vs2007
ADMIN.CMD> pip install vs2007-master.zip
Successful installation is confirmed by:
CMD> vs-api --help
CMD> vs-api TEST_CMD
Commands are summarized as:
| command | description | note |
|---|---|---|
| vs | Start and stop VisualStage 2007 | |
| vs-api | Interactive with VisualStage 2007 | |
| vs-sentinel | Control VisualStage 2007 via network |
See online document with option --help.
Start VisualStage2007 and lunch vs-sentinel as shown below. Revise configuration file (~/.vs2007rc) when necessary.
> vs start
> vs-sentinel
reading |C:\Users\yyachi\.vs2007rc| ...
2020-09-23 11:06:38,580 INFO:connecting database.misasa.okayama-u.ac.jp:1883
publisher...
2020-09-23 11:06:38,667 INFO:Connected with result code 0
2020-09-23 11:06:38,677 INFO:subscribe topic |stage/ctrl/stage-of-sisyphus-THINK| to receive stage control command...
2020-09-23 11:06:40,536 INFO:getting API...
2020-09-23 11:06:40,560 INFO:vsapi GET_STAGE_POSITION -> FAILURE
2020-09-23 11:06:40,560 INFO:vsapi GET_MARKER_POSITION -> SUCCESS POINT,-1583.126,-2935.833
2020-09-23 11:06:40,561 INFO:publish message {"status": {"isConnected": "false", "isRunning": "true", "isAvailable": "true"}, "position": {"x_world": "-1583.126", "y_world": "-2935.833"}} on topic stage/info/stage-of-sisyphus-THINK
2020-09-23 11:06:40,561 INFO:published: 2
2020-09-23 11:06:41,561 INFO:vsapi GET_STAGE_POSITION -> FAILURE
2020-09-23 11:06:41,562 INFO:vsapi GET_MARKER_POSITION -> SUCCESS POINT,-1583.126,-2935.833
2020-09-23 11:06:41,562 INFO:publish message {"status": {"isConnected": "false", "isRunning": "true", "isAvailable": "true"}, "position": {"x_world": "-1583.126", "y_world": "-2935.833"}} on topic stage/info/stage-of-sisyphus-THINK
2020-09-23 11:06:41,562 INFO:published: 3
2020-09-23 11:06:42,563 INFO:vsapi GET_STAGE_POSITION -> FAILURE
2020-09-23 11:06:42,564 INFO:vsapi GET_MARKER_POSITION -> SUCCESS POINT,-1583.126,-2935.833
2020-09-23 11:06:42,564 INFO:publish message {"status": {"isConnected": "false", "isRunning": "true", "isAvailable": "true"}, "position": {"x_world": "-1583.126", "y_world": "-2935.833"}} on topic stage/info/stage-of-sisyphus-THINK
2020-09-23 11:06:42,564 INFO:published: 4
....
> cat ~/.vs2007rc
---
stage_name: stage-of-sisyphus-THINK
timeout: 8000
vsdata_path: Z:\
world_origin: ld
stage_origin: ru
Access machine list and open an Edit Machine (ex. SIMS-1280) for the machine you want to control (by clicking the gear icon next to the machine name on the list).
Input the stage name (for example stage-of-sisyphus-THINK) and click OK.
Then you can see the XY position of the stage on web browser in real time.
Download and install a MQTT client software mosquitto
To receive current position (and status) of stage-of-sisyphus-THINK, issue following command.
> mosquitto_sub -h database.misasa.okayama-u.ac.jp -t stage/info/stage-of-sisyphus-THINK
In order to move the stage stage-of-sisyphus-THINK to the specified position (for example [0.0, 0.0]), issue following command.
> mosquitto_pub -h database.misasa.okayama-u.ac.jp -t stage/ctrl/stage-of-sisyphus-THINK -m "{\"command\":\"GOTO\",\"d_x\":\"0.0\",\"d_y\":\"0.0\"}"