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RestApi.md

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erRest Api Endpoint Description

Endpoint Type Socket
/modules_set Post false
/modules_get Get false
/ledarr_act Post true
/ledarr_get Get false
/ledarr_set Post false
/motor_act Post true
/motor_get Get false
/motor_set Post false
/motor_setcalibration Post false
/wifi/scan Get false
/wifi/connect Post false
/bt_scan Get false
/bt_connect Post false
/bt_remove Post false
/bt_paireddevices Post false
/analog_joystick_set Post false
/analog_joystick_get Post false

State

/state_get

SERIAL:

# returns 1 if busy, else 0
{"task":"/state_get", "isBusy":1}

# returns 1 if controlled by pscontroller
{"task":"/state_get", "pscontroller":1}

# returns compiling and fw information
{"task":"/state_get", "state":1}

/state_set

SERIAL:

// turns on/off debugging serial commands
{"task":"/state_set", "isdebug":1}

/state_act

SERIAL:

// restarts controller
{"task":"/state_act", "restart":1}

// adds delay in table processor
{"task":"/state_act", "delay":10}

// adds delay in table processor
{"task":"/state_act", "delay":10}

// resets the isBusy flag
{"task":"/state_act", "isBusy":0}

// sets control of PSController on/off
{"task":"/state_act", "pscontroller":0}

Modules

/modules_set

isdebug

POST

{
    "modules" :
    {
        "led" : 1,
        "motor": 1,
        "slm" : 0,
        "sensor" : 0,
        "pid" : 0,
        "laser" : 0,
        "dac" : 0,
        "analog" : 0,
        "digitalout" : 0,
        "scanner" : 0
    }

}

/modules_get

GET

{
    "modules" :
    {
        "led" : 1,
        "motor": 1,
        "slm" : 0,
        "sensor" : 0,
        "pid" : 0,
        "laser" : 0,
        "dac" : 0,
        "analog" : 0,
        "digitalout" : 0,
        "scanner" : 0
    }

}

LED Array

/ledarr_act

Item Type Description
LEDArrMode int //enum "array", "full", "single", "off", "left", "right", "top", "bottom"
led_array Object[] The rgb data foreach led, depending on the mode only one color item get set

SERIAL

# set multiple invididual LEDs with a certain colour
{"task": "/ledarr_act",   
  "led": {
      "LEDArrMode": 0,
      "led_array": [
          {
              "b": 255,
              "g": 255,
              "id": 0,
              "r": 255
          },
          {
              "b": 255,
              "g": 255,
              "id": 1,
              "r": 255
          }
      ]
  }}

```bash
curl -X POST http://192.168.4.1/ledarr_act \
     -H "Content-Type: application/json" \
     -d '{"led": { "LEDArrMode": 0, "led_array": [ { "b": 255, "g": 255, "id": 0, "r": 255 }, { "b": 255, "g": 255, "id": 1, "r": 255 } ] }}'

Set all LEDs with a certain colour

{"task": "/ledarr_act",
"led": { "LEDArrMode": 1, "led_array": [ { "b": 255, "g": 255, "r": 255 } ] }}

Set all LEDs (left half) with a certain colour

{"task": "/ledarr_act",
"led": { "LEDArrMode": 4, "led_array": [ { "b": 255, "g": 255, "r": 255 } ] }}


*HTTP*

POST

{ "led": { "LEDArrMode": 1, "led_array": [ { "b": 0, "g": 0, "id": 0, "r": 0 } ] } }


### /ledarr_get

*SERIAL:*

```json
{"task": "/ledarr_get"}

HTTP:

GET

{
    ledArrNum : 64,
    ledArrPin : 27
}

/ledarr_set

SERIAL:

{"task": "/ledarr_set", "led":{"ledArrPin":32, "ledArrNum":64}}

HTTP: POST

{
    led:
    {
        ledArrPin: 27,
        ledArrNum: 64
    }
}

Laser

/laser_act

{"task": "/laser_act", "LASERid":0, "LASERval":1000, "LASERdespeckle":1, "LASERdespecklePeriod":20}
curl -X POST http://192.168.4.1/laser_act \
     -H "Content-Type: application/json" \
     -d '{ "LASERid":0, "LASERval":1000, "LASERdespeckle":1, "LASERdespecklePeriod":20}'

/laser_get

{"task": "/laser_get"}

/laser_set

{"task": "/laser_set", "LASERid":2, "LASERpin":19}

Motor

X,Y,Z,A => 1,2,3,0

/motor_act

CURL:

curl -X POST http://192.168.4.1/motor_act \
     -H "Content-Type: application/json" \
     -d '{"motor": { "steppers": [ { "stepperid": 1, "position": 10000, "speed": 15000, "isabs": 0, "isaccel":0} ] } }'

SERIAL:

{"task":"/motor_act",
    "motor":
    {
        "steppers": [
            { "stepperid": 0, "position": 100, "speed": 2000, "isabs": 0, "isaccel":0},
            { "stepperid": 1, "speed": 2000, "isabs": 0, "isforever":0, "isaccel":0},
            { "stepperid": 2, "isstop": 1}
        ]
    }
}

HTTP POST

{
    motor:
    {
        steppers: [
            { stepperid: 0, speed: 0, isforever: 0 },
            { stepperid: 1, speed: 0, isforever: 0 },
            { stepperid: 2, speed: 0, isforever: 0 },
            { stepperid: 3, speed: 0, isforever: 0 }
        ]
    }
}

/motor_get

SERIAL:

# all information
{"task":"/motor_get"}

# only position
{"task":"/motor_get", "position": 1}

HTTP:

GET

{
  "steppers": [
    {
      "stepperid": 0,
      "dir": 0,
      "step": 0,
      "enable": 0,
      "dir_inverted": false,
      "step_inverted": false,
      "enable_inverted": false,
      "position": 0,
      "speed": 0,
      "speedmax": 20000
    },
    {
      "stepperid": 1,
      "dir": 21,
      "step": 19,
      "enable": 18,
      "dir_inverted": false,
      "step_inverted": false,
      "enable_inverted": true,
      "position": 0,
      "speed": 0,
      "speedmax": 20000
    },
    {
      "stepperid": 2,
      "dir": 0,
      "step": 0,
      "enable": 0,
      "dir_inverted": false,
      "step_inverted": false,
      "enable_inverted": false,
      "position": 0,
      "speed": 0,
      "speedmax": 20000
    },
    {
      "stepperid": 3,
      "dir": 0,
      "step": 0,
      "enable": 0,
      "dir_inverted": false,
      "step_inverted": false,
      "enable_inverted": false,
      "position": 0,
      "speed": 0,
      "speedmax": 20000
    }
  ]
}

/motor_set

SERIAL:

{"task":"/motor_set",
    "motor":{
        "steppers": [
              { "stepperid": 1, "step": 26, "dir": 16, "enable": 12, "step_inverted": 0, "dir_inverted": 0, "enable_inverted": 0 , "min_pos":0, "max_pos":0},
			         { "stepperid": 2, "step": 25, "dir": 27, "enable": 12, "step_inverted": 0, "dir_inverted": 0, "enable_inverted": 0 , "min_pos":0, "max_pos":0},
			            { "stepperid": 3, "step": 17, "dir": 14, "enable": 12, "step_inverted": 0, "dir_inverted": 0, "enable_inverted": 0 , "min_pos":0, "max_pos":0},
			               { "stepperid": 0, "step": 19, "dir": 18, "enable": 12, "step_inverted": 0, "dir_inverted": 0, "enable_inverted": 0 , "min_pos":0, "max_pos":0}
        ]
    }
}

POST

{
    motor:
    {
        steppers: [
            { stepperid: 0, step: 0, dir: 0, enable: 0, step_inverted: 0, dir_inverted: 0, enable_inverted: 0 },
            { stepperid: 1, step: 0, dir: 0, enable: 0, step_inverted: 0, dir_inverted: 0, enable_inverted: 0 },
            { stepperid: 2, step: 0, dir: 0, enable: 0, step_inverted: 0, dir_inverted: 0, enable_inverted: 0 },
            { stepperid: 3, step: 0, dir: 0, enable: 0, step_inverted: 0, dir_inverted: 0, enable_inverted: 0 },
        ]
    }
}

/motor_setcalibration

POST set it like this to apply the current pos as min_pos. min pos gets defined as 0 position

{
    motor:
    {
        steppers: [
            { stepperid: id, min_pos: 0 }
        ]
    }
}

set it like this to apply the current pos as max_pos. max pos should be a positiv value.

{
    motor:
    {
        steppers: [
            { stepperid: id, max_pos: 0 }
        ]
    }
}

set min and max pos to reset it

{
    motor:
    {
        steppers: [
            { stepperid: id, max_pos: 0, min_pos:0 }
        ]
    }
}

Homing

/home_act

SERIAL:

{"task":"/home_act",
    "home":
    {
        "steppers": [
            { "stepperid": 1, "timeout":1000, "speed":1000, "direction":1, "endposrelease":500}
        ]
    }
}

POST

{
    home:
    {
        steppers: [
            { "endpospin": 0, "timeout": 10000, "speed": 1000, "direction":1 }
        ]
    }
}

/home_set

Serial:

{"task": "/home_set"}

/home_get

Serial:

{"task": "/home_get"}

Wifi

/wifi/scan

GET

{
    [
        "ssid1",
        "ssid2"
    ]
}

/wifi/connect

POST

{
    "ssid": "networkid"
    "PW" : "password"
    "AP" : 0
}

/bt_scan

GET

{
    [
        {
            "name" :"HyperX",
            "mac": "01:02:03:04:05:06"
        }
        ,
        {
            "name": "",
            "mac": "01:02:03:04:05:06"
        },
    ]
}

/bt_paireddevices

GET

{
    [
        "01:02:03:04:05:06",
        "01:02:03:04:05:06"
    ]
}

/bt_connect psx = 1 Ps3Controller, psx = 2 Ps4Controller

POST

{
    "mac": "01:02:03:04:05:06",
    "psx": 0
}

/bt_remove

POST

{
    "mac": "01:02:03:04:05:06",
}

/analog_joystick_set

POST

{
    "joy" :
    {
        "joyX" : 35,
        "joyY": 34
    }

}

/analog_joystick_get

GET

{
    "joy" :
    {
        "joyX" : 35,
        "joyY": 34
    }

}

/digitalin_set

POST

{
    "digitalinid":1,
    "digitalinpin":39
}

/digitalin_get

POST

{
    "digitalinid":1
}