175 lines
3.4 KiB
Markdown
175 lines
3.4 KiB
Markdown
# Details about used MQTT messages
|
|
|
|
## Topic lists
|
|
- [`actuator`](#actuator)
|
|
- [`actuator/pump`](#actuatorpump)
|
|
- [`actuator/focus`](#actuatorfocus)
|
|
- [`imager/image`](#imagerimage)
|
|
- [`segmenter/segment`](#segmentersegment)
|
|
- [`status`](#status)
|
|
- [`status/pump`](#statuspump)
|
|
- [`status/focus`](#statusfocus)
|
|
- [`status/imager`](#statusimager)
|
|
- [`status/segmenter`](#statussegmenter)
|
|
- [`status/segmenter/name`](#statussegmentername)
|
|
- [`status/segmenter/object_id`](#statussegmenterobject_id)
|
|
- [`status/segmenter/metric`](#statussegmentermetric)
|
|
|
|
|
|
|
|
## Topic details
|
|
### `actuator`
|
|
#### `actuator/pump`
|
|
Control the movement of the pump. The message is a JSON object:
|
|
```json
|
|
{
|
|
"action": "move",
|
|
"direction": "FORWARD",
|
|
"volume": 10,
|
|
"flowrate": 1
|
|
}
|
|
```
|
|
This messages make the pump move 10mL forward at 1mL/min.
|
|
|
|
Another supported message is:
|
|
```json
|
|
{
|
|
"action": "stop"
|
|
}
|
|
```
|
|
|
|
- Receive only
|
|
|
|
#### `actuator/focus`
|
|
Control of the focus stage. The message is a JSON object, speed is optional:
|
|
```json
|
|
{
|
|
"action": "move",
|
|
"direction": "UP",
|
|
"distance": 0.26,
|
|
"speed": 1
|
|
}
|
|
```
|
|
|
|
This message makes the stage move up by 10mm.
|
|
|
|
Another supported message is:
|
|
```json
|
|
{
|
|
"action": "stop"
|
|
}
|
|
```
|
|
|
|
- Receive only
|
|
|
|
|
|
### `imager/image`
|
|
This topic controls the camera and capture. The message allowed is a JSON message:
|
|
```json
|
|
{
|
|
"action": "image",
|
|
"pump_direction": "FORWARD",
|
|
"volume": 1,
|
|
"nb_frame": 200
|
|
}
|
|
```
|
|
|
|
Volume is in mL.
|
|
|
|
This topic can also receive a config update message:
|
|
```json
|
|
{
|
|
"action": "config",
|
|
"config": {...}
|
|
}
|
|
```
|
|
|
|
A camera settings message can also be received here. The fields `iso` and `shutter_speed` are optionals:
|
|
```json
|
|
{
|
|
"action": "settings",
|
|
"iso": 100,
|
|
"shutter_speed": 40
|
|
}
|
|
```
|
|
|
|
- Receive only
|
|
|
|
### `segmenter/segment`
|
|
This topic controls the segmentation process. The message is a JSON object:
|
|
```json
|
|
{
|
|
"action": "segment"
|
|
}
|
|
```
|
|
|
|
`action` can also be `stop`.
|
|
|
|
- Receive only
|
|
|
|
### `status`
|
|
This high-level topic is used to send information to the Node-Red process. There is no publication or receive at this level.
|
|
|
|
#### `status/pump`
|
|
State of the pump. It's a JSON object with:
|
|
```json
|
|
{
|
|
"status": "Started",
|
|
"duration": 25
|
|
}
|
|
```
|
|
|
|
Duration is a best guess estimate. It should not be used to control the other events. If you want to wait for a movement to finish, the best thing to do is to wait for the message `Done`.
|
|
|
|
Status can be `Started`, `Ready`, `Done`, `Interrupted`, `Error`, `Dead`.
|
|
|
|
- Publish only
|
|
|
|
#### `status/focus`
|
|
State of the focus stage. It's a JSON object with:
|
|
```json
|
|
{
|
|
"status": "Started",
|
|
"duration": 25
|
|
}
|
|
```
|
|
|
|
Duration is a best guess estimate. It should not be used to control the other events. If you want to wait for a movement to finish, the best thing to do is to wait for the message `Done`.
|
|
|
|
Status is one of `Started`, `Ready`, `Done`, `Interrupted`, `Error`, `Dead`.
|
|
|
|
- Publish only
|
|
|
|
#### `status/imager`
|
|
State of the imager. It's a JSON object with:
|
|
```json
|
|
{
|
|
"status": "Started",
|
|
"time_left": 25
|
|
}
|
|
```
|
|
|
|
Status is one of `Started`, `Ready`, `Completed` or `12_11_15_0.1.jpg has been imaged`.
|
|
|
|
- Publish only
|
|
|
|
#### `status/segmenter`
|
|
Status of the segmentation. It's a JSON object with:
|
|
```json
|
|
{
|
|
"status": "Started",
|
|
}
|
|
```
|
|
|
|
`status` is one of `Started`, `Done`, `Interrupted`, `Busy`, `Ready` or `Dead`.
|
|
|
|
- Publish only
|
|
|
|
#### `status/segmenter/object_id`
|
|
```json
|
|
{
|
|
"object_id": "13449"
|
|
}
|
|
```
|
|
|
|
#### `status/segmenter/metric` |