What is it?

libStageARM is a C library written to interact with the SMU 3D Stage Arm with using a simple standard serial interface. The goal of this project is to provide an easily customizable, easily implemented interface, with simple-to-use functions available in multiple languages, and a clearly defined serial interface that can be implemented an any other language. This project also provides a simple REST API for web control of the 3D Stage.

Compatibility

Language	Implementation	Tested	Succesful
C	Header and Shared Object	✓	Success
C++	Header and Shared Object	✓	Success
JavaScript	SWIG Wrapper	✓	Success
Java	SWIG Wrapper	✓	Success
Scala	Java SWIG Wrapper	✓	Success
Allegro CL	SWIG Wrapper	✗	Unknown
C#	SWIG Wrapper	✗	Unknown
CFFI	SWIG Wrapper	✗	Unknown
CLISP	SWIG Wrapper	✗	Unknown
Chicken	SWIG Wrapper	✗	Unknown
D	SWIG Wrapper	✗	Unknown
Go	SWIG Wrapper	✗	Unknown
Guile	SWIG Wrapper	✗	Unknown
Lua	SWIG Wrapper	✗	Unknown
Modula-3	SWIG Wrapper	✗	Unknown
Mzscheme	SWIG Wrapper	✗	Unknown
OCAML	SWIG Wrapper	✗	Unknown
Octave	SWIG Wrapper	✗	Unknown
Perl	SWIG Wrapper	✗	Unknown
PHP	SWIG Wrapper	✗	Unknown
Python	SWIG Wrapper	✗	Unknown
R	SWIG Wrapper	✗	Unknown
Ruby	SWIG Wrapper	✗	Unknown
Scilab	SWIG Wrapper	✗	Unknown
Tcl	SWIG Wrapper	✗	Unknown
UFFI	SWIG Wrapper	✗	Unknown

If you test a language, please make a pull request. If you create a wrapper or implementation in an unlisted language, please, feel free to make a pull request with an update to the table and your implementation.

Thank you!

Serial Standard

Any control command for the 3D Platform will be a single Byte (unsigned char / uChar / uInt_8) along, followed by a command-specific buffer array. All commands are little-endian. The Buffer Size includes the Initial Byte and the Arguments. Every action will respind with 0 for a successful action or a non-zero value for an unsuccessful action. Some actions will have specific responses for certian errors, but will usually just return 1 if they are unsuccessful.

Commands

Command	Initial Byte	Buffer Size	Arguments
Calibrate all	0x00	1+0	None
Calibrate	0x01	1+1	0, 1, 2 -> X, Y, Z
Relative Movement	0x02	1+3x4	3 floats -> X, Y, Z movement
Absolute Movement	0x03	1+3x4	3 floats -> X, Y, Z coord
Set vacuum	0x04	1+1	0, 1 -> On, Off
Toggle Vacuum	0x05	1+0	None
Set Loop Period	0x06	1+4	Int -> Loop Period in mS; No less than 500

Error Codes

Error Code	Meaning
0x00	Success
0x01	Generic Failure
0x02	Coordinate out of bounds, no action
0x03	Coordinate out of bounds, reached outer bound X
0x04	Coordinate out of bounds, reached outer bound Y
0x05	Coordinate out of bounds, reached outer bound Z
0x06	Coordinate out of bounds, reached outer bound X & Y
0x07	Coordinate out of bounds, reached outer bound Y & Z
0x08	Coordinate out of bounds, reached outer bound Z & X
0x09	Coordinate out of bounds, reached outer bound X & Y & Z
0x0A	Coordinate out of bounds, undefined action (Recallibration Suggested)
0x0B	Value out of bounds, no action

REST API

Send command as string in get request. Delimit args with "~". Returns a JSON object formatted like so:

{
   "Success:"    : true|false,
   "Return Code" : {0x00, ..., 0x0A},
   "Error"       : "Error String"|null
}

Request	Command	Args
CALB	Calibrate	"X~Y~Z"
RMOV	Relative Movement	"X~Y~Z"
AMOV	Absolute Movement	"X~Y~Z"
SVAC	Set Vacuum	true|false
TVAC	Toggle Vacuum	None