Removing information about legacy server

README.md

@@ -80,6 +80,5 @@ See https://github.com/sinara-hw/Stabilizer
 
 ## Protocol
 
-Stabilizer can be configured via newline-delimited JSON over TCP.
-It listens on port 1235. [stabilizer.py](stabilizer.py) contains a reference
-implementation of the protocol.
+Stabilizer can be configured via MQTT under the topic `stabilizer/settings/<setting>`. Refer to
+[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.

stabilizer.py

@@ -1,112 +0,0 @@
-import json
-import asyncio
-from collections import OrderedDict as OD
-import logging
-
-import numpy as np
-
-logger = logging.getLogger()
-
-
-class StabilizerError(Exception):
-    pass
-
-
-class StabilizerConfig:
-    async def connect(self, host, port=1235):
-        self.reader, self.writer = await asyncio.open_connection(host, port)
-
-    async def set(self, channel, iir):
-        value = OD([("channel", channel), ("iir", iir.as_dict())])
-        request = {
-            "req": "Write",
-            "attribute": "stabilizer/iir{}/state".format(channel),
-            "value": json.dumps(value, separators=[',', ':']).replace('"', "'"),
-        }
-        s = json.dumps(request, separators=[',', ':'])
-        assert "\n" not in s
-        logger.debug("send %s", s)
-        self.writer.write(s.encode("ascii") + b"\n")
-        r = (await self.reader.readline()).decode()
-        logger.debug("recv %s", r)
-        ret = json.loads(r, object_pairs_hook=OD)
-        if ret["code"] != 200:
-            raise StabilizerError(ret)
-        return ret
-
-
-class IIR:
-    t_update = 2e-6
-    full_scale = float((1 << 15) - 1)
-
-    def __init__(self):
-        self.ba = np.zeros(5, np.float32)
-        self.y_offset = 0.
-        self.y_min = -self.full_scale - 1
-        self.y_max = self.full_scale
-
-    def as_dict(self):
-        iir = OD()
-        iir["ba"] = [float(_) for _ in self.ba]
-        iir["y_offset"] = self.y_offset
-        iir["y_min"] = self.y_min
-        iir["y_max"] = self.y_max
-        return iir
-
-    def configure_pi(self, kp, ki, g=0.):
-        ki = np.copysign(ki, kp)*self.t_update*2
-        g = np.copysign(g, kp)
-        eps = np.finfo(np.float32).eps
-        if abs(ki) < eps:
-            a1, b0, b1 = 0., kp, 0.
-        else:
-            if abs(g) < eps:
-                c = 1.
-            else:
-                c = 1./(1. + ki/g)
-            a1 = 2*c - 1.
-            b0 = ki*c + kp
-            b1 = ki*c - a1*kp
-            if abs(b0 + b1) < eps:
-                raise ValueError("low integrator gain and/or gain limit")
-        self.ba[0] = b0
-        self.ba[1] = b1
-        self.ba[2] = 0.
-        self.ba[3] = a1
-        self.ba[4] = 0.
-
-    def set_x_offset(self, o):
-        b = self.ba[:3].sum()*self.full_scale
-        self.y_offset = b*o
-
-
-if __name__ == "__main__":
-    import argparse
-    p = argparse.ArgumentParser()
-    p.add_argument("-s", "--stabilizer", default="10.0.16.99")
-    p.add_argument("-c", "--channel", default=0, type=int,
-                   help="Stabilizer channel to configure")
-    p.add_argument("-o", "--offset", default=0., type=float,
-                   help="input offset, in units of full scale")
-    p.add_argument("-p", "--proportional-gain", default=1., type=float,
-                   help="Proportional gain, in units of 1")
-    p.add_argument("-i", "--integral-gain", default=0., type=float,
-                   help="Integral gain, in units of Hz, "
-                        "sign taken from proportional-gain")
-
-    args = p.parse_args()
-
-    loop = asyncio.get_event_loop()
-    # loop.set_debug(True)
-    logging.basicConfig(level=logging.DEBUG)
-
-    async def main():
-        i = IIR()
-        i.configure_pi(args.proportional_gain, args.integral_gain)
-        i.set_x_offset(args.offset)
-        s = StabilizerConfig()
-        await s.connect(args.stabilizer)
-        assert args.channel in range(2)
-        r = await s.set(args.channel, i)
-
-    loop.run_until_complete(main())