Icepap simulator

[tiagocoutinho]

Introduce optional simulator.
This is based on sintruments.
It provides simulation for basic motion including jog.
It can be easily extended to provide more features like encoders, trajectories if needed

Install with:

$ pip install icepap[simulator]

Make sure icepap simulator is registered:

$ sinstruments-server ls
[...]
IcePAP from icepap 3.6.1
[...]

Configure a yaml file called ice.yaml. Example:

    devices:
    - class: IcePAP
      transports:
      - type: tcp
        url: 0:5000
      axes:
      - address: 1
        velocity: 100
        name: th
      - address: 2
        name: tth
        acctime: 0.125
      - address: 11
        name: phi
      - address: 12
        name: chi

run server with:

sinstruments-server -c ./ice.yaml --log-level=debug

access like a "real" icepap with this python library or from cli:

$ nc -C localhost 5000
1:?pos
1:?pos 0