+# Direct ESPComponent<->ESP testing using ESPClientTest
+**NOTE**: This is basically as in https://bitbucket.org/carueda/workspace/snippets/8KR6B,
+except that here we use a main program, `ESPClientTest`, for direct interaction with the ESP,
+that is, with **no** use of the regular LRAUV execution framework.
+## Accounts and machines
+- tethysadmin @ tethyscode
+Start ESP server on bufflehead (where there's a clone of the ESP code):
+carueda@bufflehead:~$ cd esp2
+carueda@bufflehead:~/esp2$ . ESPenv auv honu
+carueda@bufflehead:~/esp2$ ESPmode=simrapid
+carueda@bufflehead:~/esp2$ ESPcmdPort=7777 esp
+@20:12:39.92PDT12-Aug-20 <simrapid> Simulated gateway v3.24 for core bus
+Simulated secondary gateway v3.24 for cartridge bus
+Configuration for honu by brent@mbari.org 3/11/20
+/home/carueda/esp2/type/auv/honu/configure.rb
+@20:12:40.12 Polling Can every 2:00
+Clients may connect on TCP port 7777
+Note: compared to the other LRAUV framework based exercise, here we launch the ESP server immediately,
+which, as you can see, is now ready to accept connection from the program below.
+The following as tethysadmin@tethsycode, with a copy of a recent lrauv-application nightly build as shown below.
+Run the `ESPClientTest` program. You will immediately see interaction with the ESP:
+tethysadmin@tethyscode: ~$ cd workspace/lrauv-application-carlos
+tethysadmin@tethyscode: lrauv-application-carlos$ bin/ESPClientTest --log esp.log
+Connecting to bufflehead:7777
+Connected to bufflehead:7777
+Sampling state transitions:
+0000.000 S_WAITING_INITIAL_PROMPT
+0001.434 S_PREPARING_SHOW_LOG
+0002.152 S_PREPARING_SHOW_STATUS
+0005.021 S_LOADING_CARTRIDGE
+0071.005 S_WAITING_FOR_PRIMING
+0075.308 S_WAITING_FOR_FILTERING
+0109.010 S_WAITING_FOR_PAUSED
+0127.655 S_WAITING_FOR_PROCESSED
+0372.878 OK: ESP sampling sequence completed normally
+The prefix above is time elapsed in seconds since beginning of sampling.
+Take a look at the generated esp.log file, which should include all
+ESP reported lines for all virtual streams.
+This is the remaining of the output as triggered by the connection above:
+@20:17:14.04 <LRAUV-ESPClientTest> Session Begun
+<LRAUV-ESPClientTest> Session Begun
+<LRAUV-ESPClientTest> Session Ended
+Errno::EPIPE in LRAUV-ESPClientTest's_reader -- Broken pipe
+@20:17:16.18 <LRAUV-ESPClientTest> -> showStatus
+@20:17:19.05 -> Cmd.loadCartridge
+Gate.power :analytic1,:ON
+Gate.power :analytic2,:ON
+Gate.power :analytic3,:ON
+@20:17:19.06 Gate.power :core,:ON
+Archive.configure :default
+@20:17:19.07 Air.configure :default
+Lysis1.configure :default
+@20:17:19.08 Lysis2.configure :default
+Plunge.configure :default
+@20:17:19.09 SamplePump.configure :default
+ExtraPump.configure :default
+@20:17:19.10 Toroid.configure :default
+Carousel.configure :default
+@20:17:19.11 Pressure.configure :default
+PinPort.configure :default
+All elf controllers running firmware version 4.99
+@20:17:19.12 Gate.power :motor,:ON
+@20:17:19.13 <Archive_home> Archive.reconfigure :default
+@20:17:19.14 <Air_home> Air.reconfigure :default
+<Archive_home> Archive.home.jog 0
+@20:17:19.15 <Air_home> Air.home.jog 0
+<Lysis1_home> Lysis1.reconfigure :default
+<Lysis2_home> Lysis2.reconfigure :default
+@20:17:19.16 <Lysis1_home> Lysis1.home.jog 0
+<Plunge_home> Plunge.reconfigure :default
+<Lysis2_home> Lysis2.home.jog 0
+@20:17:19.17 <PinPort_home> PinPort.reconfigure :default
+<Plunge_home> Plunge.home.jog 0
+<Toroid_home> Toroid.reconfigure :default
+<PinPort_home> PinPort.home.jog 0
+@20:17:19.18 <Toroid_home> Toroid.home.jog 0
+@20:17:19.22 <Archive_home> Archive.setRawPosition! 50
+Archive.reconfigure :homing
+@20:17:19.23 Archive.seek :home
+<Air_home> Air.setRawPosition! 50
+@20:17:19.24 Air.reconfigure :homing
+@20:17:19.25 <Plunge_home> Plunge.setRawPosition! 50
+Plunge.reconfigure :homing
+@20:17:19.26 <PinPort_home> PinPort.setRawPosition! 0
+PinPort.reconfigure :homing
+@20:17:19.27 PinPort.seek :home
+<Lysis1_home> Lysis1.setRawPosition! 50
+@20:17:19.28 Lysis1.reconfigure :homing
+@20:17:19.29 <Lysis2_home> Lysis2.setRawPosition! 50
+Lysis2.reconfigure :homing
+@20:17:19.30 <Toroid_home> Toroid.setRawPosition! 0
+@20:17:19.31 Toroid.reconfigure :homing
+@20:17:19.34 <PinPort_home> PinPort.reconfigure :default
+@20:17:19.38 <Toroid_home> Toroid.reconfigure :default
+@20:17:19.50 <Archive_home> Archive.reconfigure :default
+@20:17:19.52 <Air_home> Air.reconfigure :default
+@20:17:19.53 <Plunge_home> Plunge.reconfigure :default
+@20:17:19.56 <Lysis1_home> Lysis1.reconfigure :default
+@20:17:19.57 <Lysis2_home> Lysis2.reconfigure :default
+@20:17:19.83 <LRAUV-ESPClientTest> Toroid.seek :clear
+@20:17:21.44 Carousel.reconfigure :default
+@20:17:21.52 Carousel.setRawPosition! -53
+Carousel.reconfigure :homing
+@20:17:21.82 Carousel.reconfigure :default
+@20:17:22.08 Carousel.seek 1
+@20:17:22.15 Selecting Cartridge 53
+@20:17:22.16 Carousel.seek 53
+@20:17:32.99 Gate.power :heat,:OFF
+Gate.power :cartridge,:OFF
+@20:17:37.06 <Plunge> Plunge.seek :locked
+@20:17:41.13 <LRAUV-ESPClientTest> Gate.power :cartridge,:ON
+Gate.power :cartridge,:OFF
+Gate.power :cartridge,:OFF
+@20:17:41.64 Mounted archive Cartridge
+@20:18:25.03 -> Cmd.startFiltering
+@20:18:25.04 <FILTERING> Duration of filtering limited to 2:05:00
+@20:18:25.05 Priming sample loop w/5ml, bypass w/1.5ml
+SamplePump.setPosition! 0ml
+@20:18:25.06 Bypass.open
+@20:18:25.76 Intake.open
+@20:18:27.26 Sea 5.7m deep (23.1psia)
+@20:18:27.27 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+@20:18:29.78 Vacuum tare is 10% of full scale
+@20:18:29.79 Pressure.reconfigure :default
+@20:18:29.87 SamplePump.reconfigure :prime
+SamplePump.seek 1.5ml,38 seconds
+@20:18:31.64 Pressure.coast
+SamplePump.setPosition! 0ml
+@20:18:33.84 <closeBypass> Bypass.close
+@20:18:36.05 <FILTERING> Pressure.hold
+@20:18:36.12 Sea 5.7m deep (23.1psia)
+@20:18:36.13 SamplePump.reconfigure :prime
+SamplePump.seek 5ml,56 seconds
+@20:18:40.86 Pressure.coast
+@20:18:40.87 Bypass.open
+@20:18:42.36 Intake.close
+@20:18:43.87 Toroid.reconfigure :hold
+@20:18:44.67 Toroid.reconfigure :default
+@20:18:46.17 Toroid.reconfigure :hold
+@20:18:47.98 Toroid.reconfigure :default
+@20:18:47.99 Toroid.seek :clear
+@20:18:49.86 Pressurizing cartridge to 26psi above 23.1psia
+SamplePump.setPosition! 0ml
+@20:18:51.35 Bypass.close
+@20:18:52.85 Exhaust.close
+@20:18:54.36 Pressure.hold
+@20:18:54.43 SamplePump.reconfigure :charge
+SamplePump.seek 0.2ml,32 seconds
+@20:18:55.04 Pressure.coast
+SamplePump.setPosition! 0ml
+@20:18:55.05 Exhaust.open
+@20:18:56.54 Pressure.hold
+@20:18:56.61 Sea 5.7m deep (23.1psia)
+@20:18:56.62 SamplePump.reconfigure :sample
+SamplePump.seek 10ml,1:21
+@20:18:59.55 <sampling> Cartridge 53 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+@20:19:09.58 <FILTERING> Pressure.coast
+<closeIntake> Intake.close
+@20:19:09.59 <closeExhaust> Exhaust.close
+<FILTERING> Toroid.reconfigure :hold
+@20:19:11.21 Toroid.reconfigure :default
+@20:19:12.83 Sampled 10.0ml
+@20:19:17.38 <LRAUV-ESPClientTest> -> Cmd.startProcessing
+@20:19:17.40 <PROCESSING> Plunge.seek :reagent
+@20:19:18.24 Sample loop closed. Ready to Deliver Reagents
+@20:19:22.51 Archive.seek :evac
+@20:20:36.49 Archive.seek :clear
+@20:20:54.26 RNAlater soak for 45 seconds
+@20:21:39.27 Archive.seek :tVent
+@20:21:41.85 delay 1 second
+@20:21:42.85 Archive.seek :evac
+@20:21:58.52 delay 10 seconds
+@20:22:08.53 Archive.seek :tVent
+@20:22:24.20 delay 1 second
+@20:22:25.20 Archive.seek :evac
+@20:22:40.87 delay 10 seconds
+@20:22:50.88 Sample preserved and evacuated
+@20:22:52.49 <LRAUV-ESPClientTest> -> Cmd.stop
+Gate.power :cartridge,:OFF
+@20:22:52.50 Carousel.seek 53
+@20:22:52.57 Plunge.seek :locked
+@20:22:53.41 PinPort.seek :clear
+@20:22:53.48 <Archive> Archive.seek :clear
+@20:22:53.50 <Lysis1> Lysis1.seek :clear
+@20:23:11.25 <LRAUV-ESPClientTest> Archive.coast
+@20:23:11.26 Toroid.coast
+@20:23:11.28 Gate.power :heat,:OFF
+Gate.power :cartridge,:OFF
+@20:23:11.33 Gate.power :motor,:OFF
+Gate.power :analytic1,:OFF
+Gate.power :analytic2,:OFF
+@20:23:11.34 Gate.power :analytic3,:OFF
+Safely stopped and ready to power off
+@20:23:26.91 Session Ended
