Add the Robots (Robbie and Rosie) for Echidna
This commit is contained in:
Douglas Clowes
15
site_ansto/instrument/config/robots/epson_pandp.sct
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15
site_ansto/instrument/config/robots/epson_pandp.sct
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@ -0,0 +1,15 @@
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# Simple driver generator for the Epson Pick and Place Robots
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# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent
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driver epson_pandp = {
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vendor = Epson; device = 'Pick and Place Robot'; protocol = std;
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class = environment;
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simulation_group = environment_simulation;
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add_args = "robot_name"
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make_args = "robot_name"
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wrapper_property nosctcontroller = True;
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code mkWrapper = {%%
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clientput "add_robot ${robot_name} ${ip_address} ${tcp_port}"
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add_robot ${robot_name} ${ip_address} ${tcp_port}
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%%}
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}
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144
site_ansto/instrument/config/robots/sct_epson_pandp.tcl
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144
site_ansto/instrument/config/robots/sct_epson_pandp.tcl
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@ -0,0 +1,144 @@
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# Generated driver for epson_pandp
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# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
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#
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namespace eval ::scobj::epson_pandp {
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set debug_threshold 5
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}
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proc ::scobj::epson_pandp::debug_log {tc_root debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold [hgetpropval ${tc_root} debug_threshold]
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if {${debug_level} >= ${debug_threshold}} {
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set fd [open "../log/epson_pandp_[basename ${tc_root}].log" "a"]
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set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
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puts ${fd} "${line}"
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close ${fd}
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}
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} catch_message ]
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}
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proc ::scobj::epson_pandp::sics_log {debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold ${::scobj::epson_pandp::debug_threshold}
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if {${debug_level} >= ${debug_threshold}} {
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sicslog "::scobj::epson_pandp::${debug_string}"
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}
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} catch_message ]
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}
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proc ::scobj::epson_pandp::mkDriver { sct_controller name ip_address tcp_port robot_name } {
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::scobj::epson_pandp::sics_log 9 "::scobj::epson_pandp::mkDriver ${sct_controller} ${name} ${ip_address} ${tcp_port} ${robot_name}"
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set ns "[namespace current]"
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set catch_status [ catch {
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# mkWrapper hook code starts
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clientput "add_robot ${robot_name} ${ip_address} ${tcp_port}"
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add_robot ${robot_name} ${ip_address} ${tcp_port}
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# mkWrapper hook code ends
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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namespace eval ::scobj::epson_pandp {
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namespace export debug_threshold
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namespace export debug_log
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namespace export sics_log
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namespace export mkDriver
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}
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proc add_epson_pandp {name ip_address tcp_port robot_name} {
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set catch_status [ catch {
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::scobj::epson_pandp::sics_log 9 "add_epson_pandp ${name} ${ip_address} ${tcp_port} ${robot_name}"
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::scobj::epson_pandp::sics_log 9 "No sctcontroller for epson_pandp"
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::scobj::epson_pandp::sics_log 1 "::scobj::epson_pandp::mkDriver sct_${name} ${name} ${ip_address} ${tcp_port} ${robot_name}"
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::scobj::epson_pandp::mkDriver sct_${name} ${name} ${ip_address} ${tcp_port} ${robot_name}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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clientput "file evaluation of sct_epson_pandp.tcl"
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::scobj::epson_pandp::sics_log 9 "file evaluation of sct_epson_pandp.tcl"
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proc ::scobj::epson_pandp::read_config {} {
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set catch_status [ catch {
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set ns "::scobj::epson_pandp"
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dict for {k u} $::config_dict {
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if { [dict exists $u "implementation"] } {
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if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
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continue
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}
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set enabled [string tolower [dict get $u "enabled"]]
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if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
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continue
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}
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set name [dict get $u name]
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set implementation [dict get $u "implementation"]
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if { !([dict exists $::config_dict $implementation]) } {
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continue
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}
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set v [dict get $::config_dict $implementation]
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if { !([dict exists $v "driver"]) } {
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continue
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}
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if { [string equal -nocase [dict get $v "driver"] "epson_pandp"] } {
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if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
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set asyncqueue "null"
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${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
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} elseif { [dict exists $v "asyncqueue"] } {
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set asyncqueue [dict get $v "asyncqueue"]
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if { [string equal -nocase ${asyncqueue} "sct"] } {
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set ip_address [dict get $v ip]
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set tcp_port [dict get $v port]
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}
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} else {
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if { [dict exists $v "asyncprotocol"] } {
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set asyncprotocol [dict get $v "asyncprotocol"]
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} else {
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set asyncprotocol ${name}_protocol
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MakeAsyncProtocol ${asyncprotocol}
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if { [dict exists $v "terminator"] } {
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${asyncprotocol} sendterminator "[dict get $v "terminator"]"
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${asyncprotocol} replyterminator "[dict get $v "terminator"]"
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}
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}
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set asyncqueue ${name}_queue
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set ip_address [dict get $v ip]
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set tcp_port [dict get $v port]
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MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${ip_address} ${tcp_port}
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if { [dict exists $v "timeout"] } {
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${asyncqueue} timeout "[dict get $v "timeout"]"
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}
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}
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set arg_list [list]
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set missing_list [list]
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foreach arg {robot_name} {
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if {[dict exists $u $arg]} {
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lappend arg_list "[dict get $u $arg]"
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} elseif {[dict exists $v $arg]} {
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lappend arg_list "[dict get $v $arg]"
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} else {
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${ns}::sics_log 9 "Missing configuration value $arg"
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lappend missing_list $arg
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}
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}
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if { [llength $missing_list] > 0 } {
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error "$name is missing configuration values $missing_list"
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}
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if { [string equal -nocase ${asyncqueue} "sct"] } {
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add_epson_pandp ${name} ${ip_address} ${tcp_port} {*}$arg_list
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} else {
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add_epson_pandp ${name} "aqadapter" ${asyncqueue} {*}$arg_list
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}
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}
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}
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}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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if { [info exists ::config_dict] } {
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::scobj::epson_pandp::read_config
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} else {
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::scobj::epson_pandp::sics_log 5 "No config dict"
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}
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@ -47,6 +47,7 @@ fileeval $cfPath(commands)/commands.tcl
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fileeval $cfPath(anticollider)/anticollider.tcl
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#fileeval $cfPath(environment)/robby_configuration.tcl
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fileeval $cfPath(robots)/sct_pickandplace.tcl
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fileeval $cfPath(robots)/sct_epson_pandp.tcl
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source gumxml.tcl
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@ -94,6 +94,11 @@ id = 2
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implementation = none
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name = volts2
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optype = multimeter
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[robot]
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enabled = True
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implementation = robbie
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name = robot
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optype = pickandplace
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[sample_stage]
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enabled = Always
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implementation = normal_sample_stage
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@ -283,6 +288,24 @@ imptype = multimeter
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ip = 10.157.205.37
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port = 4001
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[robbie]
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asyncqueue = sct
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desc = "Robbie: Epson Pick and Place Robot"
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driver = epson_pandp
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imptype = pickandplace
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ip = 137.157.201.26
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port = 6000
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robot_name = robbie
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[rosie]
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asyncqueue = sct
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desc = "Rosie: Epson Six Axis Robot in Pick and Place Mode"
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driver = epson_pandp
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imptype = pickandplace
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ip = 137.157.201.26
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port = 6000
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robot_name = rosie
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[small_omega]
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desc = "Load the small omega configuration"
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imptype = motion_axis
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