a3d551c8bb
permission to write the robot log files to /tmp r3037 | ffr | 2010-12-04 11:53:11 +1100 (Sat, 04 Dec 2010) | 3 lines
465 lines
17 KiB
Tcl
465 lines
17 KiB
Tcl
# Define procs in ::scobj::xxx namespace
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# MakeSICSObj $obj SCT_<class>
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# The MakeSICSObj cmd adds a /sics/$obj node. NOTE the /sics node is not browsable.
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namespace eval ::scobj::robot_pp {
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# Environment controllers should have at least the following nodes
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# /envcont/setpoint
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# /envcont/sensor/value
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proc debug_log {args} {
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set fd [open "../log/robot_pp.log" a]
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puts $fd "[clock format [clock seconds] -format "%T"] $args"
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close $fd
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}
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# issue a command to read a register and expect a value response
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proc getValue {tc_root nextState cmd} {
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debug_log "getValue $cmd sct=[sct] root=$tc_root nextState=$nextState"
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sct send "$cmd"
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return $nextState
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}
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# issue a command with a value in the target property of the variable
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proc setValue {tc_root nextState cmd} {
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debug_log "setValue cmd=$cmd sct=[sct] $tc_root"
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set par "[sct target]"
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sct send "$cmd$par"
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debug_log "setValue $cmd$par"
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return $nextState
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}
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proc setNam {tc_root nextState cmd} {
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set data [string toupper [sct target]]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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debug_log "setNam new data for $tc_root [sct] result=$data"
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}
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return $nextState
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}
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proc chkWrite {tc_root} {
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set data [sct result]
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debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root"
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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} else {
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set data [sct target]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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debug_log "chkWrite new data for $tc_root [sct] result=$data"
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}
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}
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return idle
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}
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proc setPoint {tc_root nextState cmd} {
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set catch_status [ catch {
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debug_log "setPoint $tc_root $nextState $cmd sct=[sct]"
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debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
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sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
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set err_msg ""
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if { [hval $tc_root/Control/Pallet_Nam] != "A" && [hval $tc_root/Control/Pallet_Nam] != "B" } {
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set err_msg "Invalid Pallet_ Num: [hval $tc_root/Control/Pallet_Nam]"
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} elseif { [hval $tc_root/Control/Pallet_Idx] < 1 || [hval $tc_root/Control/Pallet_Idx] > 50 } {
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set err_msg "Invalid Pallet_Idx: [hval $tc_root/Control/Pallet_Idx]"
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}
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if { $err_msg != "" } {
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sct print "error:$err_msg"
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debug_log "error:$err_msg"
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return -code error "$err_msg"
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}
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set par "[sct target]"
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if {$par != [sct oldval]} {
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sct oldval $par
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sct update $par
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sct utime readtime
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debug_log "setPoint new data for $tc_root [sct] result=$par"
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}
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hset $tc_root/status "busy"
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sct print "status: busy"
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if { [sct target] == 1 } {
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if { [string toupper [hval $tc_root/Control/Target_Loc]] == "BEAM" } {
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set cmd "SampToBeam [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
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debug_log "sct send $cmd"
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sct send "$cmd"
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} elseif { [string toupper [hval $tc_root/Control/Target_Loc]] == "VACUUM" } {
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set cmd "SampToVac [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
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debug_log "sct send $cmd"
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sct send "$cmd"
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} else {
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set err_msg "Invalid Target_Loc: [hval $tc_root/Control/Target_Loc]"
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sct print "error:$err_msg"
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debug_log "error:$err_msg"
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return -code error "$err_msg"
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}
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} elseif { [sct target] == 0 } {
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if { [string toupper [hval $tc_root/Control/Target_Loc]] == "BEAM" } {
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set cmd "SampRtn [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
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debug_log "sct send $cmd"
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sct send "$cmd"
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} elseif { [string toupper [hval $tc_root/Control/Target_Loc]] == "VACUUM" } {
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set cmd "VacRtn [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
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debug_log "sct send $cmd"
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sct send "$cmd"
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} else {
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set err_msg "Invalid Target_Loc: [hval $tc_root/Control/Target_Loc]"
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sct print "error:$err_msg"
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debug_log "error:$err_msg"
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return -code error "$err_msg"
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}
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} else {
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set err_msg "Invalid DRIVE target: [sct target]"
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sct print "error:$err_msg"
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debug_log "error:$err_msg"
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return -code error "$err_msg"
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}
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hsetprop $tc_root/setpoint driving 1
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} catch_message ]
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if {$catch_status != 0} {
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return -code error $catch_message
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}
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sct print "setPoint: [hget $tc_root/drive_state]"
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return $nextState
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}
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proc rdValue {tc_root} {
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debug_log "rdValue tc_root=$tc_root sct=[sct]"
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set data [sct result]
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if {[ catch {
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debug_log "rdValue $tc_root [sct] result=$data"
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} catch_message ]} {
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debug_log "rdValue $tc_root failure"
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}
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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set nextState idle
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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set nextState idle
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} else {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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if {$data != [sct oldval]} {
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debug_log "rdValue new data for $tc_root [sct] was=[sct oldval] now=$data"
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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}
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return idle
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}
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# This is the command phase of the state machine that drives the controller.
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# For each state, it sends the appropriate command to get values from, or set
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# values in the controller in a sequence intended to transition the controller
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# between states.
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proc getState {tc_root nextState cmd} {
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debug_log "getState $tc_root $nextState $cmd sct=[sct]"
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if {[ catch {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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debug_log "getState sends: $cmd"
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sct send "$cmd"
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} catch_message ]} {
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debug_log "getState error: $catch_message"
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}
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debug_log "getState returns: $nextState"
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return $nextState
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}
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# This is the response phase of the state machine that drives the controller.
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# For each state, it reads the appropriate command response from the controller
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# and, based on the response and internal variables performs a sequence
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# intended to transition the controller between states.
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##
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# @brief Reads the current robot state and error messages.
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proc rdState {tc_root} {
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debug_log "rdState $tc_root sct=[sct] response=\"[sct result]\""
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set nextState {}
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if {[ catch {
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set data "[sct result]"
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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set nextState idle
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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set nextState idle
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} else {
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set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
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if { $my_driving } {
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if { [string toupper [sct result]] == "IDLE" } {
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hsetprop $tc_root/setpoint driving 0
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hset $tc_root/sensor/value [hval $tc_root/setpoint]
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}
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}
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}
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} catch_message ]} {
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debug_log "rdState error: $catch_message"
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}
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if { "$nextState" == "" } {
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set nextState "idle"
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}
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debug_log "rdState returns: $nextState"
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return $nextState
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}
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proc noResponse {} {
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return idle
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}
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proc wrtValue {wcmd args} {
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}
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# check that a target is within allowable limits
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proc check {tc_root} {
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set setpoint [sct target]
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set lolimit [hval $tc_root/lowerlimit]
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set hilimit [hval $tc_root/upperlimit]
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if {$setpoint < $lolimit || $setpoint > $hilimit} {
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error "setpoint violates limits"
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}
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return OK
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}
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##
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# @brief Implement the checkstatus command for the drivable interface
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#
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# NOTE: The drive adapter initially sets the writestatus to "start" and will
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# only call this when writestatus!="start"
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proc drivestatus {tc_root} {
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if {[sct driving]} {
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return busy
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} else {
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sct print "drivestatus: idle"
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return idle
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}
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}
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proc halt {tc_root} {
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debug_log "halt $tc_root"
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sct print "halt $tc_root"
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set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
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hset $tc_root/drive_state "HALT"
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if { $my_driving } {
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hsetprop $tc_root/robot_state my_state "HALT"
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return read
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}
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return idle
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}
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##
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# @brief createNode() creates a node for the given nodename with the properties and virtual
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# function names provided
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# @param scobj_hpath string variable holding the path to the object's base node in sics (/sample/tc1)
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# @param sct_controller name of the scriptcontext object (typically sct_xxx_yyy)
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# @param cmdGroup subdirectory (below /sample/tc*/) in which the node is to be created
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# @param varName name of the actual node typically representing one device command
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# @param readable set to 1 if the node represents a query command, 0 if it is not
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# @param writable set to 1 if the node represents a request for a change in settings sent to the device
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# @param drivable if set to 1 it prepares the node to provide a drivable interface
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# @param dataType data type of the node, must be one of none, int, float, text
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# @param permission defines what user group may read/write to this node (is one of spy, user, manager)
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# @param rdCmd actual device query command to be sent to the device
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# @param rdFunc nextState Function to be called after the getValue function, typically rdValue()
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# @param wrCmd actual device write command to be sent to the device
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# @param wrFunc Function to be called to send the wrCmd to the device, typically setValue()
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# @param allowedValues allowed values for the node data - does not permit other
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# @param klass Nexus class name (?)
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# @return OK
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proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
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drivable dataType permission rdCmd rdFunc wrCmd\
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wrFunc allowedValues klass} {
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set catch_status [ catch {
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set ns "[namespace current]"
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set nodeName "$scobj_hpath/$cmdGroup/$varName"
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if {1 > [string length $cmdGroup]} {
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set nodeName "$scobj_hpath/$varName"
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}
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debug_log "Creating node $nodeName"
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hfactory $nodeName plain $permission $dataType
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if {$readable > 0} {
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hsetprop $nodeName read ${ns}::getValue $scobj_hpath $rdFunc $rdCmd
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hsetprop $nodeName $rdFunc ${ns}::$rdFunc $scobj_hpath
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set poll_period 30
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if { $readable >= 0 && $readable <= 9 } {
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set poll_period [lindex [list 0 1 2 3 4 5 10 15 20 30] $readable]
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}
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debug_log "Registering node $nodeName for poll at $poll_period seconds"
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$sct_controller poll $nodeName $poll_period
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}
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if {$writable == 1 && "$wrFunc" != ""} {
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set pos [string first "." "$wrFunc"]
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if { $pos > 0 } {
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set parts [split "$wrFunc" "."]
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if { [llength $parts] >= 2 } {
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set func_name [lindex $parts 0]
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set next_state [lindex $parts 1]
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hsetprop $nodeName write ${ns}::$func_name $scobj_hpath $next_state $wrCmd
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hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
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}
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} else {
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hsetprop $nodeName write ${ns}::$wrFunc $scobj_hpath noResponse $wrCmd
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hsetprop $nodeName noResponse ${ns}::noResponse
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}
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hsetprop $nodeName writestatus UNKNOWN
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debug_log "Registering node $nodeName for write callback"
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$sct_controller write $nodeName
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}
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switch -exact $dataType {
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"none" { }
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"int" { hsetprop $nodeName oldval -1 }
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"float" { hsetprop $nodeName oldval -1.0 }
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default { hsetprop $nodeName oldval UNKNOWN }
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}
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if {1 < [string length $allowedValues]} {
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hsetprop $nodeName values $allowedValues
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}
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# Drive adapter interface
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if {$drivable == 1} {
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hsetprop $nodeName check ${ns}::check $scobj_hpath
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hsetprop $nodeName driving 0
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hsetprop $nodeName checklimits ${ns}::check $scobj_hpath
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hsetprop $nodeName checkstatus ${ns}::drivestatus $scobj_hpath
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hsetprop $nodeName halt ${ns}::halt $scobj_hpath
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}
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} message ]
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if {$catch_status != 0} {
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return -code error "in createNode $message"
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}
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return OK
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}
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proc mk_sct_robot_pp {sct_controller klass tempobj} {
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set catch_status [ catch {
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set ns "[namespace current]"
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MakeSICSObj $tempobj SCT_OBJECT
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sicslist setatt $tempobj klass $klass
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sicslist setatt $tempobj long_name $tempobj
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set scobj_hpath /sics/$tempobj
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set deviceCommand {\
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{} setpoint 0 1 1 float user {} {rdValue} {} {setPoint.chkWrite} {}\
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sensor value 0 0 0 float internal {} {rdValue} {} {} {}\
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Display State 1 0 0 text internal {STATE} {rdValue} {} {} {}\
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Display Status 1 0 0 text internal {STATUS} {rdValue} {} {} {}\
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Display Location 1 0 0 text internal {WHERE} {rdValue} {} {} {}\
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Control Pallet_Nam 0 1 0 text user {} {} {} {setNam} {A,B}\
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Control Pallet_Idx 0 1 0 int user {} {} {} {} {}\
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Control Target_Loc 0 1 0 Text user {} {} {} {setNam} {Beam,Vacuum}\
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}
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hfactory $scobj_hpath/sensor plain spy none
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hfactory $scobj_hpath/Display plain spy none
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hfactory $scobj_hpath/Control plain spy none
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foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
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createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
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}
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hsetprop $scobj_hpath/sensor/value lowerlimit -12
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hsetprop $scobj_hpath/sensor/value upperlimit 12
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hsetprop $scobj_hpath/sensor/value units "T"
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hfactory $scobj_hpath/status plain spy text
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hset $scobj_hpath/status "idle"
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hsetprop $scobj_hpath/status values busy,idle
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hfactory $scobj_hpath/robot_state plain spy text
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hsetprop $scobj_hpath/robot_state read ${ns}::getState $scobj_hpath rdState "STATE"
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hsetprop $scobj_hpath/robot_state rdState ${ns}::rdState $scobj_hpath
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hsetprop $scobj_hpath/robot_state oldval "UNKNOWN"
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hsetprop $scobj_hpath/robot_state my_state "UNKNOWN"
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hsetprop $scobj_hpath/robot_state my_status "UNKNOWN"
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hsetprop $scobj_hpath/robot_state my_version "UNKNOWN"
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hfactory $scobj_hpath/drive_state plain mugger text
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hset $scobj_hpath/drive_state "UNKNOWN"
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hfactory $scobj_hpath/remote_ctrl plain spy text
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hset $scobj_hpath/remote_ctrl "UNKNOWN"
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hfactory $scobj_hpath/robot_lasterror plain user text
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hset $scobj_hpath/robot_lasterror ""
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hfactory $scobj_hpath/lowerlimit plain mugger float
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hsetprop $scobj_hpath/lowerlimit units "T"
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hset $scobj_hpath/lowerlimit -11
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hfactory $scobj_hpath/upperlimit plain mugger float
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hsetprop $scobj_hpath/upperlimit units "T"
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hset $scobj_hpath/upperlimit 11
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if {[SplitReply [environment_simulation]]=="false"} {
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$sct_controller poll $scobj_hpath/robot_state 1 halt read
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}
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hsetprop $scobj_hpath type part
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foreach snsr {sensor} {
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foreach {rootpath hpath klass priv} "\
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$scobj_hpath $snsr NXsensor spy\
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$scobj_hpath $snsr/value sensor user\
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" {
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hsetprop $rootpath/$hpath klass $klass
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hsetprop $rootpath/$hpath privilege $priv
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hsetprop $rootpath/$hpath control true
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hsetprop $rootpath/$hpath data true
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hsetprop $rootpath/$hpath nxsave true
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}
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hsetprop $scobj_hpath/$snsr type part
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hsetprop $scobj_hpath/$snsr/value nxalias tc1_${snsr}_value
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hsetprop $scobj_hpath/$snsr/value mutable true
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hsetprop $scobj_hpath/$snsr/value sdsinfo ::nexus::scobj::sdsinfo
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}
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hsetprop $scobj_hpath privilege spy
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::scobj::hinitprops $tempobj setpoint
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if {[SplitReply [environment_simulation]]=="false"} {
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ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/sensor/value $sct_controller
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}
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} catch_message ]
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if {$catch_status != 0} {
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return -code error $catch_message
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}
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}
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namespace export mk_sct_robot_pp
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}
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##
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# @brief Create a Pick and Place Robot Controller
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#
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# @param name, the name of the robot (eg robbie)
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# @param IP, the IP address of the device, this can be a hostname, (eg ca1-kowari)
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# @param port, the IP protocol port number of the device
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proc add_robot {name IP port } {
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set fd [open "../log/robot_pp.log" a]
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if {[SplitReply [environment_simulation]]=="false"} {
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puts $fd "makesctcontroller sct_robot_pp std ${IP}:$port"
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makesctcontroller sct_robot_pp std ${IP}:$port [binary format cc 0x0D 0x0A] 5.0
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}
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puts $fd "mk_sct_robot_pp sct_robot environment $name"
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|
mk_sct_robot_pp sct_robot_pp environment $name
|
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close $fd
|
|
}
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|
|
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puts stdout "file evaluation of sct_pickandplace.tcl"
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|
set fd [open "../log/robot_pp.log" w]
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|
puts $fd "file evaluation of sct_pickandplace.tcl"
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|
close $fd
|
|
|
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namespace import ::scobj::robot_pp::*
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|
|
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#add_robot robbie 137.157.201.213 502 5
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|
#add_robot robbie localhost 30509
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|
#add_robot robbie 137.157.201.26 6000
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