314 lines
10 KiB
Python
314 lines
10 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#########EPICS COMMANDS
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#read speed Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-SETV")
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#write speed Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-SETV",20)
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#
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#write relative Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-INCP",90)
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#write absolute Omega Achse -> epics.caput("X06MX-ES-DF1:OMEGA-SETP",20)
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#
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#read ReadBAck Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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#read User ReadBAck Omega Achse -> epics.caget("X06MX-ES-DF1:OMEGA-GETP")
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#
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#GMX, GMY, GMZ
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#Created on Tue May 18 18:03:02 2021
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import rospy
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from std_msgs.msg import Float32
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from std_msgs.msg import Int32
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from sensor_msgs.msg import JointState
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import requests
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import json
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import epics
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import time
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import csv
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from datetime import date
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#temporary subscriber to check function
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Position=[]
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Secs=[]
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Nsecs=[]
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Seq=[]
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Liste=[]
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Counter=[]
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LJU6_JointStateOmega=0
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CHI_Cal=0
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PHI_Cal=0
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OmegaRDB=0
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#neccessary subscriber to put in csv
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CHI=[]
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PHI=[]
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SHX=[]
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SHY=[]
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SHZ=[]
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OX=[]
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OY=[]
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OZ=[]
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Counter = 0
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motion=True
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#now = date.time()
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today = date.today()
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# dd/mm/YY
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day = today.strftime("%Y_%m_%d_")
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#print("d1 =", d1)
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smargopolo_server = "http://smargopolo:3000"
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response = requests.get(smargopolo_server+"/readbackSCS")
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response = requests.get(smargopolo_server+"/readbackMCS")
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#readbackMCS = json.loads(response.text)
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#readbackSCS = json.loads(response.text)
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#Writing CSV File from List
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#generate new CSV fileLJU6_JointStateTimeSekLJU6_JointStateTimeSek
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with open(day+'SmargonError.csv', 'w', newline='') as file:
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writer = csv.writer(file)
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writer.writerow(["OMEGA","Sensor1","Sensor2","Sensor3","spare1","spare2","Sequenz","Sekunden","NanoSekunden","CHI","PHI"])
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#def motion():
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# global motion
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# motion=True
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#
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# time.sleep(20)
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# motion=False
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def callback_LJU6_JointState(data):
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global Secs,Nsecs,Seq,Liste,CHI,PHI,Position,Counter
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#while loop defines how long subscriber channels are enabled
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#can be related to the executet motion in the future
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# smargopolo_server = "http://smargopolo:3000"
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# response = requests.get(smargopolo_server+"/readbackSCS")
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# readbackSCS = json.loads(response.text)
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Position=(data.position)
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Secs=(data.header.stamp.secs)
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Nsecs=(data.header.stamp.nsecs)
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Seq=(data.header.seq)
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Liste=list(Position)
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# print(Position)
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# print(Liste)
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smargopolo_server = "http://smargopolo:3000"
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response = requests.get(smargopolo_server+"/readbackSCS")
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readbackSCS = json.loads(response.text)
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# print(readbackMCS)
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CHI=readbackSCS['CHI']
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PHI=readbackSCS['PHI']
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Liste.extend([Seq,Secs,Nsecs,CHI,PHI,Counter])
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with open(day+'SmargonError.csv', 'a', newline='') as file:
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writer = csv.writer(file)
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# writer.writerows(zip(ROW,LJU6_JointStateTimeSek,LJU6_JointStateTimeNanSek,LJU6_JointStateOmega,LJU6_JointStateSensor1,LJU6_JointStateSensor2,LJU6_JointStateSensor3))
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writer.writerow(Liste)
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if __name__ == '__main__':
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print("=======Move to ZERO============")
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# #Motion moving to yero Position
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epics.caput("X06MX-ES-DF1:OMEGA-SETV",50)
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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if OmegaRDB > 180:
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print("Omega > 180")
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",-OmegaRDB)
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response = requests.put(smargopolo_server+'/targetSCS?CHI=0')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(40)
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else:
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print("Omega < 180")
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",-OmegaRDB)
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response = requests.put(smargopolo_server+'/targetSCS?CHI=0')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(5)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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print("")
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# Initialize ROS and register subscribers:
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rospy.init_node('listener', anonymous=True)
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subs1=rospy.Subscriber("/LJU6_JointState", JointState, callback_LJU6_JointState)
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# rospy.Subscriber("/LJUE9_JointState", JointState, callback_LJUE9_JointState)
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while (motion):
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#Start Calibration_______________________________
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#////////////////////////////////////////////////
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print("============First Motion===========")
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#First Move CHI PHI = 0
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if CHI_Cal==0 and PHI_Cal==0:
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print("Move Omega 360 degree")
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#Move Omega 360 degree with CHI + PHI = 0
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",360)
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time.sleep(8)
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else:
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exit()
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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Counter=1
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print("")
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#////////////////////////////////////////////////
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print("============Second Motion===========")
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#Second Move CHI = 10 PHI = 0
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if CHI_Cal==0 and PHI_Cal==0:
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print("Move CHI to 10 degree")
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#Move CHI =10 PHI = 0
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response = requests.put(smargopolo_server+'/targetSCS?CHI=10')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(3)
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print("Move Omega 360 degree")
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#Move Omega 360 degree with CHI + PHI = 0
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",360)
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time.sleep(8)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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Counter=2
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print("")
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#////////////////////////////////////////////////
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print("============Third Motion===========")
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#Third Move CHI = 20 PHI = 0
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if CHI_Cal==10 and PHI_Cal==0:
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print("Move CHI to 20 degree")
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#Move CHI =10 PHI = 0
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response = requests.put(smargopolo_server+'/targetSCS?CHI=20')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(3)
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print("Move Omega 360 degree")
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#Move Omega 360 degree with CHI + PHI = 0
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",360)
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time.sleep(8)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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Counter=3
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print("")
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#////////////////////////////////////////////////
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print("============Fourth Motion===========")
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#Fourth Move CHI = 30 PHI = 0
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if CHI_Cal==20 and PHI_Cal==0:
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print("Move CHI to 30 degree")
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#Move CHI =10 PHI = 0
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response = requests.put(smargopolo_server+'/targetSCS?CHI=30')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(3)
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print("Move Omega 360 degree")
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#Move Omega 360 degree with CHI + PHI = 0
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",360)
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time.sleep(8)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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Counter=4
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print("")
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#////////////////////////////////////////////////
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print("============Fifth Motion===========")
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#Fifth Move CHI = 40 PHI = 0
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if CHI_Cal==30 and PHI_Cal==0:
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print("Move CHI to 40 degree")
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#Move CHI =10 PHI = 0
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response = requests.put(smargopolo_server+'/targetSCS?CHI=40')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(3)
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print("Move Omega 360 degree")
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#Move Omega 360 degree with CHI + PHI = 0
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",360)
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time.sleep(8)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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Counter=5
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print("")
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subs1.unregister()
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# rospy.spin()
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motion=False
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#////////////////////////////////////////////////
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print("============Move to Zero===========")
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#Fifth Move CHI = 0 PHI = 0
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if CHI_Cal==40 and PHI_Cal==0:
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#Move CHI =10 PHI = 0
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print("Move CHI to 0 degree")
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response = requests.put(smargopolo_server+'/targetSCS?CHI=0')
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response = requests.put(smargopolo_server+'/targetSCS?PHI=0')
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time.sleep(3)
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print("Move Omega to 0 degree")
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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epics.caput("X06MX-ES-DF1:OMEGA-INCP",-OmegaRDB)
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time.sleep(40)
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#get Position Feedback
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readbackMCS = json.loads(response.text)
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CHI_Cal=readbackMCS['CHI']
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PHI_Cal=readbackMCS['PHI']
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OmegaRDB=epics.caget("X06MX-ES-DF1:OMEGA-RBV")
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OmegaRDB=round(OmegaRDB, 2)
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print("Omega:", OmegaRDB," CHI: ",CHI_Cal," PHI: ",PHI_Cal)
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print("")
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