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Improve puck loading management

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This commit is contained in:
gac-S_Changer
2026-03-19 11:17:18 +01:00
parent f9e6ad1947
commit 66ff31be8a
4 changed files with 132 additions and 66 deletions
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src/main/java/ch/psi/mxsc/Controller.java
+91 -29
View File
@@ -25,6 +25,7 @@ import ch.psi.pshell.swing.SwingUtils;
import ch.psi.pshell.utils.State.StateException;
import java.awt.BorderLayout;
import java.awt.Dimension;
import java.awt.Point;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;
import java.io.File;
@@ -463,25 +464,83 @@ public class Controller {
}
public Boolean isDoorClosed() {
//Non-blocking
public boolean isDoorOpen() {
try {
return doorsOpened;
//if (getMainFrame().getState().isInitialized()){
// return getMainFrame().eval("is_door_closed()", true).equals(false);
// }
} catch (Exception ex) {
}
return false;
}
//Non-blocking
public boolean isRobotParked() {
try {
if (getMainFrame().getState().isInitialized()){
return getMainFrame().eval("is_door_closed()", true).equals(true);
return getMainFrame().eval("'pPark' in robot.get_current_points_cached()", true).equals(true);
}
} catch (Exception ex) {
}
return null;
}
return false;
}
Point fmm;
public void onCoverDetection(Point fmm ){
this.fmm = fmm;
checkPuckLoading();
}
public boolean isCoverDetected() {
return fmm!=null;
}
boolean doorsOpened;
boolean doorsHaveOpened;
public void onDoorsOpenChange(boolean value){
doorsOpened = value;
doorsHaveOpened =value;
checkPuckLoading();
}
public void setServiceMode(boolean value){
try{
String state = value ? "True" : "False";
getMainFrame().evalAsync("set_service_mode(" + state + ")");
getMainFrame().eval("set_service_mode(" + state + ")", true);
} catch (Exception ex) {
Logger.getLogger(Controller.class.getName()).log(Level.SEVERE, null, ex);
}
checkPuckLoading();
}
public boolean canSetPuckLoading(){
if (isServiceMode()){
return true;
}
return !isCoverDetected() && isDoorOpen() && isRobotParked() && getState().isInitialized();
}
private void checkPuckLoading(){
try{
if (isServiceMode()){
//Open/close manually in service mode
} else {
if (!canSetPuckLoading()){
setPuckLoading(false);
} else {
//Opens automatically once after door is oppen
if (doorsHaveOpened){
doorsHaveOpened=false;
//setPuckLoading(true);
}
}
}
} catch (Exception ex) {
Logger.getLogger(Controller.class.getName()).log(Level.SEVERE, null, ex);
}
}
public Boolean isBarcodeReaderScanPucks() {
try {
@@ -700,14 +759,12 @@ public class Controller {
boolean puckReaderOk = true;
String insertedPuckDatamatrix;
Puck removedPuck;
//true->load
//false->unload
//null->finish transfer mode
void setPuckLoading(boolean load) {
if (load != puckLoading) {
if (load){
if (isDoorClosed()){
if (load){
if (!canSetPuckLoading()){
Logger.getLogger(Controller.class.getName()).warning("Cannot set puck loading");
return;
}
insertedPuckDatamatrix = null;
@@ -752,7 +809,16 @@ public class Controller {
} catch (Exception ex) {
errorHandler.apply(null, ex);
}
onPuckLoadingModeChange(puckLoading);
if ( hasLoadDialog()) {
if (puckLoading) {
showDialogPuckLoading();
mainFrame.setViewDesign();
} else {
hideDialogPuckLoading();
mainFrame.setViewCamera();
}
}
}
}
}
@@ -772,8 +838,10 @@ public class Controller {
return puckLoading;
}
String laserPos;
public void setLaserPos(String pos){
try {
laserPos = pos;
getMainFrame().evalAsync("set_laser_pos(" + ((pos==null) ? "" : ("'" + pos + "'") ) + ")" ,true);
getMainFrame().basePlatePanel.pointPuck((pos==null) ? null : basePlate.getPuckByName(pos));
} catch (StateException ex) {
@@ -790,6 +858,10 @@ public class Controller {
}
}
public String getLaserPos(){
return laserPos;
}
void playSound(String name) {
try {
@@ -1007,11 +1079,11 @@ public class Controller {
}
void showDialogPuckLoading(boolean load) {
void showDialogPuckLoading() {
if ((dialogPuckLoading != null) && (dialogPuckLoading.isVisible())) {
return;
}
dialogPuckLoading = new PuckLoadingDialog(mainFrame.getTopLevel(), load, false);
dialogPuckLoading = new PuckLoadingDialog(mainFrame.getTopLevel(), false);
dialogPuckLoading.setLocationRelativeTo(mainFrame);
dialogPuckLoading.setVisible(true);
checkPuckDetectionEnabling();
@@ -1048,23 +1120,13 @@ public class Controller {
}
}
public void onPuckLoadingModeChange(boolean puckLoadMode) {
if ( hasLoadDialog()) {
if (puckLoadMode) {
showDialogPuckLoading(puckLoadMode);
mainFrame.setViewDesign();
} else {
hideDialogPuckLoading();
mainFrame.setViewCamera();
}
}
}
public void onPuckScanned(String datamatrix) {
Logger.getLogger(Controller.class.getName()).info("Scanned puck: " + datamatrix);
if (isPuckLoading()) {
getMainFrame().setPuckDatamatrix(datamatrix);
if ( hasLoadDialog()) {
showDialogPuckLoading(puckLoading);
showDialogPuckLoading();
dialogPuckLoading.onPuckScanned(datamatrix);
}
} else {
@@ -1093,7 +1155,7 @@ public class Controller {
}
if (hasLoadDialog()) {
showDialogPuckLoading(puckLoading);
showDialogPuckLoading();
dialogPuckLoading.onPuckMounted(puck, datamatrix);
} else {
if ((datamatrix == null) || (datamatrix.isEmpty())){
@@ -1110,11 +1172,11 @@ public class Controller {
clearPuckMountedSample(puck);
Controller.getInstance().linkPuckDatamatrix(puck, null, !hasLoadDialog());
if ( hasLoadDialog()) {
showDialogPuckLoading(puckLoading);
showDialogPuckLoading();
dialogPuckLoading.onPuckUnmounted(puck);
}
removedPuck = puck;
}
}
void clearPuckMountedSample(Puck puck){
try{
src/main/java/ch/psi/mxsc/MainPanel.java
+13 -32
View File
@@ -79,8 +79,7 @@ public class MainPanel extends Panel {
StatusBar statusBar;
JPopupMenu samplePopupMenu;
JMenuItem menuMountSample;
JMenuItem menuUnmoountSample;
boolean doorsHaveOpened;
JMenuItem menuUnmoountSample;
public enum BasePlateLayout {
@@ -412,12 +411,14 @@ public class MainPanel extends Panel {
feedback_psys_safety.addListener(new DeviceListener() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
doorsHaveOpened = Boolean.FALSE.equals(value);
Controller.getInstance().onDoorsOpenChange(Boolean.FALSE.equals(value));
updatePsysSafety(value);
}
});
feedback_psys_safety.request();
updatePsysSafety(((Device) getDevice("feedback_psys_safety")).take());
Object psys_safety=((Device) getDevice("feedback_psys_safety")).take();
Controller.getInstance().onDoorsOpenChange(Boolean.FALSE.equals(psys_safety));
updatePsysSafety(psys_safety);
((Device) getDevice("robot")).addListener(new DeviceListener() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
@@ -642,9 +643,7 @@ public class MainPanel extends Panel {
return;
}
boolean doors_open = !Boolean.TRUE.equals(Controller.getInstance().isDoorClosed());
boolean cover_pos_detected = isCoverPosDetected();
buttonSampleLoad.setEnabled(doors_open && !cover_pos_detected && getState().isInitialized());
buttonSampleLoad.setEnabled(Controller.getInstance().canSetPuckLoading() || Controller.getInstance().isServiceMode());
buttonCamera.setEnabled(getState().isInitialized());
buttonDrawing.setEnabled(getState().isInitialized());
}
@@ -655,8 +654,7 @@ public class MainPanel extends Panel {
});
return;
}
if ((value == null) || !(value instanceof Boolean)) {
ledPsysSafety.setColor(Color.BLACK);
} else if (Boolean.TRUE.equals(manualMode)) {
@@ -666,13 +664,6 @@ public class MainPanel extends Panel {
} else {
ledPsysSafety.setColor(Color.RED);
}
if (!Boolean.TRUE.equals(value)){
try {
Controller.getInstance().setPuckLoading(false);
} catch (Exception ex) {
getLogger().log(Level.WARNING, null, ex);
}
}
updateButtonState();
}
@@ -848,7 +839,9 @@ public class MainPanel extends Panel {
if (expert == false) {
Controller.getInstance().setServiceMode(false);
if (getState().isInitialized()){
Controller.getInstance().setServiceMode(false);
}
// buttonCamera.setSelected(true);
// buttonDrawing.setSelected(false);
// updateViewType();
@@ -1132,21 +1125,8 @@ public class MainPanel extends Panel {
textCoverDet.setText("No Cover");
} else {
textCoverDet.setText((fmm==null) ? "" :fmm.x + ", " + fmm.y);
if ( getState().isReady() &&
!checkExpert.isSelected() &&
Boolean.FALSE.equals(Controller.getInstance().isDoorClosed())){
try{
if ((fmm!=null)){
Controller.getInstance().setPuckLoading(false);
} else {
if (doorsHaveOpened){
doorsHaveOpened=false;
Controller.getInstance().setPuckLoading(true);
}
}
} catch (Exception e) {
getLogger().log(Level.WARNING, null, e);
}
if ( getState().isReady()){
Controller.getInstance().onCoverDetection(fmm);
}
}
updateButtonState();
@@ -2266,6 +2246,7 @@ public class MainPanel extends Panel {
private void buttonSampleLoadActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonSampleLoadActionPerformed
try {
getLogger().info("Button Sample Load");
Controller.getInstance().setPuckLoading(true);
} catch (Exception ex) {
showException(ex);
src/main/java/ch/psi/mxsc/PuckLoadingDialog.form
+3
View File
@@ -133,6 +133,9 @@
<TableHeader reorderingAllowed="false" resizingAllowed="true"/>
</Property>
</Properties>
<Events>
<EventHandler event="mouseReleased" listener="java.awt.event.MouseListener" parameters="java.awt.event.MouseEvent" handler="tableMouseReleased"/>
</Events>
<AuxValues>
<AuxValue name="JavaCodeGenerator_VariableModifier" type="java.lang.Integer" value="0"/>
</AuxValues>
src/main/java/ch/psi/mxsc/PuckLoadingDialog.java
+25 -5
View File
@@ -22,7 +22,6 @@ import javax.swing.table.DefaultTableModel;
public class PuckLoadingDialog extends JDialog {
Path dialogPersistPath;
DefaultTableModel model;
final boolean load;
final int INDEX_USER = 0;
final int INDEX_DEWAR = 1;
@@ -31,10 +30,9 @@ public class PuckLoadingDialog extends JDialog {
/**
* Creates new form PuckLoadingDialog
*/
public PuckLoadingDialog(java.awt.Frame parent, boolean load, boolean modal) {
super(parent, load ? "Puck Loading" : "Puck Unloading", modal);
public PuckLoadingDialog(java.awt.Frame parent, boolean modal) {
super(parent, "Puck Loading", modal);
initComponents();
this.load = load;
this.setDefaultCloseOperation(JDialog.HIDE_ON_CLOSE);
this.setName("PuckLoadingDialog");
dialogPersistPath = Paths.get(Setup.getContextPath(), getClass().getSimpleName());
@@ -282,6 +280,11 @@ public class PuckLoadingDialog extends JDialog {
table.setRowHeight(40);
table.setSelectionMode(javax.swing.ListSelectionModel.SINGLE_SELECTION);
table.getTableHeader().setReorderingAllowed(false);
table.addMouseListener(new java.awt.event.MouseAdapter() {
public void mouseReleased(java.awt.event.MouseEvent evt) {
tableMouseReleased(evt);
}
});
panelTable.setViewportView(table);
buttonSet.setFont(new java.awt.Font("Lucida Grande", 0, 24)); // NOI18N
@@ -397,6 +400,23 @@ public class PuckLoadingDialog extends JDialog {
}
}//GEN-LAST:event_buttonClearDatamatrixActionPerformed
private void tableMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_tableMouseReleased
try {
int row = table.getSelectedRow();
String position = (row >= 0) ? String.valueOf(table.getValueAt(row, INDEX_POSITION)) : null;
if ((position!=null) && (!position.isBlank())){
Puck puck = Controller.getInstance().getPuck(position);
if (puck!=null) {
Controller.getInstance().setLaserPos(puck);
} else {
Controller.getInstance().setLaserPos((Puck)null);
}
}
} catch (Exception ex) {
SwingUtils.showException(this, ex);
}
}//GEN-LAST:event_tableMouseReleased
/**
* @param args the command line arguments
*/
@@ -427,7 +447,7 @@ public class PuckLoadingDialog extends JDialog {
/* Create and display the dialog */
java.awt.EventQueue.invokeLater(new Runnable() {
public void run() {
PuckLoadingDialog dialog = new PuckLoadingDialog(new javax.swing.JFrame(), true, true);
PuckLoadingDialog dialog = new PuckLoadingDialog(new javax.swing.JFrame(), true);
dialog.addWindowListener(new java.awt.event.WindowAdapter() {
@Override
public void windowClosing(java.awt.event.WindowEvent e) {