sends tree structure of frames and tools to clients

config/config.properties

@@ -1,58 +1,59 @@
-#Tue Oct 31 16:26:56 CET 2023
-autoSaveScanData=true
-dataLayout=default
-dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
-dataProvider=h5
-dataScanFlushRecords=false
-dataScanLazyTableCreation=false
-dataScanPreserveTypes=false
-dataScanReleaseRecords=false
-dataScanSaveOutput=false
-dataScanSaveScript=false
-dataScanSaveSetpoints=false
-dataServerPort=-1
-dataTransferMode=Off
-dataTransferPath=
-dataTransferUser=
-depthDimension=0
-disableDataFileLogs=false
-disableEmbeddedAttributes=false
-fdaSerialization=false
-filePermissionsConfig=Public
-filePermissionsData=Default
-filePermissionsLogs=Public
-filePermissionsScripts=Public
-hideServerMessages=false
-hostName=
-instanceName=
-logDaysToLive=-1
-logLevel=Info
-logLevelConsole=Off
-logPath={logs}/{date}_{time}
-noBytecodeFiles=false
-notificationLevel=Off
-notifiedTasks=
-parallelInitialization=false
-saveCommandStatistics=false
-saveConsoleSessionFiles=false
-scanStreamerPort=-1
-serverEnabled=true
-serverPort=8080
-sessionHandling=Off
-simulation=false
-terminalEnabled=true
-terminalPort=3579
-userAuthenticator=
-userManagement=false
-versionTrackingEnabled=true
-versionTrackingLogin={context}/svcusr-hlapp_robot
-versionTrackingManual=true
-versionTrackingRemote=git@git.psi.ch\:pshell_config/bernina_robot.git
-xscanAppendSuffix=true
-xscanContinuousUpdate=false
-xscanCrlogicAbortable=true
-xscanCrlogicChannel=null
-xscanCrlogicIoc=null
-xscanCrlogicPrefix=null
-xscanCrlogicSimulated=false
-xscanMoveTimeout=600
+#Tue Aug 27 08:44:59 CEST 2024
+xscanMoveTimeout=600
+autoSaveScanData=true
+simulation=false
+logDaysToLive=-1
+xscanCrlogicChannel=null
+dataScanSaveOutput=false
+xscanCrlogicSimulated=false
+userAuthenticator=
+logLevelConsole=Off
+filePermissionsConfig=Public
+scanStreamerPort=-1
+dataScanSaveScript=false
+dataScanSaveSetpoints=false
+notifiedTasks=
+parallelInitialization=false
+fdaSerialization=false
+dataTransferPath=
+saveConsoleSessionFiles=false
+xscanAppendSuffix=true
+versionTrackingManual=true
+dataTransferMode=Off
+hostName=
+userManagement=false
+disableEmbeddedAttributes=false
+instanceName=
+dataServerPort=-1
+hideServerMessages=false
+serverPort=8080
+versionTrackingEnabled=true
+dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
+serverEnabled=true
+dataScanReleaseRecords=false
+depthDimension=0
+dataScanPreserveTypes=false
+logLevel=Info
+dataScanFlushRecords=false
+filePermissionsLogs=Public
+logPath={logs}/{date}_{time}
+dataLayout=default
+disableDataFileLogs=false
+sessionHandling=Off
+terminalEnabled=true
+filePermissionsScripts=Public
+notificationLevel=Off
+terminalPort=3579
+xscanCrlogicPrefix=null
+dataTransferUser=
+filePermissionsData=Default
+xscanContinuousUpdate=false
+xscanCrlogicAbortable=true
+versionTrackingLogin={context}/svcusr-hlapp_robot
+noBytecodeFiles=false
+versionTrackingRemote=git@git.psi.ch\:pshell_config/bernina_robot.git
+dataProvider=h5
+xscanCrlogicIoc=null
+dataScanLazyTableCreation=false
+saveCommandStatistics=false
+pythonHome=

script/devices/RobotBernina.py

@@ -17,6 +17,9 @@ ROBOT_JOINT_MOTORS = ["j1" , "j2", "j3", "j4", "j5", "j6"]
 ROBOT_CARTESIAN_MOTORS = ["x" , "y", "z", "rx", "ry", "rz"]
 ROBOT_SPHERICAL_MOTORS = ["r" , "gamma", "delta"]
 
+FRAME_HIRARCHY = ["world.f_SwissFELCoord.f_ESBWorld.f_linearAxis." + k for k in ["f_direct.", "f_2mRad.", "f_4mRad.", "f_6mRad.", "f_8mRad.",]]
+FRAME_HIRARCHY += ["t_flange.t_Adapter." + k for k in ["t_JF01T03det.t_JF01T03.", "t_JF07T32det.t_JF07T32."]]
+
 run("devices/RobotTCP")
 
 override_remote_safety = False
@@ -40,7 +43,15 @@ class RobotBernina(RobotTCP):
         }
         self.remote_allowed_recorded = AdjustableFS(name="remote_allowed", default_value = default_remote_allowed_recorded)
         self.remote_allowed_deltas = AdjustableFS(name="remote_allowed_deltas", default_value = default_remote_allowed_deltas)
-        
+
+
+    def get_frame_tree(self, frame):
+        """frame can be a string of a tool or a frame"""
+        for f in FRAME_HIRARCHY:
+            if frame in f:
+                return f.split("." + frame + ".")[0]+"." + frame
+        return frame
+    
     def set_override_remote_safety(self, value):
         self.override_remote_safety = bool(value)
 

script/devices/RobotTCP.py

@@ -777,9 +777,9 @@ class RobotTCP(TcpDevice, Stoppable):
                 "task": self.current_task,
                 "mode": self.working_mode,
                 "status": self.status,
-                "frame": self.frame(),
+                "frame": self.get_frame_tree(self.frame()),
                 "frame_coordinates": self.frame_trsf,
-                "tool": self.tool(),
+                "tool": self.get_frame_tree(self.tool()),
                 "tool_coordinates": self.tool_trsf,
                 "cartesian_motors_enabled": self.cartesian_motors_enabled,
                 "spherical_motors_enabled": self.spherical_motors_enabled,
@@ -814,9 +814,9 @@ class RobotTCP(TcpDevice, Stoppable):
                 self.getLogger().info(ev)
                 self.on_event(ev) 
                 
-            self.setCache({
-                           "pos": self.get_current_point_cached() if self.state==State.Ready else None #TODO: make it calculated in robot by polling funtion 
-                           }, None)
+            #self.setCache({
+            #               "pos": self.get_current_point_cached() if self.state==State.Ready else None #TODO: make it calculated in robot by polling funtion 
+            #               }, None)
             pos = self.cartesian_pos.copy()
             pos.update(self.spherical_pos)
             pos.update(self.joint_pos)

script/elements/adjustables.py

@@ -2,7 +2,8 @@ from json import load, dump
 from os import path
 import os
 
-BASEPATH = "C:/dev/pshell/config/bernina_robot/adjustables_fs/"
+#BASEPATH = "C:/dev/pshell/config/bernina_robot/adjustables_fs/"
+BASEPATH = "/sf/bernina/config/src/python/bernina_robot/adjustables_fs/"
 
 class AdjustableFS:
     def __init__(self, name=None, default_value=None, file_path=None):
@@ -31,4 +32,4 @@ class AdjustableFS:
             return self.get_current_value()
 
     def __repr__(self):
-        return "Current value of {} at: ".format(self.name) + str(self.get_current_value())
+        return "Current value of {} at: ".format(self.name) + str(self.get_current_value())