diff --git a/plugins/Commands.java b/plugins/Commands.java
index b11a50b..d9b42e2 100644
--- a/plugins/Commands.java
+++ b/plugins/Commands.java
@@ -462,12 +462,12 @@ public class Commands extends Panel {
private void buttonGetGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetGonioActionPerformed
String force = checkForce.isSelected() ? "True" : "False";
- execute("get_gonio('force=" + force + ")");
+ execute("get_gonio(force=" + force + ")");
}//GEN-LAST:event_buttonGetGonioActionPerformed
private void buttonPutGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutGonioActionPerformed
String force = checkForce.isSelected() ? "True" : "False";
- execute("put_gonio('force=" + force + ")");
+ execute("put_gonio(force=" + force + ")");
}//GEN-LAST:event_buttonPutGonioActionPerformed
private void buttonMoveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveParkActionPerformed
diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar
index 0fbc961..3f40c45 100644
Binary files a/plugins/MXSC-1.10.0.jar and b/plugins/MXSC-1.10.0.jar differ
diff --git a/plugins/PuckDetectionPanel.form b/plugins/PuckDetectionPanel.form
index 9e5eb14..ddf0eb7 100644
--- a/plugins/PuckDetectionPanel.form
+++ b/plugins/PuckDetectionPanel.form
@@ -1,6 +1,6 @@
-
diff --git a/plugins/SmartMagnetPanel.java b/plugins/SmartMagnetPanel.java
index 98f5bff..41f1eb2 100644
--- a/plugins/SmartMagnetPanel.java
+++ b/plugins/SmartMagnetPanel.java
@@ -74,6 +74,9 @@ public class SmartMagnetPanel extends DevicePanel {
panelCurrentRb = new ch.psi.pshell.swing.DeviceValuePanel();
panelState = new ch.psi.pshell.swing.DeviceStatePanel();
panelCurrent = new ch.psi.pshell.swing.ProcessVariablePanel();
+ jPanel2 = new javax.swing.JPanel();
+ buttonHoming = new javax.swing.JButton();
+ buttonMount = new javax.swing.JButton();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));
@@ -148,6 +151,46 @@ public class SmartMagnetPanel extends DevicePanel {
panelCurrent.setBorder(javax.swing.BorderFactory.createTitledBorder("Current"));
panelCurrent.setDeviceName("smc_current");
+ jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Gonio"));
+
+ buttonHoming.setText("Home Fast Table");
+ buttonHoming.addActionListener(new java.awt.event.ActionListener() {
+ public void actionPerformed(java.awt.event.ActionEvent evt) {
+ buttonHomingActionPerformed(evt);
+ }
+ });
+
+ buttonMount.setText("Set Mount Position");
+ buttonMount.addActionListener(new java.awt.event.ActionListener() {
+ public void actionPerformed(java.awt.event.ActionEvent evt) {
+ buttonMountActionPerformed(evt);
+ }
+ });
+
+ javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
+ jPanel2.setLayout(jPanel2Layout);
+ jPanel2Layout.setHorizontalGroup(
+ jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+ .addGroup(jPanel2Layout.createSequentialGroup()
+ .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+ .addComponent(buttonHoming)
+ .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+ .addComponent(buttonMount)
+ .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+ );
+
+ jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHoming, buttonMount});
+
+ jPanel2Layout.setVerticalGroup(
+ jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+ .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
+ .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+ .addComponent(buttonHoming)
+ .addComponent(buttonMount))
+ .addContainerGap())
+ );
+
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
@@ -155,26 +198,63 @@ public class SmartMagnetPanel extends DevicePanel {
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(panelState, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(layout.createSequentialGroup()
- .addComponent(panelCurrent, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addGap(0, 0, Short.MAX_VALUE))
+ .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
+ .addComponent(panelCurrent, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+ .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+ .addGap(0, 0, 0))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addGap(5, 5, 5)
+ .addGap(0, 0, 0)
.addComponent(panelCurrent, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
- .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+ .addGap(0, 0, 0)
+ .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+ .addGap(0, 0, 0)
.addComponent(panelState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
);
}// //GEN-END:initComponents
+ private void buttonHomingActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingActionPerformed
+ try{
+ Context.getInstance().evalLineAsync("home_fast_table()").handle((ret, ex) -> {
+ if (SmartMagnetPanel.this.isShowing()){
+ if (ex != null){
+ showException((Exception)ex);
+ }
+ }
+ return ret;
+ });
+ } catch (Exception ex){
+ this.showException(ex);
+ }
+ }//GEN-LAST:event_buttonHomingActionPerformed
+
+ private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed
+ try{
+ Context.getInstance().evalLineAsync("set_mount_position()").handle((ret, ex) -> {
+ if (SmartMagnetPanel.this.isShowing()){
+ if (ex != null){
+ showException((Exception)ex);
+ }
+ }
+ return ret;
+ });
+ } catch (Exception ex){
+ this.showException(ex);
+ }
+ }//GEN-LAST:event_buttonMountActionPerformed
+
// Variables declaration - do not modify//GEN-BEGIN:variables
+ private javax.swing.JButton buttonHoming;
+ private javax.swing.JButton buttonMount;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel10;
private javax.swing.JLabel jLabel5;
private javax.swing.JPanel jPanel1;
+ private javax.swing.JPanel jPanel2;
private ch.psi.pshell.swing.Led ledMounted;
private ch.psi.pshell.swing.Led ledStatus;
private ch.psi.pshell.swing.ProcessVariablePanel panelCurrent;
diff --git a/script/devices/Gonio.py b/script/devices/Gonio.py
index cf006b2..0f264f5 100644
--- a/script/devices/Gonio.py
+++ b/script/devices/Gonio.py
@@ -1,7 +1,7 @@
def home_fast_table():
- caput ("SAR-EXPMX:ASYN.AOUT", "enable plc 1")
+ caput ("SAR-EXPMX1:ASYN.AOUT", "enable plc 1")
def get_fx_pos():
return caget("SAR-EXPMX:MOT_FX.RBV", 'f')
@@ -35,3 +35,9 @@ def set_cx_pos(pos):
return caput("SAR-EXPMX:MOT_CX.VAL", float(pos))
+def set_mount_position():
+ set_fx_pos(0.0)
+ set_fy_pos(0.0)
+ set_ry_pos(0.0)
+ set_cz_pos(0.0)
+ set_cx_pos(0.0)
\ No newline at end of file
diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py
index 7bd8b14..b8f2de9 100644
--- a/script/devices/RobotSC.py
+++ b/script/devices/RobotSC.py
@@ -23,7 +23,7 @@ class RobotSC(RobotTCP):
def __init__(self, name, server, timeout = 1000, retries = 1):
RobotTCP.__init__(self, name, server, timeout, retries)
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner"])
- self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop"])
+ self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium"])
self.setPolling(DEFAULT_ROBOT_POLLING)
def move_dewar(self):
@@ -161,6 +161,9 @@ class RobotSC(RobotTCP):
def is_gonio(self):
return self.is_in_point("pGonioHome")
+
+ def is_helium(self):
+ return self.is_in_point("pHelium")
def is_scanner(self):
return self.is_in_point("pScanHome")
@@ -194,7 +197,10 @@ class RobotSC(RobotTCP):
self.assert_in_point("pDewarWait")
def assert_gonio(self):
- self.assert_in_point("pGonioHome")
+ self.assert_in_point("pGonioHome")
+
+ def assert_helium(self):
+ self.assert_in_point("pHelium")
def assert_scanner(self):
self.assert_in_point("pScanHome")
diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py
index fb8616c..40910a2 100644
--- a/script/devices/RobotTCP.py
+++ b/script/devices/RobotTCP.py
@@ -108,7 +108,7 @@ class RobotTCP(TcpDevice, Stoppable):
def _sendReceive(self, msg_id, msg = "", timeout = None):
tx = self.header if (self.header != None) else ""
tx = tx + msg_id + " " + msg
- if (len(tx)>127):
+ if (len(tx)>150):
raise Exception("Exceeded maximum message size")
self.getLogger().finer("TX = '" + str(tx)+ "'")
if (self.trailer != None): tx = tx + self.trailer
@@ -736,7 +736,7 @@ class RobotTCP(TcpDevice, Stoppable):
log("Failed starting : " + str(program) + str(args), False)
print "Failed starting : " + str(program) + str(args)
if self.exception_on_task_start_failure:
- raise Exception("Cannot start task: " + program + + str(args))
+ raise Exception("Cannot start task: " + program + str(args))
log("Task started: " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False)
self.current_task, self.current_task_ret = program, None
diff --git a/script/imgproc/CoverDetection.py b/script/imgproc/CoverDetection.py
index 1398a07..904837a 100644
--- a/script/imgproc/CoverDetection.py
+++ b/script/imgproc/CoverDetection.py
@@ -1,6 +1,8 @@
###################################################################################################
# Procedure to detect the cover orientation
###################################################################################################
+assert_imaging_enabled()
+
#Parameters
FRAMES_INTEGRATION = 3
@@ -27,7 +29,7 @@ smooth(ip)
#bandpass_filter(ip, 30, 1000)
edges(ip)
auto_threshold(ip, method = "MaxEntropy")
-#binary_erode(ip, False)
+#binary_erode(ip, True)
#binary_dilate(ip, True)
ip.getProcessor().erode(1, 255)
cx,cy = int(ip.width/2), int(ip.height/2)
@@ -80,7 +82,7 @@ if angle is not None:
#Plot the correlations values agains angle
if DEBUG:
- p = plot(ydata, xdata=xdata)[0]
+ plot(ydata, xdata=xdata)
#Output results
if DEBUG:
diff --git a/script/imgproc/LedDetectionProc.py b/script/imgproc/LedDetectionProc.py
index 37728d9..c01673d 100644
--- a/script/imgproc/LedDetectionProc.py
+++ b/script/imgproc/LedDetectionProc.py
@@ -1,6 +1,8 @@
###################################################################################################
# Procedure to detect the puck light spots.
###################################################################################################
+assert_imaging_enabled()
+
COVER_PRESENT = True
ROOM_TEMP = is_room_temp()
diff --git a/script/imgproc/Utils.py b/script/imgproc/Utils.py
index c5ed223..30af7bd 100644
--- a/script/imgproc/Utils.py
+++ b/script/imgproc/Utils.py
@@ -9,8 +9,6 @@ from ch.psi.pshell.imaging.Overlays import *
import ch.psi.pshell.imaging.Pen as Pen
import java.awt.Rectangle as Rectangle
-
-
def get_img_cover_pos():
[position, angle, confidence] = run("imgproc/CoverDetection")
return position
diff --git a/script/local.py b/script/local.py
index d0251f8..d1f3a45 100644
--- a/script/local.py
+++ b/script/local.py
@@ -11,6 +11,37 @@ import ch.psi.pshell.core.Nameable as Nameable
run("setup/Layout")
+
+###################################################################################################
+# Configuration
+###################################################################################################
+
+
+def is_imaging_enabled():
+ setting = get_setting("ImagingEnabled")
+ return not (str(setting) == 'False')
+
+def set_imaging_enabled(value):
+ set_setting("ImagingEnabled", True if value else False )
+
+def assert_imaging_enabled():
+ if is_imaging_enabled() == False:
+ raise Exception ("Imaging is disabled")
+
+#"unipuck", "minispine" or "mixed"
+def set_puck_types(value):
+ set_setting("ImagingEnabled", True if value else False )
+
+def get_puck_types():
+ setting = get_setting("ImagingEnabled")
+ if setting == "unipuck" or setting == "minispine":
+ return setting
+ return "mixed"
+
+#In order to apply current config
+set_imaging_enabled(is_imaging_enabled())
+set_puck_types(get_puck_types())
+
###################################################################################################
# Scripted devices and pseudo-devices
###################################################################################################
diff --git a/script/motion/put_gonio.py b/script/motion/put_gonio.py
index 1044a14..a29e1db 100644
--- a/script/motion/put_gonio.py
+++ b/script/motion/put_gonio.py
@@ -1,4 +1,4 @@
-def put_gonio(segment, puck, sample, force=False):
+def put_gonio(force=False):
"""
"""
print "put_gonio: ", force
diff --git a/script/motion/tools.py b/script/motion/tools.py
index 277924b..148c54e 100644
--- a/script/motion/tools.py
+++ b/script/motion/tools.py
@@ -65,14 +65,15 @@ def _set_hexiposi(pos):
def visual_check_hexiposi(segment):
- #if is_manual_mode(): ?
- if hexiposi.moved:
- #Clearing for image processing
- if not robot.is_park():
- print "Moving robot to park to clear camera view..."
- robot.move_park()
- assert_img_in_cover_pos(segment)
- hexiposi.moved = False
+ if is_imaging_enabled():
+ #if is_manual_mode(): ?
+ if hexiposi.moved:
+ #Clearing for image processing
+ if not robot.is_park():
+ print "Moving robot to park to clear camera view..."
+ robot.move_park()
+ assert_img_in_cover_pos(segment)
+ hexiposi.moved = False
@@ -82,7 +83,7 @@ def wait_end_of_move():
time.sleep(0.01)
-def move_home():
+def move_to_home():
#robot.reset_motion("jHome")
robot.movej("pHome", robot.tool , DESC_SCAN)
wait_end_of_move()