From 1229efe27564f6d849976952cb6889a1675550eb Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Wed, 29 Aug 2018 10:19:38 +0200 Subject: [PATCH] --- devices/led_ctrl_1.properties | 4 +- devices/led_ctrl_2.properties | 4 +- devices/led_ctrl_3.properties | 4 +- plugins/MXSC-1.10.0.jar | Bin 232200 -> 251736 bytes plugins/Recovery.form | 71 ++++++++++++++--------- plugins/Recovery.java | 68 +++++++++++++++------- script/devices/RobotSC.py | 29 ++++------ script/devices/RobotTCP.py | 4 +- script/devices/Wago.py | 49 +++++++++++++++- script/local.py | 1 + script/motion/dry.py | 25 -------- script/motion/recover.py | 106 +++++++++++++++++++++++----------- 12 files changed, 233 insertions(+), 132 deletions(-) diff --git a/devices/led_ctrl_1.properties b/devices/led_ctrl_1.properties index f03f306..e363697 100644 --- a/devices/led_ctrl_1.properties +++ b/devices/led_ctrl_1.properties @@ -1,5 +1,5 @@ -#Fri Aug 24 10:56:15 CEST 2018 -maxValue=1.0 +#Fri Aug 24 20:52:17 CEST 2018 +maxValue=0.4 minValue=0.0 offset=0.0 precision=2 diff --git a/devices/led_ctrl_2.properties b/devices/led_ctrl_2.properties index f03f306..e363697 100644 --- a/devices/led_ctrl_2.properties +++ b/devices/led_ctrl_2.properties @@ -1,5 +1,5 @@ -#Fri Aug 24 10:56:15 CEST 2018 -maxValue=1.0 +#Fri Aug 24 20:52:17 CEST 2018 +maxValue=0.4 minValue=0.0 offset=0.0 precision=2 diff --git a/devices/led_ctrl_3.properties b/devices/led_ctrl_3.properties index f03f306..e363697 100644 --- a/devices/led_ctrl_3.properties +++ b/devices/led_ctrl_3.properties @@ -1,5 +1,5 @@ -#Fri Aug 24 10:56:15 CEST 2018 -maxValue=1.0 +#Fri Aug 24 20:52:17 CEST 2018 +maxValue=0.4 minValue=0.0 offset=0.0 precision=2 diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar index 725e82406e1057c4987c223370e2a7257418c4d4..f46cf9be131f290d2fc8e11b17c864a245ca71f5 100644 GIT binary patch delta 73576 zcmZs?by!a{V>1VU2kP(X#ydX19qd2rLK1)l_-DaO z13rWPvm|5zmme0dJRk%5pKnzSp!MP7(Euz#{PSVz0c1XW#s+}#4~yLxkoIBCm;yY} 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zZg?ov8Ox$dMU*s;9kWCz0p0qHu^dX_7KuG%!t!ofma!RICH8L^j6FJ5)AzyV`Y#r{_2PmW(R5F{KBY&Gvy9Y5wLVaG=@lXyMgmWwypj zEVlKsVq>epniR}hdzl$8i6aFaZ}nwIyI|)Ns3v$)v|obC9voB+ET~rQS9A;&1J>hZ zqxt@SKk=6u@T8RMbdb+v4|BHlC=0BCL3+N#9gk3=IYS4AXZEgiwxES1n&ER_ux*rr{ diff --git a/plugins/Recovery.form b/plugins/Recovery.form index 15e9571..e892c04 100644 --- a/plugins/Recovery.form +++ b/plugins/Recovery.form @@ -17,37 +17,40 @@ + - + + - - - - - - - - - - - - - - - - - + + + - - - - + + + + + + + + + + + + - - + + + + + + + + + @@ -66,11 +69,16 @@ - + + + + + + - + @@ -117,5 +125,16 @@ + + + + + + + + + + + diff --git a/plugins/Recovery.java b/plugins/Recovery.java index 4f394ee..738b078 100644 --- a/plugins/Recovery.java +++ b/plugins/Recovery.java @@ -16,7 +16,7 @@ public class Recovery extends Panel { public Recovery() { initComponents(); - startTimer(3000, 200); + startTimer(1000, 200); } //Overridable callbacks @@ -54,10 +54,18 @@ public class Recovery extends Panel { List segment = (List) eval("get_current_segment()", true); ledValidSegment.setColor((segment == null) ? Color.RED : Color.GREEN); textSegment.setText((segment == null) ? "": segment.get(0) + "->" + segment.get(1) + " [" + segment.get(2) + "mm]"); + + try{ + Object distance = eval("get_current_distance()", true); + textDistance.setText((distance == null) ? "" : String.format("%1.2f",((Number)distance).doubleValue())); + } catch (Exception ex) { + textDistance.setText(""); + } } catch (Exception ex) { System.out.println(ex); ledValidSegment.setColor(Color.BLACK); textSegment.setText(""); + textDistance.setText(""); } try{ String point = (String) eval("robot.get_current_point()", true); @@ -85,6 +93,8 @@ public class Recovery extends Panel { buttonAbort = new javax.swing.JButton(); textPosition = new javax.swing.JTextField(); textSegment = new javax.swing.JTextField(); + textDistance = new javax.swing.JTextField(); + jLabel8 = new javax.swing.JLabel(); jLabel6.setText("Known position"); @@ -109,35 +119,43 @@ public class Recovery extends Panel { textSegment.setEditable(false); + textDistance.setEditable(false); + textDistance.setHorizontalAlignment(javax.swing.JTextField.TRAILING); + + jLabel8.setText("Distance:"); + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); this.setLayout(layout); layout.setHorizontalGroup( layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(layout.createSequentialGroup() + .addContainerGap() .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(layout.createSequentialGroup() - .addContainerGap() + .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jLabel6) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(textPosition)) + .addGroup(layout.createSequentialGroup() + .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jLabel7) + .addGap(16, 16, 16) .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(layout.createSequentialGroup() - .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, Short.MAX_VALUE) + .addComponent(jLabel8) .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addComponent(jLabel6) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(textPosition)) - .addGroup(layout.createSequentialGroup() - .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addComponent(jLabel7) - .addGap(16, 16, 16) - .addComponent(textSegment))) - .addGap(8, 8, 8)) - .addGroup(layout.createSequentialGroup() - .addContainerGap(136, Short.MAX_VALUE) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) - .addComponent(buttonAbort, javax.swing.GroupLayout.PREFERRED_SIZE, 73, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(buttonRecover)) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 144, Short.MAX_VALUE))) - .addContainerGap()) + .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, 86, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addComponent(textSegment)))) + .addGap(8, 8, 8)) + .addGroup(layout.createSequentialGroup() + .addContainerGap(136, Short.MAX_VALUE) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) + .addComponent(buttonAbort, javax.swing.GroupLayout.PREFERRED_SIZE, 73, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonRecover)) + .addContainerGap(144, Short.MAX_VALUE)) ); layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonAbort, buttonRecover}); @@ -155,11 +173,15 @@ public class Recovery extends Panel { .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) .addComponent(jLabel7) .addComponent(textSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(18, 18, 18) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(jLabel8) + .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 81, Short.MAX_VALUE) .addComponent(buttonRecover) .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) .addComponent(buttonAbort) - .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addContainerGap()) ); }// //GEN-END:initComponents @@ -208,8 +230,10 @@ public class Recovery extends Panel { private javax.swing.JButton buttonRecover; private javax.swing.JLabel jLabel6; private javax.swing.JLabel jLabel7; + private javax.swing.JLabel jLabel8; private ch.psi.pshell.swing.Led ledKnownPosition; private ch.psi.pshell.swing.Led ledValidSegment; + private javax.swing.JTextField textDistance; private javax.swing.JTextField textPosition; private javax.swing.JTextField textSegment; // End of variables declaration//GEN-END:variables diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py index b8f2de9..50af69a 100644 --- a/script/devices/RobotSC.py +++ b/script/devices/RobotSC.py @@ -22,8 +22,8 @@ joint_forces = False 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","pHelium"]) + self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"]) + self.set_known_points(["pPark", "pHome","pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium"]) self.setPolling(DEFAULT_ROBOT_POLLING) def move_dewar(self): @@ -31,6 +31,11 @@ class RobotSC(RobotTCP): self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) self.assert_dewar() + def move_home(self): + self.start_task('moveHome') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_home() + def get_dewar(self, segment, puck, sample): segment = self.toSegmentNumber(segment) self.start_task('getDewar',segment, puck, sample, is_room_temp()) @@ -73,11 +78,7 @@ class RobotSC(RobotTCP): self.start_task('moveGonio') self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) self.assert_gonio() - - def move_home(self): - self.start_task('moveHome') - self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) - self.assert_home() + def move_park(self): self.start_task('movePark') @@ -136,15 +137,12 @@ class RobotSC(RobotTCP): robot.set_profile("remote") def set_local(self): - robot.set_profile("default") - - def is_home(self): - return self.is_in_point("pHome") + robot.set_profile("default") def is_park(self): return self.is_in_point("pPark") - def is_dewar_home(self): + def is_home(self): return self.is_in_point("pDewarHome") def is_dewar(self): @@ -173,10 +171,7 @@ class RobotSC(RobotTCP): def is_cleared(self): #return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home() - return self.get_current_point() is not None - - def assert_home(self): - self.assert_in_point("pHome") + return self.get_current_point() is not None def assert_heater_home(self): self.assert_in_point("pHeaterHome") @@ -190,7 +185,7 @@ class RobotSC(RobotTCP): def assert_park(self): self.assert_in_point("pPark") - def assert_dewar_home(self): + def assert_home(self): self.assert_in_point("pDewarHome") def assert_dewar(self): diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py index 40910a2..f70e948 100644 --- a/script/devices/RobotTCP.py +++ b/script/devices/RobotTCP.py @@ -45,7 +45,7 @@ class RobotTCP(TcpDevice, Stoppable): self.frame = FRAME_DEFAULT self.polling_interval = 0.01 self.reset = True - self.default_tolerance = 10 + self.default_tolerance = 5 self.default_speed = 100 self.task_start_retries = 3 @@ -377,7 +377,7 @@ class RobotTCP(TcpDevice, Stoppable): if desc is None: desc = self.default_desc if tool is None: tool = self.tool #If joint_or_point is a list assumes ir is a point - if not is_string(point): + if not is_string(joint_or_point): robot.set_pnt(joint_or_point , "tcp_p") joint_or_point = "tcp_p" ret = self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")") diff --git a/script/devices/Wago.py b/script/devices/Wago.py index b57b4d1..6a47090 100644 --- a/script/devices/Wago.py +++ b/script/devices/Wago.py @@ -93,7 +93,6 @@ def is_led_room_temp(): - ################################################################################################### # Safety release ################################################################################################### @@ -120,3 +119,51 @@ def release_psys(): time.sleep(0.01) release_psys_safety.write(False) + + +################################################################################################### +# Drier +################################################################################################### + +MAX_HEATER_TIME = 15000 + + +def set_air_stream(state): + """ + """ + valve_1.write(state) + valve_2.write(not state) + + +set_heater_chrono = None + +def monitor_heater_time(): + while get_heater(): + if set_heater_chrono.isTimeout(MAX_HEATER_TIME): + set_heater(False) + log("Heater timeout expired: turned off", False) + return + time.sleep(0.1) + + +def set_heater(state): + """ + """ + global set_heater_chrono + if get_heater() != state: + gripper_dryer.write(state) + if state: + set_heater_chrono = Chrono() + fork(monitor_heater_time) + + +def get_air_stream(): + """ + """ + return valve_1.read() + + +def get_heater(): + """ + """ + return gripper_dryer.read() diff --git a/script/local.py b/script/local.py index 3ad6711..152b1e7 100644 --- a/script/local.py +++ b/script/local.py @@ -6,6 +6,7 @@ from ch.psi.pshell.serial import TcpDevice from ch.psi.pshell.modbus import ModbusTCP import ch.psi.mxsc.Controller as Controller import ch.psi.pshell.core.Nameable as Nameable +import ch.psi.utils.Chrono as Chrono run("setup/Layout") diff --git a/script/motion/dry.py b/script/motion/dry.py index f4a70f6..322f109 100644 --- a/script/motion/dry.py +++ b/script/motion/dry.py @@ -1,29 +1,4 @@ -def set_air_stream(state): - """ - """ - valve_1.write(state) - valve_2.write(not state) - - -def set_heater(state): - """ - """ - gripper_dryer.write(state) - - -def get_air_stream(): - """ - """ - return valve_1.read() - - -def get_heater(): - """ - """ - return gripper_dryer.read() - - def dry(heat_time, speed): """ diff --git a/script/motion/recover.py b/script/motion/recover.py index d3690d1..1eb73fe 100644 --- a/script/motion/recover.py +++ b/script/motion/recover.py @@ -2,20 +2,21 @@ import org.apache.commons.math3.geometry.euclidean.threed.Segment as Segment import org.apache.commons.math3.geometry.euclidean.threed.Vector3D as Vector3D import org.apache.commons.math3.geometry.euclidean.threed.Line as Line3D +RECOVER_DESC = "mRecovery" +RECOVER_TOOL = TOOL_DEFAULT -known_segments = [ ("pHome", "pPark", 10), \ - ("pHome", "pDewarHome", 10), \ - ("pHome", "pGonioHome", 10), \ - ("pHome", "pScanHome", 10), \ - ("pHome", "pHeaterHome", 10), \ +known_segments = [ ("pHome", "pPark", 50), \ + ("pHome", "pDewarHome", 30), \ + ("pHome", "pGonioHome", 30), \ + ("pHome", "pScanHome", 25), \ + ("pHome", "pHeaterHome", 25), \ ("pDewarHome", "pDewarWait", 10), \ ("pGonioHome", "pGonioGet", 10), \ ("pHeaterHome", "pHeater", 10), \ ("pHeater", "pHeaterBottom", 10), \ ] - -def is_on_segment(segment): +def get_dist_to_line(segment): tolerance = segment[2] p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) p = robot.get_cartesian_pos() @@ -23,57 +24,93 @@ def is_on_segment(segment): v1 = Vector3D(p1[0], p1[1], p1[2]) v2 = Vector3D(p2[0], p2[1], p2[2]) l = Line3D(v1, v2, 0.01) + return l.distance(v) + + +def get_dist_to_segment(segment): + tolerance = segment[2] + p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) + p = robot.get_cartesian_pos() + v = Vector3D(p[0], p[1], p[2]) + v1 = Vector3D(p1[0], p1[1], p1[2]) + v2 = Vector3D(p2[0], p2[1], p2[2]) + l = Line3D(v1, v2, 0.01) + d = l.distance(v) + + pj = get_pojection_at_line(segment) + + d1, d2 = v1.distance(v), v2.distance(v) + dp1, dp2 = v1.distance(pj), v2.distance(pj) + d12 = v1.distance(v2) + + + if (dp1 + dp2) > (d12 + tolerance): + d = max(d,min(d1,d2)) + return d + +def is_on_segment(segment): + tolerance = segment[2] + d = get_dist_to_segment(segment) - #Check if on segment - d = l.distance(v) if d > tolerance: #print "Current robot position " + str(p) + " not on segment " + str(segment) + " - distance=" + str(d) return False - - # Check if inside segment - d1, d2 = v1.distance(v), v2.distance(v) - if d1>d2: - d1, d2 = d2, d1 - d1, d2 = d1, d2 - if d<(d1-tolerance) or d>(d2+tolerance): - #print "Current robot position " + str(p) + " not on segment " + str((d1, d2)) + " of segment " + str(segment) + " - distance=" + str(d) - return False #print "Current robot position " + str(p) + " on segment " + str(segment) + " - distance=" + str(d) return True +def get_pojection_at_line(segment): + tolerance = segment[2] + p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) + p = robot.get_cartesian_pos() + v = Vector3D(p[0], p[1], p[2]) + v1 = Vector3D(p1[0], p1[1], p1[2]) + v2 = Vector3D(p2[0], p2[1], p2[2]) + l = Line3D(v1, v2, 0.01) + a = l.getAbscissa(v) + lv = l.pointAt(a) + return lv + + def get_current_segment(): for segment in known_segments: if is_on_segment(segment): return segment return None +def get_current_distance(): + for segment in known_segments: + if is_on_segment(segment): + return get_dist_to_segment(segment) + return None + + def move_to_segment(segment): - tolerance = segment[2] - p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) p = robot.get_cartesian_pos() v = Vector3D(p[0], p[1], p[2]) - v1 = Vector3D(p1[0], p1[1], p1[2]) - v2 = Vector3D(p2[0], p2[1], p2[2]) - l = Line3D(v1, v2, 0.01) - - a = l.getAbscissa(v) - lv = l.pointAt(a) + lv = get_pojection_at_line(segment) dlv = lv.distance(v) if dlv> (tolerance + 0.1): raise Exception( "Error moving from " + str(p) + " to segment - distance=" + str(dlv)) - d = [lv.x, lv.y, lv.z, p[3], p[4], p[5]] + d = [lv.x, lv.y, lv.z, p[3], p[4], p[5]] print "Moving from " + str(p) + " to segment " + str(segment) + " - distance=" + str(dlv) + " - dest=" + str(d) - robot.movel(d, tool=None, desc=DESC_SLOW, sync=True) - + + try: + robot.movel(d, tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) + print "Done" + except: + print sys.exc_info()[1] #Moves to first point of the segment ehich is safer, unless in the vicinity of the second def move_to_safest_point(segment, vicinity_tolerance = 100): d1, d2 = robot.get_distance_to_pnt(segment[0]), robot.get_distance_to_pnt(segment[1]) if (d2<=d1) and (d2 <= vicinity_tolerance): - robot.movel(segment[1], tool=None, desc=DESC_SLOW, sync=True) + print "Moving to secondary point " + str(segment[1] + " - d1=" + str(d1) + " d2=" + str(d2) ) + robot.movel(segment[1], tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) else: - robot.movel(segment[0], tool=None, desc=DESC_SLOW, sync=True) - #print "Recovered to point " + str(robot.get_current_point()) + print "Moving to primary point " + str(segment[0] + " - d1=" + str(d1) + " d2=" + str(d2) ) + robot.movel(segment[0], tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) + print "Done" + #print "Recovered to point " + str(robot.get_curjoint_or_pointrent_point()) def recover(): @@ -97,7 +134,10 @@ def recover(): is_on_known_segment = True move_to_segment(segment) move_to_safest_point(segment) - return "Success recovering to point: " + str(robot.get_current_point()) + location = robot.get_current_point() + if location is None: + raise Exception("Robot didn't reach known point") + return "Success recovering to point: " + str(location) #finally: # robot.set_default_speed() if not is_on_known_segment: