script/devices/BarcodeReader.py

@@ -0,0 +1,11 @@
+def enable_barcode_reader():
+    microscan_cmd.write("<H>")
+
+def disable_barcode_reader():    
+    microscan_cmd.write("<I>")
+
+def read_barcode(timeout):    
+    try:
+        return microscan.waitString(int(timeout * 1000))    
+    except:
+        return None

script/devices/LaserDistance.py

@@ -0,0 +1,17 @@
+class LaserDistance(ReadonlyRegisterBase):
+    def __init__(self):
+        ReadonlyRegisterBase.__init__(self, "laser_distance")
+    def doRead(self):
+        ret = ue.readable.read()
+        ret = 0.0 if math.isnan(ret) else ret
+        return ret
+
+class ListenerAI (DeviceListener):
+    def onValueChanged(self, device, value, former):
+        laser_distance.setCache( 0.0 if math.isnan(value) else value, None)
+
+listenerAI = ListenerAI()
+ue.addListener(listenerAI)
+        
+laser_distance=LaserDistance()   
+add_device(laser_distance, True)

script/devices/LedCtrl.py

@@ -0,0 +1,25 @@
+import ch.psi.pshell.device.DiscretePositionerBase as DiscretePositionerBase
+
+
+class LedPositioner(DiscretePositionerBase):
+    def __init__(self):
+        DiscretePositionerBase.__init__(self, "led_ctrl", ["On", "Off"])
+        self.setState(State.Ready)
+        self.val = self.doReadReadback()
+        
+    def doRead(self):
+        return self.val
+    
+    def doReadReadback(self):
+        return "On" if get_led_state() else "Off"
+
+    def doWrite(self, val):
+        self.val = val
+        if self.val == "On":
+            set_led_state(True)
+        else:
+            set_led_state(False)
+
+
+add_device(LedPositioner(), True)
+led_ctrl.polling = 1000

script/devices/RobotMotors.py

@@ -17,12 +17,12 @@ class RobotCartesianMotor (PositionerBase):
         self.setCache(self.doRead(), None)
                   
     def doRead(self):
-        return float("nan") if self.robot.cartesian_destination is None else float(robot.cartesian_destination[self.index])
+        return float("nan") if self.robot.cartesian_destination is None else float(self.robot.cartesian_destination[self.index])
 
     def doWrite(self, value):        
         if self.robot.cartesian_destination is not None:
             print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value)
-            robot.cartesian_destination[self.index] = float(value)  
+            self.robot.cartesian_destination[self.index] = float(value)  
             self.robot.set_pnt(robot.cartesian_destination , "tcp_p")        
             self.robot.movel("tcp_p", self.robot.tool , DESC_SCAN)        
         

script/devices/RobotSC.py

@@ -70,6 +70,9 @@ robot.high_level_tasks = ["mount", "firstmount"]
 robot.set_tool(TOOL_CALIBRATION)
 robot.setPolling(500)
 
+robot.set_motors_enabled(True)
+robot.set_joint_motors_enabled(True)
+
 #robot.set_monitor_speed(20)
 
 
@@ -110,5 +113,6 @@ if joint_forces:
     add_device(jfc(), force = True)   
 
 
+
     
 """

script/devices/RobotTCP.py

@@ -48,11 +48,10 @@ class RobotTCP(TcpDevice, Stoppable):
     def set_tool(self,tool):
         self.tool = tool
         #self.tool_trsf = self.get_tool_trsf()
+        self.evaluate("tcp_curtool=" + tool)         
         if self.cartesian_motors_enabled:            
-            self.update()               
-            for m in self.cartesian_motors:
-                m.initialize()
-                m.update()                
+            self.update()
+            self.set_motors_enabled(True)        
     
     
     def get_tool(self):    
@@ -449,7 +448,8 @@ class RobotTCP(TcpDevice, Stoppable):
         try:
             start = time.time()
             #sts = self._sendReceive("EVT").strip().split(self.array_separator)        
-            sts = self.execute("get_status", self.current_task, self.tool, self.frame)
+            #sts = self.execute("get_status", self.current_task, self.tool, self.frame)
+            sts = self.execute("get_status", self.current_task)
             self._update_working_mode(int(sts[0]), int(sts[1]))
             self.powered = sts[2] == "1"
             self.speed = int(sts[3])

script/devices/Wago.py

@@ -0,0 +1,111 @@
+
+
+    
+"""
+wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502|||
+relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000|
+release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0|||
+release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1|||
+ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2|||
+rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3|||
+phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4|||
+dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false
+valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6|||
+gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
+valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
+valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9|||
+valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10|||
+valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11|||
+#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12|||
+#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 13|||
+#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14|||
+#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15|||
+phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||1000|
+dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||1000|
+rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||1000|
+air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||1000|
+n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000|
+#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 5|||
+#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 6|||
+#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 7|||
+led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0|||
+led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1|||
+led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
+"""
+###################################################################################################
+#  Leds
+###################################################################################################
+
+def set_led_state(value):
+    """
+    Turn leds on and off
+    """
+    if value:
+        led_ctrl_1.write(led_ctrl_1.config.maxValue)
+        led_ctrl_2.write(led_ctrl_2.config.maxValue)
+        led_ctrl_3.write(led_ctrl_3.config.maxValue)    
+    else:
+        led_ctrl_1.write(0.0)
+        led_ctrl_2.write(0.0)
+        led_ctrl_3.write(0.0)
+        
+    
+
+def get_led_state():
+    """
+    Returns led state (on/off)
+    """
+    return led_ctrl_1.read() > 0 
+
+#TODO: The range should be set automatically reading LN2 sensor.
+def set_led_range(room_temp = True):
+    """
+    Led range should be limitted in room temperature
+    """
+    max_val = 0.40 if room_temp else 1.20
+    led_ctrl_1.config.maxValue = max_val
+    led_ctrl_1.config.save()
+    led_ctrl_2.config.maxValue = max_val
+    led_ctrl_2.config.save()
+    led_ctrl_3.config.maxValue = max_val
+    led_ctrl_3.config.save()
+    led_ctrl_1.initialize()
+    led_ctrl_2.initialize()
+    led_ctrl_3.initialize()
+    if led_ctrl_1.read() > max_val:
+        led_ctrl_1.write(max_val)
+    if led_ctrl_2.read() > max_val:
+        led_ctrl_2.write(max_val)
+    if led_ctrl_3.read() > max_val:
+        led_ctrl_3.write(max_val)
+
+
+def is_led_room_temp():
+    return led_ctrl_1.config.maxValue <= 0.50
+
+
+
+###################################################################################################
+#  Safety release
+###################################################################################################
+
+def release_local():
+    """
+    Release local safety
+    """        
+    release_local_safety.write(False)
+    time.sleep(0.01)
+    release_local_safety.write(True)
+    time.sleep(0.01)
+    release_local_safety.write(False)
+
+def release_psys():
+    """
+    Release psys safety
+    """    
+    release_psys_safety.write(False)
+    time.sleep(0.01)
+    release_psys_safety.write(True)
+    time.sleep(0.01)
+    release_psys_safety.write(False)
+