pshell_config/mxsc
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Browse Source
This commit is contained in:
gac-S_Changer
2018-10-16 18:05:43 +02:00
parent cfc4b3a0da
commit 3d86c27140
19 changed files with 333 additions and 111 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
script/devices/RobotSC.py
View File

@@ -2,11 +2,15 @@ TOOL_CALIBRATION = "tCalib"
TOOL_SUNA= "tSuna"
TOOL_DEFAULT= TOOL_SUNA
FRAME_TABLE = "fTable"
DESC_FAST = "mFast"
DESC_SLOW = "mSlow"
DESC_SCAN = "mScan"
DESC_DEFAULT = DESC_FAST
AUX_SEGMENT = "X"
DEFAULT_ROBOT_POLLING = 500
TASK_WAIT_ROBOT_POLLING = 50
@@ -22,8 +26,8 @@ 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", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome", "pCold"])
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "recover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome", "moveAux"])
self.set_known_points(["pPark", "pGonio", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pScanStop","pHelium", "pHome", "pCold", "pAux"])
self.setPolling(DEFAULT_ROBOT_POLLING)
def move_dewar(self):
@@ -53,12 +57,12 @@ class RobotSC(RobotTCP):
self.start_task('putDewar',segment, puck, sample, is_room_temp())
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
#self.assert_dewar()
self.assert_cold
self.assert_cold()
def put_gonio(self):
pin_offset = get_pin_offset()
pin_angle_offset = get_pin_angle_offset()
self.start_task('putGonio', pin_offset, pin_angle_offset)
self.start_task('putGonio', pin_offset)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_gonio()
@@ -68,6 +72,18 @@ class RobotSC(RobotTCP):
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_gonio()
def get_aux(self, sample):
self.assert_aux()
self.start_task('getAuxiliary', sample)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_aux()
def put_aux(self, sample):
self.assert_aux()
self.start_task('putAuxiliary', sample)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_aux()
def move_scanner(self):
self.start_task('moveScanner')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
@@ -104,10 +120,15 @@ class RobotSC(RobotTCP):
def robot_recover(self):
self.start_task('robotRecover')
self.start_task('recover')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_home()
def move_aux(self):
self.start_task('moveAux')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_aux()
def toSegmentNumber(self, segment):
if is_string(segment):
segment = ord(segment.upper()) - ord('A') +1
@@ -158,25 +179,28 @@ class RobotSC(RobotTCP):
return self.is_in_point("pHome")
def is_dewar(self):
return self.is_in_point("pDewarWait")
return self.is_in_point("pDewar")
def is_heater(self):
return self.is_in_point("pHeater")
return self.is_in_point("pHeat")
def is_heater_home(self):
return self.is_in_point("pHeaterHome")
return self.is_in_point("pHeater")
def is_heater_bottom(self):
return self.is_in_point("pHeaterBottom")
return self.is_in_point("pHeatB")
def is_gonio(self):
return self.is_in_point("pGonioHome")
return self.is_in_point("pGonio")
def is_helium(self):
return self.is_in_point("pHelium")
def is_scanner(self):
return self.is_in_point("pScanHome")
return self.is_in_point("pScan")
def is_aux(self):
return self.is_in_point("pAux")
#def is_scan_stop(self):
# return self.is_in_point("pScanStop")
@@ -186,16 +210,16 @@ class RobotSC(RobotTCP):
return self.get_current_point() is not None
def assert_heater_home(self):
self.assert_in_point("pHeaterHome")
self.assert_in_point("pHeater")
def assert_cold(self):
self.assert_in_point("pCold")
def assert_heater(self):
self.assert_in_point("pHeater")
self.assert_in_point("pHeat")
def assert_heater_bottom(self):
self.assert_in_point("pHeaterBottom")
self.assert_in_point("pHeatB")
def assert_park(self):
self.assert_in_point("pPark")
@@ -204,16 +228,19 @@ class RobotSC(RobotTCP):
self.assert_in_point("pHome")
def assert_dewar(self):
self.assert_in_point("pDewarWait")
self.assert_in_point("pDewar")
def assert_gonio(self):
self.assert_in_point("pGonioHome")
self.assert_in_point("pGonio")
def assert_helium(self):
self.assert_in_point("pHelium")
def assert_scanner(self):
self.assert_in_point("pScanHome")
self.assert_in_point("pScan")
def assert_aux(self):
self.assert_in_point("pAux")
#def assert_scan_stop(self):
# self.assert_in_point("pScanStop")
@@ -236,6 +263,7 @@ else:
robot.set_default_desc(DESC_DEFAULT)
robot.default_speed = 20
robot.set_frame(FRAME_DEFAULT)
robot.set_tool(TOOL_DEFAULT)
robot.setPolling(DEFAULT_ROBOT_POLLING)

30
script/devices/RobotTCP.py
View File

@@ -69,7 +69,20 @@ class RobotTCP(TcpDevice, Stoppable):
def get_tool(self):
return self.tool
def set_frame(self, frame):
self.frame = frame
self.evaluate("tcp_curframe=" + frame)
if self.cartesian_motors_enabled:
self.update()
self.set_motors_enabled(True)
self.waitCacheChange(5000)
def get_frame(self):
return self.frame
def set_default_frame(self):
self.set_frame(FRAME_DEFAULT)
def assert_tool(self, tool=None):
if tool is None:
if self.tool is None:
@@ -470,15 +483,18 @@ class RobotTCP(TcpDevice, Stoppable):
def distance_p(self, pnt1, pnt2):
return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")
def compose(self, pnt, frame = FRAME_DEFAULT, trsf = "tcp_t"):
def compose(self, pnt, frame = None, trsf = "tcp_t"):
if frame is None: frame = self.frame
return self.eval_pnt("compose(" + pnt + ", " + frame + ", " + trsf + ")")
def here(self, tool=None, frame=FRAME_DEFAULT):
def here(self, tool=None, frame=None):
if tool is None: tool = self.tool
if frame is None: frame = self.frame
return self.eval_pnt("here(" + tool + ", " + frame + ")")
def joint_to_point(self, tool=None, frame=FRAME_DEFAULT, joint="tcp_j"):
def joint_to_point(self, tool=None, frame=None, joint="tcp_j"):
if tool is None: tool = self.tool
if frame is None: frame = self.frame
return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
def point_to_joint(self, tool=None, initial_joint="tcp_j", point="tcp_p"):
@@ -486,7 +502,8 @@ class RobotTCP(TcpDevice, Stoppable):
if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)"):
return self.get_jnt()
def position(self, point, frame=FRAME_DEFAULT):
def position(self, point, frame=None):
if frame is None: frame = self.frame
return self.eval_trf("position(" + point + ", " + frame + ")")
#Profile
@@ -715,14 +732,15 @@ class RobotTCP(TcpDevice, Stoppable):
for m in self.joint_motors:
m.initialize()
#Alignment
def align(self, point = None, frame = FRAME_DEFAULT, desc = None):
def align(self, point = None, frame = None, desc = None):
if frame is None: frame = self.frame
self.assert_tool()
if desc is None: desc = self.default_desc
if point is None:
self.get_cartesian_pos()
else:
self.set_pnt(point)
np=self.eval_trf('align(tcp_p.trsf, ' + FRAME_DEFAULT + '.trsf)')
np=self.eval_trf('align(tcp_p.trsf, ' + frame + '.trsf)')
self.set_pnt(np)
self.movej("tcp_p", self.tool, desc)
#TODO: The first command is not executed (but receive a move id)