script/devices/BarcodeReader.py

@@ -4,6 +4,9 @@ class BarcodeReader(DeviceBase):
 
     def doInitialize(self):
         self.disable()
+        self.readout = None
+        self.processing = False
+        self.task_callable=None
         
     def enable(self):
         microscan_cmd.write("<H>")
@@ -17,6 +20,7 @@ class BarcodeReader(DeviceBase):
         self.state.assertReady()
         try:
             self.setState(State.Busy)
+            microscan.flush()
             ret =  microscan.waitString(int(timeout * 1000))    
             self.setCache(ret, None)
             return ret
@@ -31,17 +35,38 @@ class BarcodeReader(DeviceBase):
 
 
     def read(self,timeout=1.0):    
-        initial = self.state
-        if initial == State.Disabled:
-            self.enable()
+        if self.processing:
+            raise Exception("Ongoing read operation")
+        self.processing = True
         try:
-            return self.get()
-        finally:
+            initial = self.state
             if initial == State.Disabled:
-                self.disable()
-            
-        
+                self.enable()
+            try:
+                return self.get(timeout)
+            finally:
+                if initial == State.Disabled:
+                    self.disable()
+        finally:
+            self.processing = False
     
+    def _read_task(self, timeout):
+        global readout
+        self.readout = self.read(timeout)
+        return self.readout
+    
+    def start_read(self, timeout=1.0):
+        self.readout = None
+        self.task_callable = fork((self._read_task, (timeout,)))   
+
+    def get_readout(self):
+        return self.readout
+
+    def wait_readout(self):
+        if self.task_callable is not None:
+            join(self.task_callable)
+            self.task_callable = None
+        return self.readout
 
 
 add_device(BarcodeReader("barcode_reader"), force = True)         

script/devices/RobotSC.py

@@ -19,12 +19,11 @@ simulation = False
 
 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"])
+        self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop"])
         self.setPolling(DEFAULT_ROBOT_POLLING)              
         
     def move_dewar(self):
@@ -60,6 +59,16 @@ class RobotSC(RobotTCP):
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_scanner()
 
+    def move_scanner(self):
+        self.start_task('moveScanner') 
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        self.assert_scanner()
+
+    #def do_scan(self):
+    #    self.start_task('doScan') 
+    #    self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+    #    self.assert_scan_stop()
+
     def move_gonio(self):
         self.start_task('moveGonio') 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
@@ -156,6 +165,9 @@ class RobotSC(RobotTCP):
     def is_scanner(self):
         return  self.is_in_point("pScanHome")   
                 
+    #def is_scan_stop(self):
+    #    return  self.is_in_point("pScanStop")   
+
     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
@@ -187,9 +199,15 @@ class RobotSC(RobotTCP):
     def assert_scanner(self):
         self.assert_in_point("pScanHome")   
 
+    #def assert_scan_stop(self):
+    #    self.assert_in_point("pScanStop")   
+
     def assert_cleared(self):
         if not self.is_cleared():
-            raise Exception("Robot not in cleared position")        
+            raise Exception("Robot not in cleared position")  
+
+    def wait_ready(self):
+        robot.waitState(State.Ready, 1000) #robot.state.assertReady()
 
 if simulation:
     #add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
@@ -234,9 +252,4 @@ if joint_forces:
     add_device(jf4(), force = True)   
     add_device(jf5(), force = True)   
     add_device(jf6(), force = True)   
-    add_device(jfc(), force = True)   
-
-
-
-    
-"""
+    add_device(jfc(), force = True)   

script/devices/RobotTCP.py

@@ -3,6 +3,7 @@ import threading
 FRAME_DEFAULT = "world"
 FLANGE = "flange"
 
+MAX_NUMBER_PARAMETERS = 20
 
 run("devices/RobotMotors")
 
@@ -129,7 +130,7 @@ class RobotTCP(TcpDevice, Stoppable):
     def execute(self, command, *args, **kwargs):        
         timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"]                
         msg = str(command)
-        if len(args)>10:
+        if len(args)>MAX_NUMBER_PARAMETERS:
             raise Exception("Exceeded maximum number of parameters")
         for i in range(len(args)):            
             msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(args[i])                 
@@ -671,7 +672,7 @@ class RobotTCP(TcpDevice, Stoppable):
         #for task in tasks:
         #    if self.get_task_status(task)[0]>=0:
         #        raise Exception("Ongoing high-level task: " + task)        
-        ts = robot.get_tasks_status(*tasks)
+        ts = self.get_tasks_status(*tasks)
         for i in range(len(ts)):
             if ts[i] > 0:
                 raise Exception("Ongoing high-level task: " + tasks[i])        

script/devices/SmartMagnet.py

@@ -10,7 +10,7 @@ class SmartMagnet(DeviceBase):
                    }))    
 
     def doInitialize(self):
-        DeviceBase.doInitialize(self)
+        super(SmartMagnet, self).doInitialize()
         self.get_current()
 
     def set_current(self, current):
@@ -93,7 +93,7 @@ class SmartMagnet(DeviceBase):
     def set_remanence_current(self):
         self.set_current(self.config.getFieldValue("remanenceCurrent")) 
 
-    def set_default_current():
+    def set_default_current(self):
         if self.is_mounted():
             self.set_holding_current()
         else:

script/local.py

@@ -43,6 +43,7 @@ run("motion/move_park")
 run("motion/move_scanner")
 run("motion/dry")
 run("motion/homing_hexiposi")
+run("motion/robot_recover")
 run("imgproc/Utils")
 run("tools/Math")
 
@@ -129,6 +130,8 @@ except:
    print  >> sys.stderr, traceback.format_exc()    
 
 
+#gripper_cam.paused = True
+
 ###################################################################################################
 #  Global variables
 ###################################################################################################

script/motion/dry.py

@@ -34,7 +34,7 @@ def dry(heat_time, speed):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/get_dewar.py

@@ -7,7 +7,7 @@ def get_dewar(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()

script/motion/get_gonio.py

@@ -6,7 +6,7 @@ def get_gonio(force=False):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/homing_hexiposi.py

@@ -5,7 +5,7 @@ def homing_hexiposi():
     
     #Initial checks
     robot.assert_no_task()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     #location = robot.get_current_point()

script/motion/mount.py

@@ -1,4 +1,4 @@
-def mount(segment, puck, sample, force=False):
+def mount(segment, puck, sample, force=False, read_dm=False):
     """
     """
     print "mount: ", segment, puck, sample, force
@@ -7,7 +7,7 @@ def mount(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
@@ -29,8 +29,17 @@ def mount(segment, puck, sample, force=False):
         robot.move_dewar()      
             
     robot.get_dewar(segment, puck, sample)
+
+    if read_dm:
+        barcode_reader.start_read(10.0)
+        robot.move_scanner()                
+        
     robot.move_gonio()    
 
+    if read_dm:
+        dm = barcode_reader.get_readout()
+        print "Datamatrix: " , dm
+
     smart_magnet.set_mount_current()
     try:
         robot.put_gonio()        

script/motion/move_dewar.py

@@ -6,7 +6,7 @@ def move_dewar():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_gonio.py

@@ -6,7 +6,7 @@ def move_gonio():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_heater.py

@@ -6,7 +6,7 @@ def move_heater():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_home.py

@@ -6,7 +6,7 @@ def move_home():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_park.py

@@ -6,7 +6,7 @@ def move_park():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/move_scanner.py

@@ -6,13 +6,21 @@ def move_scanner():
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 
     #Enabling
-    enable_motion()
+    enable_motion()    
 
+    #barcode_reader.start_read(20.0)
 
     if not robot.is_scanner():
         robot.move_scanner()
+
+    #robot.do_scan()
+    #dm = barcode_reader.get_readout()
+    dm = barcode_reader.read(0.5)
+
+    print "Datamatrix: " , dm
+    #print "Datamatrix: " , barcode_reader.wait_readout()

script/motion/put_dewar.py

@@ -7,7 +7,7 @@ def put_dewar(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()

script/motion/put_gonio.py

@@ -6,7 +6,7 @@ def put_gonio(segment, puck, sample, force=False):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
 

script/motion/robot_recover.py

@@ -0,0 +1,16 @@
+def robot_recover():
+    """
+    """
+    print "robot_recover"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+
+    #Enabling
+    enable_motion()    
+
+    #barcode_reader.start_read(20.0)
+
+    robot.robot_recover()

script/motion/unmount.py

@@ -7,11 +7,15 @@ def unmount(segment, puck, sample, force=False):
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
     robot.reset_motion()
-    robot.state.assertReady()
+    robot.wait_ready()
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
 
+    if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
+        raise Exception("No pin detected on gonio")
+    
+
     #Enabling
     enable_motion()
 
@@ -25,6 +29,11 @@ def unmount(segment, puck, sample, force=False):
     if not robot.is_gonio():
         robot.move_gonio()
             
-    robot.get_gonio()
-    robot.move_dewar()        
-    robot.put_dewar(segment, puck, sample)
+    smart_magnet.set_unmount_current()
+    try:
+        robot.get_gonio()
+        robot.move_dewar()        
+        robot.put_dewar(segment, puck, sample)
+    finally:
+        smart_magnet.set_default_current()
+

script/test/TestBugPcAPI

@@ -0,0 +1,4 @@
+while True:
+    img.initialize()
+    img.waitNext(10000)
+    time.sleep(2.0)

script/test/TestBugPcAPI.py

@@ -0,0 +1,30 @@
+import ch.psi.pshell.prosilica.Prosilica as Prosilica
+import ch.psi.pshell.device.Camera as Camera
+
+
+add_device(Prosilica("img", 25001, "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000;MulticastEnable=Off"), True)
+
+img.camera.setGrabMode(Camera.GrabMode.Continuous)
+img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
+img.camera.setExposure(50.00)
+img.camera.setAcquirePeriod(200.00)
+img.camera.setGain(0.0)
+#img.camera.setROI(200, 0,1200,1200)
+"""
+img.camera.setROI(300, 200,1000,1000)    
+img.config.rotation=17
+img.config.rotationCrop=True
+img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900
+"""
+img.camera.setROI(int(get_setting("roi_x")), int(get_setting("roi_y")), int(get_setting("roi_w")), int(get_setting("roi_h")))  
+
+img.camera.stop()
+img.camera.start()
+
+
+show_panel(img)
+#while True:
+#    img.initialize()
+#    img.waitNext(1000)
+#    time.sleep(0.1)
+

script/test/TestBugPcAPI2.py

@@ -0,0 +1,6 @@
+import ch.psi.pshell.imaging.MjpegSource as MjpegSource
+MjpegSource2 = get_context().pluginManager.getDynamicClass("MjpegSource2")
+add_device(MjpegSource2("gripper_cam", "http://129.129.110.114/axis-cgi/mjpg/video.cgi"), True)
+gripper_cam.polling=100
+#gripper_cam.monitored = True
+show_panel(gripper_cam)

script/test/TestBugPcAPI3.py

@@ -0,0 +1,4 @@
+while True:
+    img.initialize()    
+    img.waitNext(1000)        
+    time.sleep(0.1)

script/tools/RestartPuckDetection.py

@@ -4,3 +4,5 @@ CMD= "sudo systemctl stop puck_detection.service;sudo systemctl start puck_detec
 
 ret = run("tools/SshExec")
 set_return(ret)
+
+puck_detection.initialize()