From 4c38bcba7c25811ca5f40bd327bdf817a48fab48 Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Fri, 6 Jul 2018 09:56:19 +0200 Subject: [PATCH] --- config/devices.properties | 2 +- config/plugins.properties | 9 +- devices/led_ctrl_1.properties | 4 +- devices/led_ctrl_2.properties | 4 +- devices/led_ctrl_3.properties | 4 +- plugins/BarcodeReaderPanel.form | 118 ++++++++++ plugins/BarcodeReaderPanel.java | 162 ++++++++++++++ plugins/Expert.form | 342 +++-------------------------- plugins/Expert.java | 377 +++++--------------------------- plugins/HexiposiPanel.form | 81 +++++++ plugins/HexiposiPanel.java | 109 +++++++++ plugins/LN2.java | 27 ++- plugins/LaserUEPanel.form | 59 +++++ plugins/LaserUEPanel.java | 98 +++++++++ plugins/MXSC-1.10.0.jar | Bin 182951 -> 200678 bytes plugins/MjpegSource2.java | 6 +- plugins/PuckDetection.java | 169 -------------- plugins/PuckDetectionPanel.form | 184 ++++++++++++++++ plugins/PuckDetectionPanel.java | 250 +++++++++++++++++++++ plugins/RobotPanel.form | 101 +++++++++ plugins/RobotPanel.java | 106 ++++++++- plugins/WagoPanel.form | 167 ++++++++++++++ plugins/WagoPanel.java | 207 ++++++++++++++++++ plugins/Wayne.form | 46 ---- plugins/Wayne.java | 82 ------- script/devices/RobotTCP.py | 42 +++- script/local.py | 11 + script/motion/get_dewar.py | 2 + script/motion/mount.py | 2 + script/motion/put_dewar.py | 2 + script/motion/recover.py | 5 + script/motion/robot_recover.py | 2 - script/motion/unmount.py | 2 + script/test/TestBugPcAPI2.py | 6 +- 34 files changed, 1820 insertions(+), 968 deletions(-) create mode 100644 plugins/BarcodeReaderPanel.form create mode 100644 plugins/BarcodeReaderPanel.java create mode 100644 plugins/HexiposiPanel.form create mode 100644 plugins/HexiposiPanel.java create mode 100644 plugins/LaserUEPanel.form create mode 100644 plugins/LaserUEPanel.java delete mode 100644 plugins/PuckDetection.java create mode 100644 plugins/PuckDetectionPanel.form create mode 100644 plugins/PuckDetectionPanel.java create mode 100644 plugins/WagoPanel.form create mode 100644 plugins/WagoPanel.java delete mode 100644 plugins/Wayne.form delete mode 100644 plugins/Wayne.java create mode 100644 script/motion/recover.py diff --git a/config/devices.properties b/config/devices.properties index 41fc563..2ab3f36 100644 --- a/config/devices.properties +++ b/config/devices.properties @@ -1,5 +1,5 @@ img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000;MulticastEnable=Off"|||false -#gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||100| +gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||-1| microscan=ch.psi.pshell.serial.TcpDevice|129.129.110.200:2001||| microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.110.200:2003||| ue=LaserUE|COM4|||false diff --git a/config/plugins.properties b/config/plugins.properties index 00b35d6..5d37a10 100644 --- a/config/plugins.properties +++ b/config/plugins.properties @@ -1,15 +1,18 @@ +WagoPanel.java=enabled +LaserUEPanel.java=enabled +BarcodeReaderPanel.java=enabled +PuckDetectionPanel.java=enabled +HexiposiPanel.java=enabled MjpegSource2.java=enabled MXSC-1.10.0.jar=enabled LN2.java=enabled -Hexiposi.java=enabled +Hexiposi.java=disabled NewJPanel.java=disabled Expert.java=disabled RobotPanel.java=enabled -Wayne.java=disabled SmartMagnetConfig.java=disabled SmartMagnetPanel.java=enabled LaserUE.java=enabled -PuckDetection.java=disabled TestZMQ.java=disabled RobotModbus.java=disabled RobotTcp.java=disabled diff --git a/devices/led_ctrl_1.properties b/devices/led_ctrl_1.properties index 7c71df6..ff1c589 100644 --- a/devices/led_ctrl_1.properties +++ b/devices/led_ctrl_1.properties @@ -1,5 +1,5 @@ -#Wed Jun 27 09:59:11 CEST 2018 -maxValue=1.0 +#Fri Jun 29 16:49:51 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 7c71df6..ff1c589 100644 --- a/devices/led_ctrl_2.properties +++ b/devices/led_ctrl_2.properties @@ -1,5 +1,5 @@ -#Wed Jun 27 09:59:11 CEST 2018 -maxValue=1.0 +#Fri Jun 29 16:49:51 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 7c71df6..ff1c589 100644 --- a/devices/led_ctrl_3.properties +++ b/devices/led_ctrl_3.properties @@ -1,5 +1,5 @@ -#Wed Jun 27 09:59:11 CEST 2018 -maxValue=1.0 +#Fri Jun 29 16:49:51 CEST 2018 +maxValue=0.4 minValue=0.0 offset=0.0 precision=2 diff --git a/plugins/BarcodeReaderPanel.form b/plugins/BarcodeReaderPanel.form new file mode 100644 index 0000000..3e615f6 --- /dev/null +++ b/plugins/BarcodeReaderPanel.form @@ -0,0 +1,118 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/BarcodeReaderPanel.java b/plugins/BarcodeReaderPanel.java new file mode 100644 index 0000000..cb269c2 --- /dev/null +++ b/plugins/BarcodeReaderPanel.java @@ -0,0 +1,162 @@ +import ch.psi.pshell.core.Context; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; +import java.util.concurrent.CompletableFuture; + +/** + * + */ +public class BarcodeReaderPanel extends DevicePanel { + + volatile boolean enabled; + public BarcodeReaderPanel() { + initComponents(); + this.startTimer(100); + } + + + CompletableFuture future; + + @Override + public void onTimer(){ + if ((getDevice()!=null) && enabled){ + if ((future==null) || (future.isDone())){ + future = Context.getInstance().evalLineBackgroundAsync("barcode_reader.get()"); + } + } + } + + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (BarcodeReaderPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + if (ret == null){ + SwingUtils.showMessage(this, "Return", "No code detected", 20000); + } else { + SwingUtils.showMessage(this, "Return", "Detected code: " +ret, 20000); + } + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + jPanel3 = new javax.swing.JPanel(); + buttonEnable = new javax.swing.JButton(); + buttonDisable = new javax.swing.JButton(); + buttonRead = new javax.swing.JButton(); + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + deviceValuePanel1 = new ch.psi.pshell.swing.DeviceValuePanel(); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands")); + + buttonEnable.setText("Enable"); + buttonEnable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableActionPerformed(evt); + } + }); + + buttonDisable.setText("Disable"); + buttonDisable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonDisableActionPerformed(evt); + } + }); + + buttonRead.setText("Read"); + buttonRead.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReadActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonEnable) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonDisable) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonRead) + .addContainerGap()) + ); + + jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable, buttonRead}); + + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonEnable) + .addComponent(buttonDisable) + .addComponent(buttonRead)) + .addContainerGap()) + ); + + deviceStatePanel1.setDeviceName("barcode_reader"); + + deviceValuePanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Value")); + deviceValuePanel1.setDeviceName("barcode_reader"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0)) + ); + }// //GEN-END:initComponents + + private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed + execute("barcode_reader.enable()", false); + enabled = true; + }//GEN-LAST:event_buttonEnableActionPerformed + + private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed + enabled = false; + execute("barcode_reader.disable()", false); + }//GEN-LAST:event_buttonDisableActionPerformed + + private void buttonReadActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReadActionPerformed + enabled = false; + execute("barcode_reader.read(5.0) ", true); + }//GEN-LAST:event_buttonReadActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonDisable; + private javax.swing.JButton buttonEnable; + private javax.swing.JButton buttonRead; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private ch.psi.pshell.swing.DeviceValuePanel deviceValuePanel1; + private javax.swing.JPanel jPanel3; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/Expert.form b/plugins/Expert.form index 64d9d05..f513673 100644 --- a/plugins/Expert.form +++ b/plugins/Expert.form @@ -16,206 +16,16 @@ - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -228,11 +38,12 @@ - + - - - + + + + @@ -240,16 +51,14 @@ - + - - - - - - - + + + + + @@ -263,8 +72,9 @@ + - + @@ -312,12 +122,17 @@ - + - + + + + + + @@ -584,121 +399,20 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - + - + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + diff --git a/plugins/Expert.java b/plugins/Expert.java index 7f11523..3249ef2 100644 --- a/plugins/Expert.java +++ b/plugins/Expert.java @@ -2,17 +2,13 @@ * Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved. */ -import ch.psi.pshell.core.Context; import ch.psi.pshell.ui.Panel; import ch.psi.utils.State; import ch.psi.utils.swing.SwingUtils; import java.awt.Component; -import java.util.logging.Level; -import java.util.logging.Logger; import javax.swing.JComponent; import javax.swing.JSpinner; import javax.swing.JTextField; -import javax.swing.SwingConstants; /** * @@ -47,6 +43,12 @@ public class Expert extends Panel { protected void doUpdate() { } + @Override + public boolean isActive() { + return true; + } + + void execute(String statement){ execute(statement, false); } @@ -89,15 +91,6 @@ public class Expert extends Panel { // //GEN-BEGIN:initComponents private void initComponents() { - panelRobot = new javax.swing.JPanel(); - buttonEnable = new javax.swing.JButton(); - buttonDisable = new javax.swing.JButton(); - jPanel2 = new javax.swing.JPanel(); - buttonPositionsHexiposi = new javax.swing.JButton(); - panelSafety = new javax.swing.JPanel(); - buttonReleasePsys = new javax.swing.JButton(); - buttonEnableAll = new javax.swing.JButton(); - buttonReleaseLocal = new javax.swing.JButton(); panelCommands = new javax.swing.JPanel(); buttonMount = new javax.swing.JButton(); buttonUnmount = new javax.swing.JButton(); @@ -128,128 +121,8 @@ public class Expert extends Panel { jLabel6 = new javax.swing.JLabel(); jLabel7 = new javax.swing.JLabel(); spinnerDrySpeed = new javax.swing.JSpinner(); - jPanel3 = new javax.swing.JPanel(); - buttonPuckDetCheck = new javax.swing.JButton(); - buttonPuckDetStop = new javax.swing.JButton(); - buttonPuckDetStart = new javax.swing.JButton(); - panelRobot1 = new javax.swing.JPanel(); - buttonHeater = new javax.swing.JToggleButton(); - buttonStream = new javax.swing.JToggleButton(); - - panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot")); - - buttonEnable.setText("Enable"); - buttonEnable.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonEnableActionPerformed(evt); - } - }); - - buttonDisable.setText("Disable"); - buttonDisable.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonDisableActionPerformed(evt); - } - }); - - javax.swing.GroupLayout panelRobotLayout = new javax.swing.GroupLayout(panelRobot); - panelRobot.setLayout(panelRobotLayout); - panelRobotLayout.setHorizontalGroup( - panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelRobotLayout.createSequentialGroup() - .addContainerGap(32, Short.MAX_VALUE) - .addComponent(buttonEnable) - .addGap(27, 27, 27) - .addComponent(buttonDisable) - .addContainerGap(32, Short.MAX_VALUE)) - ); - - panelRobotLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable}); - - panelRobotLayout.setVerticalGroup( - panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelRobotLayout.createSequentialGroup() - .addContainerGap() - .addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonEnable) - .addComponent(buttonDisable)) - .addContainerGap()) - ); - - jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Hexiposi")); - - buttonPositionsHexiposi.setText("Positions"); - buttonPositionsHexiposi.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonPositionsHexiposiActionPerformed(evt); - } - }); - - javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2); - jPanel2.setLayout(jPanel2Layout); - jPanel2Layout.setHorizontalGroup( - jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() - .addContainerGap(76, Short.MAX_VALUE) - .addComponent(buttonPositionsHexiposi) - .addContainerGap(74, Short.MAX_VALUE)) - ); - jPanel2Layout.setVerticalGroup( - jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel2Layout.createSequentialGroup() - .addContainerGap() - .addComponent(buttonPositionsHexiposi) - .addContainerGap()) - ); - - panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety")); - - buttonReleasePsys.setText("Release PSYS"); - buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonReleasePsysActionPerformed(evt); - } - }); - - buttonEnableAll.setText("Enable Motion"); - buttonEnableAll.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonEnableAllActionPerformed(evt); - } - }); - - buttonReleaseLocal.setText("Release Local"); - buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonReleaseLocalActionPerformed(evt); - } - }); - - javax.swing.GroupLayout panelSafetyLayout = new javax.swing.GroupLayout(panelSafety); - panelSafety.setLayout(panelSafetyLayout); - panelSafetyLayout.setHorizontalGroup( - panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelSafetyLayout.createSequentialGroup() - .addContainerGap() - .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) - .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addGroup(panelSafetyLayout.createSequentialGroup() - .addComponent(buttonReleasePsys) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(buttonReleaseLocal))) - .addContainerGap()) - ); - panelSafetyLayout.setVerticalGroup( - panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelSafetyLayout.createSequentialGroup() - .addContainerGap() - .addComponent(buttonEnableAll) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonReleaseLocal) - .addComponent(buttonReleasePsys)) - .addContainerGap()) - ); + buttonRecover = new javax.swing.JButton(); + buttonEnableAll = new javax.swing.JButton(); panelCommands.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands")); @@ -431,30 +304,44 @@ public class Expert extends Panel { spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(1.0d, 0.1d, 10.0d, 1.0d)); + buttonRecover.setText("Recover"); + buttonRecover.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonRecoverActionPerformed(evt); + } + }); + + buttonEnableAll.setText("Enable Motion"); + buttonEnableAll.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableAllActionPerformed(evt); + } + }); + javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands); panelCommands.setLayout(panelCommandsLayout); panelCommandsLayout.setHorizontalGroup( panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(panelCommandsLayout.createSequentialGroup() .addContainerGap() - .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) + .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(buttonRecover, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) .addComponent(buttonMoveHeater, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) .addComponent(buttonMoveGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonMovePark, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonGetGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonPutGonio, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonMount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonUnmount, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonGetDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonPutDewar, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonDry, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addComponent(buttonMovePark, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonGetGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonPutGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonMount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonUnmount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonGetDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonPutDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonDry, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) .addGap(30, 30, 30) - .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) - .addComponent(buttonMoveScanner, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonMoveHome, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonMoveDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) + .addComponent(buttonMoveScanner, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonMoveHome, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonMoveDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) .addGroup(panelCommandsLayout.createSequentialGroup() .addComponent(jLabel7) @@ -464,8 +351,9 @@ public class Expert extends Panel { .addComponent(jLabel6) .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) - .addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) - .addContainerGap(30, Short.MAX_VALUE)) + .addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) ); panelCommandsLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonGetDewar, buttonGetGonio, buttonHomingHexiposi, buttonMount, buttonMoveDewar, buttonMoveGonio, buttonMoveHeater, buttonMoveHome, buttonMovePark, buttonMoveScanner, buttonPutDewar, buttonPutGonio, buttonUnmount}); @@ -507,139 +395,26 @@ public class Expert extends Panel { .addComponent(buttonDry) .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) .addComponent(jLabel6)) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) .addComponent(jLabel7)) - .addContainerGap()) - ); - - jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Puck Detection")); - - buttonPuckDetCheck.setText("Ckeck"); - buttonPuckDetCheck.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonPuckDetCheckActionPerformed(evt); - } - }); - - buttonPuckDetStop.setText("Stop"); - buttonPuckDetStop.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonPuckDetStopActionPerformed(evt); - } - }); - - buttonPuckDetStart.setText("Start"); - buttonPuckDetStart.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonPuckDetStartActionPerformed(evt); - } - }); - - javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); - jPanel3.setLayout(jPanel3Layout); - jPanel3Layout.setHorizontalGroup( - jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel3Layout.createSequentialGroup() - .addContainerGap() - .addComponent(buttonPuckDetCheck) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE) - .addComponent(buttonPuckDetStop) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 11, Short.MAX_VALUE) - .addComponent(buttonPuckDetStart) - .addContainerGap()) - ); - - jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonPuckDetCheck, buttonPuckDetStart, buttonPuckDetStop}); - - jPanel3Layout.setVerticalGroup( - jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel3Layout.createSequentialGroup() - .addContainerGap() - .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonPuckDetCheck) - .addComponent(buttonPuckDetStop) - .addComponent(buttonPuckDetStart)) - .addContainerGap()) - ); - - panelRobot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Dryer")); - - buttonHeater.setText("Heater"); - buttonHeater.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonHeaterActionPerformed(evt); - } - }); - - buttonStream.setText("Air Stream"); - buttonStream.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonStreamActionPerformed(evt); - } - }); - - javax.swing.GroupLayout panelRobot1Layout = new javax.swing.GroupLayout(panelRobot1); - panelRobot1.setLayout(panelRobot1Layout); - panelRobot1Layout.setHorizontalGroup( - panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelRobot1Layout.createSequentialGroup() - .addContainerGap(24, Short.MAX_VALUE) - .addComponent(buttonHeater) .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(buttonStream) - .addContainerGap(25, Short.MAX_VALUE)) - ); - - panelRobot1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHeater, buttonStream}); - - panelRobot1Layout.setVerticalGroup( - panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(panelRobot1Layout.createSequentialGroup() - .addContainerGap() - .addGroup(panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonHeater) - .addComponent(buttonStream)) - .addContainerGap()) + .addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonEnableAll) + .addComponent(buttonRecover)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) ); 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.CENTER) - .addComponent(panelRobot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(panelRobot, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addGap(18, 18, 18) - .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addContainerGap()) + .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) ); - - layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jPanel2, jPanel3, panelRobot, panelRobot1, panelSafety}); - layout.setVerticalGroup( layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(layout.createSequentialGroup() - .addContainerGap() - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGroup(layout.createSequentialGroup() - .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(panelRobot1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) - .addContainerGap(23, Short.MAX_VALUE)) + .addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) ); }// //GEN-END:initComponents @@ -657,30 +432,10 @@ public class Expert extends Panel { }//GEN-LAST:event_buttonMountActionPerformed - private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed - execute("robot.enable()", true); - }//GEN-LAST:event_buttonEnableActionPerformed - - private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed - execute("robot.disable()", true); - }//GEN-LAST:event_buttonDisableActionPerformed - - private void buttonReleaseLocalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleaseLocalActionPerformed - execute("release_local()", true); - }//GEN-LAST:event_buttonReleaseLocalActionPerformed - - private void buttonReleasePsysActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleasePsysActionPerformed - execute("release_psys()", true); - }//GEN-LAST:event_buttonReleasePsysActionPerformed - private void buttonHomingHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingHexiposiActionPerformed execute("homing_hexiposi()"); }//GEN-LAST:event_buttonHomingHexiposiActionPerformed - private void buttonPositionsHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPositionsHexiposiActionPerformed - this.showDevicePanel("hexiposi"); - }//GEN-LAST:event_buttonPositionsHexiposiActionPerformed - private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed String segment = (String) spinnerSegment.getValue(); int puck = (Integer) spinnerPuck.getValue(); @@ -715,18 +470,6 @@ public class Expert extends Panel { execute("put_gonio('force=" + force + ")"); }//GEN-LAST:event_buttonPutGonioActionPerformed - private void buttonPuckDetCheckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetCheckActionPerformed - execute("check_puck_detection()", true, true); - }//GEN-LAST:event_buttonPuckDetCheckActionPerformed - - private void buttonPuckDetStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStopActionPerformed - execute("stop_puck_detection()", true); - }//GEN-LAST:event_buttonPuckDetStopActionPerformed - - private void buttonPuckDetStartActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStartActionPerformed - execute("start_puck_detection()", true); - }//GEN-LAST:event_buttonPuckDetStartActionPerformed - private void buttonMoveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveParkActionPerformed execute("move_park()"); }//GEN-LAST:event_buttonMoveParkActionPerformed @@ -758,22 +501,15 @@ public class Expert extends Panel { execute("dry(" + dryTime + ", " + streamTime + ")"); }//GEN-LAST:event_buttonDryActionPerformed - private void buttonHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHeaterActionPerformed - execute("set_heater(" + (buttonHeater.isSelected() ? "True": "False") + ")", true); - }//GEN-LAST:event_buttonHeaterActionPerformed - - private void buttonStreamActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStreamActionPerformed - execute("set_air_stream(" + (buttonStream.isSelected()? "True": "False")+ ")", true); - }//GEN-LAST:event_buttonStreamActionPerformed + private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed + execute("robot_recover()"); + }//GEN-LAST:event_buttonRecoverActionPerformed // Variables declaration - do not modify//GEN-BEGIN:variables - private javax.swing.JButton buttonDisable; private javax.swing.JButton buttonDry; - private javax.swing.JButton buttonEnable; private javax.swing.JButton buttonEnableAll; private javax.swing.JButton buttonGetDewar; private javax.swing.JButton buttonGetGonio; - private javax.swing.JToggleButton buttonHeater; private javax.swing.JButton buttonHomingHexiposi; private javax.swing.JButton buttonMount; private javax.swing.JButton buttonMoveDewar; @@ -782,15 +518,9 @@ public class Expert extends Panel { private javax.swing.JButton buttonMoveHome; private javax.swing.JButton buttonMovePark; private javax.swing.JButton buttonMoveScanner; - private javax.swing.JButton buttonPositionsHexiposi; - private javax.swing.JButton buttonPuckDetCheck; - private javax.swing.JButton buttonPuckDetStart; - private javax.swing.JButton buttonPuckDetStop; private javax.swing.JButton buttonPutDewar; private javax.swing.JButton buttonPutGonio; - private javax.swing.JButton buttonReleaseLocal; - private javax.swing.JButton buttonReleasePsys; - private javax.swing.JToggleButton buttonStream; + private javax.swing.JButton buttonRecover; private javax.swing.JButton buttonUnmount; private javax.swing.JCheckBox checkDatamatrix; private javax.swing.JCheckBox checkForce; @@ -801,13 +531,8 @@ public class Expert extends Panel { private javax.swing.JLabel jLabel5; private javax.swing.JLabel jLabel6; private javax.swing.JLabel jLabel7; - private javax.swing.JPanel jPanel2; - private javax.swing.JPanel jPanel3; private javax.swing.JPanel jPanel5; private javax.swing.JPanel panelCommands; - private javax.swing.JPanel panelRobot; - private javax.swing.JPanel panelRobot1; - private javax.swing.JPanel panelSafety; private javax.swing.JSpinner spinnerDrySpeed; private javax.swing.JSpinner spinnerDryTime; private javax.swing.JSpinner spinnerPuck; diff --git a/plugins/HexiposiPanel.form b/plugins/HexiposiPanel.form new file mode 100644 index 0000000..65d0c18 --- /dev/null +++ b/plugins/HexiposiPanel.form @@ -0,0 +1,81 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/HexiposiPanel.java b/plugins/HexiposiPanel.java new file mode 100644 index 0000000..64ae671 --- /dev/null +++ b/plugins/HexiposiPanel.java @@ -0,0 +1,109 @@ + + +import ch.psi.pshell.core.Context; +import ch.psi.pshell.device.Device; +import ch.psi.pshell.swing.DevicePanel; + +/** + * + */ +public class HexiposiPanel extends DevicePanel { + + /** + * Creates new form HexiposiPositionPanel + */ + public HexiposiPanel() { + initComponents(); + } + + @Override + public void setDevice(Device device){ + super.setDevice(device); + discretePositionerPanel.setDevice(device); + } + + @Override + public void setEnabled(boolean enabled){ + super.setEnabled(enabled); + discretePositionerPanel.setEnabled(enabled); + } + + /** + * This method is called from within the constructor to initialize the form. + * WARNING: Do NOT modify this code. The content of this method is always + * regenerated by the Form Editor. + */ + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + discretePositionerPanel = new ch.psi.pshell.swing.DiscretePositionerPanel(); + jPanel1 = new javax.swing.JPanel(); + buttonHoming = new javax.swing.JButton(); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Initialize")); + + buttonHoming.setText("Homing"); + buttonHoming.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonHomingActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonHoming) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(buttonHoming) + .addContainerGap()) + ); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(jPanel1, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(discretePositionerPanel, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGap(0, 0, Short.MAX_VALUE)) + ); + 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) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(discretePositionerPanel, 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("hexiposi.move_home()").handle((ret, ex) -> { + if (ex != null){ + showException((Exception)ex); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + + }//GEN-LAST:event_buttonHomingActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonHoming; + private ch.psi.pshell.swing.DiscretePositionerPanel discretePositionerPanel; + private javax.swing.JPanel jPanel1; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/LN2.java b/plugins/LN2.java index 4fdeb64..3d11573 100644 --- a/plugins/LN2.java +++ b/plugins/LN2.java @@ -3,11 +3,15 @@ */ import ch.psi.pshell.core.Context; +import ch.psi.pshell.plot.TimePlotBase; import ch.psi.pshell.swing.StripChart; import ch.psi.pshell.ui.App; import ch.psi.pshell.ui.Panel; import ch.psi.utils.State; +import ch.psi.utils.swing.SwingUtils; +import java.awt.Dimension; import java.io.File; +import java.io.IOException; import java.util.logging.Level; import java.util.logging.Logger; @@ -16,6 +20,7 @@ import java.util.logging.Logger; */ public class LN2 extends Panel { final StripChart stripChart; + TimePlotBase plot; public LN2() { initComponents(); stripChart = new StripChart(this.getTopLevel(), false, App.getStripChartFolderArg()); @@ -27,23 +32,30 @@ public class LN2 extends Panel { } catch (Exception ex) { showException(ex); Logger.getLogger(LN2.class.getName()).log(Level.WARNING, null, ex); - } + } + plot = (TimePlotBase) SwingUtils.getComponentsByType(stripChart.getPlotPanel(),TimePlotBase.class)[0]; } //Overridable callbacks @Override public void onInitialize(int runCount) { - } @Override public void onStop() { + //saveImage(); super.onStop(); } + @Override public void onStateChange(State state, State former) { + if ( (state == State.Closing) || + ((state == State.Initializing) && (former != State.Invalid)) + ){ + saveImage(); + } } @@ -51,6 +63,17 @@ public class LN2 extends Panel { public void onExecutedFile(String fileName, Object result) { } + public void saveImage(){ + getLogger().severe("Saving image"); + try { + String fileName = new File(getContext().getSetup().expandPath("{images}/ln2/{date}_{time}.png")).getCanonicalPath(); + getLogger().severe("File: " + fileName); + plot.saveSnapshot(fileName, "png", new Dimension(1200,800)); + } catch (Exception ex) { + getLogger().log(Level.SEVERE, null, ex); + } + getLogger().severe("Done"); + } //Callback to perform update - in event thread @Override diff --git a/plugins/LaserUEPanel.form b/plugins/LaserUEPanel.form new file mode 100644 index 0000000..c9c5f8d --- /dev/null +++ b/plugins/LaserUEPanel.form @@ -0,0 +1,59 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/LaserUEPanel.java b/plugins/LaserUEPanel.java new file mode 100644 index 0000000..017fb77 --- /dev/null +++ b/plugins/LaserUEPanel.java @@ -0,0 +1,98 @@ +import ch.psi.pshell.core.Context; +import ch.psi.pshell.device.Device; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; + +/** + * + */ +public class LaserUEPanel extends DevicePanel { + + public LaserUEPanel() { + initComponents(); + } + + @Override + public void setDevice(Device device){ + super.setDevice(device); + if (device!=null){ + historyChart.addDevice("Laser Distance", device); + } else { + for (Device d: historyChart.getDevices()){ + historyChart.removeDevice(device); + } + } + } + + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (LaserUEPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + if (ret == null){ + SwingUtils.showMessage(this, "Return", "No code detected", 20000); + } else { + SwingUtils.showMessage(this, "Return", "Detected code: " +ret, 20000); + } + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + deviceStatePanel2 = new ch.psi.pshell.swing.DeviceStatePanel(); + try { + historyChart = new ch.psi.pshell.swing.HistoryChart(); + } catch (java.lang.ClassNotFoundException e1) { + e1.printStackTrace(); + } catch (java.lang.InstantiationException e2) { + e2.printStackTrace(); + } catch (java.lang.IllegalAccessException e3) { + e3.printStackTrace(); + } + deviceValuePanel1 = new ch.psi.pshell.swing.DeviceValuePanel(); + + deviceStatePanel2.setDeviceName("ue"); + + deviceValuePanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Value")); + deviceValuePanel1.setDeviceName("ue"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(historyChart, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE) + .addGroup(layout.createSequentialGroup() + .addComponent(deviceStatePanel2, javax.swing.GroupLayout.DEFAULT_SIZE, 297, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, 297, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(historyChart, javax.swing.GroupLayout.DEFAULT_SIZE, 307, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(deviceStatePanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) + ); + }// //GEN-END:initComponents + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel2; + private ch.psi.pshell.swing.DeviceValuePanel deviceValuePanel1; + private ch.psi.pshell.swing.HistoryChart historyChart; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar index 504236fbf30911414762aa8e45ed3ec5cbbafff2..c51970ffe9294afa88fc3b6fdd2bd4a6df6d0715 100644 GIT binary patch delta 63518 zcmb@uWmFw`8tsj{yE_DTcXxMpcPHo}xVyVcaF;*`?oMzC?(PzJNxFMxx@Yc(d)Lbc zPEl0{SZlAnpQ`=)pDIm;-OGi8SCjz-g8};WRTjM)4^IYP8oevq7SQnG@V+ZJofmpZ`2 z&8on3f1J#y4%`6#`{X?xV9r1G5$gjt{;{=a2+V@~`zV4lFfGWh|EPt}6?pZJEj$n4 zH{jp<2t0vG&BC81)BAN*OX>-uk zYn)EUC7~-taw~IED@9gbTrnp1Z{~OWjE6N3rRfe|&wbCIyPkcIF*mpYpTerQ2SAR1uzlbHcN_ca+#kP^1bBp z-_#EPrdMv5*vxOR!RwB*%uib2O*4~#wHq0)S-Gx)mXSj{3QQLMMc_2uf?AbLWe(2+ zHO$n_@d#esD@qR)jxWIBG`f{3F65JeM7rcG-(e47S zG}d{^y{e~z#xh_-t$X3}_DXXbq5yZbBgFyjiC}5%B|#B3qTf8eC$Fz zS0Pq3ZSIqyBH}%Gqon9y=_r(Vf%a4>3me>%Id6X0W;!3*rRUR_A*(F}h*xWBxsP<@ z0VyyYO#KsWz1%Q(e#ZBxAA7azfJ_OtpkQRWGDyMQjA=w{VisdYI(d{}5*9C_AD73F zaJgrPE&4=N2)o_qlpytV8p^i00`(0JD@7h-Jnc^P8$3)?`(~f9JM?(+JVCS_msv32 zal5UM)Zx$ZmUr;8SHF5HH%BpD0;!O>DemmD8Dg>vpwkj}k0AQrW??jaK z)JV7)%rOSaj%%r|hY`#_B~}nsrOg+DQjyYHGf)sqX8V>9vZ@7&D-yVD$wKNiG{_v3%ZKYeac>)SY=>fIZa^fHgSVUD= zb>o$o&eTqVLh*s(BW4h`G{9TPB!)HJ??+7V%Qs%51ITpgW$;vM2uR1ceDElqx|Jn< zqK0Zm+C__j041O$ix7)jMim{S$u_Z22i&hgpj19Ajvz`S%*Zm`{o^HMVd*I?`#jPT z>-=?6Qwgf$yyEiML#6ULTZ}JA8{R{up?#1fhijlhU4BCtcnD>degMGY)f2UW;6hKj zF{cQ|*b_-8C72x@&;nh!A#Qi>X$-7UA_$YBl_-SUTbb2F%y9#8$@05`CD347)d;|v znRQ7Cpil0?^rQ*q%64Pcv+bv+AoK+n;w5&?_K2P&kWS4OHo085%z<8v%g@IXk=~pl zz%0~fIzi%ilA-#&fGv)RGC!z3c{*M?>!$uNv1lM&7O)xclmf_^GP>mCF>9m}dLC

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z_M{wHY*KNJ-1U)U}*aOn#m^>d^D=O`&e>)#HtFaf~5Zvm8GRAfkpJO$(FTw@m` z5HJuY|Hd9NKVyl&TF8*$@r3>NsMP-r#t!>4mJl3o4}g1a?z6A$$Uq`sy)Xcr-~%B3 z_o5mkl%~G{v55(>`S-mdLL5wn0%UlO%fI^4%I`R4Mt0>^RAplCl!p@G> z$>Ht4cReU5NJPL6sF2RgYXnE30!f}5QVAgdCmSKrxB%dRH&KDe&*ZZwGIY~3nH0=~ z2BZfH{PQ0%*ahuRc%N1mZy}Z~A#a9%TL8IV2e&>;5`&F@0#Ly-Xg~ziS5U8@j4`30 LINKnd4E6s22}IbI diff --git a/plugins/MjpegSource2.java b/plugins/MjpegSource2.java index a4f55f7..89ab9ef 100644 --- a/plugins/MjpegSource2.java +++ b/plugins/MjpegSource2.java @@ -35,9 +35,9 @@ public class MjpegSource2 extends SourceBase { super.doInitialize(); URL aux = new URL(url); stream = aux.openStream(); - // if (!stream.markSupported()) { + if (!stream.markSupported()) { stream = new BufferedInputStream(stream); - // } + } } Thread monitoredThread; @@ -102,7 +102,7 @@ public class MjpegSource2 extends SourceBase { if (endOfFrame >= 0) { stream.reset(); stream.skip(startOfFrame); - int length = endOfFrame - END_OF_FRAME.length; + int length = endOfFrame ;//- END_OF_FRAME.length ; byte[] data = new byte[length]; stream.read(data, 0, length); return data; diff --git a/plugins/PuckDetection.java b/plugins/PuckDetection.java deleted file mode 100644 index 8edf011..0000000 --- a/plugins/PuckDetection.java +++ /dev/null @@ -1,169 +0,0 @@ - -import ch.psi.pshell.device.DeviceBase; -import ch.psi.utils.Arr; -import ch.psi.utils.Chrono; -import ch.psi.utils.State; -import java.io.IOException; -import java.util.ArrayList; -import java.util.logging.Level; - - -public class PuckDetection extends DeviceBase{ - public static final int PUCKS_NUMBER = 30; - final String server; - public volatile Chrono chrono; - - public PuckDetection(String name, String server){ - super(name); - this.server = server.startsWith("tcp://") ? server : "tcp://" + server; - } - - - public static class PuckState{ - public boolean online; - public boolean mecSwitch; - public boolean indSwitch; - - void clear(){ - online = false; - mecSwitch = false; - indSwitch = false; - } - void set(boolean mecSwitch, boolean indSwitch){ - online = true; - this.mecSwitch = mecSwitch; - this.indSwitch = indSwitch; - } - - @Override - public String toString(){ - return "Online = " + online + "\ns1 = " + mecSwitch+ "\ns2 = " + indSwitch; - } - } - - PuckState[] pucks; - public PuckState[] getPucks(){ - return pucks; - } - - //From 1 to PUCKS_NUMBER - public PuckState getPuck(int id) throws Exception{ - assertInitialized(); - if ((id<=0) || (id>PUCKS_NUMBER)){ - throw new Exception("invalid puck id: "+ id); - } - return pucks[id-1]; - } - - - Thread thread; - Thread watchDog; - - @Override - protected void doInitialize() throws IOException, InterruptedException{ - doClose(); - super.doInitialize(); - pucks = new PuckState[PUCKS_NUMBER]; - for (int i=0; i present = new ArrayList<>(); - for (String line:msg.split("\t")){ - try{ - line = line.trim(); - String[] tokens = line.split(" "); - int id = Integer.valueOf(tokens[0].substring(1)); - present.add(id); - PuckState puck = getPuck(id); - if (tokens.length<3){ - puck.clear(); - } else { - puck.set(tokens[1].trim().equals("1"),tokens[2].trim().equals("1")); - } - } catch (Exception ex){ - getLogger().log(Level.INFO, null, ex); - } - } - for (int i=1; i<= PUCKS_NUMBER; i++){ - if (!Arr.containsEqual(present.toArray(), i)){ - pucks[i-1].clear(); - } - } - } - - @Override - protected void doClose(){ - if (watchDog!=null){ - watchDog.interrupt(); - watchDog = null; - } - if (thread!=null){ - thread.interrupt(); - thread = null; - } - } -} diff --git a/plugins/PuckDetectionPanel.form b/plugins/PuckDetectionPanel.form new file mode 100644 index 0000000..9e5eb14 --- /dev/null +++ b/plugins/PuckDetectionPanel.form @@ -0,0 +1,184 @@ + + +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + <Editor/> + <Renderer/> + </Column> + <Column maxWidth="-1" minWidth="-1" prefWidth="-1" resizable="true"> + <Title/> + <Editor/> + <Renderer/> + </Column> + <Column maxWidth="-1" minWidth="-1" prefWidth="-1" resizable="true"> + <Title/> + <Editor/> + <Renderer/> + </Column> + </TableColumnModel> + </Property> + <Property name="tableHeader" type="javax.swing.table.JTableHeader" editor="org.netbeans.modules.form.editors2.JTableHeaderEditor"> + <TableHeader reorderingAllowed="true" resizingAllowed="true"/> + </Property> + </Properties> + </Component> + </SubComponents> + </Container> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="deviceStatePanel1"> + <Properties> + <Property name="deviceName" type="java.lang.String" value="puck_detection"/> + </Properties> + </Component> + </SubComponents> +</Form> diff --git a/plugins/PuckDetectionPanel.java b/plugins/PuckDetectionPanel.java new file mode 100644 index 0000000..f17059a --- /dev/null +++ b/plugins/PuckDetectionPanel.java @@ -0,0 +1,250 @@ +import ch.psi.mxsc.Puck; +import ch.psi.mxsc.PuckDetection; +import ch.psi.mxsc.PuckState; +import ch.psi.pshell.core.Context; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; + +/** + * + */ +public class PuckDetectionPanel extends DevicePanel { + + public PuckDetectionPanel() { + initComponents(); + int row = 0; + for (String segment : new String[]{"A", "B", "C", "D", "E", "F"}){ + for (int puck=1; puck<=5; puck++){ + table.getModel().setValueAt(segment+puck, row++, 0); + } + } + } + + @Override + public PuckDetection getDevice(){ + return (PuckDetection) super.getDevice(); + } + + + @Override + protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean arg3) { + for (int row=0; row< 30; row++){ + String name = table.getModel().getValueAt(row, 0).toString(); + //int id = row+1; + try { + Puck puck = getDevice().getPuck(name); + int id = puck.getIndex() + 1; + PuckState state = getDevice().getPuckState(id); + table.getModel().setValueAt(state.online, row, 1); + table.getModel().setValueAt(state.mecSwitch, row, 2); + table.getModel().setValueAt(state.indSwitch, row, 3); + table.getModel().setValueAt(puck.getDetection() == null ? "" : puck.getDetection(), row, 4); + table.getModel().setValueAt(puck.getImageDetection() == null ? "" : puck.getImageDetection(), row, 5); + } catch (Exception ex) { + ex.printStackTrace(); + table.getModel().setValueAt(false, row, 1); + table.getModel().setValueAt(false, row, 2); + table.getModel().setValueAt(false, row, 3); + table.getModel().setValueAt("", row, 4); + table.getModel().setValueAt("", row, 5); + } + } + } + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + SwingUtils.showMessage(this, "Return", String.valueOf(ret)); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + jPanel3 = new javax.swing.JPanel(); + buttonPuckDetCheck = new javax.swing.JButton(); + buttonPuckDetStop = new javax.swing.JButton(); + buttonPuckDetStart = new javax.swing.JButton(); + jPanel1 = new javax.swing.JPanel(); + jScrollPane1 = new javax.swing.JScrollPane(); + table = new javax.swing.JTable(); + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Raspberry Pi ")); + + buttonPuckDetCheck.setText("Ckeck"); + buttonPuckDetCheck.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetCheckActionPerformed(evt); + } + }); + + buttonPuckDetStop.setText("Stop"); + buttonPuckDetStop.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetStopActionPerformed(evt); + } + }); + + buttonPuckDetStart.setText("Start"); + buttonPuckDetStart.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetStartActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonPuckDetCheck) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 107, Short.MAX_VALUE) + .addComponent(buttonPuckDetStop) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 108, Short.MAX_VALUE) + .addComponent(buttonPuckDetStart) + .addContainerGap()) + ); + + jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonPuckDetCheck, buttonPuckDetStart, buttonPuckDetStop}); + + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonPuckDetCheck) + .addComponent(buttonPuckDetStop) + .addComponent(buttonPuckDetStart)) + .addContainerGap()) + ); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Detection")); + + table.setModel(new javax.swing.table.DefaultTableModel( + new Object [][] { + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null} + }, + new String [] { + "Puck", "Online", "Mechanical", "Inductive", "Detection", "Image" + } + ) { + Class[] types = new Class [] { + java.lang.String.class, java.lang.Boolean.class, java.lang.Boolean.class, java.lang.Boolean.class, java.lang.String.class, java.lang.String.class + }; + boolean[] canEdit = new boolean [] { + false, false, false, false, false, false + }; + + public Class getColumnClass(int columnIndex) { + return types [columnIndex]; + } + + public boolean isCellEditable(int rowIndex, int columnIndex) { + return canEdit [columnIndex]; + } + }); + jScrollPane1.setViewportView(table); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE) + .addContainerGap()) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 274, Short.MAX_VALUE) + .addContainerGap()) + ); + + deviceStatePanel1.setDeviceName("puck_detection"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonPuckDetCheckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetCheckActionPerformed + execute("check_puck_detection()", true); + }//GEN-LAST:event_buttonPuckDetCheckActionPerformed + + private void buttonPuckDetStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStopActionPerformed + execute("stop_puck_detection()", false); + }//GEN-LAST:event_buttonPuckDetStopActionPerformed + + private void buttonPuckDetStartActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStartActionPerformed + execute("start_puck_detection()", false); + }//GEN-LAST:event_buttonPuckDetStartActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonPuckDetCheck; + private javax.swing.JButton buttonPuckDetStart; + private javax.swing.JButton buttonPuckDetStop; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private javax.swing.JPanel jPanel1; + private javax.swing.JPanel jPanel3; + private javax.swing.JScrollPane jScrollPane1; + private javax.swing.JTable table; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/RobotPanel.form b/plugins/RobotPanel.form index db2bf43..e223812 100644 --- a/plugins/RobotPanel.form +++ b/plugins/RobotPanel.form @@ -20,6 +20,7 @@ <Component id="jPanel2" alignment="0" max="32767" attributes="0"/> <Component id="jPanel3" alignment="0" max="32767" attributes="0"/> <Component id="panelState" alignment="0" max="32767" attributes="0"/> + <Component id="jPanel4" max="32767" attributes="0"/> </Group> </DimensionLayout> <DimensionLayout dim="1"> @@ -27,6 +28,8 @@ <Group type="102" alignment="0" attributes="0"> <Component id="jPanel1" min="-2" max="-2" attributes="0"/> <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel4" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> <Component id="jPanel2" min="-2" max="-2" attributes="0"/> <EmptySpace min="0" pref="0" max="-2" attributes="0"/> <Component id="jPanel3" min="-2" max="-2" attributes="0"/> @@ -446,5 +449,103 @@ </Container> <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="panelState"> </Component> + <Container class="javax.swing.JPanel" name="jPanel4"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Tool"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Component id="jLabel5" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledOpen" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="panelPowerCtr1" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel5" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledOpen" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="panelPowerCtr1" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.Led" name="ledOpen"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel5"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Open:"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelPowerCtr1"> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="buttonOpen" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace pref="18" max="32767" attributes="0"/> + <Component id="buttonClose" linkSize="3" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Group type="103" alignment="2" groupAlignment="1" max="-2" attributes="0"> + <Component id="buttonClose" alignment="1" max="32767" attributes="0"/> + <Component id="buttonOpen" alignment="1" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonClose"> + <Properties> + <Property name="text" type="java.lang.String" value=" Close "/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonCloseActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonOpen"> + <Properties> + <Property name="text" type="java.lang.String" value=" Open "/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonOpenActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + </SubComponents> + </Container> </SubComponents> </Form> diff --git a/plugins/RobotPanel.java b/plugins/RobotPanel.java index edbd65a..a520adc 100644 --- a/plugins/RobotPanel.java +++ b/plugins/RobotPanel.java @@ -5,7 +5,6 @@ import ch.psi.pshell.swing.DevicePanel; import ch.psi.pshell.core.Context; import ch.psi.utils.State; import java.awt.Color; -import java.lang.reflect.Method; import java.util.Map; /** @@ -52,6 +51,7 @@ public class RobotPanel extends DevicePanel { Boolean empty = null; Boolean settled = null; Boolean moving = null; + Boolean open = null; Integer speed = null; String task = null; String mode = null; @@ -70,6 +70,10 @@ public class RobotPanel extends DevicePanel { settled = (Boolean) status.get("settled"); } catch (Exception ex) { } + try { + open = (Boolean) status.get("open"); + } catch (Exception ex) { + } try { speed = (Integer) status.get("speed"); } catch (Exception ex) { @@ -109,6 +113,7 @@ public class RobotPanel extends DevicePanel { ledPowered.setColor((powered == null) ? Color.GRAY : (powered ? Color.YELLOW : Color.DARK_GRAY)); ledEmpty.setColor((empty == null) ? Color.GRAY : (empty ? Color.GREEN : Color.YELLOW)); ledSettled.setColor((settled == null) ? Color.GRAY : (settled ? Color.GREEN : Color.YELLOW)); + ledOpen.setColor((open == null) ? Color.GRAY : (open ? Color.GREEN : Color.DARK_GRAY)); ledMoving.setColor((moving == null) ? Color.GRAY : (moving ? Color.YELLOW : Color.DARK_GRAY)); textTask.setText((task == null) ? "" : task); ledTask.setColor((task == null) ? Color.GRAY : (task.isEmpty() ? Color.DARK_GRAY : Color.YELLOW)); @@ -164,6 +169,12 @@ public class RobotPanel extends DevicePanel { ledTask = new ch.psi.pshell.swing.Led(); ledMode = new ch.psi.pshell.swing.Led(); panelState = new ch.psi.pshell.swing.DeviceStatePanel(); + jPanel4 = new javax.swing.JPanel(); + ledOpen = new ch.psi.pshell.swing.Led(); + jLabel5 = new javax.swing.JLabel(); + panelPowerCtr1 = new javax.swing.JPanel(); + buttonClose = new javax.swing.JButton(); + buttonOpen = new javax.swing.JButton(); jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Power")); @@ -428,6 +439,74 @@ public class RobotPanel extends DevicePanel { .addGap(2, 2, 2)) ); + jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Tool")); + + ledOpen.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel5.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel5.setText("Open:"); + + buttonClose.setText(" Close "); + buttonClose.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonCloseActionPerformed(evt); + } + }); + + buttonOpen.setText(" Open "); + buttonOpen.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonOpenActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelPowerCtr1Layout = new javax.swing.GroupLayout(panelPowerCtr1); + panelPowerCtr1.setLayout(panelPowerCtr1Layout); + panelPowerCtr1Layout.setHorizontalGroup( + panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtr1Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addComponent(buttonOpen) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE) + .addComponent(buttonClose)) + ); + + panelPowerCtr1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonClose, buttonOpen}); + + panelPowerCtr1Layout.setVerticalGroup( + panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtr1Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(buttonClose, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonOpen)) + .addGap(0, 0, 0)) + ); + + javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4); + jPanel4.setLayout(jPanel4Layout); + jPanel4Layout.setHorizontalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.createSequentialGroup() + .addContainerGap() + .addComponent(jLabel5, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel4Layout.setVerticalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel5) + .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2)) + ); + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); this.setLayout(layout); layout.setHorizontalGroup( @@ -436,12 +515,15 @@ public class RobotPanel extends DevicePanel { .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) .addComponent(jPanel3, 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) + .addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) ); 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(0, 0, 0) + .addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .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(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) @@ -509,32 +591,54 @@ public class RobotPanel extends DevicePanel { } }//GEN-LAST:event_buttonAbortActionPerformed + private void buttonCloseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonCloseActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".close_tool()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonCloseActionPerformed + + private void buttonOpenActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonOpenActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".open_tool()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonOpenActionPerformed + // Variables declaration - do not modify//GEN-BEGIN:variables private javax.swing.JButton butonStop; private javax.swing.JButton buttonAbort; + private javax.swing.JButton buttonClose; private javax.swing.JButton buttonDisable; private javax.swing.JButton buttonEnable; + private javax.swing.JButton buttonOpen; private javax.swing.JButton buttonPause; private javax.swing.JButton buttonResume; private javax.swing.JLabel jLabel1; private javax.swing.JLabel jLabel2; private javax.swing.JLabel jLabel3; private javax.swing.JLabel jLabel4; + private javax.swing.JLabel jLabel5; private javax.swing.JLabel jLabel6; private javax.swing.JLabel jLabel7; private javax.swing.JLabel jLabel8; private javax.swing.JPanel jPanel1; private javax.swing.JPanel jPanel2; private javax.swing.JPanel jPanel3; + private javax.swing.JPanel jPanel4; private ch.psi.pshell.swing.Led ledEmpty; private ch.psi.pshell.swing.Led ledMode; private ch.psi.pshell.swing.Led ledMoving; + private ch.psi.pshell.swing.Led ledOpen; private ch.psi.pshell.swing.Led ledPowered; private ch.psi.pshell.swing.Led ledSettled; private ch.psi.pshell.swing.Led ledTask; private javax.swing.JPanel panelMotionCtr; private javax.swing.JPanel panelPowerCtr; + private javax.swing.JPanel panelPowerCtr1; private ch.psi.pshell.swing.DeviceStatePanel panelState; private javax.swing.JSpinner spinnerSpeed; private javax.swing.JTextField textMode; diff --git a/plugins/WagoPanel.form b/plugins/WagoPanel.form new file mode 100644 index 0000000..9864ffa --- /dev/null +++ b/plugins/WagoPanel.form @@ -0,0 +1,167 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="deviceStatePanel1" max="32767" attributes="0"/> + <Component id="panelSafety" max="32767" attributes="0"/> + <Component id="panelRobot1" max="32767" attributes="0"/> + <Component id="panelDewar" alignment="0" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="panelSafety" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelDewar" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelRobot1" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="deviceStatePanel1" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="deviceStatePanel1"> + <Properties> + <Property name="deviceName" type="java.lang.String" value="wago"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelSafety"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Safety"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonReleasePsys" linkSize="2" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="buttonReleaseLocal" linkSize="2" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="buttonReleaseLocal" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="buttonReleasePsys" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonReleasePsys"> + <Properties> + <Property name="text" type="java.lang.String" value="Release PSYS"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonReleasePsysActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonReleaseLocal"> + <Properties> + <Property name="text" type="java.lang.String" value="Release Local"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonReleaseLocalActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Container class="javax.swing.JPanel" name="panelRobot1"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Dryer"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonHeater" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="buttonStream" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="buttonHeater" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="buttonStream" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JToggleButton" name="buttonHeater"> + <Properties> + <Property name="text" type="java.lang.String" value="Heater"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonHeaterActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JToggleButton" name="buttonStream"> + <Properties> + <Property name="text" type="java.lang.String" value="Air Stream"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonStreamActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.ProcessVariablePanel" name="panelDewar"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder justification="1" title="Dewar Light"/> + </Border> + </Property> + <Property name="deviceName" type="java.lang.String" value="led_level"/> + <Property name="showAdvanced" type="boolean" value="false"/> + <Property name="showButtons" type="boolean" value="false"/> + <Property name="showLimitButtons" type="boolean" value="false"/> + <Property name="showSlider" type="boolean" value="true"/> + <Property name="showStop" type="boolean" value="false"/> + </Properties> + </Component> + </SubComponents> +</Form> diff --git a/plugins/WagoPanel.java b/plugins/WagoPanel.java new file mode 100644 index 0000000..cacadcd --- /dev/null +++ b/plugins/WagoPanel.java @@ -0,0 +1,207 @@ +import ch.psi.mxsc.Controller; +import ch.psi.pshell.core.Context; +import ch.psi.pshell.swing.DevicePanel; +import java.util.concurrent.CompletableFuture; +import javax.swing.border.TitledBorder; + +/** + * + */ +public class WagoPanel extends DevicePanel { + + public WagoPanel() { + initComponents(); + this.startTimer(10000); + } + + + CompletableFuture future; + + @Override + public void onTimer(){ + if ((getDevice()!=null)){ + updateTitle(); + } + } + + void updateTitle(){ + Boolean roomTemp = (Controller.getInstance().isLedRoomTemp()); + if (roomTemp==null){ + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light"); + } else if (roomTemp==true){ + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light (room temperature)"); + } else { + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light (LN2)"); + } + } + + + void execute(String statement){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (WagoPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + panelSafety = new javax.swing.JPanel(); + buttonReleasePsys = new javax.swing.JButton(); + buttonReleaseLocal = new javax.swing.JButton(); + panelRobot1 = new javax.swing.JPanel(); + buttonHeater = new javax.swing.JToggleButton(); + buttonStream = new javax.swing.JToggleButton(); + panelDewar = new ch.psi.pshell.swing.ProcessVariablePanel(); + + deviceStatePanel1.setDeviceName("wago"); + + panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety")); + + buttonReleasePsys.setText("Release PSYS"); + buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleasePsysActionPerformed(evt); + } + }); + + buttonReleaseLocal.setText("Release Local"); + buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleaseLocalActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelSafetyLayout = new javax.swing.GroupLayout(panelSafety); + panelSafety.setLayout(panelSafetyLayout); + panelSafetyLayout.setHorizontalGroup( + panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelSafetyLayout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonReleasePsys) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonReleaseLocal) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + panelSafetyLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonReleaseLocal, buttonReleasePsys}); + + panelSafetyLayout.setVerticalGroup( + panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelSafetyLayout.createSequentialGroup() + .addContainerGap() + .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonReleaseLocal) + .addComponent(buttonReleasePsys)) + .addContainerGap()) + ); + + panelRobot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Dryer")); + + buttonHeater.setText("Heater"); + buttonHeater.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonHeaterActionPerformed(evt); + } + }); + + buttonStream.setText("Air Stream"); + buttonStream.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonStreamActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelRobot1Layout = new javax.swing.GroupLayout(panelRobot1); + panelRobot1.setLayout(panelRobot1Layout); + panelRobot1Layout.setHorizontalGroup( + panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelRobot1Layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonHeater) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonStream) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + panelRobot1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHeater, buttonStream}); + + panelRobot1Layout.setVerticalGroup( + panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelRobot1Layout.createSequentialGroup() + .addContainerGap() + .addGroup(panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonHeater) + .addComponent(buttonStream)) + .addContainerGap()) + ); + + panelDewar.setBorder(javax.swing.BorderFactory.createTitledBorder(null, "Dewar Light", javax.swing.border.TitledBorder.LEFT, javax.swing.border.TitledBorder.DEFAULT_POSITION)); + panelDewar.setDeviceName("led_level"); + panelDewar.setShowAdvanced(false); + panelDewar.setShowButtons(false); + panelDewar.setShowLimitButtons(false); + panelDewar.setShowSlider(true); + panelDewar.setShowStop(false); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelSafety, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelRobot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelDewar, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelRobot1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonReleasePsysActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleasePsysActionPerformed + execute("release_psys()"); + }//GEN-LAST:event_buttonReleasePsysActionPerformed + + private void buttonReleaseLocalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleaseLocalActionPerformed + execute("release_local()"); + }//GEN-LAST:event_buttonReleaseLocalActionPerformed + + private void buttonHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHeaterActionPerformed + execute("set_heater(" + (buttonHeater.isSelected() ? "True": "False") + ")"); + }//GEN-LAST:event_buttonHeaterActionPerformed + + private void buttonStreamActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStreamActionPerformed + execute("set_air_stream(" + (buttonStream.isSelected()? "True": "False")+ ")"); + }//GEN-LAST:event_buttonStreamActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JToggleButton buttonHeater; + private javax.swing.JButton buttonReleaseLocal; + private javax.swing.JButton buttonReleasePsys; + private javax.swing.JToggleButton buttonStream; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private ch.psi.pshell.swing.ProcessVariablePanel panelDewar; + private javax.swing.JPanel panelRobot1; + private javax.swing.JPanel panelSafety; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/Wayne.form b/plugins/Wayne.form deleted file mode 100644 index f6456c5..0000000 --- a/plugins/Wayne.form +++ /dev/null @@ -1,46 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> - <AuxValues> - <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> - <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> - <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> - <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> - <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> - <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> - <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> - <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> - <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> - </AuxValues> - - <Layout> - <DimensionLayout dim="0"> - <Group type="103" groupAlignment="0" attributes="0"> - <Group type="102" alignment="0" attributes="0"> - <EmptySpace min="-2" pref="18" max="-2" attributes="0"/> - <Component id="jButton1" min="-2" max="-2" attributes="0"/> - <EmptySpace pref="358" max="32767" attributes="0"/> - </Group> - </Group> - </DimensionLayout> - <DimensionLayout dim="1"> - <Group type="103" groupAlignment="0" attributes="0"> - <Group type="102" alignment="0" attributes="0"> - <EmptySpace min="-2" pref="29" max="-2" attributes="0"/> - <Component id="jButton1" min="-2" max="-2" attributes="0"/> - <EmptySpace pref="85" max="32767" attributes="0"/> - </Group> - </Group> - </DimensionLayout> - </Layout> - <SubComponents> - <Component class="javax.swing.JButton" name="jButton1"> - <Properties> - <Property name="text" type="java.lang.String" value="jButton1"/> - </Properties> - <Events> - <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="jButton1ActionPerformed"/> - </Events> - </Component> - </SubComponents> -</Form> diff --git a/plugins/Wayne.java b/plugins/Wayne.java deleted file mode 100644 index 955c0e5..0000000 --- a/plugins/Wayne.java +++ /dev/null @@ -1,82 +0,0 @@ -/* - * Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved. - */ - -import ch.psi.pshell.ui.Panel; -import ch.psi.utils.State; -import java.util.logging.Level; -import java.util.logging.Logger; - -/** - * - */ -public class Wayne extends Panel { - - public Wayne() { - initComponents(); - } - - //Overridable callbacks - @Override - public void onInitialize(int runCount) { - - } - - @Override - public void onStateChange(State state, State former) { - - } - - @Override - public void onExecutedFile(String fileName, Object result) { - } - - - //Callback to perform update - in event thread - @Override - protected void doUpdate() { - } - - @SuppressWarnings("unchecked") - // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents - private void initComponents() { - - jButton1 = new javax.swing.JButton(); - - jButton1.setText("jButton1"); - jButton1.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - jButton1ActionPerformed(evt); - } - }); - - javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); - this.setLayout(layout); - layout.setHorizontalGroup( - layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(layout.createSequentialGroup() - .addGap(18, 18, 18) - .addComponent(jButton1) - .addContainerGap(358, Short.MAX_VALUE)) - ); - layout.setVerticalGroup( - layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(layout.createSequentialGroup() - .addGap(29, 29, 29) - .addComponent(jButton1) - .addContainerGap(85, Short.MAX_VALUE)) - ); - }// </editor-fold>//GEN-END:initComponents - - private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed - try { - this.runAsync("test/RobotCartesianScan"); - } catch (Exception ex) { - Logger.getLogger(Wayne.class.getName()).log(Level.SEVERE, null, ex); - } - }//GEN-LAST:event_jButton1ActionPerformed - - // Variables declaration - do not modify//GEN-BEGIN:variables - private javax.swing.JButton jButton1; - // End of variables declaration//GEN-END:variables -} diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py index 05c533c..662a2b5 100644 --- a/script/devices/RobotTCP.py +++ b/script/devices/RobotTCP.py @@ -40,6 +40,7 @@ class RobotTCP(TcpDevice, Stoppable): self.joint_motors = [] self.tool = None self.default_desc = None + self.tool_open = None #self.tool_trsf = [0.0] * 6 self.frame = FRAME_DEFAULT self.polling_interval = 0.01 @@ -52,7 +53,7 @@ class RobotTCP(TcpDevice, Stoppable): def doInitialize(self): super(RobotTCP, self).doInitialize() - self.reset = True + self.reset = True def set_tool(self, tool): self.tool = tool @@ -60,7 +61,8 @@ class RobotTCP(TcpDevice, Stoppable): self.evaluate("tcp_curtool=" + tool) if self.cartesian_motors_enabled: self.update() - self.set_motors_enabled(True) + self.set_motors_enabled(True) + self.is_tool_open() def get_tool(self): return self.tool @@ -395,18 +397,36 @@ class RobotTCP(TcpDevice, Stoppable): #self.waitState(State.Ready, -1) - #Tool - #This function can timeout since it synchronizes move. - #Better check state before otherwise it can freeze the communication + #Tool - synchronized as can freeze communication + """ + def open_tool(self, tool=None, timeout=3000): + #This function can timeout since it synchronizes move. Checking state before otherwise it can freeze the communication. + self.waitState(State.Ready, -1) + if tool is None: tool = self.tool + return self.evaluate("open(" + tool + " )", timeout=timeout) + + def close_tool(self, tool=None, timeout=3000): + #This function can timeout since it synchronizes move. Checking state before otherwise it can freeze the communication. + self.waitState(State.Ready, -1) + if tool is None: tool = self.tool + return self.evaluate("close(" + tool + " )", timeout=timeout) + """ + #Tool - Not synchronized calls: atention to open/close only when state is Ready def open_tool(self, tool=None): if tool is None: tool = self.tool - return self.evaluate("open(" + tool + " )", timeout=3000) + self.evaluate(tool + ".gripper=true") + self.tool_open = True - #This function can timeout since it synchronizes move. Better check state before - #Better check state before otherwise it can freeze the communication def close_tool(self, tool=None): if tool is None: tool = self.tool - return self.evaluate("close(" + tool + " )", timeout=3000) + self.evaluate(tool + ".gripper=false") + self.tool_open = False + + def is_tool_open(self, tool=None): + if tool is None: tool = self.tool + self.tool_open = robot.eval_bool(tool + ".gripper") + return self.tool_open + #Arm position def herej(self): @@ -521,6 +541,7 @@ class RobotTCP(TcpDevice, Stoppable): self.speed = int(sts[3]) self.empty = sts[4] == "1" self.settled = sts[5] == "1" + #TODO: add tool open if cur_task is not None: if int(sts[6]) < 0: log("Task "+ str(cur_task) + " finished with code: " + str(sts[7]), False) @@ -547,7 +568,8 @@ class RobotTCP(TcpDevice, Stoppable): "settled": self.settled, "task": cur_task, "mode": self.working_mode, - "status": self.status + "status": self.status, + "open": self.tool_open }, None) if self.cartesian_motors_enabled: for m in self.cartesian_motors: diff --git a/script/local.py b/script/local.py index ca79cd3..e7b45da 100644 --- a/script/local.py +++ b/script/local.py @@ -4,6 +4,7 @@ import traceback from ch.psi.pshell.serial import TcpDevice from ch.psi.pshell.modbus import ModbusTCP +import ch.psi.mxsc.Controller as Controller run("setup/Layout") @@ -60,6 +61,16 @@ def system_check(robot_move=True): if not guiding_tool_park().read(): raise Exception("Guiding tool not parked") +def get_puck_elect_detection(segment, puck): + return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).detection) + +def get_puck_img_detection(segment, puck): + return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection) + +def assert_puck_detected(segment, puck): + if get_puck_detection(segment, puck) != "Present": + raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present") + def start_puck_detection(): run("tools/RestartPuckDetection") diff --git a/script/motion/get_dewar.py b/script/motion/get_dewar.py index 7555edf..b082cf6 100644 --- a/script/motion/get_dewar.py +++ b/script/motion/get_dewar.py @@ -5,6 +5,8 @@ def get_dewar(segment, puck, sample, force=False): #Initial checks assertValidAddress(segment, puck, sample) + assert_puck_detected(segment, puck) + robot.assert_no_task() robot.reset_motion() robot.wait_ready() diff --git a/script/motion/mount.py b/script/motion/mount.py index 14a5cda..815dce6 100644 --- a/script/motion/mount.py +++ b/script/motion/mount.py @@ -5,6 +5,8 @@ def mount(segment, puck, sample, force=False, read_dm=False): start = time.time() #Initial checks assertValidAddress(segment, puck, sample) + assert_puck_detected(segment, puck) + robot.assert_no_task() robot.reset_motion() robot.wait_ready() diff --git a/script/motion/put_dewar.py b/script/motion/put_dewar.py index 079411e..2f66fae 100644 --- a/script/motion/put_dewar.py +++ b/script/motion/put_dewar.py @@ -5,6 +5,8 @@ def put_dewar(segment, puck, sample, force=False): #Initial checks assertValidAddress(segment, puck, sample) + assert_puck_detected(segment, puck) + robot.assert_no_task() robot.reset_motion() robot.wait_ready() diff --git a/script/motion/recover.py b/script/motion/recover.py new file mode 100644 index 0000000..37e7d77 --- /dev/null +++ b/script/motion/recover.py @@ -0,0 +1,5 @@ +def recover(): + """ + """ + print "recover" + diff --git a/script/motion/robot_recover.py b/script/motion/robot_recover.py index 87e5d18..145e592 100644 --- a/script/motion/robot_recover.py +++ b/script/motion/robot_recover.py @@ -11,6 +11,4 @@ def robot_recover(): #Enabling enable_motion() - #barcode_reader.start_read(20.0) - robot.robot_recover() diff --git a/script/motion/unmount.py b/script/motion/unmount.py index 851ef30..d12f73f 100644 --- a/script/motion/unmount.py +++ b/script/motion/unmount.py @@ -5,6 +5,8 @@ def unmount(segment, puck, sample, force=False): #Initial checks assertValidAddress(segment, puck, sample) + assert_puck_detected(segment, puck) + robot.assert_no_task() robot.reset_motion() robot.wait_ready() diff --git a/script/test/TestBugPcAPI2.py b/script/test/TestBugPcAPI2.py index 037fbb0..0747cd0 100644 --- a/script/test/TestBugPcAPI2.py +++ b/script/test/TestBugPcAPI2.py @@ -1,6 +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 +add_device(MjpegSource("gripper_cam", "http://129.129.110.114/axis-cgi/mjpg/video.cgi"), True) +#gripper_cam.polling=1000 +gripper_cam.monitored = True show_panel(gripper_cam) \ No newline at end of file