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gac-S_Changer
2018-04-30 17:31:42 +02:00
parent cdb602b7c7
commit 5114bfaf3d
14 changed files with 564 additions and 36 deletions
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2
config/plugins.properties
View File

@@ -1,4 +1,4 @@
Expert.java=enabled
Expert.java=disabled
MXSC-1.9.0.jar=enabled
RobotPanel.java=enabled
Wayne.java=disabled

2
devices/dewar_level.properties
View File

@@ -1,4 +1,4 @@
#Thu Mar 01 16:16:41 CET 2018
#Mon Apr 23 09:19:43 CEST 2018
offset=-25.81632
precision=2
scale=0.003888

8
devices/led_level.properties Normal file
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@@ -0,0 +1,8 @@
#Mon Apr 23 08:19:24 CEST 2018
maxValue=NaN
minValue=NaN
offset=0.0
precision=-1
resolution=NaN
scale=1.0
unit=null

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plugins/MXSC-1.9.0.jar
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142
plugins/NewJPanel.form Normal file
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@@ -0,0 +1,142 @@
<?xml version="1.0" encoding="UTF-8" ?>
<Form version="1.3" 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">
<EmptySpace min="0" pref="400" max="32767" attributes="0"/>
<Group type="103" rootIndex="1" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" pref="142" max="-2" attributes="0"/>
<Component id="jPanel11" max="32767" attributes="0"/>
<EmptySpace min="-2" pref="143" max="-2" attributes="0"/>
</Group>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<EmptySpace min="0" pref="300" max="32767" attributes="0"/>
<Group type="103" rootIndex="1" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" pref="84" max="-2" attributes="0"/>
<Component id="jPanel11" max="32767" attributes="0"/>
<EmptySpace min="-2" pref="84" max="-2" attributes="0"/>
</Group>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Container class="javax.swing.JPanel" name="jPanel11">
<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="System Status"/>
</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"/>
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<Component id="ledAirPressure" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabel15" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<Component id="ledN2Pressure" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabel16" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<Component id="ledLocalSafety" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabel19" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<Component id="ledPsysSafety" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabell20" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
<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="ledAirPressure" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="jLabel15" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="ledN2Pressure" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="jLabel16" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="ledLocalSafety" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="jLabel19" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="32767" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="ledPsysSafety" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="jLabell20" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="ch.psi.pshell.swing.Led" name="ledAirPressure">
</Component>
<Component class="javax.swing.JLabel" name="jLabel15">
<Properties>
<Property name="text" type="java.lang.String" value="Air Pressure"/>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel16">
<Properties>
<Property name="text" type="java.lang.String" value="N2 Pressure"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledN2Pressure">
</Component>
<Component class="javax.swing.JLabel" name="jLabel19">
<Properties>
<Property name="text" type="java.lang.String" value="Local Safety"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledLocalSafety">
</Component>
<Component class="javax.swing.JLabel" name="jLabell20">
<Properties>
<Property name="text" type="java.lang.String" value="Psys Safety"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledPsysSafety">
</Component>
</SubComponents>
</Container>
</SubComponents>
</Form>

221
plugins/NewJPanel.java Normal file
View File

@@ -0,0 +1,221 @@
import ch.psi.pshell.device.Device;
import ch.psi.pshell.device.DeviceAdapter;
import ch.psi.utils.State;
import java.awt.Color;
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/**
*
* @author gac-S_Changer
*/
public class NewJPanel extends javax.swing.JPanel {
/**
* Creates new form NewJPanel
*/
public NewJPanel() {
initComponents();
((Device) getDevice("hexiposi")).addListener(new DeviceAdapter() {
@Override
public void onStateChanged(Device device, State state, State former) {
updateHexiposiState(state);
}
});
updateHexiposiState(((Device) getDevice("hexiposi")).getState());
((Device) getDevice("air_pressure_ok")).addListener(new DeviceAdapter() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
updateAirPressure(value);
}
});
updateAirPressure(((Device) getDevice("air_pressure_ok")).take());
((Device) getDevice("n2_pressure_ok")).addListener(new DeviceAdapter() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
updateN2Pressure(value);
}
});
updateN2Pressure(((Device) getDevice("n2_pressure_ok")).take());
((Device) getDevice("feedback_local_safety")).addListener(new DeviceAdapter() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
updateLocalSafety(value);
}
});
updateLocalSafety(((Device) getDevice("feedback_local_safety")).take());
((Device) getDevice("feedback_psys_safety")).addListener(new DeviceAdapter() {
@Override
public void onValueChanged(Device device, Object value, Object former) {
updatePsysSafety(value);
}
});
updatePsysSafety(((Device) getDevice("feedback_psys_safety")).take());
}
void updateHexiposiState(State state){
ledLidControlActive.setColor(state.isInitialized() ? Color.GREEN : Color.BLACK );
ledLidInitialized.setColor((state.isNormal()&& state !=State.Disabled) ? Color.GREEN : Color.BLACK);
}
void updateAirPressure(Object value){
if ((value == null) || !(value instanceof Boolean)){
ledAirPressure.setColor(Color.BLACK);
} else if ((Boolean)value){
ledAirPressure.setColor(Color.GREEN);
} else {
ledAirPressure.setColor(Color.RED);
}
}
void updateN2Pressure(Object value){
if ((value == null) || !(value instanceof Boolean)){
ledN2Pressure.setColor(Color.BLACK);
} else if ((Boolean)value){
ledN2Pressure.setColor(Color.GREEN);
} else {
ledN2Pressure.setColor(Color.RED);
}
}
void updateLocalSafety(Object value){
if ((value == null) || !(value instanceof Boolean)){
ledLocalSafety.setColor(Color.BLACK);
} else if ((Boolean)value){
ledLocalSafety.setColor(Color.GREEN);
} else {
ledLocalSafety.setColor(Color.RED);
}
}
void updatePsysSafety(Object value){
if ((value == null) || !(value instanceof Boolean)){
ledPsysSafety.setColor(Color.BLACK);
} else if ((Boolean)value){
ledPsysSafety.setColor(Color.GREEN);
} else {
ledPsysSafety.setColor(Color.RED);
}
}
/**
* 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")
// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
private void initComponents() {
jPanel11 = new javax.swing.JPanel();
ledAirPressure = new ch.psi.pshell.swing.Led();
jLabel15 = new javax.swing.JLabel();
jLabel16 = new javax.swing.JLabel();
ledN2Pressure = new ch.psi.pshell.swing.Led();
jLabel19 = new javax.swing.JLabel();
ledLocalSafety = new ch.psi.pshell.swing.Led();
jLabell20 = new javax.swing.JLabel();
ledPsysSafety = new ch.psi.pshell.swing.Led();
jPanel11.setBorder(javax.swing.BorderFactory.createTitledBorder("System Status"));
jLabel15.setText("Air Pressure");
jLabel16.setText("N2 Pressure");
jLabel19.setText("Local Safety");
jLabell20.setText("Psys Safety");
javax.swing.GroupLayout jPanel11Layout = new javax.swing.GroupLayout(jPanel11);
jPanel11.setLayout(jPanel11Layout);
jPanel11Layout.setHorizontalGroup(
jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel11Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel11Layout.createSequentialGroup()
.addComponent(ledAirPressure, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel15))
.addGroup(jPanel11Layout.createSequentialGroup()
.addComponent(ledN2Pressure, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel16))
.addGroup(jPanel11Layout.createSequentialGroup()
.addComponent(ledLocalSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel19))
.addGroup(jPanel11Layout.createSequentialGroup()
.addComponent(ledPsysSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabell20)))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel11Layout.setVerticalGroup(
jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel11Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(ledAirPressure, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel15))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(ledN2Pressure, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel16))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(ledLocalSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel19))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(jPanel11Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(ledPsysSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabell20)))
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 400, Short.MAX_VALUE)
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addGap(142, 142, 142)
.addComponent(jPanel11, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGap(143, 143, 143)))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGap(0, 300, Short.MAX_VALUE)
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addGap(84, 84, 84)
.addComponent(jPanel11, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGap(84, 84, 84)))
);
}// </editor-fold>//GEN-END:initComponents
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JLabel jLabel15;
private javax.swing.JLabel jLabel16;
private javax.swing.JLabel jLabel19;
private javax.swing.JLabel jLabell20;
private javax.swing.JPanel jPanel11;
private ch.psi.pshell.swing.Led ledAirPressure;
private ch.psi.pshell.swing.Led ledLocalSafety;
private ch.psi.pshell.swing.Led ledN2Pressure;
private ch.psi.pshell.swing.Led ledPsysSafety;
// End of variables declaration//GEN-END:variables
}

29
script/calibration/ScanRZ.py
View File

@@ -1,26 +1,31 @@
#Imports
import plotutils
from mathutils import fit_gaussian, Gaussian
RANGE = [180.0,-180.0]
#Parameters
RANGE = [-120.0,120.0]
STEP = 5.0
LATENCY = 0.005
RELATIVE = False
robot.set_tool(TOOL_DEFAULT)
#Enabling and checking
#enable_power()
#system_check()
robot.enable()
#Body
robot.set_tool(TOOL_DEFAULT)
move_to_laser()
robot.set_joint_motors_enabled(True)
#robot.set_joint_motors_enabled(True)
robot.set_motors_enabled(True)
robot_rz.move(0.0)
robot.set_motors_enabled(True)
ret = lscan(robot_rz, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = RELATIVE, range = "auto", title = "Scan2")
#Cleanup

2
script/calibration/ScanY.py
View File

@@ -9,7 +9,7 @@ if d<0:
if d>20:
raise Exception ("Should be near the laser position to perform the scan")
RANGE = [-1.5, 1.5]
RANGE = [-2.0, 2.0] #[-1.5, 1.5]
STEP = 0.02
Z_OFFSET = 0 #-1.0
LATENCY = 0.025

25
script/calibration/ToolCalibration2.py
View File

@@ -2,13 +2,17 @@ import plotutils
from mathutils import fit_gaussian, Gaussian
robot.assert_tool(TOOL_CALIBRATION)
#robot.assert_tool(TOOL_CALIBRATION)
#cal_tool = TOOL_DEFAULT
cal_tool = TOOL_CALIBRATION
robot.set_tool(cal_tool)
robot.enable()
robot.set_motors_enabled(True)
robot.set_joint_motors_enabled(True)
move_to_laser()
robot.set_motors_enabled(True)
robot.set_joint_motors_enabled(True)
initial_pos = robot.get_cartesian_pos()
robot.enable()
@@ -52,7 +56,7 @@ robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
robot.set_trsf([off_x, 0,0,0,0,0])
c=robot.compose("pTemp", "fTable", "tcp_t" )
robot.set_pnt(c, "pTemp")
robot.movel("pTemp", TOOL_CALIBRATION, DESC_SCAN, sync=True)
robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)
pos2 = robot.get_cartesian_pos()
@@ -66,10 +70,17 @@ print "Position 2: ", pos2
xoff = (pos2[0]-pos1[0])/2
yoff = (pos2[1]-pos1[1])/2
print "Offset: ", [xoff, yoff]
#print "Offset: ", [xoff, yoff]
t=robot.get_tool_trsf(TOOL_DEFAULT)
t[0]=-xoff
t[1]=yoff
t[0]=xoff
t[1]=-yoff
print "Offset: ", [t[0], t[1]]
robot.set_tool_trsf(t, TOOL_DEFAULT)
robot.set_tool(TOOL_DEFAULT)
d = robot.get_distance_to_pnt("pLaser")
if d<POSITION_TOLERANCE:
print "Moving calibrated tool to laser"
else:
print "Cannot move calibrated tool to laser: toog big offset"

23
script/devices/LedCtrl.py
View File

@@ -22,4 +22,25 @@ class LedPositioner(DiscretePositionerBase):
add_device(LedPositioner(), True)
led_ctrl.polling = 1000
led_ctrl.polling = 1000
import ch.psi.pshell.device.ProcessVariableConfig as ProcessVariableConfig
class LedLevel(ProcessVariableBase):
def __init__(self, name):
ProcessVariableBase.__init__(self, name, ProcessVariableConfig())
def doRead(self):
return get_led_level()
def doWrite(self, val):
return set_led_level(val)
led_level = LedLevel("led_level")
led_level.config.minValue = 0.0
led_level.config.maxValue = 100.0
led_level.config.unit = "%"
add_device(led_level, True)
led_level.polling = 1000

23
script/devices/Wago.py
View File

@@ -36,20 +36,25 @@ led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
# Leds
###################################################################################################
def set_led_level(level):
level = max(min(float(level),100.0),0.0)
set_setting("led_level", level)
led_ctrl_1.write(led_ctrl_1.config.maxValue * level / 100.0)
led_ctrl_2.write(led_ctrl_2.config.maxValue * level / 100.0)
led_ctrl_3.write(led_ctrl_3.config.maxValue * level / 100.0)
def get_led_level():
level = get_setting("led_level")
return float(50 if level is None else level)
def set_led_state(value):
"""
Turn leds on and off
"""
if value:
led_ctrl_1.write(led_ctrl_1.config.maxValue)
led_ctrl_2.write(led_ctrl_2.config.maxValue)
led_ctrl_3.write(led_ctrl_3.config.maxValue)
set_led_level(100.0)
else:
led_ctrl_1.write(0.0)
led_ctrl_2.write(0.0)
led_ctrl_3.write(0.0)
set_led_level(0.0)
def get_led_state():
"""
@@ -85,6 +90,8 @@ def is_led_room_temp():
###################################################################################################
# Safety release
###################################################################################################

102
script/imgproc/CameraCalibration2.py Normal file
View File

@@ -0,0 +1,102 @@
import ch.psi.pshell.device.Camera as Camera
import ch.psi.pshell.imaging.RendererMode as RendererMode
import ch.psi.pshell.imaging.Calibration as Calibration
from ch.psi.pshell.imaging.Overlays import *
SIMULATION = ch.psi.pshell.imaging.FileSource
"""
img.camera.setColorMode(Camera.ColorMode.Mono)
img.camera.setDataType(Camera.DataType.UInt8)
img.camera.setGrabMode(Camera.GrabMode.Continuous)
img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
img.camera.setExposure(50.00)
img.camera.setAcquirePeriod(200.00)
img.camera.setGain(0.0)
img.config.rotationCrop=True
"""
img.config.rotation=0
img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =0,0,-1,-1
img.config.setCalibration(None)
p = show_panel(img)
p.setMode(RendererMode.Fit)
ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20))
ov_text.setFixed(True)
CC4 = (-129.9, -150)
CD5 = (129.9, -150)
CA5 = (-129.9, 150)
CF4 = (129.9, 150)
DX = 259.8
DY = 300.0
ROI_X = 470.0
ROI_Y = 470.0
def rotate(x,y, degrees):
rotation = math.radians(degrees)
rw, rh = img.getImage().getWidth(), img.getImage().getHeight()
ox, oy = x - (rw / 2), y - (rh / 2)
x = ox * math.cos(rotation) - oy * math.sin(rotation) + rw / 2;
y = oy * math.cos(rotation) + ox * math.sin(rotation) + rh / 2;
return x,y
p.addOverlay(ov_text)
try:
ov_text.update("Click on the center of C4 (19) position...")
p.refresh()
pc4 = p.waitClick(60000)
print pc4
ov_text.update("Click on the center of D5 (13) position...")
p.refresh()
pd5 = p.waitClick(60000)
print pd5
ov_text.update("Click on the center of A5 (28) position...")
p.refresh()
pa5 = p.waitClick(60000)
print pa5
ov_text.update("Click on the center of F4 (04) position...")
p.refresh()
pf4 = p.waitClick(60000)
print pf4
vc1x, vc1y, vc2x, vc2y = (pc4.x + pd5.x )/2.0, (pc4.y + pd5.y )/2.0, (pa5.x + pf4.x )/2.0, (pa5.y + pf4.y )/2.0
hc1x, hc1y, hc2x, hc2y = (pc4.x + pa5.x )/2.0, (pc4.y + pa5.y )/2.0, (pd5.x + pf4.x )/2.0, (pd5.y + pf4.y )/2.0
cx, cy = (vc1x + vc2x)/2, (hc1y + hc2y)/2
a1 = math.degrees(math.atan((cx-vc1x)/(vc1y-cy)))
a2 = math.degrees(math.atan((cx-vc2x)/(vc2y-cy)))
a = (a1+a2)/2
dy = math.hypot(vc2y - vc1y, vc2x - vc1x)
dx = math.hypot(hc2x - hc1x, hc2y - hc1y)
print dy, dx, cx, cy
sx, sy = DX/dx, DY/dy
#Rotating center of puck
rcx, rcy = rotate(cx, cy, -a)
roi_w, roi_h = int(ROI_X / sx), int(ROI_Y / sy)
roi_x, roi_y = int(rcx-roi_w/2), int(rcy-roi_h/2)
print a, sx, sy, roi_w, roi_h
img.config.rotation=-a
img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = roi_x, roi_y, roi_w, roi_h
img.config.setCalibration(Calibration(sx, sy, -roi_w/2, -roi_h/2))
img.config.save()
finally:
p.removeOverlay(ov_text)
img.refresh()

13
script/local.py
View File

@@ -32,6 +32,19 @@ run("motion/tools")
run("imgproc/Utils")
run("tools/Math")
def system_check(robot_move=True):
if not air_pressure_ok.read():
raise Exception("Air pressure is not ok")
if not n2_pressure_ok.read():
raise Exception("N2 pressure is not ok")
if robot_move:
if not feedback_local_safety.read():
raise Exception("Local safety not released")
if not feedback_psys_safety.read():
raise Exception("Psys safety not released")
if not guiding_tool_park().read():
raise Exception("Guiding tool not parked")
###################################################################################################
# Device initialization

8
script/motion/tools.py
View File

@@ -30,21 +30,20 @@ def move_home():
wait_end_of_move()
def move_to_laser():
robot.reset_motion()
tool = robot.tool
d = robot.get_distance_to_pnt("pLaser")
if d<0:
raise Exception ("Error calculating distance to laser: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM LASER"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
d = robot.get_distance_to_pnt("pLaserAppro")
d = robot.get_distance_to_pnt("pLaserHome")
if d<0:
raise Exception ("Error calculating distance to laser appro: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM APPRO"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
d = robot.get_distance_to_pnt("pHome")
@@ -52,8 +51,7 @@ def move_to_laser():
raise Exception ("Error calculating distance to home: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM HOME"
robot.reset_motion()
robot.movel("pLaserAppro", robot.tool, DESC_DEFAULT)
robot.movej("pLaserHome", robot.tool, DESC_DEFAULT)
robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
return
raise Exception ("Must be in home position to start move to laser")