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gac-S_Changer
2018-06-07 16:31:33 +02:00
parent 4af6939fb4
commit 640fc477fe
7 changed files with 254 additions and 15 deletions
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83
plugins/Expert.form
View File

@@ -19,13 +19,16 @@
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="1" attributes="0">
<Component id="panelRobot" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="jPanel2" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="panelSafety" alignment="1" min="-2" max="-2" attributes="0"/>
<Group type="103" alignment="1" groupAlignment="0" max="-2" attributes="0">
<Component id="jPanel3" alignment="1" max="32767" attributes="0"/>
<Component id="panelRobot" alignment="1" max="32767" attributes="0"/>
</Group>
</Group>
<EmptySpace max="-2" attributes="0"/>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Component id="panelCommands" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="44" max="32767" attributes="0"/>
<EmptySpace pref="32" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@@ -40,10 +43,12 @@
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="jPanel2" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="jPanel3" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="panelRobot" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
<EmptySpace pref="21" max="32767" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@@ -117,16 +122,16 @@
<Group type="102" alignment="1" attributes="0">
<EmptySpace pref="76" max="32767" attributes="0"/>
<Component id="buttonPositionsHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="74" max="-2" attributes="0"/>
<EmptySpace pref="74" 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 pref="19" max="32767" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="buttonPositionsHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="32" max="32767" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@@ -433,5 +438,69 @@
</Component>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel3">
<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="Puck Detection"/>
</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="buttonPuckDetCheck" linkSize="6" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
<Component id="buttonPuckDetStop" linkSize="6" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
<Component id="buttonPuckDetStart" linkSize="6" min="-2" max="-2" attributes="0"/>
<EmptySpace 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 max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="buttonPuckDetCheck" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="buttonPuckDetStop" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="buttonPuckDetStart" 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="buttonPuckDetCheck">
<Properties>
<Property name="text" type="java.lang.String" value="Ckeck"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPuckDetCheckActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPuckDetStop">
<Properties>
<Property name="text" type="java.lang.String" value="Stop"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPuckDetStopActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPuckDetStart">
<Properties>
<Property name="text" type="java.lang.String" value="Start"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPuckDetStartActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Container>
</SubComponents>
</Form>

96
plugins/Expert.java
View File

@@ -52,10 +52,16 @@ public class Expert extends Panel {
}
void execute(String statement, boolean background){
execute(statement, background, false);
}
void execute(String statement, boolean background, boolean showReturn){
try {
evalAsync(statement, background).handle((ret, ex) -> {
if (ex != null){
showException((Exception)ex);
} else if (showReturn){
SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
}
return ret;
});
@@ -109,6 +115,10 @@ public class Expert extends Panel {
spinnerSegment = new javax.swing.JSpinner();
jLabel3 = new javax.swing.JLabel();
buttonHomingHexiposi = new javax.swing.JButton();
jPanel3 = new javax.swing.JPanel();
buttonPuckDetCheck = new javax.swing.JButton();
buttonPuckDetStop = new javax.swing.JButton();
buttonPuckDetStart = new javax.swing.JButton();
panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));
@@ -166,14 +176,14 @@ public class Expert extends Panel {
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addContainerGap(76, Short.MAX_VALUE)
.addComponent(buttonPositionsHexiposi)
.addGap(74, 74, 74))
.addContainerGap(74, Short.MAX_VALUE))
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap(19, Short.MAX_VALUE)
.addContainerGap()
.addComponent(buttonPositionsHexiposi)
.addContainerGap(32, Short.MAX_VALUE))
.addContainerGap())
);
panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety"));
@@ -379,6 +389,56 @@ public class Expert extends Panel {
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
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, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonPuckDetStop)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, 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())
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
@@ -386,12 +446,14 @@ public class Expert extends Panel {
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_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))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jPanel3, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(panelRobot, javax.swing.GroupLayout.Alignment.TRAILING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)))
.addGap(18, 18, 18)
.addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(44, Short.MAX_VALUE))
.addContainerGap(32, Short.MAX_VALUE))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
@@ -404,8 +466,10 @@ public class Expert extends Panel {
.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)))
.addContainerGap(21, Short.MAX_VALUE))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
}// </editor-fold>//GEN-END:initComponents
@@ -480,6 +544,18 @@ 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
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton buttonDisable;
private javax.swing.JButton buttonEnable;
@@ -489,6 +565,9 @@ public class Expert extends Panel {
private javax.swing.JButton buttonHomingHexiposi;
private javax.swing.JButton buttonMount;
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;
@@ -500,6 +579,7 @@ public class Expert extends Panel {
private javax.swing.JLabel jLabel3;
private javax.swing.JLabel jLabel4;
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;

9
script/local.py
View File

@@ -53,6 +53,15 @@ def system_check(robot_move=True):
raise Exception("Guiding tool not parked")
def start_puck_detection():
run("tools/RestartPuckDetection")
def check_puck_detection():
return run("tools/CheckPuckDetection")
def stop_puck_detection():
run("tools/StopPuckDetection")
###################################################################################################
# Device initialization
###################################################################################################

6
script/tools/CheckPuckDetection.py Normal file
View File

@@ -0,0 +1,6 @@
USR,PWD = "pi", "raspberry"
HOST,PORT = "tell-raspberrypi", 22
CMD= "sudo systemctl status puck_detection.service"
ret = run("tools/SshExec")
set_return(ret)

6
script/tools/RestartPuckDetection.py Normal file
View File

@@ -0,0 +1,6 @@
USR,PWD = "pi", "raspberry"
HOST,PORT = "tell-raspberrypi", 22
CMD= "sudo systemctl stop puck_detection.service;sudo systemctl start puck_detection.service"
ret = run("tools/SshExec")
set_return(ret)

61
script/tools/SshExec.py Normal file
View File

@@ -0,0 +1,61 @@
import com.jcraft.jsch.Channel as Channel
import com.jcraft.jsch.ChannelShell as ChannelShell
import com.jcraft.jsch.JSch as JSch
import com.jcraft.jsch.JSchException as JSchException
import com.jcraft.jsch.Session as Session
import java.lang.System as System
import java.io.PrintStream as PrintStream
#Parameters:
#CMD
#USR
#PWD
#HOST
#PORT
jsch= JSch()
session=jsch.getSession(USR, HOST, PORT)
session.setPassword(PWD)
session.setConfig("StrictHostKeyChecking", "no")
session.connect()
#channel=session.openChannel("shell")
#input_stream=channel.getInputStream()
#output_stream = channel.getOutputStream()
#print_stream = PrintStream(output_stream, True)
#print_stream.println("ls")
channel=session.openChannel("exec")
channel.setCommand(CMD)
channel.setInputStream(None)
channel.setOutputStream(System.out)
channel.setErrStream(System.err)
input_stream=channel.getInputStream()
def wait_ret():
global input_stream
rx = ""
while True:
while (input_stream.available() > 0):
i = input_stream.read()
if i < 0:
break
rx=rx+chr(i)
if channel.closed:
break
time.sleep(0.1)
return rx
channel.connect()
try:
ret = wait_ret()
except:
channel.disconnect()
session.disconnect()
raise
set_return(ret)

8
script/tools/StopPuckDetection.py Normal file
View File

@@ -0,0 +1,8 @@
USR,PWD = "pi", "raspberry"
HOST,PORT = "tell-raspberrypi", 22
CMD= "sudo systemctl stop puck_detection.service"
ret = run("tools/SshExec")
set_return(ret)