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gac-S_Changer
2017-01-26 11:13:30 +01:00
parent 35a86cfb34
commit 6a352acd5a
2 changed files with 52 additions and 3 deletions
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8
config/devices.properties
View File

@@ -1,4 +1,4 @@
robot=RobotTcp|127.0.0.1:1000|||
#robot=RobotTcp|127.0.0.1:1000|||
robot_modbus=RobotModbus|129.129.109.114:502|||
jf1=ch.psi.pshell.modbus.AnalogInput|robot_modbus 0||100|
jf2=ch.psi.pshell.modbus.AnalogInput|robot_modbus 1||100|
@@ -6,6 +6,12 @@ jf3=ch.psi.pshell.modbus.AnalogInput|robot_modbus 2||100|
jf4=ch.psi.pshell.modbus.AnalogInput|robot_modbus 3||100|
jf5=ch.psi.pshell.modbus.AnalogInput|robot_modbus 4||100|
jf6=ch.psi.pshell.modbus.AnalogInput|robot_modbus 5||100|
robot_sts=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 6 6||100|
robot_cmd=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 12|||
robot_args=ch.psi.pshell.modbus.AnalogOutputArray|robot_modbus 6 6|||
robot_req=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 13|||
robot_ack=ch.psi.pshell.modbus.AnalogInput|robot_modbus 14|||
robot_ret=ch.psi.pshell.modbus.AnalogInput|robot_modbus 15|||
dewar=ch.psi.pshell.modbus.ModbusTCP|SF-TEST-WAGO1:502|||
relays=ch.psi.pshell.modbus.DigitalOutputArray|dewar 0 16||1000|
relay1=ch.psi.pshell.modbus.DigitalOutput|dewar 0||1000|

47
script/local.py
View File

@@ -6,7 +6,7 @@
from ch.psi.pshell.serial import TcpDevice
from ch.psi.pshell.modbus import ModbusTCP
"""
class RobotTCP(TcpDevice):
def __init__(self, name, server):
TcpDevice.__init__(self, name, server)
@@ -26,9 +26,52 @@ class RobotTCP(TcpDevice):
def mount(self, puck, sample):
return self.execute('1', '1', puck, sample)
add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)
"""
class RobotModbus(DeviceBase):
def __init__(self, namer):
DeviceBase.__init__(self, name)
robot_req.write(0)
def execute(self, system, command, *argv):
#print "Done"
if robot_req.read() != 0:
raise Exception("Ongoing command")
if robot_ack.read() != 0:
raise Exception("Robot is not ready")
robot_cmd.write(cmd)
args = [0,0,0,0,0,0]
index = 0
for arg in argv:
args[index++] = arg
robot_args.write(args)
robot_req.write(1)
try:
self.request()
ret = robot_ret.read()
finally:
self.cancel_request()
return ret
def request():
robot_req.write(1)
while robot_ack.read() == 0:
time.sleep(0.01)
def cancel_request():
robot_req.write(0)
while robot_ack.read() == 1:
time.sleep(0.01)
def mount(self, puck, sample):
return self.execute('1', '1', puck, sample)
add_device(RobotModbus("robot"), force = True)
add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)
add_device(img.getContrast(), force = True)