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gac-S_Changer
2017-02-22 15:45:18 +01:00
parent 09eb52754c
commit 79fc9507b3
5 changed files with 137 additions and 38 deletions
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4
config/config.properties
View File

@@ -1,4 +1,4 @@
#Wed Feb 22 10:47:40 CET 2017
#Wed Feb 22 14:10:46 CET 2017
autoSaveScanData=true
createSessionFiles=false
dataLayout=default
@@ -24,5 +24,5 @@ userAuthenticator=
userManagement=false
versionTrackingEnabled=true
versionTrackingLogin={context}/svcusr-hlapp_robot
versionTrackingManual=true
versionTrackingManual=false
versionTrackingRemote=git@git.psi.ch\:pshell_config/mxsc.git

3
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
View File

@@ -83,5 +83,8 @@
<Value key="0" link="Socket\sSIO" />
</Data>
<Data name="events" access="private" xsi:type="array" type="string" size="10" />
<Data name="n" access="private" xsi:type="array" type="num" size="1" />
<Data name="arr" access="private" xsi:type="array" type="num" size="10" />
<Data name="b" access="private" xsi:type="array" type="bool" size="1" />
</Datas>
</Database>

62
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
View File

@@ -14,11 +14,13 @@
<Local name="arg" type="num" xsi:type="array" size="1" />
<Local name="ex" type="string" xsi:type="array" size="1" />
<Local name="array_separator" type="string" xsi:type="array" size="1" />
<Local name="last_id" type="string" xsi:type="array" size="1" />
</Locals>
<Code><![CDATA[begin
rx=""
sioCtrl(sSio,"timeout",1)
sioCtrl(sSio, "endOfString", 10)
rx=""
last_id = ""
sioCtrl(sSio,"timeout",1)
sioCtrl(sSio, "endOfString", 10)
array_separator = "|"
while true
while sioGet(sSio,rec_val) >0
@@ -43,31 +45,35 @@
else
msg = right(rx, len(rx)-4)
rx=""
for index=0 to 9
args[index]=""
endFor
index = find(msg, " ")
if index < 0
cmd = msg
else
cmd = left(msg, index)
msg = right(msg, len(msg) - index -1)
arg=0
while (len(msg) > 0 and (arg < 10))
index = find(msg, array_separator)
if index<0
args[arg] = msg
msg =""
else
args[arg] = left(msg, index)
msg = right(msg, len(msg) - index -1)
endIf
arg = arg+1
endWhile
endIf
tx = ""
ex = ""
call onCommandTcp(cmd,args, tx, ex)
//If same id, repeat last answer
if msg_id != last_id
for index=0 to 9
args[index]=""
endFor
index = find(msg, " ")
if index < 0
cmd = msg
else
cmd = left(msg, index)
msg = right(msg, len(msg) - index -1)
arg=0
while (len(msg) > 0 and (arg < 10))
index = find(msg, array_separator)
if index<0
args[arg] = msg
msg =""
else
args[arg] = left(msg, index)
msg = right(msg, len(msg) - index -1)
endIf
arg = arg+1
endWhile
endIf
tx = ""
ex = ""
call onCommandTcp(cmd,args, tx, ex)
last_id = msg_id
endIf
if len(ex) == 0
sSio = msg_id + tx
else

74
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
View File

@@ -12,19 +12,87 @@
<Local name="puck" type="num" xsi:type="array" size="1" />
<Local name="sample" type="num" xsi:type="array" size="1" />
<Local name="bOk" type="bool" xsi:type="array" size="1" />
<Local name="aux" type="num" xsi:type="array" size="1" />
<Local name="ret" type="num" xsi:type="array" size="1" />
<Local name="count" type="num" xsi:type="array" size="1" />
</Locals>
<Code><![CDATA[begin
switch(cmd)
case "eval"
tx=$exec(cmd)
break
tx=$exec(args[0])
// if (find(cmd,"numRet")!=-1)
// stringReturn = stringReturn+toString("4.4",numRet)
// call notify:setString("NumericalReturn",toString("4.4",numRet))
// endIf
// if (find(cmd,"Power")!=-1)
// call notify:setBool("IsPowered",isPowered())
// endIf
// for i=0 to len(stringReturn)-1 step 1
// numericalReturn[i]=asc(stringReturn,i)
// endFor
break
case "get_var"
ret = getData(args[0], aux)
switch(ret)
case -1
ex = "The variable does not exists"
break
case -2
ex = "The variable library does not exists"
break
case -3
ex = "The index is out of range"
break
case -4
ex = "The data's type does not match the variable's type"
break
default
tx = toString(".4", ret)
break
endSwitch
break
case "get_arr"
toNum(args[1], count, bOk)
tx = ""
for index = 0 to count
ret = getData(args[0] + "[" + toString("", index )+ "]", aux)
switch(ret)
case -1
ex = "The variable does not exists"
return
break
case -2
ex = "The variable library does not exists"
return
break
case -3
ex = "The index is out of range"
return
break
case -4
ex = "The data's type does not match the variable's type"
return
break
default
tx = tx + toString(".4", ret) + "|"
break
endSwitch
endFor
break
case "mount"
toNum(args[0], puck, bOk)
toNum(args[1], sample, bOk)
tx = "Mounting sample " + toString("", puck) + ":" + toString("", sample)
break
default
ex = "Invalid command: " + cmd
ex = "Invalid command: " + cmd
break
endSwitch
end]]></Code>

32
script/local.py
View File

@@ -16,8 +16,7 @@ class RobotTCP(TcpDevice):
self.trailer = "\n"
self.array_separator = '|'
self.cmd_separator = ' '
self.msg_id = 0
self.setPolling(1000)
self.msg_id = 0
def _sendReceive(self, msg_id, msg = ""):
tx = self.header if (self.header != None) else ""
@@ -59,19 +58,42 @@ class RobotTCP(TcpDevice):
if ev.strip() == "": return None
return ev
def eval(self, cmd):
def evaluate(self, cmd):
return self.execute('eval', cmd)
def get_var(self, name):
return self.execute('get_var', name)
def get_arr(self, name, size):
return self.execute('get_arr', name, size)
def get_int(self):
return int(self.get_var("n"))
def eval_int(self, cmd):
ret = self.execute('eval', "n=" + cmd)
if ret.strip() != "":
raise Exception(ret)
return self.get_int()
def get_move_id():
self.eval_int("getMoveId()")
def mount(self, puck, sample):
return self.execute('mount', puck, sample)
def doUpdate(self):
ev = self.read_event()
ev = None
try:
ev = self.read_event()
self.setState(State.Ready)
except:
self.setState(State.Offline)
if ev is not None:
self.getLogger().info(ev)
add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)
robot_tcp.setPolling(500)