script/devices/Hexiposi.py

@@ -0,0 +1,95 @@
+import ch.psi.pshell.device.DiscretePositionerBase as DiscretePositionerBase
+import requests
+import json
+
+class Hexiposi(DiscretePositionerBase):
+    def __init__(self, name, url):         
+         DiscretePositionerBase.__init__(self, name, ["1","2","3","4","5","6"])
+         if not url.startswith("http://"):
+             url = "http://" + url
+         if not url.endswith("/"):
+             url =  url + "/"
+         self.url = url        
+         self.setState(State.Ready)
+         self.val = self.doReadReadback()               
+
+    def get_response(self, response):
+        if (response.status_code!=200):
+            raise Exception (response.text)
+        return json.loads(response.text)
+
+    def get_status(self):
+        self.status =  self.get_response(requests.get(url=self.url+"get"))
+        self.estop = self.status["estop"]
+        self.homed = self.status["homed"]
+        self.error = self.status["errorCode"]
+        self.remote = self.status["mode"] == "remote"
+        self.moving = self.status["errorCode"]
+        self.pos = self.status["position"]
+        self.moving = self.status["moving"]
+        self.dpos = self.status["discretePosition"] 
+        if self.dpos == 1: self.rback = 1
+        elif self.dpos == 2: self.rback = 2
+        elif self.dpos == 4: self.rback = 3
+        elif self.dpos == 8: self.rback = 4
+        elif self.dpos == 16: self.rback = 5
+        elif self.dpos == 32: self.rback = 6
+        else: self.rback = None
+        self.rbackstr = self.UNKNOWN_POSITION  if self.rback is None else str(self.rbackstr)        
+        return self.status
+
+    def move_pos(self, pos):
+        return self.get_response(requests.get(url=self.url+"set?pos=" + str(pos)))
+
+    def move_home(self):
+        return self.get_response(requests.get(url=self.url+"set?home=1"))
+
+    def stop(self):
+        return self.get_response(requests.get(url=self.url+"set?stop=1"))
+
+     
+    def doUpdate(self):
+        self.get_status()
+        super(Hexiposi, self).doUpdate()
+        
+
+    def doStop(self):
+        self.stop()
+
+    def doRead(self):
+        return str(self.val)
+    
+    def doReadReadback(self):
+        self.get_status()
+        return self.rbackstr
+
+    def doWrite(self, val):
+        val = int(val)
+        moving = val != self.val 
+        self.val = val
+        self.move_pos(self.val)
+        #Workaround as state does not changes immediatelly
+        if moving:
+            try:
+                self.waitState(State.Busy,1200)                
+            except:
+                pass
+
+    #def isReady(self):
+    #    self.get_status()
+    #    return self.moving == False
+    
+    def updateState(self):
+        if self.state ==State.Busy and  self.moving==False: 
+            self.setState(State.Ready)
+        elif self.state == State.Ready and  self.moving==True:
+            self.setState(State.Busy)
+        
+ 
+#http://129.129.110.83:8002/hexiposi/get
+dev = Hexiposi("hexiposi", "129.129.110.83:8002/hexiposi")
+
+add_device(dev, True)
+hexiposi.polling=500
+#print dev.url
+#print dev.get_status()

script/devices/RobotSC.py

@@ -62,7 +62,7 @@ class RobotSC(RobotTCP):
 
 if simulation:
     #add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
-    add_device(RobotSC("robot","129.129.110.99:1000"),force = True)
+    add_device(RobotSC("robot","129.129.110.81:1000"),force = True)
 else:
     add_device(RobotSC("robot", "129.129.110.100:1000"), force = True) 
 

script/local.py

@@ -14,7 +14,7 @@ run("setup/Layout")
 ###################################################################################################
 
 for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance",  \
-               "devices/LedCtrl"]:
+               "devices/LedCtrl", "devices/HexiPosi"]:
     try:
         run(script)
     except:
@@ -50,6 +50,8 @@ img.camera.setGain(0.0)
 release_local_safety.write(False)
 release_psys_safety.write(False)
 
+hexiposi.polling=500
+
 
 ###################################################################################################
 #  Global variables