Startup

script/devices/OneWire.py

@@ -0,0 +1,134 @@
+import traceback
+from datetime import datetime
+
+class Detector(ReadonlyRegisterBase):
+    def __init__(self, name):
+        ReadonlyRegisterBase.__init__(self, name) 
+        self.reset()
+    
+    def set_inputs(self, inputs):
+        self.inputs = inputs
+        if self.take() != inputs.values():
+            self.setCache(inputs.values(), None)    
+            if self.getParent()!=None:
+                self.getParent().updateCache()
+        if (len(self.take()) == 0):
+            self.setState(State.Offline)        
+        else: 
+            self.setState(State.Ready)        
+
+    def set_input(self, index, val):
+        self.inputs[index] = val
+        self.set_inputs(self.inputs)      
+
+    def reset(self):
+        self.id = None
+        self.sn = None
+        self.status = None
+        self.type = None
+        self.set_inputs({})        
+
+class Esera(TcpDevice):    
+    def __init__(self, name, server, timeout = 1000, retries = 1):
+         TcpDevice.__init__(self, name, server) 
+         self.setMode(self.Mode.FullDuplex)
+         self.detectors = []
+         for i in range(30):
+             self.detectors.append(Detector("Detector " + str(i+1)))    
+         self.setChildren(self.detectors)     
+         self.completed_initializatiod = False         
+         self.debug = False         
+
+    def start(self):
+        self.getLogger().info("Starting controller")
+        self.write("set,sys,run,1\n")
+
+    def stop(self):
+        self.getLogger().info("Stopping controller")
+        self.write("set,sys,run,0\n")
+
+    def list(self):
+        self.write("get,owb,listall1\n")
+
+    def req_data(self):
+        self.write("get,sys,data\n")
+
+    def doInitialize(self):           
+        super(Esera, self).doInitialize()
+        self.init_timestamp = time.time()
+        try:
+            self.setState(State.Ready) #So can communicate
+            for det in self.detectors:
+                 det.reset()
+            self.list()    
+            time.sleep(1.0)    
+            self.check_started()
+            self.req_data()
+        except:
+            print  >> sys.stderr, traceback.format_exc()
+            self.getLogger().warning(traceback.format_exc())
+            raise
+
+    def doUpdate(self):
+        self.check_started()
+        self.req_data()     
+
+    def updateCache(self):
+        #print "Update"
+        cache = []
+        for det in self.detectors:
+            cache.append(det.take())                          
+        self.setCache(cache, None)    
+        
+
+    def check_started(self):          
+        if not self.completed_initializatiod:
+            init = True
+            for det in self.detectors:
+                if det.id == None:
+                    init = False
+                    break           
+            if init:                
+                self.completed_initializatiod = True
+                print("Completed initialization")
+                self.getLogger().info("Completed initialization")
+                self.start()
+     
+    def onString(self, msg):
+        if self.debug:
+            print datetime.now()  , " - " , msg
+        tokens = msg.split("|")
+        if len(tokens)>1:
+            try:
+                if msg[:3] == "LST":                
+                    #LST|1_OWD1|3AF361270000009E|S_0|DS2413| 
+                    if tokens[1] > 1:                
+                        index = int(tokens[1].split("_")[1][3:]) - 1
+                        if index < len(self.detectors):
+                            det = self.detectors[index]
+                            det.id = tokens[1] 
+                            det.sn= tokens[2] if len(tokens)>2 else None
+                            det.status = int(tokens[3][2:]) if len(tokens)>3 else None
+                            det.type = tokens[4] if len(tokens)>4 else None                    
+                            if det.status!= 0:
+                                det.set_inputs({})
+                else:                                  
+                     for det in self.detectors:
+                         if det.id is not None and msg.startswith(det.id):                             
+                             det_id = int(tokens[0][len(det.id)+1:])
+                             det.set_input(det_id, int(tokens[1]))
+            except:
+                print  >> sys.stderr, traceback.format_exc()
+                self.getLogger().log(traceback.format_exc())            
+
+     
+
+
+
+
+
+add_device(Esera("onewire", "129.129.126.83:5000"), force = True)   
+onewire.setPolling(500)
+add_device(onewire.detectors[0], force = True)   
+add_device(onewire.detectors[1], force = True)   
+add_device(onewire.detectors[2], force = True)   

script/devices/RobotModbus.py

@@ -0,0 +1,46 @@
+class RobotModbus(DeviceBase):
+    def __init__(self, name):
+         DeviceBase.__init__(self, name)
+         robot_req.write(0)
+
+    def execute(self, command, *argv):
+        if robot_req.read() != 0:
+            raise Exception("Ongoing command")
+        if robot_ack.read() != 0:
+            raise Exception("Robot is not ready")
+        robot_cmd.write(command)
+        args = [0] * robot_args.size
+        index = 0        
+        for arg in argv:
+            args[index] = arg
+            index = index + 1
+            if index == robot_args.size:
+                raise Exception("Invalid number of arguments")
+        robot_args.write(to_array(args, 'i'))
+        try:           
+            self.request()         
+            err = robot_ack.take()            
+            if err == 1:
+                ret = robot_ret.read()            
+                return ret
+            if err == 2:
+                raise Exception("Invalid command: " + str(command))                
+            raise Exception("Unknown error: " + str(err)) 
+        finally:
+            self.cancel_request()
+    
+    def request(self):
+        robot_req.write(1)
+        while robot_ack.read() == 0:
+            time.sleep(0.001)
+
+    def cancel_request(self):
+        robot_req.write(0)
+        while robot_ack.read() != 0:
+            time.sleep(0.001)
+        
+    def mount(self, puck, sample):
+        return self.execute('1', '1', puck, sample)        
+
+add_device(RobotModbus("robot_mb"), force = True)                
+        

script/devices/RobotSC.py

@@ -0,0 +1,87 @@
+run("devices/RobotTCP")
+
+simulation = True
+
+
+class RobotSC(RobotTCP):    
+    def mount(self, puck, sample):
+        return self.execute('mount',segment, puck, sample)   
+
+    def firstmount(self, puck, sample):
+        return self.execute('firstmount', segment, puck, sample)
+
+    def unmount(self, puck, sample):
+        return self.execute('unmount',segment, puck, sample)
+       
+    def on_event(self,ev):
+        #print "EVT: " + ev
+        pass
+    
+    def doUpdate(self):    
+        #start = time.time()        
+        RobotTCP.doUpdate(self)
+        global simulation
+        if not simulation:
+            if self.state != State.Offline:
+                self.get_joint_forces()
+                for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: 
+                    dev.update()        
+        #print time.time() -start
+
+    def start_task(self, program, *args,  **kwargs):
+        #TODO: Check safe position
+        RobotTCP.start_task(self, program, *args,  **kwargs)
+
+    def stop_task(self):
+        RobotTCP.stop_task(self)
+        #TODO: Restore safe position            
+                
+    
+        
+    
+
+
+if simulation:
+    add_device(RobotSC("robot","129.129.126.74:1000"),force = True)  
+else:
+    add_device(RobotSC("robot", "129.129.126.100:1000"), force = True) 
+
+robot.high_level_tasks = ["mount", "firstmount"]
+robot.setPolling(20)
+#robot.set_monitor_speed(20)
+
+
+
+class jf1(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[0]
+class jf2(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[1]
+class jf3(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[2]
+class jf4(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[3]
+class jf5(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[4]
+class jf6(ReadonlyRegisterBase):
+    def doRead(self):
+        return  None if robot.joint_forces == None else robot.joint_forces[5]
+class jfc(ReadonlyRegisterBase):
+    def doRead(self):
+        if robot.joint_forces == None:
+            return   float('NaN')  
+        if robot.powered == False:
+            return  float('NaN') 
+        return (robot.joint_forces[1]+74)/4  + (robot.joint_forces[2]+30)/4 + (robot.joint_forces[4]-0.8)/0.2
+
+add_device(jf1(), force = True)   
+add_device(jf2(), force = True)   
+add_device(jf3(), force = True)   
+add_device(jf4(), force = True)   
+add_device(jf5(), force = True)   
+add_device(jf6(), force = True)   
+add_device(jfc(), force = True)   

script/devices/RobotTCP.py

@@ -0,0 +1,434 @@
+import threading
+
+class RobotTCP(TcpDevice, Stoppable):    
+    def __init__(self, name, server, timeout = 1000, retries = 1):
+         TcpDevice.__init__(self, name, server) 
+         self.timeout =  timeout       
+         self.retries = retries
+         self.header = None
+         self.trailer = "\n"
+         self.array_separator = '|'
+         self.cmd_separator = ' '
+         self.msg_id = 0    
+         self.working_mode = "invalid"     
+         self.status = "invalid" 
+         self.powered = None
+         self.settled = None
+         self.empty = None
+         self.working_mode = None
+         self.status = None
+         self.lock = threading.Lock()
+         self.joint_forces = None
+         self.current_task = None
+         self.high_level_tasks = []                   
+
+    def doInitialize(self):           
+        super(RobotTCP, self).doInitialize()
+        self.reset = True      
+         
+    def _sendReceive(self, msg_id, msg = "", timeout =  None):  
+        tx = self.header if (self.header != None) else  ""
+        tx = tx + msg_id + " " + msg        
+        if (len(tx)>127):
+            raise Exception("Exceeded maximum message size")
+        self.getLogger().finer("TX = '" +  str(tx)+ "'")
+        if (self.trailer != None): tx = tx + self.trailer
+        rx = self.sendReceive(tx, msg_id, self.trailer , 0,  self.timeout if timeout is None  else timeout, self.retries)
+        rx=rx[:-1] #Remove 0A
+        self.getLogger().finer("RX = '" + str(rx) + "'")
+        if rx[:3] != msg_id:                            
+            if (time.time()-start) >= timeout:
+                raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
+        if len(rx)<4:
+            raise Exception("Invalid message size: " + str(len(rx)) )        
+        if rx[3] == "*":
+            raise Exception(rx[4:])
+        return rx[4:]
+    
+    def call(self, msg, timeout =  None):                
+        self.lock.acquire()
+        try:
+            id = "%03d" % self.msg_id
+            self.msg_id = (self.msg_id+1)%1000        
+            return self._sendReceive(id, msg, timeout)        
+        finally:
+            self.lock.release()
+    
+    def execute(self, command, *args, **kwargs):        
+        timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"]                
+        msg = str(command)
+        if len(args)>10:
+            raise Exception("Exceeded maximum number of parameters")
+        for i in range(len(args)):            
+            msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(args[i])                 
+        rx = self.call(msg, timeout)
+        if rx.count(self.array_separator)>0:
+            return rx.split(self.array_separator)
+        return rx
+         
+    def evaluate(self, cmd, timeout=None):
+        ret = self.execute('eval', cmd, timeout=timeout)
+        if type(ret) is str:
+            if ret.strip() != "": raise Exception(ret)
+
+    def get_var(self, name):
+        return self.execute('get_var', name)
+    
+    #Makes app crash
+    #def get_str(self, name='s'):
+    #    return self.execute('get_str', name)
+
+    def get_arr(self, name, size):
+        return self.execute('get_arr', name, size)
+
+    def get_bool(self, name = "tcp_b"):
+        return True if (self.execute('get_bool', name).strip() == '1') else False        
+
+    def get_int(self, name ="tcp_n"):
+        return int(self.get_var(name))
+
+    def get_float(self, name ="tcp_n"):
+        return float(self.get_var(name))
+
+    def get_int_arr(self, size, name="tcp_a"):
+        # not working. A Jython bug in PyUnicaode?
+        #return [int(x) for x in self.get_arr("tcp_a", size)] 
+        ret = []
+        a=self.get_arr(name, size)
+        for i in range(size):
+            ret.append(int(a[i]))
+        return ret
+
+    def get_float_arr(self, size, name="tcp_a"):
+        #return [float(x) for x in self.get_arr("tcp_a", size)]        
+        a=self.get_arr(name, size)
+        ret = []; 
+        for i in range(size): ret.append(float(a[i])); 
+        return ret        
+    
+    def get_trf(self, name="tcp_t"):
+        a = self.execute('get_trf', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret        
+
+    def set_tr(self, l, name="tcp_t"):             
+        self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
+
+    def get_jnt(self, name="tcp_j"):
+        a = self.execute('get_jnt', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret   
+
+    def set_jnt(self, l, name="tcp_j"):             
+        self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
+
+    def get_pnt(self, name="tcp_p"):
+        a = self.execute('get_pnt', name)
+        ret = []
+        for i in range(6): ret.append(float(a[i]))
+        return ret        
+
+    def eval_int(self, cmd):
+        self.evaluate("tcp_n=" + cmd)
+        return self.get_int()
+
+    def eval_float(self, cmd):
+        self.evaluate("tcp_n=" + cmd)
+        return self.get_float()
+
+    def eval_bool(self, cmd):
+        self.evaluate("tcp_b=" + cmd)
+        return self.get_bool()
+
+    #def eval_str(self, cmd):
+    #    self.evaluate("s=" + cmd)
+    #    return self.get_str()
+
+    def eval_jnt(self, cmd):
+        self.evaluate("tcp_j=" + cmd)
+        return self.get_jnt()
+
+    def eval_trf(self, cmd):
+        self.evaluate("tcp_t=" + cmd)
+        return self.get_trf()
+
+    def eval_pnt(self, cmd):
+        self.evaluate("tcp_p=" + cmd)
+        return self.get_pnt()
+
+
+    #Robot control        
+    def is_powered(self):
+        self.powered = self.eval_bool("isPowered()")
+        return self.powered
+
+    def enable(self):
+        self.evaluate("enablePower()")
+        if not self.is_powered():
+            raise Exception("Cannot enable power")
+
+    #waits for power to be actually cut off
+    def disable(self):
+        self.evaluate("disablePower()", timeout=5000)
+
+    def get_monitor_speed(self):
+        self.speed =  self.eval_int("getMonitorSpeed()")
+
+    def set_monitor_speed(self, speed):
+        ret = self.eval_int("setMonitorSpeed(" + str(speed) + ")")
+        if (ret==-1): raise Exception("The robot is not in remote working mode")
+        if (ret==-2): raise Exception("The monitor speed is under the control of the operator")
+        if (ret==-3): raise Exception("The specified speed is not supported")
+    
+    def is_calibrated(self):
+        return self.eval_bool("isCalibrated()")
+
+    def _update_working_mode(self, mode, status):
+        if mode==1:                 
+            self.working_mode = "manual"
+            self.status = "hold" if status==6 else "move"
+        elif mode==2: 
+            self.working_mode = "test"
+            self.status = "hold" if status==3 else "move"
+        elif mode==3: 
+            self.working_mode = "local"
+            self.status = "hold" if status==2 else "move"
+        elif mode==4: 
+            self.working_mode = "remote"
+            self.status = "hold" if status==2 else "move"
+        else:
+            self.working_mode = "invalid"
+            self.status = "invalid"
+    
+    def read_working_mode(self):
+        try:
+            mode =  self.eval_int("workingMode(tcp_a)")          
+            status = int(self.get_var("tcp_a[0]"))            
+            self._update_working_mode(mode, status)
+            self._update_state()    
+        except:
+            self.working_mode = "invalid"
+            self.status = "invalid"        
+        return self.working_mode
+
+    def get_emergency_stop_sts(self):
+        st = self.eval_int("esStatus()")        
+        if (st== 1): return "active"
+        if (st== 2): return "activated"
+        return "off"
+
+    def get_safety_fault_signal(self):
+        fault = self.eval_bool("safetyFault(s)")
+        #if (fault):
+        #    return get_str()            
+        return fault
+
+    #Motion control
+    def stop(self):
+        self.evaluate("stopMove()")
+
+    def resume(self):
+        self.evaluate("restartMove()")
+
+    def resetMotion(self):
+        self.evaluate("resetMotion()")
+
+    def is_empty(self):
+        self.empty = self.eval_bool("isEmpty()")
+        self._update_state()    
+        return self.empty
+
+    def is_settled(self):
+        self.settled = self.eval_bool("isSettled()")
+        self._update_state()    
+        return self.powered
+        
+    def get_move_id(self):
+        return self.eval_int("getMoveId()")
+
+    def set_move_id(self, id):
+        return self.evaluate("setMoveId(" + str(id) + " )")
+
+    def get_joint_forces(self):        
+        try:
+            self.evaluate("getJointForce(tcp_a)")        
+            self.joint_forces = self.get_float_arr(6)            
+            return self.joint_forces
+        except:
+            self.joint_forces = None
+            raise
+
+    def movej(self, joint_or_point, tool, desc):
+        return self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")
+        
+    def movel(self, point, tool, desc):
+        return self.eval_int("movel(" + point + ", " + tool + ", " + desc +")")
+
+    def movec(self, point_interm, point_target, tool, desc):
+        return self.eval_int("movec(" + point_interm + ", " + point_target + ", " + tool + ", " + desc +")")
+
+
+    #Tool
+    #This function can timeout since it synchronizes move. 
+    #Better check state before otherwise it can freeze the communication
+    def open_tool(self, tool):
+        return self.evaluate("open(" + tool + " )", timeout=3000)
+
+    #This function can timeout since it synchronizes move. Better check state before
+    #Better check state before otherwise it can freeze the communication
+    def close_tool(self, tool):
+        return self.evaluate("close(" + tool + " )", timeout=3000)
+
+    #Arm position
+    def herej(self):
+        return self.eval_jnt("herej()")
+    
+    def distance_t(self, trsf1, trsf2):    
+        return self.eval_float("distance(" + trsf1 + ", " + trsf2 + ")")
+    
+    def distance_p(self, pnt1, pnt2):    
+        return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")
+
+    def compose(self, pnt, frame, trsf):    
+        return self.eval_pnt("compose(" + pnt + ", " + frame + ", " + trsf + ")")
+
+    def here(self, tool, frame):
+        return self.eval_pnt("here(" + tool + ", " + frame + ")")
+
+    def joint_to_point(self, tool, frame, joint):
+        return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
+
+    def point_to_joint(self, tool, initial_joint, point):
+        if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)"):
+            return self.get_jnt()
+
+    def position(self, point, frame):
+        return self.eval_trf("position(" + point + ", " + frame + ")")
+    
+    #Task control
+    def task_create(self, program, *args,  **kwargs):        
+        program = str(program)
+        priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"]                
+        name = str(program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"])                
+        
+        if self.get_task_status(name)[0] != -1:
+            raise Exception("Task already exists: " + name)
+
+        #taskCreate "t1", 10, read(sMessage)
+        cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
+        for i in range(len(args)):            
+            cmd += str(args[i]) + (',' if  (i<(len(args)-1)) else '')
+        cmd+=')'
+        self.evaluate(cmd)
+        
+    def task_suspend(self, name):
+        self.evaluate('taskSuspend("' + str(name)+ '")')
+
+    #waits until the task is ready for restart
+    def task_resume(self, name):
+        self.evaluate('taskResume("' + str(name)+ '",0)', timeout = 2000)
+
+    #waits for the task to be actually killed
+    def task_kill(self, name):
+        self.evaluate('taskKill("' + str(name)+ '")', timeout = 2000)
+
+    def get_task_status(self, name):
+        code = self.eval_int('taskStatus("' + str(name)+ '")')
+        #TODO: String assignments in $exec causes application to freeze
+        #status = self
+        if code== -1: status = "Stopped"
+        elif code== 0: status = "Paused"
+        elif code== 1: status = "Running"
+        #else: status = self.execute('get_help', code)        
+        else: status = "Error"  
+        return (code,status)
+
+    def _update_state(self):
+        #self.setState(State.Busy if self.status=="move" else State.Ready)
+        if self.state==State.Offline:
+            print "Communication resumed"
+        if self.reset or (self.state==State.Offline):
+            self.get_task()
+            if self.current_task is not None:
+                print "Ongoing task: " + self.current_task            
+
+        if (not self.settled) or (self.current_task is not None): self.setState(State.Busy)
+        elif not self.empty: self.setState(State.Paused)
+        else: self.setState(State.Ready)                
+
+    def doUpdate(self):        
+        try:
+            start = time.time()
+            #sts = self._sendReceive("EVT").strip().split(self.array_separator)        
+            sts = self.execute("get_status", self.current_task)
+            self._update_working_mode(int(sts[0]), int(sts[1]))
+            self.powered = sts[2] == "1"
+            self.speed = int(sts[3])
+            self.empty = sts[4] == "1"
+            self.settled = sts[5] == "1"                                    
+            ev = sts[7] if len(sts)>7 else ""            
+            if len(ev.strip()) >0:
+                self.getLogger().info(ev)
+                self.on_event(ev) 
+            #if (self.current_task is not None) and (self.get_task_status(self.current_task)[0]<0):
+            if int(sts[6]) < 0:
+                self.current_task = None
+            self._update_state()              
+            self.reset = False
+            self.setCache({"powered": self.powered,
+                           "speed": self.speed,
+                           "empty": self.empty,
+                           "settled": self.settled,
+                           "task": self.current_task }, None)
+
+            #print time.time() - start                        
+        except:
+            if self.state != State.Offline:
+                print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])
+            self.setState(State.Offline)            
+
+    #High-level, exclusive motion task.
+    def start_task(self, program, *args,  **kwargs):
+        tasks = [t for t in self.high_level_tasks]
+        if (self.current_task is not None) and (not self.current_task in tasks): 
+            tasks.append(pro)
+        if not program in tasks: 
+            tasks.append(pro)
+        for task in tasks:
+            if self.get_task_status(task)[0]>=0:
+                raise Exception("Ongoing high-level task: " + task)        
+        self.task_create(program, *args, **kwargs)
+        start = time.time()
+        while self.get_task_status(program)[0] < 0:
+            if time.time() - start > 5000:
+                raise Exception("Cannot start task " + task)
+            time.sleep(0.1)        
+        self.update()               
+        self.current_task = program
+        self._update_state()
+        
+    def stop_task(self):
+        #tasks = [t for t in self.high_level_tasks]
+        tasks = []
+        if (self.current_task is not None) and (not self.current_task in tasks): 
+            tasks.append(self.current_task)
+        for task in tasks:
+            #if self.get_task_status(task)[0]>=0:                
+                self.task_kill(task)                
+
+    def get_task(self):
+        if self.current_task is not None:             
+            return self.current_task
+        for task in self.high_level_tasks:
+            if self.get_task_status(task)[0]>=0:                
+                 self.current_task = task
+                 return task
+        return None
+                    
+
+    def on_event(self,ev):
+        pass
+                    
+