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gac-S_Changer
2018-11-09 11:58:05 +01:00
parent 0eb57c0238
commit 91f6ffbb35
10 changed files with 94 additions and 110 deletions
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4
devices/led_ctrl_1.properties
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@@ -1,5 +1,5 @@
#Thu Oct 25 15:44:44 CEST 2018
maxValue=0.4
#Thu Nov 08 11:41:48 CET 2018
maxValue=1.0
minValue=0.0
offset=0.0
precision=2

4
devices/led_ctrl_2.properties
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@@ -1,5 +1,5 @@
#Thu Oct 25 15:44:44 CEST 2018
maxValue=0.4
#Thu Nov 08 11:41:48 CET 2018
maxValue=1.0
minValue=0.0
offset=0.0
precision=2

4
devices/led_ctrl_3.properties
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@@ -1,5 +1,5 @@
#Thu Oct 25 15:44:44 CEST 2018
maxValue=0.4
#Thu Nov 08 11:41:48 CET 2018
maxValue=1.0
minValue=0.0
offset=0.0
precision=2

BIN
plugins/MXSC-1.10.0.jar
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42
plugins/SmartMagnetPanel.form
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@@ -18,12 +18,9 @@
<Group type="103" groupAlignment="0" attributes="0">
<Component id="jPanel1" max="32767" attributes="0"/>
<Component id="panelState" alignment="0" max="32767" attributes="0"/>
<Group type="102" attributes="0">
<Group type="103" groupAlignment="0" max="-2" attributes="0">
<Component id="panelCurrent" max="32767" attributes="0"/>
<Component id="jPanel2" max="32767" attributes="0"/>
</Group>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" max="-2" attributes="0">
<Component id="panelCurrent" max="32767" attributes="0"/>
<Component id="jPanel2" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@@ -183,10 +180,10 @@
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="32767" attributes="0"/>
<Component id="buttonHoming" linkSize="1" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
<Component id="buttonMount" linkSize="1" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabel2" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledMountPosition" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
</Group>
</Group>
@@ -194,10 +191,10 @@
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="1" attributes="0">
<EmptySpace max="32767" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="buttonHoming" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="buttonMount" alignment="3" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel2" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledMountPosition" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
</Group>
@@ -205,21 +202,18 @@
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JButton" name="buttonHoming">
<Component class="javax.swing.JLabel" name="jLabel2">
<Properties>
<Property name="text" type="java.lang.String" value="Home Fast Table"/>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Mount Position:"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonHomingActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonMount">
<Component class="ch.psi.pshell.swing.Led" name="ledMountPosition">
<Properties>
<Property name="text" type="java.lang.String" value="Set Mount Position"/>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonMountActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Container>

93
plugins/SmartMagnetPanel.java
View File

@@ -27,6 +27,19 @@ public class SmartMagnetPanel extends DevicePanel {
}
panelState.setDevice(device);
this.startTimer(1000, 100);
}
@Override
protected void onTimer(){
Color color = Color.RED;
try{
if (Context.getInstance().evalLineBackground("in_mount_position").equals(Boolean.TRUE)){
color = Color.GREEN;
}
} catch (Exception ex){
}
ledMountPosition.setColor(color);
}
@Override
@@ -75,8 +88,8 @@ public class SmartMagnetPanel extends DevicePanel {
panelState = new ch.psi.pshell.swing.DeviceStatePanel();
panelCurrent = new ch.psi.pshell.swing.ProcessVariablePanel();
jPanel2 = new javax.swing.JPanel();
buttonHoming = new javax.swing.JButton();
buttonMount = new javax.swing.JButton();
jLabel2 = new javax.swing.JLabel();
ledMountPosition = new ch.psi.pshell.swing.Led();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));
@@ -153,41 +166,29 @@ public class SmartMagnetPanel extends DevicePanel {
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Gonio"));
buttonHoming.setText("Home Fast Table");
buttonHoming.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonHomingActionPerformed(evt);
}
});
jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel2.setText("Mount Position:");
buttonMount.setText("Set Mount Position");
buttonMount.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonMountActionPerformed(evt);
}
});
ledMountPosition.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonHoming)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonMount)
.addContainerGap()
.addComponent(jLabel2)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledMountPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHoming, buttonMount});
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(buttonHoming)
.addComponent(buttonMount))
.addContainerGap()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel2)
.addComponent(ledMountPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap())
);
@@ -197,11 +198,9 @@ public class SmartMagnetPanel extends DevicePanel {
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(panelState, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(layout.createSequentialGroup()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(panelCurrent, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGap(0, 0, 0))
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(panelCurrent, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
@@ -216,45 +215,15 @@ public class SmartMagnetPanel extends DevicePanel {
);
}// </editor-fold>//GEN-END:initComponents
private void buttonHomingActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingActionPerformed
try{
Context.getInstance().evalLineAsync("home_fast_table()").handle((ret, ex) -> {
if (SmartMagnetPanel.this.isShowing()){
if (ex != null){
showException((Exception)ex);
}
}
return ret;
});
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonHomingActionPerformed
private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed
try{
Context.getInstance().evalLineAsync("set_mount_position()").handle((ret, ex) -> {
if (SmartMagnetPanel.this.isShowing()){
if (ex != null){
showException((Exception)ex);
}
}
return ret;
});
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonMountActionPerformed
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton buttonHoming;
private javax.swing.JButton buttonMount;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel10;
private javax.swing.JLabel jLabel2;
private javax.swing.JLabel jLabel5;
private javax.swing.JPanel jPanel1;
private javax.swing.JPanel jPanel2;
private ch.psi.pshell.swing.Led ledMountPosition;
private ch.psi.pshell.swing.Led ledMounted;
private ch.psi.pshell.swing.Led ledStatus;
private ch.psi.pshell.swing.ProcessVariablePanel panelCurrent;

25
script/client/TellClient.py
View File

@@ -38,7 +38,12 @@ class TellClient(PShellClient):
if self.state != "Ready":
raise Exception("Invalid state: " + str(self.state))
def set_in_mount_position(self, value):
self.eval("in_mount_position = " + str(value) +"&")
def is_in_mount_position(self):
return self.eval("in_mount_position&").lower()=="true"
def get_samples_info(self):
return json.loads(self.eval("get_samples_info()&"))
@@ -89,6 +94,11 @@ class TellClient(PShellClient):
self.abort()
self.eval("robot.stop_task()&")
def set_gonio_mount_position(homing = False):
if homing:
self.eval("home_fast_table()")
self.eval("set_mount_position()")
def get_mounted_sample(self):
ret = self.eval("get_setting('mounted_sample_position')&").strip()
return None if len(ret)==0 else ret
@@ -111,14 +121,21 @@ class TellClient(PShellClient):
def get_detected_pucks(self):
return self.eval("get_detected_pucks()&")
def set_pin_offset(self, value):
self.eval("set_pin_offset(" + str(value)+ ")&")
def get_pin_offset(self):
return self.eval("get_pin_offset()&")
def print_info(self):
print ("State: " + str(self.get_state()))
print ("Mounted Sample: " + str(self.get_mounted_sample()))
print ("System Check: " + str(self.get_system_check()))
print ("Mounted sample: " + str(self.get_mounted_sample()))
print ("System check: " + str(self.get_system_check()))
print ("Robot state: " + str(self.get_robot_state()))
print ("Robot status: " + str(self.get_robot_status()))
print ("Detected Pucks: " + str(self.get_detected_pucks()))
print ("Detected pucks: " + str(self.get_detected_pucks()))
print ("Pin offset: " + str(self.get_pin_offset()))
print ("Mount position: " + str(self.is_in_mount_position()))
print ("")
if __name__ == "__main__":

15
script/client/tell.py
View File

@@ -14,18 +14,20 @@ def info():
def help():
print ("Commands: \n\thelp()\n\tinfo()\n\tmount(segment, puck, sample)\n\tunmount() \n\tdry() " \
"\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort()\n")
"\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort() " \
"\n\tset_pin_offset(value)")
def set_gonio():
pass
def assert_transfer_allowed():
if not tell.is_in_mount_position():
raise Exception("Gonio is not in mount position")
def mount(segment, puck, sample):
set_gonio()
assert_transfer_allowed()
cmd = tell.mount(segment, puck, sample, True, True, True)
print (tell.wait_cmd(cmd))
def unmount():
set_gonio()
assert_transfer_allowed()
cmd=tell.unmount(force=True)
print (tell.wait_cmd(cmd))
@@ -51,6 +53,9 @@ def scan(segment, puck, sample=None):
def abort():
tell.abort_cmd()
def set_pin_offset(value):
tell.set_pin_offset(value)
info()
help()

15
script/motion/mount.py
View File

@@ -23,10 +23,6 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
if auto_unmount:
if get_setting("mounted_sample_position") is not None:
unmount()
if robot.simulated:
time.sleep(3.0)
mount_sample_detected = True
@@ -41,14 +37,17 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
robot.assert_cleared()
#robot.assert_in_known_point()
hexiposi.assert_homed()
set_status("Mounting: " + str(segment) + str(puck) + str(sample))
try:
smart_magnet.enforce_sample_detection()
if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
raise Exception("Pin detected on gonio")
if auto_unmount and (get_setting("mounted_sample_position") is not None):
unmount(force = True)
else:
raise Exception("Pin detected on gonio")
set_status("Mounting: " + str(segment) + str(puck) + str(sample))
#location = robot.get_current_point()
#Enabling

2
script/motion/unmount.py
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@@ -7,7 +7,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
pos = get_setting("mounted_sample_position")
if pos is None:
raise Exception("Mounted sample position is not defined")
segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2])
segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
print "Mounted sample position: ", segment, puck , sample
is_aux = (segment == AUX_SEGMENT)