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gac-S_Changer
2018-09-17 16:56:55 +02:00
parent 531c3f5dfe
commit bc21bb95a3
21 changed files with 486 additions and 114 deletions
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14
script/data/pucks.py Normal file
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@@ -0,0 +1,14 @@
def get_puck_names():
return [str(a)+str(b) for a in BLOCKS for b in range(1,6)]
def get_puck_info():
ret = []
#for puck in get_puck_names():
for puck in BasePlate.pucks:
ret.append({"address" : str(puck.name), "status": str(puck.status), "barcode" : str(puck.id)})
return ret
def get_puck_obj(address):
return BasePlate.getChild(address)

268
script/data/samples.py
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@@ -1,23 +1,279 @@
import json
import org.python.core.PyDictionary as PyDictionary
SAMPLE_INFO_KEYS = ["userName", "dewarName", "puckName", "puckBarcode", "puckType", "puckAddress",
"sampleName", "samplePosition", "sampleStatus", "sampleMountCount"]
samples_info = []
def set_samples_info(info):
global samples_info
if (is_string(info)):
info = json.loads(info)
if not is_list(info):
raise Exception("Sample info must be a list (given object type is " + str(type(info)) + ")")
#for sample in info:
# if not (type(sample) is PyDictionary):
# raise Exception("Sample info element must be a dictionary (given object type is " + str(type(sample)) + ")")
#Sanitize list
remove = []
for sample in info:
try:
if set(sample.keys()) != set(SAMPLE_INFO_KEYS):
raise Exception()
except:
remove.append(sample)
for el in remove:
info.remove(el)
print "Invalid samples info element: " + str(el)
samples_info = info
return samples_info
save_samples_info()
#Trust beamline on assignments, so update puck info
update_puck_table()
def clear_samples_info():
set_samples_info([])
def save_samples_info():
data = get_samples_info(True)
output_file = open( get_context().setup.expandPath("{context}/samples_info.json") , "w")
output_file.write(data)
output_file.close()
def restore_samples_info():
try:
inputfile = open(get_context().setup.expandPath("{context}/samples_info.json"), "r")
info = inputfile.read()
except:
print >> sys.stderr, "Error reading sample info file: " + str(sys.exc_info()[1])
info = []
set_samples_info(info)
def get_samples_info(as_json=True):
global sample_info
return json.dumps(samples_info) if as_json else samples_info
return json.dumps(samples_info) if as_json else samples_info
def has_puck_datamatrix(datamatrix):
if samples_info is not None:
for si in samples_info:
if si["puckBarcode"] == datamatrix:
return True
return False
def add_puck_datamatrix(barcode, address = "", dewar = "Unknown", user = "Unknown", puck = "Unknown", type = "unipuck", sample_prefix = "Sample"):
if has_puck_datamatrix(barcode):
raise Exception("Datamatrix already defined: " + str(barcode))
for s in range(1,17):
info = \
{ "userName": user, \
"dewarName": dewar, \
"puckName": puck, \
"puckBarcode": address if barcode is None else barcode, \
"puckType": type, \
"puckAddress": address,\
"sampleName": sample_prefix + " " + str(s), \
"samplePosition": str(s),\
"sampleStatus": "Unknown", \
"sampleMountCount": "0",
}
samples_info.append(info)
save_samples_info()
def remove_puck_datamatrix(barcode):
remove = []
for si in samples_info:
if si["puckBarcode"] == barcode:
remove.append(si)
for el in remove: samples_info.remove(el)
save_samples_info()
def set_puck_datamatrix(puck, datamatrix):
if puck is None:
puck = ""
if datamatrix is None:
datamatrix = ""
if samples_info is not None:
for si in samples_info:
if si["puckBarcode"] == datamatrix:
si["puckAddress"] = puck
elif si["puckAddress"] == puck:
si["puckAddress"] = ""
save_samples_info()
def reset_puck_datamatrix(puck = None):
if samples_info is not None:
for si in samples_info:
if (si["puckAddress"] == puck) or (puck is None):
si["puckAddress"] = ""
save_samples_info()
def get_puck_datamatrix():
ret = {}
for si in samples_info:
if si["puckBarcode"] is not None and si["puckBarcode"]!="":
ret[si["puckBarcode"]] = si["puckAddress"]
return ret
def get_puck_address(barcode):
try:
return get_puck_datamatrix()[barcode]
except:
return None
def update_puck_table():
dms = get_puck_datamatrix()
for barcode in dms.keys():
address = dms[barcode]
puck = get_puck_obj(address)
if puck is not None:
puck.id = barcode
#Sample mount/unmount
def update_samples_info_sample_mount(puck_address, sample_position, sample_detected):
try:
if (samples_info is not None) and (puck_address is not None):
for si in samples_info:
if str(si["puckAddress"]) == str(puck_address) and str(si["samplePosition"]) == str(sample_position):
if sample_detected:
if si["sampleStatus"] != "Mounted":
si["sampleStatus"] = "Mounted"
try:
mount_count = int(si["sampleMountCount"])
except:
mount_count = 0
si["sampleMountCount"] = mount_count + 1
else:
si["sampleStatus"] = "Unknown"
save_samples_info()
return
except:
pass
def update_samples_info_sample_unmount(puck_address, sample_position):
try:
if (samples_info is not None) and (puck_address is not None):
for si in samples_info:
if str(si["puckAddress"]) == str(puck_address) and str(si["samplePosition"]) == str(sample_position):
si["sampleStatus"] = "HasBeenMounted"
save_samples_info()
return
except:
pass
test_sample_data = [ \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0001", \
"puckType": "unipuck", \
"puckAddress": "A1",\
"sampleName": "MySample 1", \
"samplePosition": 1,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0001", \
"puckType": "unipuck", \
"puckAddress": "A1",\
"sampleName": "MySample 2", \
"samplePosition": 2,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0001", \
"puckType": "unipuck", \
"puckAddress": "A1",\
"sampleName": "MySample 3", \
"samplePosition": 3,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0001", \
"puckType": "unipuck", \
"puckAddress": "A1",\
"sampleName": "MySample 4", \
"samplePosition": 4,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0001", \
"puckType": "unipuck", \
"puckAddress": "A1",\
"sampleName": "MySample 5", \
"samplePosition": 5,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0002", \
"puckType": "unipuck", \
"puckAddress": "C2",\
"sampleName": "MySample 1", \
"samplePosition": 1,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0002", \
"puckType": "unipuck", \
"puckAddress": "C2",\
"sampleName": "MySample 2", \
"samplePosition": 2,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0002", \
"puckType": "unipuck", \
"puckAddress": "C2",\
"sampleName": "MySample 3", \
"samplePosition": 3,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0002", \
"puckType": "unipuck", \
"puckAddress": "C2",\
"sampleName": "MySample 4", \
"samplePosition": 4,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
{ "userName": "Alexandre", \
"dewarName": "TEST", \
"puckName": "My puck", \
"puckBarcode": "AAA0002", \
"puckType": "unipuck", \
"puckAddress": "C2",\
"sampleName": "MySample 5", \
"samplePosition": 5,\
"sampleStatus": "Present", \
"sampleMountCount": 0,
} , \
]

15
script/devices/RobotSC.py
View File

@@ -22,8 +22,8 @@ joint_forces = False
class RobotSC(RobotTCP):
def __init__(self, name, server, timeout = 1000, retries = 1):
RobotTCP.__init__(self, name, server, timeout, retries)
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome"])
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome", "pCold"])
self.setPolling(DEFAULT_ROBOT_POLLING)
def move_dewar(self):
@@ -31,6 +31,11 @@ class RobotSC(RobotTCP):
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
def move_cold(self):
self.start_task('moveCold')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_cold()
def move_home(self):
self.start_task('moveHome')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
@@ -141,6 +146,9 @@ class RobotSC(RobotTCP):
def is_park(self):
return self.is_in_point("pPark")
def is_cold(self):
return self.is_in_point("pCold")
def is_home(self):
return self.is_in_point("pHome")
@@ -175,6 +183,9 @@ class RobotSC(RobotTCP):
def assert_heater_home(self):
self.assert_in_point("pHeaterHome")
def assert_cold(self):
self.assert_in_point("pCold")
def assert_heater(self):
self.assert_in_point("pHeater")

2
script/devices/Wago.py
View File

@@ -125,7 +125,7 @@ def release_psys():
# Drier
###################################################################################################
MAX_HEATER_TIME = 15000
MAX_HEATER_TIME = 45000
def set_air_stream(state):

13
script/local.py
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@@ -7,6 +7,8 @@ from ch.psi.pshell.modbus import ModbusTCP
import ch.psi.mxsc.Controller as Controller
import ch.psi.pshell.core.Nameable as Nameable
import ch.psi.utils.Chrono as Chrono
import ch.psi.mxsc.Controller as Controller
run("setup/Layout")
@@ -76,6 +78,7 @@ add_device(img.getCamera(), force = True)
###################################################################################################
run("data/samples")
run("data/pucks")
run("motion/tools")
run("motion/mount")
run("motion/unmount")
@@ -88,6 +91,7 @@ run("motion/move_gonio")
run("motion/move_heater")
run("motion/move_home")
run("motion/move_park")
run("motion/move_cold")
run("motion/move_scanner")
run("motion/dry")
run("motion/homing_hexiposi")
@@ -216,7 +220,7 @@ for l in dewar_level.listeners:
dewar_level.addListener(dewar_level_listener)
dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None)
###################################################################################################
@@ -230,10 +234,15 @@ cover_detection_debug = False
def is_puck_loading():
return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and feedback_psys_safety.take() == False
return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \
feedback_psys_safety.take() == False and \
not guiding_tool_park.read()
update()
add_device(Controller.getInstance().basePlate, True)
restore_samples_info()
print "Initialization complete"

2
script/motion/get_dewar.py
View File

@@ -4,7 +4,7 @@ def get_dewar(segment, puck, sample, force=False):
print "get_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
robot.assert_no_task()

9
script/motion/mount.py
View File

@@ -4,7 +4,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
print "mount: ", segment, puck, sample, force
start = time.time()
#Initial checks
assertValidAddress(segment, puck, sample)
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
robot.assert_no_task()
@@ -45,8 +45,11 @@ def mount(segment, puck, sample, force=False, read_dm=False):
smart_magnet.set_mount_current()
try:
robot.put_gonio()
robot.move_dewar()
if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
robot.move_dewar()
sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
#TODO: Should do on finally?
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, sample_detected)
if sample_detected == False:
raise Exception("No pin detected on gonio")
finally:
smart_magnet.set_default_current()

18
script/motion/move_cold.py Normal file
View File

@@ -0,0 +1,18 @@
def move_cold():
"""
"""
print "move_cold"
#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.wait_ready()
robot.assert_cleared()
#robot.assert_in_known_point()
#Enabling
enable_motion()
if not robot.is_cold():
robot.move_cold()

2
script/motion/put_dewar.py
View File

@@ -4,7 +4,7 @@ def put_dewar(segment, puck, sample, force=False):
print "put_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
robot.assert_no_task()

20
script/motion/tools.py
View File

@@ -128,7 +128,7 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
robot.save_program()
def assertValidAddress(segment, puck, sample):
def assert_valid_address(segment, puck, sample):
if is_string(segment):
segment = ord(segment.upper()) - ord('A') +1
if segment<=0 or segment >6:
@@ -137,4 +137,20 @@ def assertValidAddress(segment, puck, sample):
raise Exception ("Invalid puck")
if sample<=0 or sample >16:
raise Exception ("Invalid sample")
def get_puck_name(segment, puck):
try:
assert_valid_address(segment, puck, 1)
if type(segment) is int:
segment = chr( ord('A') + (pos-1))
elif type(segment) is str:
segment = pos.upper()
else:
return None
return segment + str(puck)
except:
return None

4
script/motion/unmount.py
View File

@@ -4,7 +4,7 @@ def unmount(segment, puck, sample, force=False):
print "unmount: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
robot.assert_no_task()
@@ -34,6 +34,8 @@ def unmount(segment, puck, sample, force=False):
smart_magnet.set_unmount_current()
try:
robot.get_gonio()
#TODO: Shuld check if smart magnet detection is off?
update_samples_info_sample_unmount(get_puck_name(segment, puck))
robot.move_dewar()
robot.put_dewar(segment, puck, sample)
finally:

23
script/test/TestCameraStability2.py
View File

@@ -1,11 +1,14 @@
cover_detection_debug=False
for pos in ['A', 'B', 'C', 'D', 'E', 'F']:
print "Moving to ", pos
hexiposi.move(pos)
ret = run("imgproc/CoverDetection")
det = ret[0]
print "Detected: ", det
if det != pos:
raise "Position error"
cover_detection_debug=True
while True:
for pos in ['A', 'B', 'C', 'D', 'E', 'F']:
print "Moving to ", pos
hexiposi.move(pos)
move_home()
move_park()
time.sleep(2.0)
ret = run("imgproc/CoverDetection")
det = ret[0]
print "Detected: ", det
if det != pos:
raise Exception("Position error")