pshell_config/mxsc
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This commit is contained in:
gac-S_Changer
2017-11-29 09:37:22 +01:00
parent 5c857d030a
commit d7570bcaf3
39 changed files with 1881 additions and 65 deletions
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4
config/config.properties
View File

@@ -1,4 +1,4 @@
#Thu Aug 31 17:39:38 CEST 2017
#Fri Nov 17 14:23:32 CET 2017
autoSaveScanData=true
createSessionFiles=false
dataLayout=default
@@ -8,12 +8,14 @@ dataScanFlushRecords=true
dataScanPreserveTypes=false
dataScanReleaseRecords=false
dataServerPort=-1
depthDimension=0
hostName=null
instanceName=MXSC
logDaysToLive=-1
logLevel=Fine
logLevelConsole=Off
logPath={logs}/{date}_{time}
notificationLevel=null
scanStreamerPort=-1
serverEnabled=true
serverPort=8080

2
config/devices.properties
View File

@@ -1,4 +1,4 @@
img=ch.psi.pshell.prosilica.Prosilica|25001 ''|||true
img=ch.psi.pshell.prosilica.Prosilica|25001 ''||-100|false
microscan=ch.psi.pshell.serial.TcpDevice|129.129.126.200:2001|||
microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.126.200:2003|||
ue=LaserUE|COM4|||

9
config/mail.properties Normal file
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@@ -0,0 +1,9 @@
#Mon Oct 23 10:53:54 CEST 2017
auth=None
from=
host=
port=0
pwd=
smsSuffix=@sms.switch.ch
to=
usr=

3
config/plugins.properties
View File

@@ -1,3 +1,6 @@
MXSC-1.8.0.jar=disabled
RobotPanel.java=enabled
Wayne.java=disabled
LaserUE.java=enabled
MXSC-1.7.0.jar=disabled
MXSC-1.6.0.jar=disabled

20
devices/20161117_163816.png.properties Normal file
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@@ -0,0 +1,20 @@
#Mon Oct 23 15:10:20 CEST 2017
flipHorizontally=false
flipVertically=false
grayscale=false
invert=false
rescaleFactor=1.0
rescaleOffset=0.0
roiHeight=-1
roiWidth=-1
roiX=0
roiY=0
rotation=0.0
rotationCrop=false
scale=1.0
spatialCalOffsetX=NaN
spatialCalOffsetY=NaN
spatialCalScaleX=NaN
spatialCalScaleY=NaN
spatialCalUnits=mm
transpose=false

4
devices/img.properties
View File

@@ -1,4 +1,4 @@
#Wed Jul 12 15:55:35 CEST 2017
#Tue Oct 24 14:01:22 CEST 2017
colormap=Grayscale
colormapAutomatic=false
colormapMax=18.133
@@ -13,7 +13,7 @@ roiHeight=1200
roiWidth=1200
roiX=200
roiY=0
rotation=140.0
rotation=0.0
rotationCrop=true
scale=1.0
spatialCalOffsetX=-600.0

9
devices/robot x.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Sep 12 15:00:38 CEST 2017
maxValue=NaN
minValue=NaN
offset=0.0
precision=-1
resolution=NaN
rotation=false
scale=1.0
unit=null

9
devices/robot_j1.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:41 CET 2017
maxValue=180.0
minValue=-180.0
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_j2.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:45 CET 2017
maxValue=127.5
minValue=-127.5
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_j3.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:40 CET 2017
maxValue=152.5
minValue=-152.5
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_j4.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:44 CET 2017
maxValue=270.0
minValue=-270.0
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_j5.properties Normal file
View File

@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:42 CET 2017
maxValue=132.5
minValue=-122.5
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_j6.properties Normal file
View File

@@ -0,0 +1,9 @@
#Tue Nov 28 17:23:43 CET 2017
maxValue=270.0
minValue=-270.0
offset=0.0
precision=2
resolution=0.1
rotation=false
scale=1.0
unit=deg

9
devices/robot_rx.properties Normal file
View File

@@ -0,0 +1,9 @@
#Thu Nov 23 17:23:52 CET 2017
maxValue=180.0
minValue=-180.0
offset=0.0
precision=2
resolution=0.05
rotation=true
scale=1.0
unit=deg

9
devices/robot_ry.properties Normal file
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@@ -0,0 +1,9 @@
#Thu Nov 23 17:23:32 CET 2017
maxValue=180.0
minValue=-180.0
offset=0.0
precision=-2
resolution=0.05
rotation=true
scale=1.0
unit=deg

9
devices/robot_rz.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Nov 28 16:56:22 CET 2017
maxValue=360.0
minValue=-360.0
offset=0.0
precision=2
resolution=0.1
rotation=true
scale=1.0
unit=deg

9
devices/robot_x.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Sep 12 15:07:33 CEST 2017
maxValue=1000.0
minValue=-1000.0
offset=0.0
precision=2
resolution=0.05
rotation=false
scale=1.0
unit=mm

9
devices/robot_y.properties Normal file
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@@ -0,0 +1,9 @@
#Tue Sep 12 15:07:33 CEST 2017
maxValue=1000.0
minValue=-1000.0
offset=0.0
precision=2
resolution=0.05
rotation=false
scale=1.0
unit=null

9
devices/robot_z.properties Normal file
View File

@@ -0,0 +1,9 @@
#Tue Sep 12 15:07:32 CEST 2017
maxValue=1000.0
minValue=-1000.0
offset=0.0
precision=2
resolution=0.05
rotation=false
scale=1.0
unit=null

45
plugins/LaserUE.java
View File

@@ -1,10 +1,9 @@
import ch.psi.pshell.device.Readable;
import ch.psi.pshell.serial.SerialPortDevice;
import ch.psi.pshell.serial.SerialPortDeviceConfig;
import static ch.psi.utils.BitMask.*;
import java.io.IOException;
import java.util.logging.Level;
import java.util.logging.Logger;
/*
*
@@ -14,40 +13,64 @@ import java.util.logging.Logger;
*
*/
public class LaserUE extends SerialPortDevice{
final Readable readable;
static final double RANGE_MIN = 1.0;
static final double RANGE_MAX = 30.0;
public LaserUE(String name, String port) {
super(name, port, 921600, SerialPortDeviceConfig.DataBits.DB_8, SerialPortDeviceConfig.StopBits.SB_1, SerialPortDeviceConfig.Parity.None);
this.setMode(Mode.FullDuplex);
readable = new Readable() {
@Override
public Object read() throws IOException, InterruptedException {
return take();
}
@Override
public String getName(){
return LaserUE.this.getName()+"_readout";
}
};
}
@Override
protected void doInitialize() throws IOException, InterruptedException{
super.doInitialize();
//TODO: Start DAQ in ILD1320: http://www.micro-epsilon.com/download/manuals/man--optoNCDT-1320--en.pdf
}
public Readable getReadable(){
return readable;
}
int value = 0;
int count = 0;
@Override
protected void onByte(int rx) {
if (rx<0){
rx+=256;
rx|=BIT7;
}
System.out.println(rx);
int index = ((rx&BIT7) > 0) ? 2 : (((rx&BIT6) > 0) ? 1 : 0);
if (count==index){
if (index ==0){
value = rx & 0x3F;
count = 1;
} else if (index ==1){
value = ((rx& 0x3F)<<6) + value;
count = 2;
} else if (index ==2){
value = ((rx& 0x0F)<<12) + value;
this.setCache(value);
double val = ((double)value)/1000;
if ((val<RANGE_MIN) ||(val>RANGE_MAX)){
val = Double.NaN;
}
setCache(val);
count = 0;
} else {
count = 0;
}
}
else{
count = 0;
count = 0;
}
}
}

BIN
plugins/MXSC-1.7.0.jar
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BIN
plugins/MXSC-1.8.0.jar Normal file
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Binary file not shown.

450
plugins/RobotPanel.form Normal file
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@@ -0,0 +1,450 @@
<?xml version="1.0" encoding="UTF-8" ?>
<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo">
<AuxValues>
<AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/>
<AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/>
<AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/>
<AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/>
<AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/>
</AuxValues>
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Component id="jPanel1" max="32767" attributes="0"/>
<Component id="jPanel2" alignment="0" max="32767" attributes="0"/>
<Component id="jPanel3" alignment="0" max="32767" attributes="0"/>
<Component id="panelState" alignment="0" max="32767" attributes="0"/>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<Component id="jPanel1" min="-2" max="-2" attributes="0"/>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Component id="jPanel2" min="-2" max="-2" attributes="0"/>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Component id="jPanel3" min="-2" max="-2" attributes="0"/>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Component id="panelState" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Container class="javax.swing.JPanel" name="jPanel1">
<Properties>
<Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor">
<Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo">
<TitledBorder title="Power"/>
</Border>
</Property>
</Properties>
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Component id="jLabel1" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledPowered" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="panelPowerCtr" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace min="-2" pref="4" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel1" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledPowered" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="panelPowerCtr" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="ch.psi.pshell.swing.Led" name="ledPowered">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel1">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Powered:"/>
</Properties>
</Component>
<Container class="javax.swing.JPanel" name="panelPowerCtr">
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Component id="buttonEnable" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="18" max="32767" attributes="0"/>
<Component id="buttonDisable" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
<Group type="103" alignment="2" groupAlignment="1" max="-2" attributes="0">
<Component id="buttonDisable" alignment="1" max="32767" attributes="0"/>
<Component id="buttonEnable" alignment="1" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JButton" name="buttonDisable">
<Properties>
<Property name="text" type="java.lang.String" value="Disable"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonDisableActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonEnable">
<Properties>
<Property name="text" type="java.lang.String" value="Enable"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonEnableActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Container>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel2">
<Properties>
<Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor">
<Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo">
<TitledBorder title="Motion"/>
</Border>
</Property>
</Properties>
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<Component id="jLabel7" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledMoving" min="-2" max="-2" attributes="0"/>
</Group>
<Component id="jLabel2" alignment="0" min="-2" pref="52" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="14" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="spinnerSpeed" min="-2" max="-2" attributes="0"/>
<Component id="panelMotionCtr" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" pref="4" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel7" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledMoving" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="panelMotionCtr" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="jLabel2" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSpeed" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JLabel" name="jLabel2">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Speed:"/>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerSpeed">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="10" maximum="100" numberType="java.lang.Integer" stepSize="1" type="number"/>
</Property>
</Properties>
<Events>
<EventHandler event="stateChanged" listener="javax.swing.event.ChangeListener" parameters="javax.swing.event.ChangeEvent" handler="spinnerSpeedStateChanged"/>
</Events>
</Component>
<Component class="javax.swing.JLabel" name="jLabel7">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Moving:"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledMoving">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
<Container class="javax.swing.JPanel" name="panelMotionCtr">
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" pref="0" max="-2" attributes="0"/>
<Component id="butonStop" pref="45" max="32767" attributes="0"/>
<EmptySpace min="-2" max="-2" attributes="0"/>
<Component id="buttonPause" pref="46" max="32767" attributes="0"/>
<EmptySpace min="-2" max="-2" attributes="0"/>
<Component id="buttonResume" pref="47" max="32767" attributes="0"/>
<EmptySpace min="0" pref="0" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" pref="0" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="butonStop" alignment="2" max="32767" attributes="0"/>
<Component id="buttonPause" alignment="2" max="32767" attributes="0"/>
<Component id="buttonResume" alignment="2" max="32767" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="0" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JButton" name="butonStop">
<Properties>
<Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor">
<Connection code="new javax.swing.ImageIcon(App.class.getResource(&quot;/ch/psi/pshell/ui/Stop.png&quot;))" type="code"/>
</Property>
<Property name="text" type="java.lang.String" value=" "/>
<Property name="horizontalTextPosition" type="int" value="0"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="butonStopActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonResume">
<Properties>
<Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor">
<Connection code="new javax.swing.ImageIcon(App.class.getResource(&quot;/ch/psi/pshell/ui/Play.png&quot;))" type="code"/>
</Property>
<Property name="text" type="java.lang.String" value=" "/>
<Property name="horizontalTextPosition" type="int" value="0"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonResumeActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPause">
<Properties>
<Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor">
<Connection code="new javax.swing.ImageIcon(App.class.getResource(&quot;/ch/psi/pshell/ui/Pause.png&quot;))" type="code"/>
</Property>
<Property name="text" type="java.lang.String" value=" "/>
<Property name="horizontalTextPosition" type="int" value="0"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPauseActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Container>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel3">
<Properties>
<Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor">
<Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo">
<TitledBorder title="Status"/>
</Border>
</Property>
</Properties>
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<EmptySpace min="-2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" attributes="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<Component id="jLabel8" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledTask" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="103" alignment="0" groupAlignment="1" attributes="0">
<Group type="102" attributes="0">
<Component id="jLabel4" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledEmpty" min="-2" max="-2" attributes="0"/>
</Group>
<Group type="102" alignment="1" attributes="0">
<Component id="jLabel3" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledSettled" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</Group>
<EmptySpace type="unrelated" min="-2" max="-2" attributes="0"/>
<Component id="textTask" max="32767" attributes="0"/>
</Group>
<Group type="102" alignment="0" attributes="0">
<Component id="jLabel6" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="ledMode" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="textMode" max="32767" attributes="0"/>
</Group>
</Group>
<EmptySpace min="-2" max="-2" attributes="0"/>
<Component id="buttonAbort" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="1" attributes="0">
<EmptySpace min="-2" pref="4" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel3" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledSettled" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel4" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledEmpty" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="textMode" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledMode" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="jLabel6" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="buttonAbort" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="jLabel8" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="ledTask" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="textTask" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="2" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JLabel" name="jLabel3">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Settled:"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledSettled">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel4">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Empty:"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledEmpty">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JTextField" name="textTask">
<Properties>
<Property name="editable" type="boolean" value="false"/>
<Property name="horizontalAlignment" type="int" value="0"/>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel6">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Mode:"/>
</Properties>
</Component>
<Component class="javax.swing.JTextField" name="textMode">
<Properties>
<Property name="editable" type="boolean" value="false"/>
<Property name="horizontalAlignment" type="int" value="0"/>
</Properties>
</Component>
<Component class="javax.swing.JButton" name="buttonAbort">
<Properties>
<Property name="text" type="java.lang.String" value="Abort"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonAbortActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JLabel" name="jLabel8">
<Properties>
<Property name="horizontalAlignment" type="int" value="11"/>
<Property name="text" type="java.lang.String" value="Task:"/>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledTask">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
<Component class="ch.psi.pshell.swing.Led" name="ledMode">
<Properties>
<Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor">
<Font name="SansSerif" size="18" style="0"/>
</Property>
</Properties>
</Component>
</SubComponents>
</Container>
<Component class="ch.psi.pshell.swing.DeviceStatePanel" name="panelState">
</Component>
</SubComponents>
</Form>

543
plugins/RobotPanel.java Normal file
View File

@@ -0,0 +1,543 @@
import ch.psi.pshell.device.Device;
import ch.psi.pshell.ui.App;
import ch.psi.pshell.swing.DevicePanel;
import ch.psi.pshell.core.Context;
import ch.psi.utils.State;
import java.awt.Color;
import java.lang.reflect.Method;
import java.util.Map;
/**
*
*/
public class RobotPanel extends DevicePanel {
/**
* Creates new form RobotPanel
*/
public RobotPanel() {
initComponents();
}
@Override
public void setDevice(Device device) {
super.setDevice(device);
if (device == null) {
}
panelState.setDevice(device);
}
@Override
protected void onDeviceStateChanged(State state, State former) {
boolean enabled = state.isNormal();
spinnerSpeed.setEnabled(enabled);
buttonAbort.setEnabled(enabled);
if (!enabled){
buttonEnable.setEnabled(enabled);
buttonDisable.setEnabled(enabled);
butonStop.setEnabled(enabled);
buttonPause.setEnabled(enabled);
buttonResume.setEnabled(enabled);
}
}
boolean updating;
@Override
protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean valueChange) {
updating = true;
try{
Boolean powered = null;
Boolean empty = null;
Boolean settled = null;
Boolean moving = null;
Integer speed = null;
String task = null;
String mode = null;
if ((value != null) && (value instanceof Map)) {
Map status = (Map) value;
try {
powered = (Boolean) status.get("powered");
} catch (Exception ex) {
}
try {
empty = (Boolean) status.get("empty");
} catch (Exception ex) {
}
try {
settled = (Boolean) status.get("settled");
} catch (Exception ex) {
}
try {
speed = (Integer) status.get("speed");
} catch (Exception ex) {
}
try {
task = ((status.containsKey("task")) && (status.get("task") == null)) ? "" : ((String) status.get("task")).trim();
} catch (Exception ex) {
System.out.println(ex);
ex.printStackTrace();
}
try {
mode = ((String) status.get("mode")).trim();
//mode = (String) Context.getInstance().evalLineBackground(getDevice().getName() + ".working_mode");
} catch (Exception ex) {
}
try {
//if (status.get("status").equals("hold")){
// moving = false;
//} else if (status.get("status").equals("move")){
// moving = true;
//}
moving = Boolean.FALSE.equals(settled) || Boolean.FALSE.equals(empty);
} catch (Exception ex) {
}
}
boolean remote = mode.equals("remote");
boolean enabled = Boolean.TRUE.equals(powered);
buttonEnable.setEnabled((powered != null) && (powered == false));
buttonDisable.setEnabled(enabled);
butonStop.setEnabled(remote && Boolean.TRUE.equals(moving));
buttonPause.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.FALSE.equals(settled));
buttonResume.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.TRUE.equals(settled));
ledPowered.setColor((powered == null) ? Color.GRAY : (powered ? Color.YELLOW : Color.DARK_GRAY));
ledEmpty.setColor((empty == null) ? Color.GRAY : (empty ? Color.GREEN : Color.YELLOW));
ledSettled.setColor((settled == null) ? Color.GRAY : (settled ? Color.GREEN : Color.YELLOW));
ledMoving.setColor((moving == null) ? Color.GRAY : (moving ? Color.YELLOW : Color.DARK_GRAY));
textTask.setText((task == null) ? "" : task);
ledTask.setColor((task == null) ? Color.GRAY : (task.isEmpty() ? Color.DARK_GRAY : Color.YELLOW));
//buttonAbort.setEnabled(!textTask.getText().isEmpty());
spinnerSpeed.setEnabled(speed != null);
if (speed == null) {
spinnerSpeed.setValue(0);
} else {
spinnerSpeed.setValue(speed);
}
ledMode.setColor((mode == null) ? Color.BLACK : (remote ? Color.GREEN : Color.YELLOW));
textMode.setText((mode == null) ? "" : mode);
} finally{
updating = false;
}
}
/**
* This method is called from within the constructor to initialize the form.
* WARNING: Do NOT modify this code. The content of this method is always
* regenerated by the Form Editor.
*/
@SuppressWarnings("unchecked")
// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
private void initComponents() {
jPanel1 = new javax.swing.JPanel();
ledPowered = new ch.psi.pshell.swing.Led();
jLabel1 = new javax.swing.JLabel();
panelPowerCtr = new javax.swing.JPanel();
buttonDisable = new javax.swing.JButton();
buttonEnable = new javax.swing.JButton();
jPanel2 = new javax.swing.JPanel();
jLabel2 = new javax.swing.JLabel();
spinnerSpeed = new javax.swing.JSpinner();
jLabel7 = new javax.swing.JLabel();
ledMoving = new ch.psi.pshell.swing.Led();
panelMotionCtr = new javax.swing.JPanel();
butonStop = new javax.swing.JButton();
buttonResume = new javax.swing.JButton();
buttonPause = new javax.swing.JButton();
jPanel3 = new javax.swing.JPanel();
jLabel3 = new javax.swing.JLabel();
ledSettled = new ch.psi.pshell.swing.Led();
jLabel4 = new javax.swing.JLabel();
ledEmpty = new ch.psi.pshell.swing.Led();
textTask = new javax.swing.JTextField();
jLabel6 = new javax.swing.JLabel();
textMode = new javax.swing.JTextField();
buttonAbort = new javax.swing.JButton();
jLabel8 = new javax.swing.JLabel();
ledTask = new ch.psi.pshell.swing.Led();
ledMode = new ch.psi.pshell.swing.Led();
panelState = new ch.psi.pshell.swing.DeviceStatePanel();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Power"));
ledPowered.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel1.setText("Powered:");
buttonDisable.setText("Disable");
buttonDisable.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonDisableActionPerformed(evt);
}
});
buttonEnable.setText("Enable");
buttonEnable.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonEnableActionPerformed(evt);
}
});
javax.swing.GroupLayout panelPowerCtrLayout = new javax.swing.GroupLayout(panelPowerCtr);
panelPowerCtr.setLayout(panelPowerCtrLayout);
panelPowerCtrLayout.setHorizontalGroup(
panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelPowerCtrLayout.createSequentialGroup()
.addGap(0, 0, 0)
.addComponent(buttonEnable)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE)
.addComponent(buttonDisable))
);
panelPowerCtrLayout.setVerticalGroup(
panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelPowerCtrLayout.createSequentialGroup()
.addGap(0, 0, 0)
.addGroup(panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
.addComponent(buttonDisable, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonEnable))
.addGap(0, 0, 0))
);
javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
jPanel1.setLayout(jPanel1Layout);
jPanel1Layout.setHorizontalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jLabel1, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel1Layout.setVerticalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addGap(4, 4, 4)
.addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel1)
.addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(2, 2, 2))
);
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Motion"));
jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel2.setText("Speed:");
spinnerSpeed.setModel(new javax.swing.SpinnerNumberModel(10, null, 100, 1));
spinnerSpeed.addChangeListener(new javax.swing.event.ChangeListener() {
public void stateChanged(javax.swing.event.ChangeEvent evt) {
spinnerSpeedStateChanged(evt);
}
});
jLabel7.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel7.setText("Moving:");
ledMoving.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
butonStop.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Stop.png")));
butonStop.setText(" ");
butonStop.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
butonStop.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
butonStopActionPerformed(evt);
}
});
buttonResume.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Play.png")));
buttonResume.setText(" ");
buttonResume.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
buttonResume.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonResumeActionPerformed(evt);
}
});
buttonPause.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Pause.png")));
buttonPause.setText(" ");
buttonPause.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER);
buttonPause.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonPauseActionPerformed(evt);
}
});
javax.swing.GroupLayout panelMotionCtrLayout = new javax.swing.GroupLayout(panelMotionCtr);
panelMotionCtr.setLayout(panelMotionCtrLayout);
panelMotionCtrLayout.setHorizontalGroup(
panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelMotionCtrLayout.createSequentialGroup()
.addGap(0, 0, 0)
.addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, 45, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, 46, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, 47, Short.MAX_VALUE)
.addGap(0, 0, 0))
);
panelMotionCtrLayout.setVerticalGroup(
panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelMotionCtrLayout.createSequentialGroup()
.addGap(0, 0, 0)
.addGroup(panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGap(0, 0, 0))
);
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()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jLabel7, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addComponent(jLabel2, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(14, 14, 14)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(panelMotionCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap())
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addGap(4, 4, 4)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel7)
.addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(panelMotionCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jLabel2)
.addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(2, 2, 2))
);
jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Status"));
jLabel3.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel3.setText("Settled:");
ledSettled.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
jLabel4.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel4.setText("Empty:");
ledEmpty.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
textTask.setEditable(false);
textTask.setHorizontalAlignment(javax.swing.JTextField.CENTER);
jLabel6.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel6.setText("Mode:");
textMode.setEditable(false);
textMode.setHorizontalAlignment(javax.swing.JTextField.CENTER);
buttonAbort.setText("Abort");
buttonAbort.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonAbortActionPerformed(evt);
}
});
jLabel8.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING);
jLabel8.setText("Task:");
ledTask.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
ledMode.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N
javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
jPanel3.setLayout(jPanel3Layout);
jPanel3Layout.setHorizontalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jLabel8, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jLabel4, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jLabel3, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(textTask))
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jLabel6, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(textMode)))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonAbort)
.addContainerGap())
);
jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel3, jLabel4, jLabel6, jLabel8});
jPanel3Layout.setVerticalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel3Layout.createSequentialGroup()
.addGap(4, 4, 4)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel3)
.addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(2, 2, 2)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel4)
.addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(2, 2, 2)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(textMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jLabel6))
.addGap(2, 2, 2)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(buttonAbort)
.addComponent(jLabel8)
.addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(textTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(2, 2, 2))
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel1, 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)
.addComponent(jPanel3, 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)
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGap(0, 0, 0)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGap(0, 0, 0)
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGap(0, 0, 0)
.addComponent(panelState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
);
}// </editor-fold>//GEN-END:initComponents
private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".enable()");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonEnableActionPerformed
private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".disable()");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonDisableActionPerformed
private void spinnerSpeedStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_spinnerSpeedStateChanged
try{
if (!updating){
Context.getInstance().evalLineBackground(getDevice().getName() + ".set_monitor_speed(" + spinnerSpeed.getValue() + ")");
}
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_spinnerSpeedStateChanged
private void butonStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_butonStopActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".reset_motion()");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_butonStopActionPerformed
private void buttonPauseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPauseActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".stop()");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonPauseActionPerformed
private void buttonResumeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResumeActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".resume()");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonResumeActionPerformed
private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
try{
Context.getInstance().evalLineBackground(getDevice().getName() + ".stop_task()");
//Context.getInstance().evalLineBackground(getDevice().getName() + ".task_kill('" + textTask.getText() + "')");
} catch (Exception ex){
this.showException(ex);
}
}//GEN-LAST:event_buttonAbortActionPerformed
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton butonStop;
private javax.swing.JButton buttonAbort;
private javax.swing.JButton buttonDisable;
private javax.swing.JButton buttonEnable;
private javax.swing.JButton buttonPause;
private javax.swing.JButton buttonResume;
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel2;
private javax.swing.JLabel jLabel3;
private javax.swing.JLabel jLabel4;
private javax.swing.JLabel jLabel6;
private javax.swing.JLabel jLabel7;
private javax.swing.JLabel jLabel8;
private javax.swing.JPanel jPanel1;
private javax.swing.JPanel jPanel2;
private javax.swing.JPanel jPanel3;
private ch.psi.pshell.swing.Led ledEmpty;
private ch.psi.pshell.swing.Led ledMode;
private ch.psi.pshell.swing.Led ledMoving;
private ch.psi.pshell.swing.Led ledPowered;
private ch.psi.pshell.swing.Led ledSettled;
private ch.psi.pshell.swing.Led ledTask;
private javax.swing.JPanel panelMotionCtr;
private javax.swing.JPanel panelPowerCtr;
private ch.psi.pshell.swing.DeviceStatePanel panelState;
private javax.swing.JSpinner spinnerSpeed;
private javax.swing.JTextField textMode;
private javax.swing.JTextField textTask;
// End of variables declaration//GEN-END:variables
}

46
plugins/Wayne.form Normal file
View File

@@ -0,0 +1,46 @@
<?xml version="1.0" encoding="UTF-8" ?>
<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo">
<AuxValues>
<AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/>
<AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/>
<AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/>
<AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/>
<AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/>
<AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/>
</AuxValues>
<Layout>
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace min="-2" pref="18" max="-2" attributes="0"/>
<Component id="jButton1" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="358" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace min="-2" pref="29" max="-2" attributes="0"/>
<Component id="jButton1" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="85" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JButton" name="jButton1">
<Properties>
<Property name="text" type="java.lang.String" value="jButton1"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="jButton1ActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Form>

82
plugins/Wayne.java Normal file
View File

@@ -0,0 +1,82 @@
/*
* Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved.
*/
import ch.psi.pshell.ui.Panel;
import ch.psi.utils.State;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
*
*/
public class Wayne extends Panel {
public Wayne() {
initComponents();
}
//Overridable callbacks
@Override
public void onInitialize(int runCount) {
}
@Override
public void onStateChange(State state, State former) {
}
@Override
public void onExecutedFile(String fileName, Object result) {
}
//Callback to perform update - in event thread
@Override
protected void doUpdate() {
}
@SuppressWarnings("unchecked")
// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
private void initComponents() {
jButton1 = new javax.swing.JButton();
jButton1.setText("jButton1");
jButton1.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButton1ActionPerformed(evt);
}
});
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addGap(18, 18, 18)
.addComponent(jButton1)
.addContainerGap(358, Short.MAX_VALUE))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addGap(29, 29, 29)
.addComponent(jButton1)
.addContainerGap(85, Short.MAX_VALUE))
);
}// </editor-fold>//GEN-END:initComponents
private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed
try {
this.runAsync("test/RobotCartesianScan");
} catch (Exception ex) {
Logger.getLogger(Wayne.class.getName()).log(Level.SEVERE, null, ex);
}
}//GEN-LAST:event_jButton1ActionPerformed
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton jButton1;
// End of variables declaration//GEN-END:variables
}

21
script/calibration/ScanRZ.py Normal file
View File

@@ -0,0 +1,21 @@
import plotutils
from mathutils import fit_gaussian, Gaussian
RANGE = [-20.0,20.0]
STEP = 1.0
LATENCY = 0.005
robot.enable()
move_to_laser()
robot.set_motors_enabled(True)
ret = lscan(robot_rz, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = True, range = "auto")

37
script/calibration/ScanX.py Normal file
View File

@@ -0,0 +1,37 @@
import plotutils
from mathutils import fit_gaussian, Gaussian
robot.enable()
move_to_laser()
RANGE = [-1.5, 1.5]
STEP = 0.025
Z_OFFSET = -1.0
LATENCY = 0.005
robot.set_motors_enabled(True)
current_positon = robot_x.getPosition()
robot_z.moveRel(Z_OFFSET)
ret = lscan(robot_x, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = True)
d = ret.getReadable(0)
first_index = -1
last_index = -1
for i in range(len(d)):
if not math.isnan(d[i]):
if first_index<0:
first_index = i
last_index = i
if first_index == -1 or last_index < first_index:
raise Exception("Invalid X detection")
center_index = (first_index + last_index)/2
center_positon = ret.getPositions(0)[center_index]
center_offset = center_positon-current_positon
print "X offset = ", center_offset

79
script/calibration/ScanXZ.py Normal file
View File

@@ -0,0 +1,79 @@
import plotutils
from mathutils import fit_gaussian, Gaussian
SINGLE_PASS = False
if SINGLE_PASS:
STEP_SIZE = 0.5
else:
STEP_SIZE = 1.0
RANGE = [-5.0, 5.0]
LATENCY = 0.005
robot.enable()
move_to_laser()
step_x = STEP_SIZE
step_z = STEP_SIZE
range_x = [RANGE[0], RANGE[1]]
range_z = [RANGE[0], RANGE[1]]
robot.set_motors_enabled(True)
current_x = robot_x.getPosition()
current_z = robot_z.getPosition()
print "Current pos x,z" , current_x, ",", current_z
ret = ascan([robot_x, robot_z], ue.readable, [range_x[0], range_z[0]], [range_x[1], range_z[1]], [step_x,step_z], latency = LATENCY, relative = True , zigzag=False)
data = ret.getData(0)[0]
#plot(Convert.transpose(data), title="Data")
integ = []
for x in data: integ.append(sum( [ (0.0 if (math.isnan(y)) else y) for y in x]))
xdata= frange(range_x[0], range_x[1], step_x , False, True)
p = plot(integ, title = "Fit", xdata=xdata)[0]
max_x_index = integ.index(max(integ))
max_x = xdata[max_x_index]
(normalization, mean_val, sigma) = fit_gaussian(integ, xdata)
gaussian = Gaussian(normalization, mean_val, sigma)
plot_function(p, gaussian, "Fit", xdata, show_points = False, show_lines = True, color = Color.BLUE)
#So
if abs(mean_val - max_x) > 1.0:
raise Exception("Invalid X detection")
x_offset = mean_val
center_x = current_x + x_offset
print "X offset = ", x_offset
if SINGLE_PASS:
z_scan_data = data[max_x_index]
else:
robot_x.move(center_x)
step_z = step_z/4.0
ret2 = lscan(robot_z, ue.readable, range_z[0], range_z[1], step_z, latency = LATENCY, relative = True , zigzag=False)
z_scan_data = ret2.getData(0)[0]
max_z_index= z_scan_data.index(max(z_scan_data))
last_z_index = 0
for i in range(len(z_scan_data)):
if not math.isnan(z_scan_data[i]):
last_z_index = i
#Shape is cone: z is inceraseing. For proper detection last Z must be furthest
if abs(max_z_index - last_z_index) * step_z > 1.0:
raise Exception("Invalid Z detection")
if SINGLE_PASS:
max_z = ret.getPositions(1)[len(data[0]) * max_x_index + last_z_index]
else:
max_z = ret2.getPositions(0)[last_z_index]
z_offset = max_z-current_z
print "Z offset = ", z_offset
#Updating tool:
#update_tool(None, x_offset=x_offset, z_offset=z_offset)

42
script/calibration/ToolCalibration.py Normal file
View File

@@ -0,0 +1,42 @@
import plotutils
from mathutils import fit_gaussian, Gaussian
robot.enable()
move_to_laser()
robot.set_motors_enabled(True)
initial_pos = robot.get_cartesian_pos()
run("calibration/ScanXZ")
robot.set_motors_enabled(True)
robot_x.moveRel(x_offset)
robot_z.moveRel(z_offset)
initial_x = robot_x.take()
initial_z = robot_z.take()
initial_y = ue.take()
if initial_y is None:
raise Exception("Invalid XZ scan values")
#update_tool(None, x_offset=x_offset, z_offset=z_offset)
current_x = robot_x.getPosition()
current_y = robot_x.getPosition()
current_z = robot_z.getPosition()
#Updating tool:
#update_tool(None, x_offset=x_offset, z_offset=z_offset)

73
script/devices/RobotMotors.py Normal file
View File

@@ -0,0 +1,73 @@
import ch.psi.pshell.device.PositionerConfig as PositionerConfig
ROBOT_MOTORS = ["x" , "y", "z", "rx", "ry", "rz"]
class RobotCartesianMotor (PositionerBase):
def __init__(self, robot, index):
PositionerBase.__init__(self, robot.name + "_" + ROBOT_MOTORS[index], PositionerConfig())
self.index = index
self.robot = robot
#ATTENTION: Always initialize cartesian motors before scanning (or call robot.set_motors_enabled(True))
def doInitialize(self):
self.setCache(None, None)
self.setCache(self.doRead(), None)
def doRead(self):
return float("nan") if self.robot.cartesian_destination is None else float(robot.cartesian_destination[self.index])
def doWrite(self, value):
if self.robot.cartesian_destination is not None:
print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value)
self.robot.updating = True
try:
robot.cartesian_destination[self.index] = float(value)
self.robot.set_pnt(robot.cartesian_destination , "tcp_p")
self.robot.movel("tcp_p", self.robot.tool , DESC_SCAN)
except:
self.robot.updating = False
def doReadReadback(self):
#return float(self.robot.get_cartesian_pos(self._get_tool(),self.frame)[self.index])
return float("nan") if self.robot.cartesian_pos is None else float(self.robot.cartesian_pos[self.index])
ROBOT_JOINT_MOTORS = ["j1" , "j2", "j3", "j4", "j5", "j6"]
class RobotJointMotor (PositionerBase):
def __init__(self, robot, index):
PositionerBase.__init__(self, robot.name + "_" + ROBOT_JOINT_MOTORS[index], PositionerConfig())
self.index = index
self.robot = robot
def doInitialize(self):
self.setpoint = self.doReadReadback()
self.setCache(self.doRead(), None)
def doRead(self):
return self.setpoint
def doWrite(self, value):
print "Move " + ROBOT_JOINT_MOTORS[self.index] + " to " + str(value)
self.setpoint = value
joint = self.robot.herej()
joint[self.index] = value
self.robot.updating = True
try:
self.robot.set_jnt(joint, name="tcp_j")
self.robot.movej("tcp_j", self.robot.tool , DESC_SCAN)
finally:
self.robot.updating = False
def doReadReadback(self):
return self.robot.herej()[self.index] if self.robot.joint_pos is None else float(self.robot.joint_pos[self.index])

68
script/devices/RobotSC.py
View File

@@ -1,9 +1,25 @@
TOOL_CALIBRATION = "tCalib"
TOOL_SUNA= "tSuna"
TOOL_DEFAULT= TOOL_SUNA
DESC_FAST = "mFast"
DESC_SLOW = "mSlow"
DESC_SCAN = "mScan"
DESC_DEFAULT = DESC_FAST
run("devices/RobotTCP")
simulation = True
simulation = False
joint_forces = False
class RobotSC(RobotTCP):
def __init__(self, name, server, timeout = 1000, retries = 1):
RobotTCP.__init__(self, name, server, timeout, retries)
self.tool = TOOL_CALIBRATION
def mount(self, puck, sample):
return self.execute('mount',segment, puck, sample)
@@ -22,10 +38,11 @@ class RobotSC(RobotTCP):
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()
if joint_forces:
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):
@@ -35,20 +52,30 @@ class RobotSC(RobotTCP):
def stop_task(self):
RobotTCP.stop_task(self)
#TODO: Restore safe position
def set_remote_mode(self):
robot.set_profile("remote")
def set_local(self):
robot.set_profile("default")
def set_tool(self,tool):
if tool != self.tool:
self.tool = tool
for dev in (robot_x, robot_y, robot_z, robot_rx, robot_ry, robot_rz):
dev.initialize()
dev.update()
if simulation:
add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
#add_device(RobotSC("robot","129.129.126.74:1000"),force = True)
#add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
add_device(RobotSC("robot","129.129.110.99:1000"),force = True)
else:
add_device(RobotSC("robot", "129.129.126.100:1000"), force = True)
add_device(RobotSC("robot", "129.129.110.100:1000"), force = True)
robot.high_level_tasks = ["mount", "firstmount"]
robot.setPolling(20)
robot.setPolling(500)
#robot.set_monitor_speed(20)
@@ -79,10 +106,15 @@ class jfc(ReadonlyRegisterBase):
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)
if joint_forces:
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)
"""

180
script/devices/RobotTCP.py
View File

@@ -1,5 +1,10 @@
import threading
FRAME_DEFAULT = "world"
run("devices/RobotMotors")
class RobotTCP(TcpDevice, Stoppable):
def __init__(self, name, server, timeout = 1000, retries = 1):
TcpDevice.__init__(self, name, server)
@@ -20,11 +25,36 @@ class RobotTCP(TcpDevice, Stoppable):
self.lock = threading.Lock()
self.joint_forces = None
self.current_task = None
self.high_level_tasks = []
self.high_level_tasks = []
self.cartesian_destination = None
self.cartesian_pos = None
self.joint_pos = None
self.cartesian_motors_enabled = False
self.cartesian_motors = []
self.joint_motors_enabled = False
self.joint_motors = []
self.tool = None
self.frame = FRAME_DEFAULT
self.updating = False
def doInitialize(self):
super(RobotTCP, self).doInitialize()
self.reset = True
def set_tool(self,tool):
self.tool = tool
if self.cartesian_motors_enabled:
self.cartesian_pos = self.get_cartesian_pos()
for m in self.cartesian_motors:
m.initialize()
m.update()
def get_tool(self):
return self.tool
def _sendReceive(self, msg_id, msg = "", timeout = None):
tx = self.header if (self.header != None) else ""
@@ -106,13 +136,13 @@ class RobotTCP(TcpDevice, Stoppable):
for i in range(size): ret.append(float(a[i]));
return ret
def get_trf(self, name="tcp_t"):
def get_trsf(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"):
def set_trsf(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"):
@@ -125,10 +155,26 @@ class RobotTCP(TcpDevice, Stoppable):
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
#a = self.execute('get_pnt', name)
#ret = []
#for i in range(6): ret.append(float(a[i]))
#return ret
return self.get_trsf(name+".trsf")
#trsf = (x,y,z,rx,ry,rz)
#TODO: config = (shoulder, elbow, wrist)
def set_pnt(self, trsf, name="tcp_p", config=None):
self.set_trsf(trsf, name+".trsf")
def get_tool_trsf(self, name=None):
if name is None:
name = self.tool
return self.get_trsf(name+".trsf")
def set_tool_trsf(self, trsf, name=None):
if name is None:
name = self.tool
self.set_trsf(trsf, name+".trsf")
def eval_int(self, cmd):
self.evaluate("tcp_n=" + cmd)
@@ -152,7 +198,7 @@ class RobotTCP(TcpDevice, Stoppable):
def eval_trf(self, cmd):
self.evaluate("tcp_t=" + cmd)
return self.get_trf()
return self.get_trsf()
def eval_pnt(self, cmd):
self.evaluate("tcp_p=" + cmd)
@@ -165,16 +211,19 @@ class RobotTCP(TcpDevice, Stoppable):
return self.powered
def enable(self):
self.evaluate("enablePower()")
if not self.is_powered():
raise Exception("Cannot enable power")
self.evaluate("enablePower()")
time.sleep(1.0)
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()")
return self.speed
def set_monitor_speed(self, speed):
ret = self.eval_int("setMonitorSpeed(" + str(speed) + ")")
@@ -185,6 +234,10 @@ class RobotTCP(TcpDevice, Stoppable):
def is_calibrated(self):
return self.eval_bool("isCalibrated()")
def save_program(self):
ret = self.execute('save', timeout=5000)
if str(ret) != "0": raise Exception("Error saving program: " + str(ret))
def _update_working_mode(self, mode, status):
if mode==1:
self.working_mode = "manual"
@@ -205,7 +258,7 @@ class RobotTCP(TcpDevice, Stoppable):
def read_working_mode(self):
try:
mode = self.eval_int("workingMode(tcp_a)")
status = int(self.get_var("tcp_a[0]"))
status = int(self.get_var("tcp_a[0]"))
self._update_working_mode(mode, status)
self._update_state()
except:
@@ -232,8 +285,8 @@ class RobotTCP(TcpDevice, Stoppable):
def resume(self):
self.evaluate("restartMove()")
def resetMotion(self):
self.evaluate("resetMotion()")
def reset_motion(self, joint=None):
self.evaluate("resetMotion()" if (joint is None) else ("resetMotion(" + joint + ")"))
def is_empty(self):
self.empty = self.eval_bool("isEmpty()")
@@ -243,7 +296,7 @@ class RobotTCP(TcpDevice, Stoppable):
def is_settled(self):
self.settled = self.eval_bool("isSettled()")
self._update_state()
return self.powered
return self.settled
def get_move_id(self):
return self.eval_int("getMoveId()")
@@ -289,7 +342,7 @@ class RobotTCP(TcpDevice, Stoppable):
return self.eval_float("distance(" + trsf1 + ", " + trsf2 + ")")
def distance_p(self, pnt1, pnt2):
return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")
return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")
def compose(self, pnt, frame, trsf):
return self.eval_pnt("compose(" + pnt + ", " + frame + ", " + trsf + ")")
@@ -297,16 +350,24 @@ class RobotTCP(TcpDevice, Stoppable):
def here(self, tool, frame):
return self.eval_pnt("here(" + tool + ", " + frame + ")")
def joint_to_point(self, tool, frame, joint):
def joint_to_point(self, tool, frame, joint="tcp_j"):
return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
def point_to_joint(self, tool, initial_joint, point):
def point_to_joint(self, tool, initial_joint="tcp_j", point="tcp_p"):
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 + ")")
#Profile
def get_profile(self):
return self.execute('get_profile', timeout=2000)
def set_profile(self, name, pwd = ""):
self.execute('set_profile', str(name), str(pwd), timeout=5000)
#Task control
def task_create(self, program, *args, **kwargs):
program = str(program)
@@ -332,7 +393,8 @@ class RobotTCP(TcpDevice, Stoppable):
#waits for the task to be actually killed
def task_kill(self, name):
self.evaluate('taskKill("' + str(name)+ '")', timeout = 2000)
#self.evaluate('taskKill("' + str(name)+ '")', timeout = 5000)
self.execute('kill', str(name), timeout=5000)
def get_task_status(self, name):
code = self.eval_int('taskStatus("' + str(name)+ '")')
@@ -381,14 +443,83 @@ class RobotTCP(TcpDevice, Stoppable):
"speed": self.speed,
"empty": self.empty,
"settled": self.settled,
"task": self.current_task }, None)
#print time.time() - start
"task": self.current_task,
"mode": self.working_mode,
"status": self.status
}, None)
if not self.updating:
if self.cartesian_motors_enabled:
self.cartesian_pos = self.get_cartesian_pos()
for m in self.cartesian_motors:
#m.update()
m.readback.update()
else:
self.cartesian_pos = None
if self.joint_motors_enabled:
self.joint_pos = self.herej()
for m in self.joint_motors:
m.readback.update()
except:
if self.state != State.Offline:
print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])
self.setState(State.Offline)
#Cartesian space
def get_cartesian_pos(self):
return self.eval_pnt("jointToPoint(" + self.tool + ", " + self.frame + ", herej())")
#self.set_jnt(self.herej())
#return self.joint_to_point(tool, frame)
def get_cartesian_destination(self):
return self.here(self.tool, self.frame)
def get_distance_to_pnt(self, name):
#self.here(self.tool, self.frame) #???
self.get_cartesian_pos()
return self.distance_p("tcp_p", name)
#Cartesian peudo-motors
def set_motors_enabled(self, value):
if value !=self.cartesian_motors_enabled:
self.cartesian_motors_enabled = value
if value:
for i in range(6):
self.cartesian_motors.append(RobotCartesianMotor(self, i))
add_device(self.cartesian_motors[i], True)
self.cartesian_destination = self.get_cartesian_destination()
else:
for m in self.cartesian_motors:
remove_device(m)
self.cartesian_motors = []
self.cartesian_destination = None
else:
if value:
self.cartesian_destination = self.get_cartesian_destination()
for m in self.cartesian_motors:
m.initialize()
#Cartesian peudo-motors
def set_joint_motors_enabled(self, value):
if value !=self.joint_motors_enabled:
self.joint_motors_enabled = value
if value:
for i in range(6):
self.joint_motors.append(RobotJointMotor(self, i))
add_device(self.joint_motors[i], True)
else:
for m in self.joint_motors:
remove_device(m)
self.joint_motors = []
self.joint_destination = None
else:
if value:
self.joint_destination = self.get_joint_destination()
for m in self.joint_motors:
m.initialize()
#High-level, exclusive motion task.
def start_task(self, program, *args, **kwargs):
tasks = [t for t in self.high_level_tasks]
@@ -410,8 +541,7 @@ class RobotTCP(TcpDevice, Stoppable):
self._update_state()
def stop_task(self):
#tasks = [t for t in self.high_level_tasks]
tasks = []
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(self.current_task)
for task in tasks:
@@ -426,7 +556,7 @@ class RobotTCP(TcpDevice, Stoppable):
self.current_task = task
return task
return None
def on_event(self,ev):
pass

17
script/local.py
View File

@@ -17,6 +17,7 @@ run("devices/RobotSC")
#run("devices/RobotModbus")
#run("devices/OneWire")
#Raspberry login: usr=pi pwd=Buntschu
add_device(img.getContrast(), force = True)
@@ -31,6 +32,12 @@ def set_led_range(room_temp = True):
led_ctrl2.config.save()
###################################################################################################
# Motion modules
###################################################################################################
run("motion/tools")
###################################################################################################
# Barcode reader
@@ -155,9 +162,9 @@ def fit(ydata, xdata = None, draw_plot = True):
max_y= max(ydata)
index_max = ydata.index(max_y)
max_x= xdata[index_max]
print "Max index:" + str(index_max),
print " x:" + str(max_x),
print " y:" + str(max_y)
#print "Max index:" + str(index_max),
#print " x:" + str(max_x),
#print " y:" + str(max_y)
if draw_plot:
plots = plot([ydata],["data"],[xdata], title="Fit" )
@@ -191,12 +198,12 @@ def fit(ydata, xdata = None, draw_plot = True):
if abs(mean - xdata[index_max]) < abs((scale_x[0] + scale_x[1])/2):
if draw_plot:
p.addMarker(mean, None, "Mean="+str(round(mean,4)), Color.MAGENTA.darker())
print "Mean -> " + str(mean)
#print "Mean -> " + str(mean)
return (norm, mean, sigma)
else:
if draw_plot:
p.addMarker(max_x, None, "Max="+str(round(max_x,4)), Color.GRAY)
print "Invalid gaussian fit: " + str(mean)
#print "Invalid gaussian fit: " + str(mean)
return (None, None, None)
context = get_context()

60
script/motion/tools.py Normal file
View File

@@ -0,0 +1,60 @@
POSITION_TOLERANCE = 50
def wait_end_of_move():
robot.update()
while (not robot.settled) or (not robot.empty) or (not robot.isReady()) :
time.sleep(0.01)
def move_home():
#robot.reset_motion("jHome")
robot.movej("pHome", robot.tool , DESC_SCAN)
wait_end_of_move()
def move_to_laser():
tool = robot.tool
d = robot.get_distance_to_pnt("pLaser")
if d<0:
raise Exception ("Error calculating distance to laser: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM LASER"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
return
d = robot.get_distance_to_pnt("pLaserAppro")
if d<0:
raise Exception ("Error calculating distance to laser appro: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM APPRO"
robot.reset_motion()
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
return
d = robot.get_distance_to_pnt("pHome")
if d<0:
raise Exception ("Error calculating distance to home: " + str(d))
if d<POSITION_TOLERANCE:
print "FROM HOME"
robot.reset_motion()
robot.movel("pLaserAppro", robot.tool, DESC_DEFAULT)
robot.movel("pLaser", robot.tool, DESC_SCAN)
wait_end_of_move()
return
raise Exception ("Must be in home position to start move to laser")
def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
#Updating tool:
t=robot.get_tool_trsf(tool)
t[0]=t[0] - x_offset
t[1]=t[1] - y_offset
t[2]=t[2] - z_offset
robot.set_tool_trsf(t, tool)
print "Updated " + (str(robot.tool) if (tool is None) else tool) + ": " + str(t)
robot.save_program()

28
script/test/RobotCartesianScan.py Normal file
View File

@@ -0,0 +1,28 @@
import plotutils
from mathutils import fit_gaussian, Gaussian
robot.enable()
move_to_laser()
#robot.reset_motion("jLaser")
#import ch.psi.pshell.device.Timestamp as Timestamp
#sensor = Timestamp()
#ret = lscan(robot_z, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True)
#ret = lscan(robot_x, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True)
robot.set_motors_enabled(True)
ret = lscan(robot_x, ue.readable, -1.5, 1.5, 0.1, latency = 0.01, relative = True)
x,y = ret.getPositions(0), ret.getReadable(0)
y = [100.0-v for v in y]
(norm, mea, sigma) = fit(y, xdata=x)
print "Maximum at " + str(mea)
robot.set_motors_enabled(True)
ret = lscan(robot_rz, ue.readable, 0.0, 40.0, 1.0, latency = 0.01, relative = True, range = "auto")

12
script/test/TestLaserScan.py Normal file
View File

@@ -0,0 +1,12 @@
robot.set_motors_enabled(True)
steps_x = 10
steps_y = 8
#ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [10,10], latency = 0.01, relative = True , zigzag=True)
ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [steps_y,steps_x], latency = 0.01, relative = True , zigzag=False)
data = Convert.transpose(Convert.toBidimensional(to_array(ret.getReadable(0),'d'),steps_x+1,steps_y+1))
plot(data, title="data")
data = ret.getData(0)
plot(data, title="data2")

2
script/test/TestRobot.py
View File

@@ -22,7 +22,7 @@ print robot.get_emergency_stop_sts()
print robot.get_safety_fault_signal()
print robot.stop()
print robot.resume()
print robot.resetMotion()
print robot.reset_motion()
print robot.is_empty()
print robot.is_settled()
print robot.get_move_id()

2
script/test/TestRobot2.py
View File

@@ -30,7 +30,7 @@ try:
step = 11
robot.resume()
step = 12
robot.resetMotion()
robot.reset_motion()
step = 13
robot.is_empty()
step = 14