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gac-S_Changer
2018-06-06 15:35:08 +02:00
parent e335e3e404
commit eddcf227c3
17 changed files with 714 additions and 359 deletions
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308
plugins/Expert.form
View File

@@ -19,13 +19,13 @@
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="1" attributes="0">
<Component id="jPanel1" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="panelRobot" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="jPanel2" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="jPanel3" alignment="1" min="-2" max="-2" attributes="0"/>
<Component id="panelSafety" alignment="1" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace min="-2" pref="6" max="-2" attributes="0"/>
<Component id="jPanel4" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="panelCommands" min="-2" max="-2" attributes="0"/>
<EmptySpace pref="44" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
@@ -33,23 +33,23 @@
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="1" max="-2" attributes="0">
<Component id="jPanel4" alignment="1" max="32767" attributes="0"/>
<Group type="102" alignment="0" attributes="0">
<Component id="jPanel3" min="-2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" max="-2" attributes="0">
<Component id="panelCommands" max="32767" attributes="0"/>
<Group type="102" attributes="0">
<Component id="panelSafety" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="jPanel2" min="-2" max="-2" attributes="0"/>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Component id="jPanel1" min="-2" max="-2" attributes="0"/>
<Component id="panelRobot" min="-2" max="-2" attributes="0"/>
</Group>
</Group>
<EmptySpace max="32767" attributes="0"/>
<EmptySpace pref="21" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Container class="javax.swing.JPanel" name="jPanel1">
<Container class="javax.swing.JPanel" name="panelRobot">
<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">
@@ -115,36 +115,23 @@
<DimensionLayout dim="0">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="1" attributes="0">
<EmptySpace pref="75" max="32767" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="buttonHomingHexiposi" linkSize="5" min="-2" max="-2" attributes="0"/>
<Component id="buttonPositionsHexiposi" linkSize="5" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace pref="75" max="32767" attributes="0"/>
<EmptySpace pref="76" max="32767" attributes="0"/>
<Component id="buttonPositionsHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace min="-2" pref="74" max="-2" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
<DimensionLayout dim="1">
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Component id="buttonHomingHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<EmptySpace pref="19" max="32767" attributes="0"/>
<Component id="buttonPositionsHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<EmptySpace pref="32" max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JButton" name="buttonHomingHexiposi">
<Properties>
<Property name="text" type="java.lang.String" value="Homing"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonHomingHexiposiActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPositionsHexiposi">
<Properties>
<Property name="text" type="java.lang.String" value="Positions"/>
@@ -155,7 +142,7 @@
</Component>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel3">
<Container class="javax.swing.JPanel" name="panelSafety">
<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">
@@ -207,7 +194,7 @@
</Component>
<Component class="javax.swing.JButton" name="buttonEnableAll">
<Properties>
<Property name="text" type="java.lang.String" value="Enable All"/>
<Property name="text" type="java.lang.String" value="Enable Motion"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonEnableAllActionPerformed"/>
@@ -223,7 +210,7 @@
</Component>
</SubComponents>
</Container>
<Container class="javax.swing.JPanel" name="jPanel4">
<Container class="javax.swing.JPanel" name="panelCommands">
<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">
@@ -237,66 +224,49 @@
<Group type="103" groupAlignment="0" attributes="0">
<Group type="102" alignment="0" attributes="0">
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="buttonMount" min="-2" pref="106" max="-2" attributes="0"/>
<Component id="buttonUnmount" alignment="0" min="-2" pref="106" max="-2" attributes="0"/>
<Component id="checkForce" min="-2" max="-2" attributes="0"/>
<Group type="103" groupAlignment="1" max="-2" attributes="0">
<Component id="buttonHomingHexiposi" max="32767" attributes="0"/>
<Component id="buttonGetGonio" alignment="1" max="32767" attributes="0"/>
<Component id="buttonPutGonio" alignment="1" max="32767" attributes="0"/>
<Component id="buttonMount" alignment="1" max="32767" attributes="0"/>
<Component id="buttonUnmount" alignment="1" max="32767" attributes="0"/>
<Component id="buttonGetDewar" alignment="1" max="32767" attributes="0"/>
<Component id="buttonPutDewar" alignment="1" max="32767" attributes="0"/>
</Group>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="jLabel3" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
<Component id="jLabel2" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
<Component id="jLabel1" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
</Group>
<Component id="jPanel5" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="spinnerSample" linkSize="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerPuck" linkSize="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSegment" linkSize="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace pref="13" 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 max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="buttonMount" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="jLabel1" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSegment" alignment="3" 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="spinnerPuck" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="buttonUnmount" alignment="3" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="3" attributes="0">
<Component id="jLabel3" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSample" alignment="3" min="-2" max="-2" attributes="0"/>
<Component id="checkForce" alignment="3" min="-2" max="-2" attributes="0"/>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" max="-2" attributes="0">
<Group type="102" attributes="0">
<Component id="buttonMount" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="buttonUnmount" min="-2" max="-2" attributes="0"/>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Component id="buttonGetDewar" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="buttonPutDewar" min="-2" max="-2" attributes="0"/>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Component id="buttonGetGonio" min="-2" max="-2" attributes="0"/>
<EmptySpace max="-2" attributes="0"/>
<Component id="buttonPutGonio" min="-2" max="-2" attributes="0"/>
</Group>
<Component id="jPanel5" max="32767" attributes="0"/>
</Group>
<EmptySpace type="separate" max="-2" attributes="0"/>
<Component id="buttonHomingHexiposi" min="-2" max="-2" attributes="0"/>
<EmptySpace max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JSpinner" name="spinnerSample">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="1" maximum="16" minimum="1" numberType="java.lang.Integer" stepSize="1" type="number"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JCheckBox" name="checkForce">
<Properties>
<Property name="text" type="java.lang.String" value="Force"/>
</Properties>
</Component>
<Component class="javax.swing.JButton" name="buttonMount">
<Properties>
<Property name="text" type="java.lang.String" value="Mount"/>
@@ -305,42 +275,6 @@
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonMountActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JLabel" name="jLabel1">
<Properties>
<Property name="text" type="java.lang.String" value="Segment:"/>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerSegment">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel type="list">
<ListItem value="A"/>
<ListItem value="B"/>
<ListItem value="C"/>
<ListItem value="D"/>
<ListItem value="E"/>
<ListItem value="F"/>
</SpinnerModel>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel2">
<Properties>
<Property name="text" type="java.lang.String" value="Puck:"/>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerPuck">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="1" maximum="5" minimum="1" numberType="java.lang.Integer" stepSize="1" type="number"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel3">
<Properties>
<Property name="text" type="java.lang.String" value="Sample:"/>
</Properties>
</Component>
<Component class="javax.swing.JButton" name="buttonUnmount">
<Properties>
<Property name="text" type="java.lang.String" value="Unmount"/>
@@ -349,6 +283,154 @@
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonUnmountActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonGetDewar">
<Properties>
<Property name="text" type="java.lang.String" value="Get Dewar"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonGetDewarActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPutDewar">
<Properties>
<Property name="text" type="java.lang.String" value="Put Dewar"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPutDewarActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonGetGonio">
<Properties>
<Property name="text" type="java.lang.String" value="Get Gonio"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonGetGonioActionPerformed"/>
</Events>
</Component>
<Component class="javax.swing.JButton" name="buttonPutGonio">
<Properties>
<Property name="text" type="java.lang.String" value="Put Gonio"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPutGonioActionPerformed"/>
</Events>
</Component>
<Container class="javax.swing.JPanel" name="jPanel5">
<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">
<Component id="jLabel3" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
<Component id="jLabel2" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
<Component id="jLabel1" linkSize="1" alignment="0" min="-2" max="-2" attributes="0"/>
<Component id="jLabel4" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="-2" attributes="0"/>
<Group type="103" groupAlignment="0" attributes="0">
<Component id="checkForce" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSample" linkSize="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerPuck" linkSize="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSegment" linkSize="2" 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="0" pref="0" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel1" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSegment" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel2" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerPuck" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel3" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="spinnerSample" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace type="unrelated" max="-2" attributes="0"/>
<Group type="103" groupAlignment="2" attributes="0">
<Component id="jLabel4" alignment="2" min="-2" max="-2" attributes="0"/>
<Component id="checkForce" alignment="2" min="-2" max="-2" attributes="0"/>
</Group>
<EmptySpace max="32767" attributes="0"/>
</Group>
</Group>
</DimensionLayout>
</Layout>
<SubComponents>
<Component class="javax.swing.JLabel" name="jLabel4">
<Properties>
<Property name="text" type="java.lang.String" value="Force:"/>
</Properties>
</Component>
<Component class="javax.swing.JCheckBox" name="checkForce">
<Properties>
<Property name="horizontalTextPosition" type="int" value="10"/>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerSample">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="1" maximum="16" minimum="1" numberType="java.lang.Integer" stepSize="1" type="number"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerPuck">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="1" maximum="5" minimum="1" numberType="java.lang.Integer" stepSize="1" type="number"/>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel1">
<Properties>
<Property name="text" type="java.lang.String" value="Segment:"/>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel2">
<Properties>
<Property name="text" type="java.lang.String" value="Puck:"/>
</Properties>
</Component>
<Component class="javax.swing.JSpinner" name="spinnerSegment">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel type="list">
<ListItem value="A"/>
<ListItem value="B"/>
<ListItem value="C"/>
<ListItem value="D"/>
<ListItem value="E"/>
<ListItem value="F"/>
</SpinnerModel>
</Property>
</Properties>
</Component>
<Component class="javax.swing.JLabel" name="jLabel3">
<Properties>
<Property name="text" type="java.lang.String" value="Sample:"/>
</Properties>
</Component>
</SubComponents>
</Container>
<Component class="javax.swing.JButton" name="buttonHomingHexiposi">
<Properties>
<Property name="text" type="java.lang.String" value="Homing Hexiposi"/>
</Properties>
<Events>
<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonHomingHexiposiActionPerformed"/>
</Events>
</Component>
</SubComponents>
</Container>
</SubComponents>

346
plugins/Expert.java
View File

@@ -5,8 +5,11 @@
import ch.psi.pshell.core.Context;
import ch.psi.pshell.ui.Panel;
import ch.psi.utils.State;
import ch.psi.utils.swing.SwingUtils;
import java.awt.Component;
import java.util.logging.Level;
import java.util.logging.Logger;
import javax.swing.JComponent;
import javax.swing.JSpinner;
import javax.swing.JTextField;
import javax.swing.SwingConstants;
@@ -29,7 +32,10 @@ public class Expert extends Panel {
@Override
public void onStateChange(State state, State former) {
for (Component c: SwingUtils.getComponentsByType(panelCommands, JComponent.class)){
c.setEnabled(state == State.Ready);
}
buttonHomingHexiposi.setEnabled(state == State.Ready);
}
@Override
@@ -70,33 +76,41 @@ public class Expert extends Panel {
showException(ex);
}
}
@SuppressWarnings("unchecked")
// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
private void initComponents() {
jPanel1 = new javax.swing.JPanel();
panelRobot = new javax.swing.JPanel();
buttonEnable = new javax.swing.JButton();
buttonDisable = new javax.swing.JButton();
jPanel2 = new javax.swing.JPanel();
buttonHomingHexiposi = new javax.swing.JButton();
buttonPositionsHexiposi = new javax.swing.JButton();
jPanel3 = new javax.swing.JPanel();
panelSafety = new javax.swing.JPanel();
buttonReleasePsys = new javax.swing.JButton();
buttonEnableAll = new javax.swing.JButton();
buttonReleaseLocal = new javax.swing.JButton();
jPanel4 = new javax.swing.JPanel();
spinnerSample = new javax.swing.JSpinner();
checkForce = new javax.swing.JCheckBox();
panelCommands = new javax.swing.JPanel();
buttonMount = new javax.swing.JButton();
jLabel1 = new javax.swing.JLabel();
spinnerSegment = new javax.swing.JSpinner();
jLabel2 = new javax.swing.JLabel();
spinnerPuck = new javax.swing.JSpinner();
jLabel3 = new javax.swing.JLabel();
buttonUnmount = new javax.swing.JButton();
buttonGetDewar = new javax.swing.JButton();
buttonPutDewar = new javax.swing.JButton();
buttonGetGonio = new javax.swing.JButton();
buttonPutGonio = new javax.swing.JButton();
jPanel5 = new javax.swing.JPanel();
jLabel4 = new javax.swing.JLabel();
checkForce = new javax.swing.JCheckBox();
spinnerSample = new javax.swing.JSpinner();
spinnerPuck = new javax.swing.JSpinner();
jLabel1 = new javax.swing.JLabel();
jLabel2 = new javax.swing.JLabel();
spinnerSegment = new javax.swing.JSpinner();
jLabel3 = new javax.swing.JLabel();
buttonHomingHexiposi = new javax.swing.JButton();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));
panelRobot.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot"));
buttonEnable.setText("Enable");
buttonEnable.addActionListener(new java.awt.event.ActionListener() {
@@ -112,23 +126,23 @@ public class Expert extends Panel {
}
});
javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
jPanel1.setLayout(jPanel1Layout);
jPanel1Layout.setHorizontalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
javax.swing.GroupLayout panelRobotLayout = new javax.swing.GroupLayout(panelRobot);
panelRobot.setLayout(panelRobotLayout);
panelRobotLayout.setHorizontalGroup(
panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelRobotLayout.createSequentialGroup()
.addContainerGap(78, Short.MAX_VALUE)
.addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(buttonEnable)
.addComponent(buttonDisable))
.addContainerGap(79, Short.MAX_VALUE))
);
jPanel1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable});
panelRobotLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable});
jPanel1Layout.setVerticalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
panelRobotLayout.setVerticalGroup(
panelRobotLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelRobotLayout.createSequentialGroup()
.addContainerGap()
.addComponent(buttonEnable)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
@@ -138,13 +152,6 @@ public class Expert extends Panel {
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Hexiposi"));
buttonHomingHexiposi.setText("Homing");
buttonHomingHexiposi.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonHomingHexiposiActionPerformed(evt);
}
});
buttonPositionsHexiposi.setText("Positions");
buttonPositionsHexiposi.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
@@ -157,26 +164,19 @@ public class Expert extends Panel {
jPanel2Layout.setHorizontalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
.addContainerGap(75, Short.MAX_VALUE)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(buttonHomingHexiposi)
.addComponent(buttonPositionsHexiposi))
.addContainerGap(75, Short.MAX_VALUE))
.addContainerGap(76, Short.MAX_VALUE)
.addComponent(buttonPositionsHexiposi)
.addGap(74, 74, 74))
);
jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHomingHexiposi, buttonPositionsHexiposi});
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap()
.addComponent(buttonHomingHexiposi)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addContainerGap(19, Short.MAX_VALUE)
.addComponent(buttonPositionsHexiposi)
.addContainerGap())
.addContainerGap(32, Short.MAX_VALUE))
);
jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety"));
panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety"));
buttonReleasePsys.setText("Release PSYS");
buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() {
@@ -185,7 +185,7 @@ public class Expert extends Panel {
}
});
buttonEnableAll.setText("Enable All");
buttonEnableAll.setText("Enable Motion");
buttonEnableAll.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonEnableAllActionPerformed(evt);
@@ -199,37 +199,33 @@ public class Expert extends Panel {
}
});
javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
jPanel3.setLayout(jPanel3Layout);
jPanel3Layout.setHorizontalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
javax.swing.GroupLayout panelSafetyLayout = new javax.swing.GroupLayout(panelSafety);
panelSafety.setLayout(panelSafetyLayout);
panelSafetyLayout.setHorizontalGroup(
panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelSafetyLayout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(jPanel3Layout.createSequentialGroup()
.addGroup(panelSafetyLayout.createSequentialGroup()
.addComponent(buttonReleasePsys)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(buttonReleaseLocal)))
.addContainerGap())
);
jPanel3Layout.setVerticalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
panelSafetyLayout.setVerticalGroup(
panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelSafetyLayout.createSequentialGroup()
.addContainerGap()
.addComponent(buttonEnableAll)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(buttonReleaseLocal)
.addComponent(buttonReleasePsys))
.addContainerGap())
);
jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands"));
spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1));
checkForce.setText("Force");
panelCommands.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands"));
buttonMount.setText("Mount");
buttonMount.addActionListener(new java.awt.event.ActionListener() {
@@ -238,16 +234,6 @@ public class Expert extends Panel {
}
});
jLabel1.setText("Segment:");
spinnerSegment.setModel(new javax.swing.SpinnerListModel(new String[] {"A", "B", "C", "D", "E", "F"}));
jLabel2.setText("Puck:");
spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1));
jLabel3.setText("Sample:");
buttonUnmount.setText("Unmount");
buttonUnmount.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
@@ -255,54 +241,144 @@ public class Expert extends Panel {
}
});
javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
jPanel4.setLayout(jPanel4Layout);
jPanel4Layout.setHorizontalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
buttonGetDewar.setText("Get Dewar");
buttonGetDewar.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonGetDewarActionPerformed(evt);
}
});
buttonPutDewar.setText("Put Dewar");
buttonPutDewar.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonPutDewarActionPerformed(evt);
}
});
buttonGetGonio.setText("Get Gonio");
buttonGetGonio.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonGetGonioActionPerformed(evt);
}
});
buttonPutGonio.setText("Put Gonio");
buttonPutGonio.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonPutGonioActionPerformed(evt);
}
});
jLabel4.setText("Force:");
checkForce.setHorizontalTextPosition(javax.swing.SwingConstants.LEADING);
spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1));
spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1));
jLabel1.setText("Segment:");
jLabel2.setText("Puck:");
spinnerSegment.setModel(new javax.swing.SpinnerListModel(new String[] {"A", "B", "C", "D", "E", "F"}));
jLabel3.setText("Sample:");
javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5);
jPanel5.setLayout(jPanel5Layout);
jPanel5Layout.setHorizontalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(buttonUnmount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(checkForce))
.addGap(18, 18, 18)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jLabel3)
.addComponent(jLabel2)
.addComponent(jLabel1))
.addComponent(jLabel1)
.addComponent(jLabel4))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(checkForce)
.addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addContainerGap(13, Short.MAX_VALUE))
.addContainerGap())
);
jPanel4Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});
jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3});
jPanel4Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment});
jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment});
jPanel4Layout.setVerticalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(buttonMount)
jPanel5Layout.setVerticalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addGap(0, 0, 0)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel1)
.addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel2)
.addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(buttonUnmount))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel3)
.addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER)
.addComponent(jLabel4)
.addComponent(checkForce))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
buttonHomingHexiposi.setText("Homing Hexiposi");
buttonHomingHexiposi.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
buttonHomingHexiposiActionPerformed(evt);
}
});
javax.swing.GroupLayout panelCommandsLayout = new javax.swing.GroupLayout(panelCommands);
panelCommands.setLayout(panelCommandsLayout);
panelCommandsLayout.setHorizontalGroup(
panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelCommandsLayout.createSequentialGroup()
.addContainerGap()
.addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
.addComponent(buttonHomingHexiposi, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonGetGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonPutGonio, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonMount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonUnmount, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonGetDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(buttonPutDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGap(18, 18, 18)
.addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap())
);
panelCommandsLayout.setVerticalGroup(
panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(panelCommandsLayout.createSequentialGroup()
.addGap(18, 18, 18)
.addGroup(panelCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addGroup(panelCommandsLayout.createSequentialGroup()
.addComponent(buttonMount)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonUnmount)
.addGap(18, 18, 18)
.addComponent(buttonGetDewar)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonPutDewar)
.addGap(18, 18, 18)
.addComponent(buttonGetGonio)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(buttonPutGonio))
.addComponent(jPanel5, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addGap(18, 18, 18)
.addComponent(buttonHomingHexiposi)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
@@ -310,31 +386,31 @@ public class Expert extends Panel {
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addGap(6, 6, 6)
.addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(panelCommands, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addContainerGap(44, Short.MAX_VALUE))
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
.addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(javax.swing.GroupLayout.Alignment.LEADING, layout.createSequentialGroup()
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(panelCommands, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(layout.createSequentialGroup()
.addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addComponent(panelRobot, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
.addContainerGap(21, Short.MAX_VALUE))
);
}// </editor-fold>//GEN-END:initComponents
private void buttonEnableAllActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableAllActionPerformed
execute("enable_power()");
execute("enable_motion()", true);
}//GEN-LAST:event_buttonEnableAllActionPerformed
private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed
@@ -347,23 +423,23 @@ public class Expert extends Panel {
}//GEN-LAST:event_buttonMountActionPerformed
private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed
execute("robot.enable()");
execute("robot.enable()", true);
}//GEN-LAST:event_buttonEnableActionPerformed
private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed
execute("robot.disable()");
execute("robot.disable()", true);
}//GEN-LAST:event_buttonDisableActionPerformed
private void buttonReleaseLocalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleaseLocalActionPerformed
execute("release_local()");
execute("release_local()", true);
}//GEN-LAST:event_buttonReleaseLocalActionPerformed
private void buttonReleasePsysActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleasePsysActionPerformed
execute("release_psys()");
execute("release_psys()", true);
}//GEN-LAST:event_buttonReleasePsysActionPerformed
private void buttonHomingHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingHexiposiActionPerformed
execute("hexiposi.move_home()");
execute("homing_hexiposi()");
}//GEN-LAST:event_buttonHomingHexiposiActionPerformed
private void buttonPositionsHexiposiActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPositionsHexiposiActionPerformed
@@ -378,13 +454,43 @@ public class Expert extends Panel {
execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
}//GEN-LAST:event_buttonUnmountActionPerformed
private void buttonGetDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetDewarActionPerformed
String segment = (String) spinnerSegment.getValue();
int puck = (Integer) spinnerPuck.getValue();
int sample = (Integer) spinnerSample.getValue();
String force = checkForce.isSelected() ? "True" : "False";
execute("get_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
}//GEN-LAST:event_buttonGetDewarActionPerformed
private void buttonPutDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutDewarActionPerformed
String segment = (String) spinnerSegment.getValue();
int puck = (Integer) spinnerPuck.getValue();
int sample = (Integer) spinnerSample.getValue();
String force = checkForce.isSelected() ? "True" : "False";
execute("put_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")");
}//GEN-LAST:event_buttonPutDewarActionPerformed
private void buttonGetGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetGonioActionPerformed
String force = checkForce.isSelected() ? "True" : "False";
execute("get_gonio('force=" + force + ")");
}//GEN-LAST:event_buttonGetGonioActionPerformed
private void buttonPutGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutGonioActionPerformed
String force = checkForce.isSelected() ? "True" : "False";
execute("put_gonio('force=" + force + ")");
}//GEN-LAST:event_buttonPutGonioActionPerformed
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton buttonDisable;
private javax.swing.JButton buttonEnable;
private javax.swing.JButton buttonEnableAll;
private javax.swing.JButton buttonGetDewar;
private javax.swing.JButton buttonGetGonio;
private javax.swing.JButton buttonHomingHexiposi;
private javax.swing.JButton buttonMount;
private javax.swing.JButton buttonPositionsHexiposi;
private javax.swing.JButton buttonPutDewar;
private javax.swing.JButton buttonPutGonio;
private javax.swing.JButton buttonReleaseLocal;
private javax.swing.JButton buttonReleasePsys;
private javax.swing.JButton buttonUnmount;
@@ -392,10 +498,12 @@ public class Expert extends Panel {
private javax.swing.JLabel jLabel1;
private javax.swing.JLabel jLabel2;
private javax.swing.JLabel jLabel3;
private javax.swing.JPanel jPanel1;
private javax.swing.JLabel jLabel4;
private javax.swing.JPanel jPanel2;
private javax.swing.JPanel jPanel3;
private javax.swing.JPanel jPanel4;
private javax.swing.JPanel jPanel5;
private javax.swing.JPanel panelCommands;
private javax.swing.JPanel panelRobot;
private javax.swing.JPanel panelSafety;
private javax.swing.JSpinner spinnerPuck;
private javax.swing.JSpinner spinnerSample;
private javax.swing.JSpinner spinnerSegment;

49
script/devices/Hexiposi.py
View File

@@ -9,7 +9,10 @@ class Hexiposi(DiscretePositionerBase):
url = "http://" + url
if not url.endswith("/"):
url = url + "/"
self.url = url
self.url = url
self.moved = True
self.homing_state = State.Disabled
self.rback = self.UNKNOWN_POSITION
def doInitialize(self):
super(Hexiposi, self).doInitialize()
@@ -31,21 +34,29 @@ class Hexiposi(DiscretePositionerBase):
self.moving = self.status["moving"]
self.offset = self.status["offset"]
self.dpos = self.status["discretePosition"]
if (self.homed==False): self.rback = self.UNKNOWN_POSITION
elif self.dpos == 1: self.rback = "A"
elif self.dpos == 2: self.rback = "B"
elif self.dpos == 4: self.rback = "C"
elif self.dpos == 8: self.rback = "D"
elif self.dpos == 16: self.rback = "E"
elif self.dpos == 32: self.rback = "F"
else: self.rback = self.UNKNOWN_POSITION
if (self.homed==False): rback = self.UNKNOWN_POSITION
elif self.dpos == 1: rback = "A"
elif self.dpos == 2: rback = "B"
elif self.dpos == 4: rback = "C"
elif self.dpos == 8: rback = "D"
elif self.dpos == 16: rback = "E"
elif self.dpos == 32: rback = "F"
else: rback = self.UNKNOWN_POSITION
if (rback == self.UNKNOWN_POSITION) or (rback != self.rback):
self.moved = True
self.rback = rback
return self.status
def move_pos(self, pos):
def move_pos(self, pos):
return self.get_response(requests.get(url=self.url+"set?pos=" + str(pos)))
def move_home(self):
return self.get_response(requests.get(url=self.url+"set?home=1"))
def move_home(self):
ret = self.get_response(requests.get(url=self.url+"set?home=1"))
try:
self.waitState(self.homing_state,1200)
except:
pass
return ret
def stop_move(self):
return self.get_response(requests.get(url=self.url+"set?stop=1"))
@@ -82,16 +93,26 @@ class Hexiposi(DiscretePositionerBase):
except:
pass
def assert_in_position(self, pos):
def is_in_position(self, pos):
return take() == pos
def assert_in_position(self, pos):
if not is_in_position(pos):
raise Exception ("Hexiposi is not in position")
def assert_homed(self):
if self.homed == False:
raise Exception ("Hexiposi is not homed")
#def isReady(self):
# self.get_status()
# return self.moving == False
def updateState(self):
if self.homed == False:
self.setState(State.Disabled)
self.setState(self.homing_state)
elif self.moving:
self.setState(State.Busy)
else:

70
script/devices/RobotSC.py
View File

@@ -23,13 +23,17 @@ 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"])
self.setPolling(DEFAULT_ROBOT_POLLING)
self.known_points = ["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome"]
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater"])
self.set_known_points(["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome"])
self.setPolling(DEFAULT_ROBOT_POLLING)
def move_dewar(self):
self.start_task('moveDewar')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
def get_dewar(self, segment, puck, sample):
segment = self.toSegmentNumber(segment)
self.assert_dewar()
self.start_task('getDewar',segment, puck, sample)
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
@@ -42,31 +46,38 @@ class RobotSC(RobotTCP):
self.assert_dewar()
def put_gonio(self):
self.start_task('putGonio',segment, puck, sample)
self.start_task('putGonio')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
#TODO
self.assert_gonio()
def get_gonio(self):
self.start_task('getGonio')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
#TODO
self.assert_gonio()
def robot_recover(self):
self.start_task('robotRecover')
def move_gonio(self):
self.start_task('moveGonio')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
def move_dewar_wait(self):
self.start_task('moveDewar')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar_wait()
self.assert_gonio()
def move_park(self):
self.start_task('movePark')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_park()
def move_heater(self):
self.start_task('moveHeater')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_heater()
def robot_recover(self):
self.start_task('robotRecover')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar_home()
def toSegmentNumber(self, segment):
if type(segment) == str:
if is_string(segment):
segment = ord(segment.upper()) - ord('A') +1
return segment
@@ -74,6 +85,9 @@ class RobotSC(RobotTCP):
def on_event(self,ev):
#print "EVT: " + ev
pass
def on_change_working_mode(self, working_mode):
if get_device("hexiposi") is not None:
hexiposi.moved = True #Force image processing on first sample
def doUpdate(self):
#start = time.time()
@@ -111,17 +125,24 @@ class RobotSC(RobotTCP):
def is_dewar_home(self):
return self.is_in_point("pDewarHome")
def is_dewar_wait(self):
def is_dewar(self):
return self.is_in_point("pDewarWait")
def is_heater(self):
return self.is_in_point("pHeaterHome")
def is_gonio(self):
return self.is_in_point("pGonioHome")
def is_cleared(self):
return self.is_home() or self.is_park() or self.is_dewarHome() or self.is_dewarWait()
#return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home()
return self.get_current_point() is not None
def assert_home(self):
self.assert_in_point("pHome")
self.assert_in_point("pHome")
def assert_heater(self):
self.assert_in_point("pHeaterHome")
def assert_park(self):
self.assert_in_point("pPark")
@@ -129,7 +150,7 @@ class RobotSC(RobotTCP):
def assert_dewar_home(self):
self.assert_in_point("pDewarHome")
def assert_dewar_wait(self):
def assert_dewar(self):
self.assert_in_point("pDewarWait")
def assert_gonio(self):
@@ -137,16 +158,7 @@ class RobotSC(RobotTCP):
def assert_cleared(self):
if not self.is_cleared():
raise Exception("Robot not in cleared position")
def get_current_point(self):
ret = robot.is_in_points(*self.known_points, tolerance = 20)
for i in range(len(ret)):
if ret[i] == True:
return self.known_points[i]
return None
raise Exception("Robot not in cleared position")
if simulation:
#add_device(RobotSC("robot","129.129.126.92:1000"),force = True)

64
script/devices/RobotTCP.py
View File

@@ -27,7 +27,8 @@ class RobotTCP(TcpDevice, Stoppable):
self.joint_forces = None
self.current_task = None
self.current_task_ret = None
self.high_level_tasks = []
self.high_level_tasks = []
self.known_points = []
self.cartesian_destination = None
#self.flange_pos = [None] * 6
self.cartesian_pos = [None] * 6
@@ -79,6 +80,23 @@ class RobotTCP(TcpDevice, Stoppable):
def get_tasks(self):
return self.high_level_tasks
def set_known_points(self, points):
self.known_points=points
def get_known_points(self):
return self.known_points
def get_current_point(self, tolerance = None):
ret = self.is_in_points(*self.known_points, tolerance = tolerance)
for i in range(len(ret)):
if ret[i] == True:
return self.known_points[i]
return None
def assert_in_known_point(self, tolerance = None):
if self.get_current_point(tolerance) is None:
raise Exception ("Robot not in known point")
def _sendReceive(self, msg_id, msg = "", timeout = None):
tx = self.header if (self.header != None) else ""
tx = tx + msg_id + " " + msg
@@ -262,6 +280,7 @@ class RobotTCP(TcpDevice, Stoppable):
if str(ret) != "0": raise Exception("Error saving program: " + str(ret))
def _update_working_mode(self, mode, status):
cur_mode = self.working_mode
if mode==1:
self.working_mode = "manual"
self.status = "hold" if status==6 else "move"
@@ -277,6 +296,11 @@ class RobotTCP(TcpDevice, Stoppable):
else:
self.working_mode = "invalid"
self.status = "invalid"
if self.working_mode != cur_mode:
try:
self.on_change_working_mode(self.working_mode)
except:
pass
def read_working_mode(self):
try:
@@ -422,7 +446,7 @@ class RobotTCP(TcpDevice, Stoppable):
#Task control
def task_create(self, program, *args, **kwargs):
program = str(program)
priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"]
priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) or (kwargs["priority"] is None) else kwargs["priority"]
name = str(program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"])
if self.get_task_status(name)[0] != -1:
@@ -549,7 +573,8 @@ class RobotTCP(TcpDevice, Stoppable):
self.get_cartesian_pos()
return self.distance_p("tcp_p", name)
def is_in_point(self, p, tolerance = 20): #Tolerance in mm
def is_in_point(self, p, tolerance = None): #Tolerance in mm
tolerance = 10 if tolerance == None else tolerance
d = self.get_distance_to_pnt(p)
if d<0:
raise Exception ("Error calculating distance to " + p + " : " + str(d))
@@ -566,7 +591,7 @@ class RobotTCP(TcpDevice, Stoppable):
return ret
def is_in_points(self, *pars, **kwargs): #Tolerance in mm
tolerance = 20 if (kwargs is None) or (not kwargs.has_key("tolerance")) else kwargs["tolerance"]
tolerance = 10 if (kwargs is None) or (not kwargs.has_key("tolerance")) or (kwargs["tolerance"] is None) else kwargs["tolerance"]
ret = self.get_distance_to_pnts(*pars)
for i in range(len(ret)):
if ret[i]<0:
@@ -575,7 +600,7 @@ class RobotTCP(TcpDevice, Stoppable):
ret[i] = ret[i]<tolerance
return ret
def assert_in_point(self, p, tolerance = 20): #Tolerance in mm
def assert_in_point(self, p, tolerance = None): #Tolerance in mm
if not self.is_in_point(p, tolerance):
raise Exception ("Not in position " + p)
@@ -632,7 +657,7 @@ class RobotTCP(TcpDevice, Stoppable):
return np
#High-level, exclusive motion task.
def start_task(self, program, *args, **kwargs):
def start_task(self, program, *args, **kwargs):
tasks = [t for t in self.high_level_tasks]
if (self.current_task is not None) and (not self.current_task in tasks):
tasks.append(self.current_task)
@@ -655,18 +680,18 @@ class RobotTCP(TcpDevice, Stoppable):
if i < self.task_start_retries-1:
ret = self.get_task_ret(False)
if ret == 0: #Did't start
log("Retrying starting : " + str(program) + " - status: " + str(status) + " (" + str(code) + ")", False)
print "Retrying starting : " + str(program) + " - status: " + str(status) + " (" + str(code) + ")"
log("Retrying starting : " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False)
print "Retrying starting : " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")"
else :
print "Retrying aborted : " + str(program) + " - ret: " + str(ret) + " - status: " + str(status) + " (" + str(code) + ")"
print "Retrying aborted : " + str(program) + str(args) + " - ret: " + str(ret) + " - status: " + str(status) + " (" + str(code) + ")"
break
else:
log("Failed starting : " + str(program), False)
print "Failed starting : " + str(program)
log("Failed starting : " + str(program) + str(args), False)
print "Failed starting : " + str(program) + str(args)
if self.exception_on_task_start_failure:
raise Exception("Cannot start task: " + task)
raise Exception("Cannot start task: " + program + + str(args))
log("Task started: " + str(program) + " - status: " + str(status) + " (" + str(code) + ")", False)
log("Task started: " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False)
self.current_task, self.current_task_ret = program, None
self.update()
#self._update_state()
@@ -684,8 +709,8 @@ class RobotTCP(TcpDevice, Stoppable):
tasks.append(self.current_task)
for task in tasks:
#if self.get_task_status(task)[0]>=0:
self.task_kill(task)
self.task_kill(task)
self.reset_motion()
def get_task_ret(self, cached = True):
return self.current_task_ret if cached else self.eval_int("tcp_ret")
@@ -713,8 +738,9 @@ class RobotTCP(TcpDevice, Stoppable):
time.sleep(self.polling_interval)
finally:
if polling is not None:
self.polling = cur_polling
return self.get_task_ret()
self.polling = cur_polling
ret = self.get_task_ret()
return ret
def assert_no_task(self):
task = self.check_task()
@@ -723,5 +749,7 @@ class RobotTCP(TcpDevice, Stoppable):
def on_event(self,ev):
pass
def on_change_working_mode(self, working_mode):
pass

10
script/imgproc/CoverDetection2.py
View File

@@ -9,8 +9,7 @@ POSITION_NAMES = [ 'A','B','C','D', 'E', 'F']
POSITION_ANGLES = [330, 30, 90, 150, 210, 270]
POSITION_TOLERANCE = 3
MINIMUM_CONFIDENCE = 10
DEBUG = True
PLOT = True
DEBUG = cover_detection_debug
REFERENCE_IMG = "ref2"
#Load reference image
@@ -28,7 +27,8 @@ cx,cy = int(ip.width/2), int(ip.height/2)
ip = sub_image(ip, cx-ref.width/2, cy-ref.height/2, ref.width, ref.height)
#Show ROI of pre-processed image
image_panel = show_panel(ip.bufferedImage)
if DEBUG:
image_panel = show_panel(ip.bufferedImage)
#Calculate correlation between image and reference, rotating the reference from 0 to 360
@@ -43,8 +43,6 @@ for i in xdata:
bi = op.getBufferedImage()
p = integrateVertically(bi)
ydata.append(sum(p))
#image_panel = show_panel(op.bufferedImage)
#time.sleep(1.0)
#Calculate angle of the highest correlation, and confidence level
@@ -62,7 +60,7 @@ if angle is not None:
position = POSITION_NAMES[i]
#Plot the correlations values agains angle
if PLOT:
if DEBUG:
p = plot(ydata, xdata=xdata)[0]
#Output results

8
script/imgproc/Utils.py
View File

@@ -18,9 +18,13 @@ def get_img_cover_pos():
def assert_img_in_cover_pos(pos = None):
if pos==None:
pos = hexiposi.take()
elif type(pos) is int:
pos = chr( ord('A') + (pos-1))
elif type(pos) is str:
pos = pos.upper()
img_segment = get_img_cover_pos()
if img_segment != segment:
raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment))
if img_segment != pos:
raise Exception ("Image detection of cover does not match position: " + str(img_segment))
def in_roi(x,y):

11
script/local.py
View File

@@ -31,6 +31,11 @@ add_device(img.getCamera(), force = True)
run("motion/tools")
run("motion/mount")
run("motion/unmount")
run("motion/get_dewar")
run("motion/put_dewar")
run("motion/get_gonio")
run("motion/put_gonio")
run("motion/homing_hexiposi")
run("imgproc/Utils")
run("tools/Math")
@@ -56,8 +61,8 @@ try:
release_local_safety.write(False)
release_psys_safety.write(False)
except:
print >> sys.stderr, traceback.format_exc()
print >> sys.stderr, traceback.format_exc()
try:
hexiposi.polling=500
except:
@@ -103,6 +108,8 @@ except:
context = get_context()
cover_detection_debug = False
update()

28
script/motion/get_dewar.py Normal file
View File

@@ -0,0 +1,28 @@
def get_dewar(segment, puck, sample, force=False):
"""
"""
print "get_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
hexiposi.assert_homed()
#location = robot.get_current_point()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
if not robot.is_dewar():
robot.move_dewar()
robot.get_dewar(segment, puck, sample)

20
script/motion/get_gonio.py Normal file
View File

@@ -0,0 +1,20 @@
def get_gonio(force=False):
"""
"""
print "get_gonio: ", force
#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#Enabling
enable_motion()
if not robot.is_gonio():
robot.move_gonio()
robot.get_gonio()

15
script/motion/homing_hexiposi.py Normal file
View File

@@ -0,0 +1,15 @@
def homing_hexiposi():
"""
"""
print "homing_hexiposi"
#Initial checks
robot.assert_no_task()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#location = robot.get_current_point()
hexiposi.move_home()
hexiposi.waitState(State.Ready,-1)

36
script/motion/mount.py
View File

@@ -6,35 +6,25 @@ def mount(segment, puck, sample, force=False):
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
if hexiposi.homed == False:
raise Exception ("Hexiposi is not homed")
#robot.assert_in_known_point()
hexiposi.assert_homed()
#location = robot.get_current_point()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
#Clearing for image processing
robot.move_park()
assert_img_in_cover_pos(segment)
location = robot.get_current_point()
print "Location: " + location
if not force:
visual_check_hexiposi(segment)
robot.move_dewar_wait()
try:
robot.get_dewar(segment, puck, sample)
except:
#robot.move_dewar()
raise
try:
robot.put_gonio()
except:
#TODO: recover
raise
if not robot.is_dewar():
robot.move_dewar()
robot.get_dewar(segment, puck, sample)
robot.move_gonio()
robot.put_gonio()
robot.move_dewar()

28
script/motion/put_dewar.py Normal file
View File

@@ -0,0 +1,28 @@
def put_dewar(segment, puck, sample, force=False):
"""
"""
print "put_dewar: ", segment, puck, sample, force
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
hexiposi.assert_homed()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
visual_check_hexiposi(segment)
#location = robot.get_current_point()
if not robot.is_dewar():
robot.move_dewar()
robot.put_dewar(segment, puck, sample)

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

@@ -0,0 +1,18 @@
def put_gonio(segment, puck, sample, force=False):
"""
"""
print "put_gonio: ", force
#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
#robot.assert_in_known_point()
#Enabling
enable_motion()
if not robot.is_gonio():
robot.move_gonio()
robot.put_gonio()

20
script/motion/tools.py
View File

@@ -34,7 +34,17 @@ def set_hexiposi(pos):
set_status(None)
else:
hexiposi.move(pos)
def visual_check_hexiposi(segment):
#if robot.working_mode == "manual" ?
if hexiposi.moved:
#Clearing for image processing
if not robot.is_park():
print "Moving robot to park to clear camera view..."
robot.move_park()
assert_img_in_cover_pos(segment)
hexiposi.moved = False
def wait_end_of_move():
@@ -88,12 +98,12 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
def assertValidAddress(segment, puck, sample):
if type(segment) == str:
if is_string(segment):
segment = ord(segment.upper()) - ord('A') +1
if segment<=0 or segment >6:
raise Excepton ("Invalid segment")
raise Exception ("Invalid segment")
if puck<=0 or puck >5:
raise Excepton ("Invalid puck")
raise Exception ("Invalid puck")
if sample<=0 or sample >16:
raise Excepton ("Invalid sample")
raise Exception ("Invalid sample")

38
script/motion/unmount.py
View File

@@ -6,39 +6,25 @@ def unmount(segment, puck, sample, force=False):
#Initial checks
assertValidAddress(segment, puck, sample)
robot.assert_no_task()
robot.reset_motion()
robot.state.assertReady()
robot.assert_cleared()
if hexiposi.homed == False:
raise Exception ("Hexiposi is not homed")
#robot.assert_in_known_point()
hexiposi.assert_homed()
#Enabling
enable_motion()
set_hexiposi(segment)
if not force:
#Clearing for image processing
robot.move_park()
assert_img_in_cover_pos(segment)
if not force:
visual_check_hexiposi(segment)
location = robot.get_current_point()
#location = robot.get_current_point()
try:
robot.get_gonio()
except:
#TODO: recover
raise
try:
robot.move_dewar_wait()
except:
#TODO: recover
raise
try:
robot.put_dewar(segment, puck, sample)
except:
#robot.move_dewar()
raise
if not robot.is_gonio():
robot.move_gonio()
robot.get_gonio()
robot.move_dewar()
robot.put_dewar(segment, puck, sample)

4
script/test/TestCmdSynchronization.py
View File

@@ -8,7 +8,7 @@ enable_motion()
get_context().setLogLevel(java.util.logging.Level.FINER)
try:
while True:
#robot.move_dewar_wait()
#robot.move_dewar()
#robot.move_park()
log("Moving dewar", False)
@@ -17,7 +17,7 @@ try:
log("Waiting", False)
ret = robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
log("Moving dewar finished (" + str(ret) + ") - pos: " + get_pos_str(), False)
robot.assert_dewar_wait()
robot.assert_dewar()
log("Moving park", False)