pshell_config/mxsc
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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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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