diff --git a/plugins/Expert.form b/plugins/Expert.form index 98bf7f2..a60bd7a 100644 --- a/plugins/Expert.form +++ b/plugins/Expert.form @@ -17,43 +17,15 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + - + + + @@ -61,97 +33,22 @@ - - - - - + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -165,12 +62,12 @@ - + - + @@ -205,22 +102,6 @@ - - - - - - - - - - - - - - - - @@ -233,24 +114,24 @@ - - - - - - + + + + + + + - - - - - - + + + + + @@ -274,5 +155,201 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/plugins/Expert.java b/plugins/Expert.java index 1bef3f0..9cd7d2a 100644 --- a/plugins/Expert.java +++ b/plugins/Expert.java @@ -7,6 +7,9 @@ import ch.psi.pshell.ui.Panel; import ch.psi.utils.State; import java.util.logging.Level; import java.util.logging.Logger; +import javax.swing.JSpinner; +import javax.swing.JTextField; +import javax.swing.SwingConstants; /** * @@ -15,6 +18,7 @@ public class Expert extends Panel { public Expert() { initComponents(); + ((JSpinner.DefaultEditor)spinnerSegment.getEditor()).getTextField().setHorizontalAlignment(JTextField.RIGHT); } //Overridable callbacks @@ -71,52 +75,26 @@ public class Expert extends Panel { // //GEN-BEGIN:initComponents private void initComponents() { + jPanel1 = 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(); + 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(); 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(); - spinnerSample = new javax.swing.JSpinner(); - checkFirst = new javax.swing.JCheckBox(); - jPanel1 = new javax.swing.JPanel(); - buttonEnable = new javax.swing.JButton(); - buttonDisable = new javax.swing.JButton(); - buttonReleaseLocal = new javax.swing.JButton(); - buttonReleasePsys = new javax.swing.JButton(); - jPanel2 = new javax.swing.JPanel(); - buttonHomingHexiposi = new javax.swing.JButton(); - buttonPositionsHexiposi = new javax.swing.JButton(); - - buttonEnableAll.setText("Enable All"); - buttonEnableAll.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonEnableAllActionPerformed(evt); - } - }); - - buttonMount.setText("Mount"); - buttonMount.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonMountActionPerformed(evt); - } - }); - - jLabel1.setText("Segment:"); - - spinnerSegment.setModel(new javax.swing.SpinnerNumberModel(1, 1, 6, 1)); - - jLabel2.setText("Puck:"); - - spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1)); - - jLabel3.setText("Sample:"); - - spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1)); - - checkFirst.setSelected(true); - checkFirst.setText("First mount"); + buttonUnmount = new javax.swing.JButton(); jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Robot")); @@ -139,11 +117,11 @@ public class Expert extends Panel { jPanel1Layout.setHorizontalGroup( jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(jPanel1Layout.createSequentialGroup() - .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addContainerGap(78, Short.MAX_VALUE) .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addComponent(buttonEnable) .addComponent(buttonDisable)) - .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addContainerGap(79, Short.MAX_VALUE)) ); jPanel1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable}); @@ -158,20 +136,6 @@ public class Expert extends Panel { .addContainerGap()) ); - buttonReleaseLocal.setText("Release Local"); - buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonReleaseLocalActionPerformed(evt); - } - }); - - buttonReleasePsys.setText("Release PSYS"); - buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - buttonReleasePsysActionPerformed(evt); - } - }); - jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Hexiposi")); buttonHomingHexiposi.setText("Homing"); @@ -192,21 +156,151 @@ public class Expert extends Panel { jPanel2.setLayout(jPanel2Layout); jPanel2Layout.setHorizontalGroup( jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(jPanel2Layout.createSequentialGroup() - .addContainerGap() - .addComponent(buttonHomingHexiposi) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(buttonPositionsHexiposi) - .addContainerGap()) + .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)) ); + + jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHomingHexiposi, buttonPositionsHexiposi}); + jPanel2Layout.setVerticalGroup( jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(jPanel2Layout.createSequentialGroup() - .addGap(20, 20, 20) - .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonHomingHexiposi) - .addComponent(buttonPositionsHexiposi)) - .addContainerGap(24, Short.MAX_VALUE)) + .addContainerGap() + .addComponent(buttonHomingHexiposi) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonPositionsHexiposi) + .addContainerGap()) + ); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety")); + + buttonReleasePsys.setText("Release PSYS"); + buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleasePsysActionPerformed(evt); + } + }); + + buttonEnableAll.setText("Enable All"); + buttonEnableAll.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableAllActionPerformed(evt); + } + }); + + buttonReleaseLocal.setText("Release Local"); + buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleaseLocalActionPerformed(evt); + } + }); + + 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, false) + .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(buttonReleasePsys) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonReleaseLocal))) + .addContainerGap()) + ); + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonEnableAll) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(jPanel3Layout.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"); + + buttonMount.setText("Mount"); + buttonMount.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMountActionPerformed(evt); + } + }); + + 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) { + buttonUnmountActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4); + jPanel4.setLayout(jPanel4Layout); + jPanel4Layout.setHorizontalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.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) + .addComponent(jLabel3) + .addComponent(jLabel2) + .addComponent(jLabel1)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .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)) + ); + + jPanel4Layout.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}); + + jPanel4Layout.setVerticalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonMount) + .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) + .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(jLabel3) + .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(checkForce)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) ); javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); @@ -214,68 +308,28 @@ public class Expert extends Panel { layout.setHorizontalGroup( layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(layout.createSequentialGroup() - .addGap(16, 16, 16) + .addContainerGap() .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) - .addGroup(layout.createSequentialGroup() - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 106, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGroup(layout.createSequentialGroup() - .addGap(10, 10, 10) - .addComponent(checkFirst))) - .addGap(18, 18, 18) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(jLabel3) - .addComponent(jLabel2) - .addComponent(jLabel1)) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .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))) - .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)) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) - .addComponent(buttonEnableAll, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addGroup(layout.createSequentialGroup() - .addComponent(buttonReleasePsys) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addComponent(buttonReleaseLocal)))) - .addContainerGap(377, Short.MAX_VALUE)) + .addComponent(jPanel1, 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)) ); - - layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3}); - - layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment}); - layout.setVerticalGroup( layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) .addGroup(layout.createSequentialGroup() .addContainerGap() - .addComponent(buttonEnableAll) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonReleaseLocal) - .addComponent(buttonReleasePsys)) - .addGap(18, 18, 18) - .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(18, 18, 18) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(buttonMount) - .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(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(jLabel2) - .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addComponent(checkFirst)) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) - .addComponent(jLabel3) - .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addContainerGap(175, Short.MAX_VALUE)) + .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) + .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)) ); }// //GEN-END:initComponents @@ -284,9 +338,11 @@ public class Expert extends Panel { }//GEN-LAST:event_buttonEnableAllActionPerformed private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed - String cmd = checkFirst.isSelected() ? "firstmount" : "mount"; - execute("robot.start_task('" + cmd + "'," + spinnerSegment.getValue() + "," + spinnerPuck.getValue() + "," + spinnerSample.getValue() + ")"); - checkFirst.setSelected(false); + String segment = (String) spinnerSegment.getValue(); + int puck = (Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("mount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); }//GEN-LAST:event_buttonMountActionPerformed @@ -314,6 +370,14 @@ public class Expert extends Panel { this.showDevicePanel("hexiposi"); }//GEN-LAST:event_buttonPositionsHexiposiActionPerformed + private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed + String segment = (String) spinnerSegment.getValue(); + int puck = (Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); + }//GEN-LAST:event_buttonUnmountActionPerformed + // Variables declaration - do not modify//GEN-BEGIN:variables private javax.swing.JButton buttonDisable; private javax.swing.JButton buttonEnable; @@ -323,12 +387,15 @@ public class Expert extends Panel { private javax.swing.JButton buttonPositionsHexiposi; private javax.swing.JButton buttonReleaseLocal; private javax.swing.JButton buttonReleasePsys; - private javax.swing.JCheckBox checkFirst; + private javax.swing.JButton buttonUnmount; + private javax.swing.JCheckBox checkForce; private javax.swing.JLabel jLabel1; private javax.swing.JLabel jLabel2; private javax.swing.JLabel jLabel3; private javax.swing.JPanel jPanel1; private javax.swing.JPanel jPanel2; + private javax.swing.JPanel jPanel3; + private javax.swing.JPanel jPanel4; private javax.swing.JSpinner spinnerPuck; private javax.swing.JSpinner spinnerSample; private javax.swing.JSpinner spinnerSegment; diff --git a/script/calibration/ScanRZ.py b/script/calibration/ScanRZ.py index ac10b5a..55d3bba 100644 --- a/script/calibration/ScanRZ.py +++ b/script/calibration/ScanRZ.py @@ -9,7 +9,7 @@ LATENCY = 0.005 RELATIVE = False #Enabling and checking -#enable_power() +#enable_motion() #system_check() robot.enable() diff --git a/script/devices/Hexiposi.py b/script/devices/Hexiposi.py index 869f6e6..9271b6a 100644 --- a/script/devices/Hexiposi.py +++ b/script/devices/Hexiposi.py @@ -82,6 +82,9 @@ class Hexiposi(DiscretePositionerBase): except: pass + def assert_in_position(self, pos): + return take() == pos + #def isReady(self): # self.get_status() # return self.moving == False @@ -102,4 +105,15 @@ dev = Hexiposi("hexiposi", "myriotell:8002/hexiposi") add_device(dev, True) hexiposi.polling=500 #print dev.url -#print dev.get_status() \ No newline at end of file +#print dev.get_status() + +class hexiposi_position(ReadonlyRegisterBase): + def doRead(self): + try: + return float(hexiposi.pos) + except: + return float("nan") + +add_device(hexiposi_position(), True) +hexiposi_position.polling = 1000 + diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py index 943dbcc..27142fb 100644 --- a/script/devices/RobotSC.py +++ b/script/devices/RobotSC.py @@ -24,17 +24,49 @@ class RobotSC(RobotTCP): RobotTCP.__init__(self, name, server, timeout, retries) self.setPolling(DEFAULT_ROBOT_POLLING) - def mount(self, segment, puck, sample): - return self.execute('mount',segment, puck, sample) + 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() + self.assert_dewar() - def firstmount(self, segment, puck, sample): - return self.execute('firstmount', segment, puck, sample) + def put_dewar(self, segment, puck, sample): + segment = self.toSegmentNumber(segment) + self.assert_dewar() + self.start_task('putDewar',segment, puck, sample) + self.wait_task_finished() + self.assert_dewar() - def unmount(self, segment, puck, sample): - return self.execute('unmount',segment, puck, sample) + def put_gonio(self): + self.start_task('putGonio',segment, puck, sample) + self.wait_task_finished() + #TODO - def robotRecover(self): - return self.execute('robotRecover') + def get_gonio(self): + self.start_task('getGonio') + self.wait_task_finished() + #TODO + + def robot_recover(self): + self.start_task('robotRecover') + self.wait_task_finished() + + def move_dewar(self): + self.start_task('moveDewar') + self.wait_task_finished() + self.assert_dewar() + + def move_park(self): + self.start_task('movePark') + self.wait_task_finished() + self.assert_park() + + def toSegmentNumber(self, segment): + if type(segment) == str: + segment = ord(segment.upper()) - ord('A') +1 + return segment + def on_event(self,ev): #print "EVT: " + ev @@ -65,7 +97,49 @@ class RobotSC(RobotTCP): def set_local(self): robot.set_profile("default") + + def is_home(self): + return self.is_in_point("pHome") + + def is_park(self): + return self.is_in_point("pPark") + + def is_dewarHome(self): + return self.is_in_point("pDewarHome") + + def is_dewarWait(self): + return self.is_in_point("pDewarWait") + + 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() + + def assert_home(self): + self.assert_in_point("pHome") + + def assert_park(self): + self.assert_in_point("pPark") + + def assert_dewarHome(self): + self.assert_in_point("pDewarHome") + + def assert_dewarWait(self): + self.assert_in_point("pDewarWait") + + def assert_gonio(self): + self.assert_in_point("pGonioHome") + + def assert_cleared(self): + if not self.is_cleared(): + raise Exception("Robot not in cleared position") + + def get_current_point(self): + for p in ["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait"]: + if self.is_in_point(p): + return p + return None if simulation: diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py index bcf7a53..3d9785e 100644 --- a/script/devices/RobotTCP.py +++ b/script/devices/RobotTCP.py @@ -25,7 +25,7 @@ class RobotTCP(TcpDevice, Stoppable): self.status = None self.lock = threading.Lock() self.joint_forces = None - self.current_task = None + self.current_task = None self.high_level_tasks = [] self.cartesian_destination = None #self.flange_pos = [None] * 6 @@ -340,9 +340,9 @@ class RobotTCP(TcpDevice, Stoppable): time.sleep(0.05) self.update() #time.sleep(0.01) - #robot.waitCacheChange(-1) + #self.waitCacheChange(-1) self.waitReady(-1) - #robot.waitState(State.Ready, -1) + #self.waitState(State.Ready, -1) #Tool @@ -455,8 +455,10 @@ class RobotTCP(TcpDevice, Stoppable): self.speed = int(sts[3]) self.empty = sts[4] == "1" self.settled = sts[5] == "1" - if int(sts[6]) < 0: - self.current_task = None + if int(sts[6]) < 0: + if self.current_task is not None: + log("Task finished: " + str(self.current_task), False) + self.current_task = None for i in range(6): self.joint_pos[i] = float(sts[7 + i]) @@ -513,6 +515,17 @@ class RobotTCP(TcpDevice, Stoppable): self.get_cartesian_pos() return self.distance_p("tcp_p", name) + def is_in_point(self, p, tolerance = 50): #Tolerance in mm + d = self.get_distance_to_pnt(p) + if d<0: + raise Exception ("Error calculating distance to " + p + " : " + str(d)) + return d=0: raise Exception("Ongoing high-level task: " + task) self.task_create(program, *args, **kwargs) start = time.time() - while self.get_task_status(program)[0] < 0: - if time.time() - start > 5000: - raise Exception("Cannot start task " + task) - time.sleep(0.1) - self.update() + #while self.get_task_status(program)[0] < 0: + # if time.time() - start > 5.0: + # raise Exception("Cannot start task " + task) + # time.sleep(0.1) self.current_task = program + (code, status) = self.get_task_status(task) + log("Task started: " + str(self.current_task) + " - status: " + str(status) + " (" + str(code) + ")", False) + + self.update() self._update_state() + return code def stop_task(self): tasks = [t for t in self.high_level_tasks] @@ -597,10 +614,19 @@ class RobotTCP(TcpDevice, Stoppable): for task in self.high_level_tasks: if self.get_task_status(task)[0]>=0: self.current_task = task + log("Task detected: " + str(self.current_task), False) return task return None + + def wait_task_finished (self): + while get_task() != None: + time.sleep(0.01) - + def assert_no_task(self): + task = self.get_task() + if task != None: + raise Exception("Ongoing task: " + task) + def on_event(self,ev): pass diff --git a/script/hexiposi_positon.scd b/script/hexiposi_positon.scd new file mode 100644 index 0000000..471fb41 --- /dev/null +++ b/script/hexiposi_positon.scd @@ -0,0 +1,11 @@ +[ + [ [ true, "hexiposi_position", "Device", 1, 1, null ] ], + [ [ "1", null, null, null, null, null, null, null ], + [ "2", null, null, null, null, null, null, null ], + [ "3", null, null, null, null, null, null, null ], + [ "4", null, null, null, null, null, null, null ], + [ "5", null, null, null, null, null, null, null ] ], + [ [ ] ], + [ [ "", 1000, 100 ], + [ "", "" ] ] +] \ No newline at end of file diff --git a/script/imgproc/CoverDetection2.py b/script/imgproc/CoverDetection2.py index 7fb8bf0..62eebce 100644 --- a/script/imgproc/CoverDetection2.py +++ b/script/imgproc/CoverDetection2.py @@ -7,13 +7,12 @@ FRAMES_INTEGRATION = 3 STEP_SIZE = 2 POSITION_NAMES = [ 'A','B','C','D', 'E', 'F'] POSITION_ANGLES = [330, 30, 90, 150, 210, 270] -POSITION_TOLERANCE = 10 +POSITION_TOLERANCE = 3 MINIMUM_CONFIDENCE = 10 DEBUG = True PLOT = True REFERENCE_IMG = "ref2" - #Load reference image ref = load_image(str("{images}/cover/" + REFERENCE_IMG + ".png") , title="Line") @@ -31,6 +30,7 @@ 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) + #Calculate correlation between image and reference, rotating the reference from 0 to 360 import ch.psi.pshell.imaging.Utils.integrateVertically as integrateVertically ydata = [] @@ -39,12 +39,12 @@ for i in xdata: r = ref.duplicate() r.getProcessor().setBackgroundValue(0.0) r.getProcessor().rotate(float(i)) - op = op_fft(ip, r, "correlate") + op = op_fft(r, ip, "correlate") bi = op.getBufferedImage() p = integrateVertically(bi) ydata.append(sum(p)) #image_panel = show_panel(op.bufferedImage) - #time.sleep(0.001) + #time.sleep(1.0) #Calculate angle of the highest correlation, and confidence level @@ -72,7 +72,7 @@ if DEBUG: print "Peak values: " + str(peaks_y) print "Angle: " , angle print "Position: " , position - print "Confifdence: " , confidence + print "Confidence: " , confidence #Set return value set_return ([position, angle, confidence]) diff --git a/script/imgproc/LedDetectionProc.py b/script/imgproc/LedDetectionProc.py index 2589c7d..3730c23 100644 --- a/script/imgproc/LedDetectionProc.py +++ b/script/imgproc/LedDetectionProc.py @@ -51,10 +51,10 @@ set_led_state(False) op_image(image, background, "subtract", float_result=True, in_place=True) -if RENDERER is None: +if RENDERER is not None: + RENDERER.setImage(None, image.getBufferedImage(), None) +else: RENDERER = show_panel(image.getBufferedImage()) -else: - RENDERER.setImage(None, image.getBufferedImage(), None) RENDERER.clearOverlays() invert(image) @@ -73,15 +73,14 @@ for row in range (r.counter): x, y = int(r.getValue("XM", row)), int(r.getValue("YM", row)) cx, cy = img.getCalibration().convertToAbsoluteX(x), img.getCalibration().convertToAbsoluteY(y) points.append([cx,cy]) - RENDERER.addOverlay(Crosshairs(Pen(java.awt.Color.MAGENTA), java.awt.Point(x,y), java.awt.Dimension(15,15))) + if RENDERER is not None: + RENDERER.addOverlay(Crosshairs(Pen(java.awt.Color.MAGENTA), java.awt.Point(x,y), java.awt.Dimension(15,15))) - -#RENDERER.addOverlays(ovs) - clear_detection(block_id) detect_pucks(points, block_id) -plot_base_plate(points, p=PLOT) +if PLOT is not None: + plot_base_plate(points, p=PLOT) ret = get_puck_detection_dict(block_id) diff --git a/script/imgproc/Utils.py b/script/imgproc/Utils.py index 208d72b..57acc3b 100644 --- a/script/imgproc/Utils.py +++ b/script/imgproc/Utils.py @@ -15,6 +15,14 @@ def get_img_cover_pos(): [position, angle, confidence] = run("imgproc/CoverDetection2") return position +def assert_img_in_cover_pos(pos = None): + if pos==None: + pos = hexiposi.take() + img_segment = get_img_cover_pos() + if img_segment != segment: + raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment)) + + def in_roi(x,y): global roi_center, roi_radius, roi_border return math.hypot(x-roi_center[0], y-roi_center[1]) < (roi_radius-roi_border) diff --git a/script/local.py b/script/local.py index 7053501..874d4a7 100644 --- a/script/local.py +++ b/script/local.py @@ -65,7 +65,7 @@ except: try: robot.setPolling(DEFAULT_ROBOT_POLLING) - robot.high_level_tasks = ["mount", "firstmount"] + robot.high_level_tasks = ["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark"] robot.set_tool(TOOL_CALIBRATION) robot.set_motors_enabled(True) robot.set_joint_motors_enabled(True) diff --git a/script/motion/mount.py b/script/motion/mount.py index 81f0c1f..6907f08 100644 --- a/script/motion/mount.py +++ b/script/motion/mount.py @@ -1,16 +1,40 @@ -def mount(segment, puck, sample, unmount = False): +def mount(segment, puck, sample, force=False): """ """ - cmd = "firstmount" if unmount else "mount" + print "mount: ", segment, puck, sample, force + + #Initial checks assertValidAddress(segment, puck, sample) + robot.assert_no_task() + robot.state.assertReady() + robot.assert_cleared() - hexiposi.move(segment) + if hexiposi.homed == False: + raise Exception ("Hexiposi is not homed") - img_segment = get_img_cover_pos() - if img_segment != segment: - raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment)) + #Enabling + enable_motion() + + set_hexiposi(segment) - if type(segment) == str: - segment = ord(segment.upper()) - ord('A') +1 - robot.start_task(cmd,segment, puck, sample) - #robot.mount(segment, puck, sample) + + if not force: + #Clearing for image processing + robot.move_park() + assert_img_in_cover_pos(segment) + + location = get_current_point() + print "Location: " + location + + robot.move_dewar() + try: + robot.get_dewar(segment, puck, sample) + except: + #robot.move_dewar() + raise + + try: + robot.put_gonio() + except: + #TODO: recover + raise diff --git a/script/motion/tools.py b/script/motion/tools.py index 4a9746a..17292cc 100644 --- a/script/motion/tools.py +++ b/script/motion/tools.py @@ -1,20 +1,39 @@ POSITION_TOLERANCE = 50 -def enable_power(): +def enable_motion(): """ - Check safety and enable arm power + Check safety and enable arm power if in remote mode """ - release_psys() - time.sleep(0.1) - if feedback_psys_safety.read() == False: - raise Exception("Cannot enable power: check doors") + if robot.working_mode != "manual": + release_psys() + time.sleep(0.1) + if feedback_psys_safety.read() == False: + raise Exception("Cannot enable power: check doors") + release_local() if feedback_local_safety.read() == False: raise Exception("Cannot enable power: check sample changer emergency stop button") - time.sleep(0.25) - if not robot.state.isNormal(): - raise Exception("Cannot enable power: robot state is " + str(robot.state)) - robot.enable() + + if robot.working_mode == "manual": + pass + else: + time.sleep(0.25) + if not robot.state.isNormal(): + raise Exception("Cannot enable power: robot state is " + str(robot.state)) + robot.enable() + +def set_hexiposi(pos): + """ + Set the hexiposi posiiton in remote mode, or wait for it to be set in manual mode + """ + if robot.working_mode == "manual": + set_status("Move Hexiposi to position " + str(pos) + " ...") + try: + hexiposi.waitInPosition(pos, -1) + finally: + set_status(None) + else: + hexiposi.move(pos) @@ -57,8 +76,6 @@ def move_to_laser(): 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) diff --git a/script/motion/unmount.py b/script/motion/unmount.py index 42f94e6..e151134 100644 --- a/script/motion/unmount.py +++ b/script/motion/unmount.py @@ -1,15 +1,44 @@ -def unmount(segment, puck, sample): +def unmount(segment, puck, sample, force=False): """ """ + print "unmount: ", segment, puck, sample, force + + #Initial checks assertValidAddress(segment, puck, sample) + robot.assert_no_task() + robot.state.assertReady() + robot.assert_cleared() - hexiposi.move(segment) + if hexiposi.homed == False: + raise Exception ("Hexiposi is not homed") - img_segment = get_img_cover_pos() - if img_segment != segment: - raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment)) + #Enabling + enable_motion() - if type(segment) == str: - segment = ord(segment.upper()) - ord('A') +1 + set_hexiposi(segment) - robot.unmount(segment, puck, sample) + if not force: + #Clearing for image processing + robot.move_park() + assert_img_in_cover_pos(segment) + + location = get_current_point() + + + try: + robot.get_gonio() + except: + #TODO: recover + raise + + try: + robot.move_dewar() + except: + #TODO: recover + raise + + try: + robot.pet_dewar(segment, puck, sample) + except: + #robot.move_dewar() + raise \ No newline at end of file