108 lines
3.5 KiB
Python
108 lines
3.5 KiB
Python
###################################################################################################
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# Deployment specific global definitions - executed after startup.py
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###################################################################################################
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import traceback
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from ch.psi.pshell.serial import TcpDevice
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from ch.psi.pshell.modbus import ModbusTCP
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run("setup/Layout")
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###################################################################################################
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# Scripted devices and pseudo-devices
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###################################################################################################
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for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance", \
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"devices/LedCtrl", "devices/HexiPosi"]:
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try:
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run(script)
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except:
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print >> sys.stderr, traceback.format_exc()
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add_device(img.getContrast(), force = True)
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add_device(img.getCamera(), force = True)
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###################################################################################################
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# Utility modules
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###################################################################################################
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run("motion/tools")
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run("imgproc/Utils")
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run("tools/Math")
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def system_check(robot_move=True):
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if not air_pressure_ok.read():
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raise Exception("Air pressure is not ok")
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if not n2_pressure_ok.read():
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raise Exception("N2 pressure is not ok")
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if robot_move:
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if not feedback_local_safety.read():
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raise Exception("Local safety not released")
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if not feedback_psys_safety.read():
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raise Exception("Psys safety not released")
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if not guiding_tool_park().read():
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raise Exception("Guiding tool not parked")
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###################################################################################################
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# Device initialization
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###################################################################################################
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try:
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release_local_safety.write(False)
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release_psys_safety.write(False)
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except:
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print >> sys.stderr, traceback.format_exc()
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try:
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hexiposi.polling=500
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except:
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print >> sys.stderr, traceback.format_exc()
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try:
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robot.setPolling(DEFAULT_ROBOT_POLLING)
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robot.high_level_tasks = ["mount", "firstmount"]
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robot.set_tool(TOOL_CALIBRATION)
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robot.set_motors_enabled(True)
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robot.set_joint_motors_enabled(True)
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except:
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print >> sys.stderr, traceback.format_exc()
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try:
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import ch.psi.pshell.device.Camera as Camera
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img.camera.setColorMode(Camera.ColorMode.Mono)
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img.camera.setDataType(Camera.DataType.UInt8)
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img.camera.setGrabMode(Camera.GrabMode.Continuous)
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img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
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img.camera.setExposure(50.00)
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img.camera.setAcquirePeriod(200.00)
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img.camera.setGain(0.0)
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#img.camera.setROI(200, 0,1200,1200)
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img.camera.setROI(300, 200,1000,1000)
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img.config.rotation=17
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img.config.rotationCrop=True
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img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900
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img.camera.stop()
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img.camera.start()
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except:
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print >> sys.stderr, traceback.format_exc()
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###################################################################################################
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# Global variables
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###################################################################################################
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context = get_context()
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update()
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print "Initialization complete"
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