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gac-S_Changer
2019-01-21 14:36:44 +01:00
parent 8836a36512
commit 0871ae0dec
16 changed files with 47 additions and 36 deletions
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config/config.properties
+2 -2
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@@ -1,4 +1,4 @@
#Wed Dec 12 09:19:49 CET 2018
#Tue Jan 15 11:47:52 CET 2019
autoSaveScanData=true
commandExecutionEvents=false
createSessionFiles=true
@@ -13,7 +13,7 @@ depthDimension=0
hostName=null
instanceName=X06SA
logDaysToLive=30
logLevel=Fine
logLevel=Finer
logLevelConsole=Off
logPath={logs}/{date}_{time}
notificationLevel=null
config/devices.properties
+1 -1
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@@ -1,6 +1,6 @@
img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000;MulticastEnable=Off"||-200|false
gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=1 reopen||-200|false
#monitoring_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200|
monitoring_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200|
#top_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=3 true||-200|
#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM|||
mscan_pin=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-pin:2001|||
config/settings.properties
+3 -3
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@@ -1,8 +1,8 @@
#Mon Jan 14 18:14:03 CET 2019
#Mon Jan 21 13:16:38 CET 2019
barcode_reader_scan_pucks=false
dry_mount_counter=0
dry_timestamp=1.547481588887E9
dry_timestamp=1.547823177733E9
imaging_enabled=false
led_level=0.0
mounted_sample_position=F57
mounted_sample_position=F31
puck_types=true
context/Preferences.dat
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devices/dewar_level.properties
+3 -3
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@@ -1,6 +1,6 @@
#Wed Aug 08 14:23:54 CEST 2018
offset=-25.81632
#Fri Jan 18 10:33:46 CET 2019
offset=-9.5
precision=2
scale=0.003888
scale=0.00388
sign_bit=0
unit=%
devices/led_ctrl_1.properties
+1 -1
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@@ -1,4 +1,4 @@
#Mon Dec 03 11:44:53 CET 2018
#Fri Jan 18 17:07:33 CET 2019
maxValue=0.4
minValue=0.0
offset=0.0
devices/led_ctrl_2.properties
+1 -1
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@@ -1,4 +1,4 @@
#Mon Dec 03 11:44:53 CET 2018
#Fri Jan 18 17:07:33 CET 2019
maxValue=0.4
minValue=0.0
offset=0.0
devices/led_ctrl_3.properties
+1 -1
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@@ -1,4 +1,4 @@
#Mon Dec 03 11:44:53 CET 2018
#Fri Jan 18 17:07:33 CET 2019
maxValue=0.4
minValue=0.0
offset=0.0
devices/smart_magnet.properties
+5 -5
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@@ -1,8 +1,8 @@
#Thu Oct 25 16:47:21 CEST 2018
holdingCurrent=30.0
mountCurrent=10.0
#Fri Jan 18 11:16:24 CET 2019
holdingCurrent=40.0
mountCurrent=20.0
remanenceCurrent=-10.0
restingCurrent=10.0
restingCurrent=20.0
reverseCurrent=-10.0
reverseTime=0.4
unmountCurrent=10.0
unmountCurrent=20.0
plugins/Commands.form
+2 -2
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@@ -132,7 +132,7 @@
<Component class="javax.swing.JSpinner" name="spinnerDryTime">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="30.0" maximum="30.0" minimum="1.0" numberType="java.lang.Double" stepSize="1.0" type="number"/>
<SpinnerModel initial="30.0" maximum="50.0" minimum="1.0" numberType="java.lang.Double" stepSize="1.0" type="number"/>
</Property>
</Properties>
<AuxValues>
@@ -150,7 +150,7 @@
<Component class="javax.swing.JSpinner" name="spinnerDrySpeed">
<Properties>
<Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor">
<SpinnerModel initial="0.5" maximum="10.0" minimum="0.1" numberType="java.lang.Double" stepSize="1.0" type="number"/>
<SpinnerModel initial="0.4" maximum="1.0" minimum="0.1" numberType="java.lang.Double" stepSize="0.1" type="number"/>
</Property>
</Properties>
<AuxValues>
plugins/Commands.java
+2 -2
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@@ -172,7 +172,7 @@ public class Commands extends Panel {
jLabel6.setText("Heat time(s):");
spinnerDryTime.setModel(new javax.swing.SpinnerNumberModel(30.0d, 1.0d, 30.0d, 1.0d));
spinnerDryTime.setModel(new javax.swing.SpinnerNumberModel(30.0d, 1.0d, 50.0d, 1.0d));
buttonDry.setText("Dry");
buttonDry.addActionListener(new java.awt.event.ActionListener() {
@@ -181,7 +181,7 @@ public class Commands extends Panel {
}
});
spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(0.5d, 0.1d, 10.0d, 1.0d));
spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(0.4d, 0.1d, 1.0d, 0.1d));
jLabel7.setText("Speed(%):");
script/devices/RobotSC.py
+2 -6
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@@ -90,11 +90,6 @@ class RobotSC(RobotTCP):
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_scanner()
def move_scanner(self):
self.start_task('moveScanner')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_scanner()
#def do_scan(self):
# self.start_task('doScan')
# self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
@@ -271,11 +266,12 @@ else:
add_device(RobotSC("robot", "TellRobot6S:1000"), force = True)
#robot.latency = 0.005
robot.set_default_desc(DESC_DEFAULT)
robot.default_speed = 20
robot.set_frame(FRAME_DEFAULT)
robot.set_tool(TOOL_DEFAULT)
robot.setPolling(DEFAULT_ROBOT_POLLING)
robot.setPolling(DEFAULT_ROBOT_POLLING)
robot.get_current_point() #TODO: REMOVE WHEN CURRENT POINT REPORTED BY POLLING MESSAGE
script/devices/RobotTCP.py
+19 -4
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@@ -47,7 +47,9 @@ class RobotTCP(TcpDevice, Stoppable):
self.polling_interval = 0.01
self.reset = True
self.default_tolerance = 5
self.default_speed = 100
self.default_speed = 100
self.latency = 0
self.last_msg_timestamp = 0
self.task_start_retries = 3
self.exception_on_task_start_failure = True #Tasks may start and be finished when checked
@@ -135,6 +137,10 @@ class RobotTCP(TcpDevice, Stoppable):
raise Exception ("Robot not in known point")
def _sendReceive(self, msg_id, msg = "", timeout = None):
if self.latency >0:
timespan = time.time() - self.last_msg_timestamp
if timespan<self.latency:
time.sleep(self.latency-timespan)
tx = self.header if (self.header != None) else ""
tx = tx + msg_id + " " + msg
if (len(tx)>150):
@@ -144,6 +150,7 @@ class RobotTCP(TcpDevice, Stoppable):
if self.isSimulated():
return ""
rx = self.sendReceive(tx, msg_id, self.trailer , 0, self.timeout if timeout is None else timeout, self.retries)
self.last_msg_timestamp = time.time()
rx=rx[:-1] #Remove 0A
self.getLogger().finer("RX = '" + str(rx) + "'")
if rx[:3] != msg_id:
@@ -547,8 +554,10 @@ class RobotTCP(TcpDevice, Stoppable):
if self.get_task_status(name)[0] != -1:
raise Exception("Task already exists: " + name)
#taskCreate "t1", 10, read(sMessage)
cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
if priority<1 or priority > 100:
raise Exception("Invalid priority: " + str(priority))
cmd = program + '('
for i in range(len(args)):
val = args[i]
if type(val) == bool:
@@ -556,7 +565,13 @@ class RobotTCP(TcpDevice, Stoppable):
elif val == False: val = "false"
cmd += str(val) + (',' if (i<(len(args)-1)) else '')
cmd+=')'
self.evaluate(cmd)
#TODO: in new robot exec taskCreate is freezing controller
#REMOVE if bug is fixed
self.execute('task_create',name, str(priority), program, *args)
#self.evaluate('taskCreate "' + name + '", ' + str(priority) + ', ' + cmd)
def task_suspend(self, name):
self.evaluate('taskSuspend("' + str(name)+ '")')
script/devices/Wago.py
+1 -1
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@@ -93,7 +93,7 @@ def release_psys():
###################################################################################################
# Drier
###################################################################################################
MAX_HEATER_TIME = 60000
MAX_HEATER_TIME = 70000
def set_air_stream(state):
"""
script/motion/dry.py
+1 -1
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@@ -1,6 +1,6 @@
def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):
def dry(heat_time=40.0, speed=0.4, wait_cold = 30.0):
"""
heat_time (float): in seconds
speed (float): % of nominal speed
script/motion/recover.py
+3 -3
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@@ -5,10 +5,10 @@ import org.apache.commons.math3.geometry.euclidean.threed.Line as Line3D
RECOVER_DESC = "mRecovery"
RECOVER_TOOL = TOOL_DEFAULT
known_segments = [ ("pHome", "pPark", 100), \
("pScan", "pGonioA", 80), \
known_segments = [ ("pHome", "pPark", 60), \
("pScan", "pGonioA", 100), \
("pPark", "pScan", 25), \
("pScan", "pHeater", 75), \
("pScan", "pHeater", 50), \
("pHome", "pDewar", 10), \
("pGonioA", "pGonioG", 10), \
("pHeater", "pHeatB", 10), \