script/devices/RobotSC.py

@@ -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

@@ -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

@@ -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

@@ -1,6 +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

@@ -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), \