From 4239b7fb577cc3cc7201e47e77eb5da337ad6794 Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Tue, 3 Aug 2021 15:18:30 +0200 Subject: [PATCH] Second guiding tool --- config/config.properties | 74 +- config/devices - Copy.properties | 134 +-- config/devices.properties | 119 +-- config/jcae.properties | 22 +- config/mail.properties | 18 +- config/plugins.properties | 42 +- config/settings.properties | 42 +- config/setup-modbus.properties | 36 +- config/setup.properties | 40 +- config/tasks.properties | 4 +- config/variables.properties | 4 +- devices/20161117_163816.png.properties | 40 +- devices/A1.properties | 6 +- devices/A2.properties | 6 +- devices/A3.properties | 6 +- devices/A4.properties | 6 +- devices/A5.properties | 6 +- devices/B1.properties | 6 +- devices/B2.properties | 6 +- devices/B3.properties | 6 +- devices/B4.properties | 6 +- devices/B5.properties | 6 +- devices/BasePlate.properties | 2 +- devices/C1.properties | 6 +- devices/C2.properties | 6 +- devices/C3.properties | 6 +- devices/C4.properties | 6 +- devices/C5.properties | 6 +- devices/D1.properties | 6 +- devices/D2.properties | 6 +- devices/D3.properties | 6 +- devices/D4.properties | 6 +- devices/D5.properties | 6 +- devices/E1.properties | 6 +- devices/E2.properties | 6 +- devices/E3.properties | 6 +- devices/E4.properties | 6 +- devices/E5.properties | 6 +- devices/F1.properties | 6 +- devices/F2.properties | 6 +- devices/F3.properties | 6 +- devices/F4.properties | 6 +- devices/F5.properties | 6 +- devices/R1.properties | 6 +- devices/R2.properties | 6 +- devices/R3.properties | 6 +- devices/R4.properties | 6 +- devices/R5.properties | 6 +- devices/RoomTemperatureBasePlate.properties | 2 +- devices/Time.properties | 20 +- devices/air_pressure.properties | 10 +- devices/cx.properties | 34 +- devices/cz.properties | 34 +- devices/dew_point.properties | 12 +- devices/dewar_level.properties | 12 +- devices/dispatcher.properties | 22 +- devices/dp1.properties | 22 +- devices/fx.properties | 34 +- devices/fy.properties | 34 +- devices/gripper_cam.properties | 40 +- devices/humidity.properties | 12 +- devices/img.properties | 48 +- devices/led_ctrl.properties | 16 +- devices/led_ctrl_1.properties | 18 +- devices/led_ctrl_2.properties | 18 +- devices/led_ctrl_3.properties | 18 +- devices/led_level.properties | 18 +- devices/m1.properties | 32 +- devices/m2.properties | 32 +- devices/monitoring_cam.properties | 40 +- devices/n2_pressure.properties | 10 +- devices/p1.properties | 20 +- devices/phase_separator.properties | 16 +- devices/phase_separator_level.properties | 12 +- devices/rim_heater_temp.properties | 12 +- devices/robot x.properties | 18 +- devices/robot.properties | 16 +- devices/robot_j1.properties | 20 +- devices/robot_j2.properties | 20 +- devices/robot_j3.properties | 20 +- devices/robot_j4.properties | 20 +- devices/robot_j5.properties | 20 +- devices/robot_j6.properties | 20 +- devices/robot_modbus.properties | 16 +- devices/robot_rx.properties | 20 +- devices/robot_ry.properties | 20 +- devices/robot_rz.properties | 20 +- devices/robot_x.properties | 20 +- devices/robot_y.properties | 20 +- devices/robot_z.properties | 20 +- devices/ry.properties | 34 +- devices/smart_magnet.properties | 16 +- devices/smc_current.properties | 18 +- devices/smc_current_rb.properties | 12 +- devices/src1.properties | 50 +- devices/src2.properties | 50 +- devices/temp.properties | 12 +- devices/temperature.properties | 12 +- devices/th2e.properties | 16 +- devices/top_cam.properties | 40 +- devices/ue.properties | 12 +- devices/wago.properties | 16 +- plugins/LaserUE.java | 180 ++-- plugins/MjpegSource2.java | 298 +++--- plugins/SmartMagnetConfig.java | 28 +- plugins/TestZMQ.java | 52 +- plugins/gui.java | 192 ++-- .../MXLAB/Controller1/Controller1.controller | 30 +- .../usr/applicom/Modbus/modbus.xml | 20 +- robot/MXLAB/Controller1/usr/configs/arm.cfx | 42 +- robot/MXLAB/Controller1/usr/configs/bio.cfx | 68 +- robot/MXLAB/Controller1/usr/configs/bio2.cfx | 68 +- robot/MXLAB/Controller1/usr/configs/cell.cfx | 134 +-- robot/MXLAB/Controller1/usr/configs/cio.cfx | 52 +- .../Controller1/usr/configs/controller.cfx | 72 +- .../MXLAB/Controller1/usr/configs/encoder.cfx | 88 +- robot/MXLAB/Controller1/usr/configs/mio.cfx | 132 +-- .../MXLAB/Controller1/usr/configs/network.cfx | 56 +- .../usr/configs/profiles/default.cfx | 42 +- .../usr/configs/profiles/maintenance.cfx | 40 +- robot/MXLAB/Controller1/usr/configs/sio.cfx | 20 +- .../Controller1/usr/configs/systemios.cfx | 608 ++++++------- .../Controller1/usr/configs/val3version.xml | 6 +- .../usrapp/ForceDetection/ForceDetection.dtx | 258 +++--- .../usrapp/ForceDetection/ForceDetection.pjx | 50 +- .../usr/usrapp/ForceDetection/comModbus.pgx | 120 +-- .../usr/usrapp/ForceDetection/comTcp.pgx | 474 +++++----- .../usr/usrapp/ForceDetection/detect.pgx | 154 ++-- .../usr/usrapp/ForceDetection/getContact.pgx | 48 +- .../usrapp/ForceDetection/onCommandModbus.pgx | 52 +- .../usrapp/ForceDetection/onCommandTcp.pgx | 54 +- .../usr/usrapp/ForceDetection/resetData.pgx | 56 +- .../usrapp/ForceDetection/sendEventTcp.pgx | 44 +- .../usr/usrapp/ForceDetection/setInZone.pgx | 40 +- .../usr/usrapp/ForceDetection/setOutZone.pgx | 42 +- .../usrapp/ForceDetection/simulateEvents.pgx | 42 +- .../usr/usrapp/ForceDetection/start.pgx | 128 +-- .../usrapp/ForceDetection/startDetection.pgx | 70 +- .../usrapp/ForceDetection/startTraining.pgx | 60 +- .../usr/usrapp/ForceDetection/train.pgx | 54 +- .../usr/usrapp/SC_TELL/goGonio.pgx | 86 +- .../usr/usrapp/SC_TELL/movePark.pgx | 122 +-- .../usr/usrapp/SC_TELL/moveScanner.pgx | 98 +- robot/MXLAB/MXLAB.cell | 8 +- script/local.groovy | 6 +- script/local.js | 8 +- script/local.py | 845 +++++++++--------- script/motion/mount.py | 35 +- script/motion/unmount.py | 27 +- 149 files changed, 3566 insertions(+), 3606 deletions(-) diff --git a/config/config.properties b/config/config.properties index 9b48db8..c2691f2 100644 --- a/config/config.properties +++ b/config/config.properties @@ -1,37 +1,37 @@ -#Fri Aug 14 09:27:15 CEST 2020 -hostName=null -userManagement=false -instanceName=X06SA -autoSaveScanData=true -simulation=false -dataServerPort=-1 -hideServerMessages=true -serverPort=8080 -versionTrackingEnabled=true -dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name} -serverEnabled=true -commandExecutionEvents=false -logDaysToLive=30 -dataScanReleaseRecords=false -depthDimension=0 -dataScanPreserveTypes=false -logLevel=Fine -dataScanSaveOutput=false -dataScanFlushRecords=true -logPath={logs}/{date}_{time} -dataLayout=table -terminalEnabled=false -notificationLevel=null -userAuthenticator= -logLevelConsole=Off -terminalPort=3579 -scanStreamerPort=-1 -dataScanSaveScript=false -dataScanSaveSetpoints=false -parallelInitialization=false -createSessionFiles=true -versionTrackingLogin={context}/svcusr-hlapp_robot -versionTrackingManual=true -versionTrackingRemote=git@git.psi.ch\:tell/X06SA.git -dataProvider=txt -saveCommandStatistics=true +#Fri Aug 14 09:27:15 CEST 2020 +hostName=null +userManagement=false +instanceName=X06SA +autoSaveScanData=true +simulation=false +dataServerPort=-1 +hideServerMessages=true +serverPort=8080 +versionTrackingEnabled=true +dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name} +serverEnabled=true +commandExecutionEvents=false +logDaysToLive=30 +dataScanReleaseRecords=false +depthDimension=0 +dataScanPreserveTypes=false +logLevel=Fine +dataScanSaveOutput=false +dataScanFlushRecords=true +logPath={logs}/{date}_{time} +dataLayout=table +terminalEnabled=false +notificationLevel=null +userAuthenticator= +logLevelConsole=Off +terminalPort=3579 +scanStreamerPort=-1 +dataScanSaveScript=false +dataScanSaveSetpoints=false +parallelInitialization=false +createSessionFiles=true +versionTrackingLogin={context}/svcusr-hlapp_robot +versionTrackingManual=true +versionTrackingRemote=git@git.psi.ch\:tell/X06SA.git +dataProvider=txt +saveCommandStatistics=true diff --git a/config/devices - Copy.properties b/config/devices - Copy.properties index cc3672f..94d25ce 100644 --- a/config/devices - Copy.properties +++ b/config/devices - Copy.properties @@ -1,67 +1,67 @@ -img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000"|||false -gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||-1000| -microscan=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2001||| -microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2003||| -ue=LaserUE|COM4|||false -#robot=RobotTcp|127.0.0.1:1000||| -#onewire=ch.psi.pshell.serial.TcpDevice|129.129.126.83:5000||| -puck_detection=ch.psi.mxsc.PuckDetection|tell-raspberrypi:5556||| -#robot_modbus=ch.psi.pshell.modbus.ModbusTCP|129.129.126.100:502||| -#jf1=ch.psi.pshell.modbus.AnalogInput|robot_modbus 0||100| -#jf2=ch.psi.pshell.modbus.AnalogInput|robot_modbus 1||100| -#jf3=ch.psi.pshell.modbus.AnalogInput|robot_modbus 2||100| -#jf4=ch.psi.pshell.modbus.AnalogInput|robot_modbus 3||100| -#jf5=ch.psi.pshell.modbus.AnalogInput|robot_modbus 4||100| -#jf6=ch.psi.pshell.modbus.AnalogInput|robot_modbus 5||100| -#robot_sts=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 6 6||100| -#robot_cmd=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 12||| -#robot_args=ch.psi.pshell.modbus.AnalogOutputArray|robot_modbus 47 12||| -#robot_req=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 13||| -#robot_ack=ch.psi.pshell.modbus.AnalogInput|robot_modbus 14||| -#robot_ret=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 15 12||| -#wago_back=ch.psi.pshell.modbus.ModbusTCP|SF-TEST-WAGO1:502||| -wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502||| -led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| -led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| -led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| -feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| -feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| -filling_phase_separator=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| -filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| -dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| -guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 8||1000| -air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|false -n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| -he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000| -he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000| -relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| -release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| -release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| -ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2||| -rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3||| -phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4||| -dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false -valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6||| -gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7||| -valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8||| -valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9||| -valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10||| -valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11||| -#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12||| -#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 13||| -#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14||| -#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15||| -phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| -dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| -rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||10000| -air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||10000| -n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||10000| -#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 5||| -#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 6||| -#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 7||| -led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| -led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| -led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| -#spare_ao_3=ch.psi.pshell.modbus.AnalogOutput|wago 3||| -#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM||| -#img_back=ch.psi.pshell.imaging.CameraSource|cam||-100| +img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000"|||false +gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||-1000| +microscan=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2001||| +microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2003||| +ue=LaserUE|COM4|||false +#robot=RobotTcp|127.0.0.1:1000||| +#onewire=ch.psi.pshell.serial.TcpDevice|129.129.126.83:5000||| +puck_detection=ch.psi.mxsc.PuckDetection|tell-raspberrypi:5556||| +#robot_modbus=ch.psi.pshell.modbus.ModbusTCP|129.129.126.100:502||| +#jf1=ch.psi.pshell.modbus.AnalogInput|robot_modbus 0||100| +#jf2=ch.psi.pshell.modbus.AnalogInput|robot_modbus 1||100| +#jf3=ch.psi.pshell.modbus.AnalogInput|robot_modbus 2||100| +#jf4=ch.psi.pshell.modbus.AnalogInput|robot_modbus 3||100| +#jf5=ch.psi.pshell.modbus.AnalogInput|robot_modbus 4||100| +#jf6=ch.psi.pshell.modbus.AnalogInput|robot_modbus 5||100| +#robot_sts=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 6 6||100| +#robot_cmd=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 12||| +#robot_args=ch.psi.pshell.modbus.AnalogOutputArray|robot_modbus 47 12||| +#robot_req=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 13||| +#robot_ack=ch.psi.pshell.modbus.AnalogInput|robot_modbus 14||| +#robot_ret=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 15 12||| +#wago_back=ch.psi.pshell.modbus.ModbusTCP|SF-TEST-WAGO1:502||| +wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502||| +led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| +led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| +led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| +feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| +feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| +filling_phase_separator=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| +filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| +dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| +guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 8||1000| +air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|false +n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| +he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000| +he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000| +relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| +release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| +release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| +ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2||| +rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3||| +phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4||| +dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false +valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6||| +gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7||| +valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8||| +valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9||| +valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10||| +valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11||| +#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12||| +#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 13||| +#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14||| +#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15||| +phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| +dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| +rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||10000| +air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||10000| +n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||10000| +#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 5||| +#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 6||| +#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 7||| +led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| +led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| +led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| +#spare_ao_3=ch.psi.pshell.modbus.AnalogOutput|wago 3||| +#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM||| +#img_back=ch.psi.pshell.imaging.CameraSource|cam||-100| diff --git a/config/devices.properties b/config/devices.properties index 8193ed4..3543c69 100644 --- a/config/devices.properties +++ b/config/devices.properties @@ -1,59 +1,60 @@ -cryopos=ch.psi.pshell.epics.Motor|X06SA-ES-CJ:TRY1|||true -eh_door_lock=ch.psi.pshell.epics.ChannelString|X06SA-EH1-LAC:02_05|Read||true -img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;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| -#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||| -mscan_pin_cmd=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-pin:2003||| -mscan_puck=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-puck:2001||| -mscan_puck_cmd=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-puck:2003||| -ue=LaserUE|COM3 50 35|||true -puck_detection=ch.psi.mxsc.PuckDetection|tell6s-raspberrypi:5556||| -#th2e=ch.psi.pshell.modbus.ModbusTCP|129.129.109.200:502||| -#temperature=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 1||10000| -#humidity=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 5||10000| -#dew_point=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 9||10000| -wago=ch.psi.pshell.modbus.ModbusTCP|tell6s-wago:502||| -led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| -led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| -led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| -feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| -feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| -filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| -dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| -guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| -air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|false -n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000| -smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| -smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 11||1000| -smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 12||1000| -#spare_di_1=ch.psi.pshell.modbus.DigitalInput|wago 13||| -#spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 14||| -#spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 15||| -#spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 16||| -relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| -release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| -release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| -#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 2||| -#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 3||| -#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4||| -gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5||| -smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6||| -valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7||| -valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 8||| -valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 9||| -valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 10||| -dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| -rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| -#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 2|||false -#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 3||| -smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000| -#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5||| -#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6||| -#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7||| -led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| -led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| -led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| -smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3||| +cryopos=ch.psi.pshell.epics.Motor|X06SA-ES-CJ:TRY1|||true +eh_door_lock=ch.psi.pshell.epics.ChannelString|X06SA-EH1-LAC:02_05|Read||true +img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;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| +#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||| +mscan_pin_cmd=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-pin:2003||| +mscan_puck=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-puck:2001||| +mscan_puck_cmd=ch.psi.pshell.serial.TcpDevice|mscan-tell6s-puck:2003||| +ue=LaserUE|COM3 50 35|||true +puck_detection=ch.psi.mxsc.PuckDetection|tell6s-raspberrypi:5556||| +#th2e=ch.psi.pshell.modbus.ModbusTCP|129.129.109.200:502||| +#temperature=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 1||10000| +#humidity=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 5||10000| +#dew_point=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 9||10000| +wago=ch.psi.pshell.modbus.ModbusTCP|tell6s-wago:502||| +led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| +led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| +led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| +feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| +feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| +filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| +dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| +guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| +air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|false +n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000| +smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| +smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 11||1000| +smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 12||1000| +guiding_tool_park_2=ch.psi.pshell.modbus.DigitalInput|wago 13||1000| +#spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 14||1000| +#spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 15||1000| +#spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 16||1000| +relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| +#inputs=ch.psi.pshell.modbus.DigitalInputArray|wago 0 32||1000| +release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| +release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| +#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 2||| +#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 3||| +#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4||| +gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5||| +smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6||| +valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7||| +valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 8||| +valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 9||| +valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 10||| +dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| +rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| +#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 2|||false +#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 3||| +smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000| +#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5||| +#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6||| +#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7||| +led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| +led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| +led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| +smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3||| diff --git a/config/jcae.properties b/config/jcae.properties index 2bb0691..7f9e889 100644 --- a/config/jcae.properties +++ b/config/jcae.properties @@ -1,11 +1,11 @@ -#Tue Sep 06 15:10:24 CEST 2016 -ch.psi.jcae.ContextFactory.addressList= -ch.psi.jcae.ContextFactory.serverPort= -ch.psi.jcae.ContextFactory.maxArrayBytes=20000000 -ch.psi.jcae.ChannelFactory.retries=1 -ch.psi.jcae.ChannelFactory.timeout=500 -ch.psi.jcae.impl.DefaultChannelService.retries=2 -ch.psi.jcae.impl.DefaultChannelService.timeout=1000 -ch.psi.jcae.ContextFactory.autoAddressList=true -ch.psi.jcae.ContextFactory.useShellVariables=false -ch.psi.jcae.ContextFactory.addLocalBroadcastInterfaces=false +#Tue Sep 06 15:10:24 CEST 2016 +ch.psi.jcae.ContextFactory.addressList= +ch.psi.jcae.ContextFactory.serverPort= +ch.psi.jcae.ContextFactory.maxArrayBytes=20000000 +ch.psi.jcae.ChannelFactory.retries=1 +ch.psi.jcae.ChannelFactory.timeout=500 +ch.psi.jcae.impl.DefaultChannelService.retries=2 +ch.psi.jcae.impl.DefaultChannelService.timeout=1000 +ch.psi.jcae.ContextFactory.autoAddressList=true +ch.psi.jcae.ContextFactory.useShellVariables=false +ch.psi.jcae.ContextFactory.addLocalBroadcastInterfaces=false diff --git a/config/mail.properties b/config/mail.properties index e04b672..0657827 100644 --- a/config/mail.properties +++ b/config/mail.properties @@ -1,9 +1,9 @@ -#Mon Oct 23 10:53:54 CEST 2017 -auth=None -from= -host= -port=0 -pwd= -smsSuffix=@sms.switch.ch -to= -usr= +#Mon Oct 23 10:53:54 CEST 2017 +auth=None +from= +host= +port=0 +pwd= +smsSuffix=@sms.switch.ch +to= +usr= diff --git a/config/plugins.properties b/config/plugins.properties index 1522a96..ac378ef 100644 --- a/config/plugins.properties +++ b/config/plugins.properties @@ -1,21 +1,21 @@ -MXSC-1.10.0\ -\ Back.jar=disabled -Commands.java=disabled -Recovery.java=disabled -MXSC-1.10.0.jar=disabled -WagoPanel.java=enabled -LaserUEPanel.java=enabled -BarcodeReaderPanel.java=enabled -PuckDetectionPanel.java=enabled -HexiposiPanel.java=enabled -MjpegSource2.java=enabled -LN2.java=disabled -Hexiposi.java=disabled -RobotPanel.java=enabled -SmartMagnetConfig.java=disabled -SmartMagnetPanel.java=enabled -LaserUE.java=enabled -TestZMQ.java=disabled -RobotModbus.java=disabled -RobotTcp.java=disabled -Beeper.java=disabled -gui.java=disabled +MXSC-1.10.0\ -\ Back.jar=disabled +Commands.java=disabled +Recovery.java=disabled +MXSC-1.10.0.jar=disabled +WagoPanel.java=enabled +LaserUEPanel.java=enabled +BarcodeReaderPanel.java=enabled +PuckDetectionPanel.java=enabled +HexiposiPanel.java=enabled +MjpegSource2.java=enabled +LN2.java=disabled +Hexiposi.java=disabled +RobotPanel.java=enabled +SmartMagnetConfig.java=disabled +SmartMagnetPanel.java=enabled +LaserUE.java=enabled +TestZMQ.java=disabled +RobotModbus.java=disabled +RobotTcp.java=disabled +Beeper.java=disabled +gui.java=disabled diff --git a/config/settings.properties b/config/settings.properties index 4597ded..cb4f64a 100644 --- a/config/settings.properties +++ b/config/settings.properties @@ -1,21 +1,21 @@ -#Fri Jul 30 10:49:16 CEST 2021 -dry_mount_counter=0 -room_temperature_enabled=false -pin_offset=-0.0 -cryopos_in=5.0 -puck_types=true -imaging_enabled=false -dry_timestamp=1.626443745088E9 -roi_h=1000 -led_level=0.0 -beamline_status_enabled=false -force_dry_mount_count=15 -cryopos_out=15.0 -roi_y=123 -barcode_reader_scan_pucks=false -cryopos_mid=12.0 -cold_position_timeout=3600 -force_dry_timeout=0 -roi_w=1000 -roi_x=289 -valve_control=false +#Tue Aug 03 15:17:55 CEST 2021 +dry_mount_counter=4 +room_temperature_enabled=false +pin_offset=-0.0 +cryopos_in=5.0 +puck_types=true +imaging_enabled=false +dry_timestamp=1.626443745088E9 +roi_h=1000 +led_level=0.0 +beamline_status_enabled=false +force_dry_mount_count=15 +cryopos_out=15.0 +roi_y=123 +barcode_reader_scan_pucks=false +cryopos_mid=12.0 +cold_position_timeout=3600 +force_dry_timeout=0 +roi_w=1000 +roi_x=289 +valve_control=false diff --git a/config/setup-modbus.properties b/config/setup-modbus.properties index eb292c1..893fe12 100644 --- a/config/setup-modbus.properties +++ b/config/setup-modbus.properties @@ -1,18 +1,18 @@ -#Wed Sep 14 15:16:45 CEST 2016 -configFile={config}/config.properties -configFileDevices={config}/devices-modbus.properties -configFilePlugins={config}/plugins.properties -configFileTasks={config}/tasks.properties -configPath={home}/config -contextPath={outp}/context -dataPath={outp}/data -devicesPath={home}/devices -extensionsPath={home}/extensions -imagesPath={outp}/images -libraryPath={script}; {script}/Lib -logPath={outp}/log -pluginsPath={home}/plugins -scriptPath={home}/script -scriptType=py -sessionsPath={outp}/sessions -wwwPath={home}/www +#Wed Sep 14 15:16:45 CEST 2016 +configFile={config}/config.properties +configFileDevices={config}/devices-modbus.properties +configFilePlugins={config}/plugins.properties +configFileTasks={config}/tasks.properties +configPath={home}/config +contextPath={outp}/context +dataPath={outp}/data +devicesPath={home}/devices +extensionsPath={home}/extensions +imagesPath={outp}/images +libraryPath={script}; {script}/Lib +logPath={outp}/log +pluginsPath={home}/plugins +scriptPath={home}/script +scriptType=py +sessionsPath={outp}/sessions +wwwPath={home}/www diff --git a/config/setup.properties b/config/setup.properties index 7ad15eb..87a13e8 100644 --- a/config/setup.properties +++ b/config/setup.properties @@ -1,20 +1,20 @@ -#Tue Sep 17 15:06:05 CEST 2019 -configFile={config}/config.properties -configFileDevices={config}/devices.properties -configFilePlugins={config}/plugins.properties -configFileSettings={config}/settings.properties -configFileTasks={config}/tasks.properties -configFileVariables={config}/variables.properties -configPath={home}/config -contextPath={outp}/context -dataPath={outp}/data -devicesPath={home}/devices -extensionsPath={home}/extensions -imagesPath={outp}/images -libraryPath={script}; {script}/Lib -logPath={outp}/log -pluginsPath={home}/plugins -scriptPath={home}/script -scriptType=py -sessionsPath={outp}/sessions -wwwPath={home}/www +#Tue Sep 17 15:06:05 CEST 2019 +configFile={config}/config.properties +configFileDevices={config}/devices.properties +configFilePlugins={config}/plugins.properties +configFileSettings={config}/settings.properties +configFileTasks={config}/tasks.properties +configFileVariables={config}/variables.properties +configPath={home}/config +contextPath={outp}/context +dataPath={outp}/data +devicesPath={home}/devices +extensionsPath={home}/extensions +imagesPath={outp}/images +libraryPath={script}; {script}/Lib +logPath={outp}/log +pluginsPath={home}/plugins +scriptPath={home}/script +scriptType=py +sessionsPath={outp}/sessions +wwwPath={home}/www diff --git a/config/tasks.properties b/config/tasks.properties index 92f138b..15051e4 100644 --- a/config/tasks.properties +++ b/config/tasks.properties @@ -1,2 +1,2 @@ -tasks/LedMonitoring=120 -tasks/ColdPositionTimeout=300 +tasks/LedMonitoring=120 +tasks/ColdPositionTimeout=300 diff --git a/config/variables.properties b/config/variables.properties index 15f8089..9155ff5 100644 --- a/config/variables.properties +++ b/config/variables.properties @@ -1,2 +1,2 @@ -#Fri Jul 30 10:03:08 CEST 2021 -FileSequentialNumber=295 +#Fri Jul 30 10:03:08 CEST 2021 +FileSequentialNumber=295 diff --git a/devices/20161117_163816.png.properties b/devices/20161117_163816.png.properties index be1fd91..002c936 100644 --- a/devices/20161117_163816.png.properties +++ b/devices/20161117_163816.png.properties @@ -1,20 +1,20 @@ -#Mon Oct 23 15:10:20 CEST 2017 -flipHorizontally=false -flipVertically=false -grayscale=false -invert=false -rescaleFactor=1.0 -rescaleOffset=0.0 -roiHeight=-1 -roiWidth=-1 -roiX=0 -roiY=0 -rotation=0.0 -rotationCrop=false -scale=1.0 -spatialCalOffsetX=NaN -spatialCalOffsetY=NaN -spatialCalScaleX=NaN -spatialCalScaleY=NaN -spatialCalUnits=mm -transpose=false +#Mon Oct 23 15:10:20 CEST 2017 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/A1.properties b/devices/A1.properties index ec0c6df..5654dbb 100644 --- a/devices/A1.properties +++ b/devices/A1.properties @@ -1,3 +1,3 @@ -#Thu Nov 12 09:42:25 CET 2020 -detection=Mechanical -disabled=false +#Thu Nov 12 09:42:25 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/A2.properties b/devices/A2.properties index 8cdeb3f..d865944 100644 --- a/devices/A2.properties +++ b/devices/A2.properties @@ -1,3 +1,3 @@ -#Thu Nov 12 09:42:29 CET 2020 -detection=Mechanical -disabled=false +#Thu Nov 12 09:42:29 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/A3.properties b/devices/A3.properties index 75d14c7..5950398 100644 --- a/devices/A3.properties +++ b/devices/A3.properties @@ -1,3 +1,3 @@ -#Tue Mar 10 08:15:12 CET 2020 -detection=Mechanical -disabled=false +#Tue Mar 10 08:15:12 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/A4.properties b/devices/A4.properties index 502a5d0..7dad517 100644 --- a/devices/A4.properties +++ b/devices/A4.properties @@ -1,3 +1,3 @@ -#Thu Jun 06 15:40:34 CEST 2019 -detection=Mechanical -disabled=false +#Thu Jun 06 15:40:34 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/A5.properties b/devices/A5.properties index adcc5f3..f886a5f 100644 --- a/devices/A5.properties +++ b/devices/A5.properties @@ -1,3 +1,3 @@ -#Tue Jan 21 09:46:49 CET 2020 -detection=Mechanical -disabled=false +#Tue Jan 21 09:46:49 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/B1.properties b/devices/B1.properties index bdd9436..d0db30a 100644 --- a/devices/B1.properties +++ b/devices/B1.properties @@ -1,3 +1,3 @@ -#Wed Sep 16 08:50:16 CEST 2020 -detection=Mechanical -disabled=false +#Wed Sep 16 08:50:16 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/B2.properties b/devices/B2.properties index eb9acda..f9b121a 100644 --- a/devices/B2.properties +++ b/devices/B2.properties @@ -1,3 +1,3 @@ -#Thu Nov 12 09:42:34 CET 2020 -detection=Mechanical -disabled=false +#Thu Nov 12 09:42:34 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/B3.properties b/devices/B3.properties index e2eed82..4889b46 100644 --- a/devices/B3.properties +++ b/devices/B3.properties @@ -1,3 +1,3 @@ -#Tue Nov 19 11:00:48 CET 2019 -detection=Mechanical -disabled=false +#Tue Nov 19 11:00:48 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/B4.properties b/devices/B4.properties index 074e71d..a8453b9 100644 --- a/devices/B4.properties +++ b/devices/B4.properties @@ -1,3 +1,3 @@ -#Sat Dec 14 17:27:09 CET 2019 -detection=Mechanical -disabled=false +#Sat Dec 14 17:27:09 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/B5.properties b/devices/B5.properties index f768e0f..2047b5e 100644 --- a/devices/B5.properties +++ b/devices/B5.properties @@ -1,3 +1,3 @@ -#Wed Dec 11 08:55:08 CET 2019 -detection=Mechanical -disabled=false +#Wed Dec 11 08:55:08 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/BasePlate.properties b/devices/BasePlate.properties index 1e25f83..aebdfa4 100644 --- a/devices/BasePlate.properties +++ b/devices/BasePlate.properties @@ -1 +1 @@ -#Fri Feb 10 14:35:38 CET 2017 +#Fri Feb 10 14:35:38 CET 2017 diff --git a/devices/C1.properties b/devices/C1.properties index 42e8813..28ed6d7 100644 --- a/devices/C1.properties +++ b/devices/C1.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:31 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:31 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/C2.properties b/devices/C2.properties index 3602507..2081656 100644 --- a/devices/C2.properties +++ b/devices/C2.properties @@ -1,3 +1,3 @@ -#Thu Nov 12 10:06:30 CET 2020 -detection=Mechanical -disabled=false +#Thu Nov 12 10:06:30 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/C3.properties b/devices/C3.properties index 5210a65..7842070 100644 --- a/devices/C3.properties +++ b/devices/C3.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:37 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:37 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/C4.properties b/devices/C4.properties index 61fba0c..dab1360 100644 --- a/devices/C4.properties +++ b/devices/C4.properties @@ -1,3 +1,3 @@ -#Wed Dec 11 08:56:26 CET 2019 -detection=Mechanical -disabled=false +#Wed Dec 11 08:56:26 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/C5.properties b/devices/C5.properties index 354cfeb..bc9351c 100644 --- a/devices/C5.properties +++ b/devices/C5.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:43 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:43 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D1.properties b/devices/D1.properties index d83b456..be32157 100644 --- a/devices/D1.properties +++ b/devices/D1.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:48 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:48 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D2.properties b/devices/D2.properties index 65e40d6..b7fe215 100644 --- a/devices/D2.properties +++ b/devices/D2.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:51 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:51 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D3.properties b/devices/D3.properties index 5490caf..4ad23f8 100644 --- a/devices/D3.properties +++ b/devices/D3.properties @@ -1,3 +1,3 @@ -#Thu Sep 19 08:23:53 CEST 2019 -detection=Mechanical -disabled=false +#Thu Sep 19 08:23:53 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D4.properties b/devices/D4.properties index 18e4fc5..88abb03 100644 --- a/devices/D4.properties +++ b/devices/D4.properties @@ -1,3 +1,3 @@ -#Wed Oct 14 16:15:14 CEST 2020 -detection=Mechanical -disabled=false +#Wed Oct 14 16:15:14 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/D5.properties b/devices/D5.properties index c0a9c00..23581f3 100644 --- a/devices/D5.properties +++ b/devices/D5.properties @@ -1,3 +1,3 @@ -#Fri Dec 04 15:49:00 CET 2020 -detection=Mechanical -disabled=false +#Fri Dec 04 15:49:00 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/E1.properties b/devices/E1.properties index 5698230..1898ba8 100644 --- a/devices/E1.properties +++ b/devices/E1.properties @@ -1,3 +1,3 @@ -#Tue Aug 18 13:57:40 CEST 2020 -detection=Mechanical -disabled=false +#Tue Aug 18 13:57:40 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/E2.properties b/devices/E2.properties index 2a01b20..e443147 100644 --- a/devices/E2.properties +++ b/devices/E2.properties @@ -1,3 +1,3 @@ -#Tue Aug 18 13:57:56 CEST 2020 -detection=Mechanical -disabled=false +#Tue Aug 18 13:57:56 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/E3.properties b/devices/E3.properties index 8969310..cfea778 100644 --- a/devices/E3.properties +++ b/devices/E3.properties @@ -1,3 +1,3 @@ -#Tue Aug 27 11:23:43 CEST 2019 -detection=Mechanical -disabled=false +#Tue Aug 27 11:23:43 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/E4.properties b/devices/E4.properties index c44f3ec..8ffd9ee 100644 --- a/devices/E4.properties +++ b/devices/E4.properties @@ -1,3 +1,3 @@ -#Tue Aug 27 11:23:47 CEST 2019 -detection=Mechanical -disabled=false +#Tue Aug 27 11:23:47 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/E5.properties b/devices/E5.properties index 9b88e92..e86784b 100644 --- a/devices/E5.properties +++ b/devices/E5.properties @@ -1,3 +1,3 @@ -#Tue Aug 27 11:23:51 CEST 2019 -detection=Mechanical -disabled=false +#Tue Aug 27 11:23:51 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/F1.properties b/devices/F1.properties index a234b64..e9cab7d 100644 --- a/devices/F1.properties +++ b/devices/F1.properties @@ -1,3 +1,3 @@ -#Tue Aug 18 13:58:36 CEST 2020 -detection=Mechanical -disabled=false +#Tue Aug 18 13:58:36 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/F2.properties b/devices/F2.properties index dce85b2..6e9df7a 100644 --- a/devices/F2.properties +++ b/devices/F2.properties @@ -1,3 +1,3 @@ -#Tue Sep 10 08:18:28 CEST 2019 -detection=Mechanical -disabled=false +#Tue Sep 10 08:18:28 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/F3.properties b/devices/F3.properties index e7aeabe..16463c5 100644 --- a/devices/F3.properties +++ b/devices/F3.properties @@ -1,3 +1,3 @@ -#Thu Jun 06 15:47:23 CEST 2019 -detection=Mechanical -disabled=false +#Thu Jun 06 15:47:23 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/F4.properties b/devices/F4.properties index 547817a..7159dee 100644 --- a/devices/F4.properties +++ b/devices/F4.properties @@ -1,3 +1,3 @@ -#Tue Sep 10 08:18:31 CEST 2019 -detection=Mechanical -disabled=false +#Tue Sep 10 08:18:31 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/F5.properties b/devices/F5.properties index c511c00..4b72df5 100644 --- a/devices/F5.properties +++ b/devices/F5.properties @@ -1,3 +1,3 @@ -#Tue Mar 10 08:15:52 CET 2020 -detection=Mechanical -disabled=false +#Tue Mar 10 08:15:52 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/R1.properties b/devices/R1.properties index fa91122..c954e1b 100644 --- a/devices/R1.properties +++ b/devices/R1.properties @@ -1,3 +1,3 @@ -#Tue Feb 19 12:07:25 CET 2019 -detection=Both -disabled=false +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R2.properties b/devices/R2.properties index fa91122..c954e1b 100644 --- a/devices/R2.properties +++ b/devices/R2.properties @@ -1,3 +1,3 @@ -#Tue Feb 19 12:07:25 CET 2019 -detection=Both -disabled=false +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R3.properties b/devices/R3.properties index fa91122..c954e1b 100644 --- a/devices/R3.properties +++ b/devices/R3.properties @@ -1,3 +1,3 @@ -#Tue Feb 19 12:07:25 CET 2019 -detection=Both -disabled=false +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R4.properties b/devices/R4.properties index fa91122..c954e1b 100644 --- a/devices/R4.properties +++ b/devices/R4.properties @@ -1,3 +1,3 @@ -#Tue Feb 19 12:07:25 CET 2019 -detection=Both -disabled=false +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R5.properties b/devices/R5.properties index fa91122..c954e1b 100644 --- a/devices/R5.properties +++ b/devices/R5.properties @@ -1,3 +1,3 @@ -#Tue Feb 19 12:07:25 CET 2019 -detection=Both -disabled=false +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/RoomTemperatureBasePlate.properties b/devices/RoomTemperatureBasePlate.properties index a8e063a..3018a1d 100644 --- a/devices/RoomTemperatureBasePlate.properties +++ b/devices/RoomTemperatureBasePlate.properties @@ -1 +1 @@ -#Tue Feb 19 12:07:25 CET 2019 +#Tue Feb 19 12:07:25 CET 2019 diff --git a/devices/Time.properties b/devices/Time.properties index 33011f0..d29613b 100644 --- a/devices/Time.properties +++ b/devices/Time.properties @@ -1,10 +1,10 @@ -#Wed Jun 27 10:48:14 CEST 2018 -maxValue=NaN -minValue=NaN -offset=0.0 -precision=-1 -resolution=NaN -rotation=false -scale=1.0 -sign_bit=0 -unit=null +#Wed Jun 27 10:48:14 CEST 2018 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/air_pressure.properties b/devices/air_pressure.properties index e476b09..8679b28 100644 --- a/devices/air_pressure.properties +++ b/devices/air_pressure.properties @@ -1,5 +1,5 @@ -#Thu Mar 01 11:13:34 CET 2018 -offset=0.0 -precision=-1 -scale=1.0 -unit=null +#Thu Mar 01 11:13:34 CET 2018 +offset=0.0 +precision=-1 +scale=1.0 +unit=null diff --git a/devices/cx.properties b/devices/cx.properties index 1720045..f35f8f1 100644 --- a/devices/cx.properties +++ b/devices/cx.properties @@ -1,17 +1,17 @@ -#Fri Aug 10 15:47:53 CEST 2018 -defaultSpeed=2.0 -estbilizationDelay=0 -hasEnable=false -homingType=None -maxSpeed=NaN -maxValue=0.0 -minSpeed=NaN -minValue=0.0 -offset=0.0 -precision=3 -resolution=0.001 -rotation=false -scale=1.0 -sign_bit=0 -startRetries=1 -unit=mm +#Fri Aug 10 15:47:53 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/cz.properties b/devices/cz.properties index b8877dd..892238d 100644 --- a/devices/cz.properties +++ b/devices/cz.properties @@ -1,17 +1,17 @@ -#Fri Aug 10 15:47:15 CEST 2018 -defaultSpeed=2.0 -estbilizationDelay=0 -hasEnable=false -homingType=None -maxSpeed=NaN -maxValue=0.0 -minSpeed=NaN -minValue=0.0 -offset=0.0 -precision=3 -resolution=0.001 -rotation=false -scale=1.0 -sign_bit=0 -startRetries=1 -unit=mm +#Fri Aug 10 15:47:15 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/dew_point.properties b/devices/dew_point.properties index 8a07c27..b875033 100644 --- a/devices/dew_point.properties +++ b/devices/dew_point.properties @@ -1,6 +1,6 @@ -#Thu Feb 27 14:31:37 CET 2020 -unit=null -offset=0.0 -precision=1 -sign_bit=0 -scale=0.1 +#Thu Feb 27 14:31:37 CET 2020 +unit=null +offset=0.0 +precision=1 +sign_bit=0 +scale=0.1 diff --git a/devices/dewar_level.properties b/devices/dewar_level.properties index ac55365..c5ae4b2 100644 --- a/devices/dewar_level.properties +++ b/devices/dewar_level.properties @@ -1,6 +1,6 @@ -#Tue Jan 22 10:58:09 CET 2019 -offset=0.0 -precision=2 -scale=0.0032 -sign_bit=0 -unit=% +#Tue Jan 22 10:58:09 CET 2019 +offset=0.0 +precision=2 +scale=0.0032 +sign_bit=0 +unit=% diff --git a/devices/dispatcher.properties b/devices/dispatcher.properties index 5a3e672..4a2df40 100644 --- a/devices/dispatcher.properties +++ b/devices/dispatcher.properties @@ -1,11 +1,11 @@ -#Thu May 03 11:54:38 CEST 2018 -disableCompression=false -keepListeningOnStop=false -mappingIncomplete=null -parallelHandlerProcessing=true -sendAwaitFirstMessage=false -sendBuildChannelConfig=null -sendStrategy=null -sendSyncTimeout=0 -socketType=DEFAULT -validationInconsistency=null +#Thu May 03 11:54:38 CEST 2018 +disableCompression=false +keepListeningOnStop=false +mappingIncomplete=null +parallelHandlerProcessing=true +sendAwaitFirstMessage=false +sendBuildChannelConfig=null +sendStrategy=null +sendSyncTimeout=0 +socketType=DEFAULT +validationInconsistency=null diff --git a/devices/dp1.properties b/devices/dp1.properties index c853c11..89ea939 100644 --- a/devices/dp1.properties +++ b/devices/dp1.properties @@ -1,11 +1,11 @@ -#Fri Jul 08 10:53:26 CEST 2016 -motor1=0.0|4.0|8.0|0.0 -motor2=0.0|5.0|3.0|NaN -motor3=null -motor4=null -motor5=null -motor6=null -motor7=null -motor8=null -positions=Park|Ready|Out|Clear -precision=-1 +#Fri Jul 08 10:53:26 CEST 2016 +motor1=0.0|4.0|8.0|0.0 +motor2=0.0|5.0|3.0|NaN +motor3=null +motor4=null +motor5=null +motor6=null +motor7=null +motor8=null +positions=Park|Ready|Out|Clear +precision=-1 diff --git a/devices/fx.properties b/devices/fx.properties index 44a1a35..e0186a5 100644 --- a/devices/fx.properties +++ b/devices/fx.properties @@ -1,17 +1,17 @@ -#Fri Aug 10 15:47:14 CEST 2018 -defaultSpeed=2.0 -estbilizationDelay=0 -hasEnable=false -homingType=None -maxSpeed=NaN -maxValue=0.0 -minSpeed=NaN -minValue=0.0 -offset=0.0 -precision=3 -resolution=0.001 -rotation=false -scale=1.0 -sign_bit=0 -startRetries=1 -unit=mm +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/fy.properties b/devices/fy.properties index 44a1a35..e0186a5 100644 --- a/devices/fy.properties +++ b/devices/fy.properties @@ -1,17 +1,17 @@ -#Fri Aug 10 15:47:14 CEST 2018 -defaultSpeed=2.0 -estbilizationDelay=0 -hasEnable=false -homingType=None -maxSpeed=NaN -maxValue=0.0 -minSpeed=NaN -minValue=0.0 -offset=0.0 -precision=3 -resolution=0.001 -rotation=false -scale=1.0 -sign_bit=0 -startRetries=1 -unit=mm +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/gripper_cam.properties b/devices/gripper_cam.properties index 6fc903f..ecf3314 100644 --- a/devices/gripper_cam.properties +++ b/devices/gripper_cam.properties @@ -1,20 +1,20 @@ -#Thu Jun 28 17:46:46 CEST 2018 -flipHorizontally=false -flipVertically=false -grayscale=false -invert=false -rescaleFactor=1.0 -rescaleOffset=0.0 -roiHeight=-1 -roiWidth=-1 -roiX=0 -roiY=0 -rotation=0.0 -rotationCrop=false -scale=1.0 -spatialCalOffsetX=NaN -spatialCalOffsetY=NaN -spatialCalScaleX=NaN -spatialCalScaleY=NaN -spatialCalUnits=mm -transpose=false +#Thu Jun 28 17:46:46 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/humidity.properties b/devices/humidity.properties index e9702bc..39d17b7 100644 --- a/devices/humidity.properties +++ b/devices/humidity.properties @@ -1,6 +1,6 @@ -#Thu Feb 27 14:31:28 CET 2020 -unit=null -offset=0.0 -precision=1 -sign_bit=0 -scale=0.1 +#Thu Feb 27 14:31:28 CET 2020 +unit=null +offset=0.0 +precision=1 +sign_bit=0 +scale=0.1 diff --git a/devices/img.properties b/devices/img.properties index a775c72..4e73bfb 100644 --- a/devices/img.properties +++ b/devices/img.properties @@ -1,24 +1,24 @@ -#Fri Feb 21 13:38:32 CET 2020 -spatialCalOffsetY=NaN -invert=false -colormapMin=6.4 -spatialCalOffsetX=NaN -rotation=0.0 -rotationCrop=true -scale=1.0 -rescaleFactor=1.0 -grayscale=false -spatialCalUnits=mm -flipVertically=false -roiHeight=-1 -spatialCalScaleX=NaN -spatialCalScaleY=NaN -flipHorizontally=false -colormapAutomatic=false -colormapMax=18.133 -roiY=0 -roiX=0 -rescaleOffset=0.0 -roiWidth=-1 -transpose=false -colormap=Grayscale +#Fri Feb 21 13:38:32 CET 2020 +spatialCalOffsetY=NaN +invert=false +colormapMin=6.4 +spatialCalOffsetX=NaN +rotation=0.0 +rotationCrop=true +scale=1.0 +rescaleFactor=1.0 +grayscale=false +spatialCalUnits=mm +flipVertically=false +roiHeight=-1 +spatialCalScaleX=NaN +spatialCalScaleY=NaN +flipHorizontally=false +colormapAutomatic=false +colormapMax=18.133 +roiY=0 +roiX=0 +rescaleOffset=0.0 +roiWidth=-1 +transpose=false +colormap=Grayscale diff --git a/devices/led_ctrl.properties b/devices/led_ctrl.properties index 00dcc48..74f5046 100644 --- a/devices/led_ctrl.properties +++ b/devices/led_ctrl.properties @@ -1,8 +1,8 @@ -#Tue Jun 20 15:07:30 CEST 2017 -maxValue=0.4 -minValue=0.0 -offset=0.0 -precision=2 -resolution=NaN -scale=3.0E-4 -unit=V +#Tue Jun 20 15:07:30 CEST 2017 +maxValue=0.4 +minValue=0.0 +offset=0.0 +precision=2 +resolution=NaN +scale=3.0E-4 +unit=V diff --git a/devices/led_ctrl_1.properties b/devices/led_ctrl_1.properties index 26842ec..6a046cc 100644 --- a/devices/led_ctrl_1.properties +++ b/devices/led_ctrl_1.properties @@ -1,9 +1,9 @@ -#Wed May 19 08:00:41 CEST 2021 -minValue=0.0 -unit=V -offset=0.0 -maxValue=0.4 -precision=2 -sign_bit=0 -scale=3.0E-4 -resolution=NaN +#Wed May 19 08:00:41 CEST 2021 +minValue=0.0 +unit=V +offset=0.0 +maxValue=0.4 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_ctrl_2.properties b/devices/led_ctrl_2.properties index 26842ec..6a046cc 100644 --- a/devices/led_ctrl_2.properties +++ b/devices/led_ctrl_2.properties @@ -1,9 +1,9 @@ -#Wed May 19 08:00:41 CEST 2021 -minValue=0.0 -unit=V -offset=0.0 -maxValue=0.4 -precision=2 -sign_bit=0 -scale=3.0E-4 -resolution=NaN +#Wed May 19 08:00:41 CEST 2021 +minValue=0.0 +unit=V +offset=0.0 +maxValue=0.4 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_ctrl_3.properties b/devices/led_ctrl_3.properties index 26842ec..6a046cc 100644 --- a/devices/led_ctrl_3.properties +++ b/devices/led_ctrl_3.properties @@ -1,9 +1,9 @@ -#Wed May 19 08:00:41 CEST 2021 -minValue=0.0 -unit=V -offset=0.0 -maxValue=0.4 -precision=2 -sign_bit=0 -scale=3.0E-4 -resolution=NaN +#Wed May 19 08:00:41 CEST 2021 +minValue=0.0 +unit=V +offset=0.0 +maxValue=0.4 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_level.properties b/devices/led_level.properties index 52dee03..1881da2 100644 --- a/devices/led_level.properties +++ b/devices/led_level.properties @@ -1,9 +1,9 @@ -#Tue Jun 19 16:41:24 CEST 2018 -maxValue=NaN -minValue=NaN -offset=0.0 -precision=-1 -resolution=NaN -scale=1.0 -sign_bit=0 -unit=null +#Tue Jun 19 16:41:24 CEST 2018 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/m1.properties b/devices/m1.properties index 38467c2..2ff6ee7 100644 --- a/devices/m1.properties +++ b/devices/m1.properties @@ -1,16 +1,16 @@ -#Tue Aug 11 09:44:03 CEST 2020 -offset=0.0 -maxValue=10.0 -precision=2 -rotation=false -scale=1.0 -estbilizationDelay=0 -maxSpeed=10.0 -resolution=NaN -startRetries=1 -minValue=-10.0 -unit=mm -defaultSpeed=1.0 -sign_bit=0 -monitorByPosition=false -minSpeed=0.1 +#Tue Aug 11 09:44:03 CEST 2020 +offset=0.0 +maxValue=10.0 +precision=2 +rotation=false +scale=1.0 +estbilizationDelay=0 +maxSpeed=10.0 +resolution=NaN +startRetries=1 +minValue=-10.0 +unit=mm +defaultSpeed=1.0 +sign_bit=0 +monitorByPosition=false +minSpeed=0.1 diff --git a/devices/m2.properties b/devices/m2.properties index 38467c2..2ff6ee7 100644 --- a/devices/m2.properties +++ b/devices/m2.properties @@ -1,16 +1,16 @@ -#Tue Aug 11 09:44:03 CEST 2020 -offset=0.0 -maxValue=10.0 -precision=2 -rotation=false -scale=1.0 -estbilizationDelay=0 -maxSpeed=10.0 -resolution=NaN -startRetries=1 -minValue=-10.0 -unit=mm -defaultSpeed=1.0 -sign_bit=0 -monitorByPosition=false -minSpeed=0.1 +#Tue Aug 11 09:44:03 CEST 2020 +offset=0.0 +maxValue=10.0 +precision=2 +rotation=false +scale=1.0 +estbilizationDelay=0 +maxSpeed=10.0 +resolution=NaN +startRetries=1 +minValue=-10.0 +unit=mm +defaultSpeed=1.0 +sign_bit=0 +monitorByPosition=false +minSpeed=0.1 diff --git a/devices/monitoring_cam.properties b/devices/monitoring_cam.properties index fa56b35..70e120f 100644 --- a/devices/monitoring_cam.properties +++ b/devices/monitoring_cam.properties @@ -1,20 +1,20 @@ -#Thu Aug 09 11:01:09 CEST 2018 -flipHorizontally=false -flipVertically=false -grayscale=false -invert=false -rescaleFactor=1.0 -rescaleOffset=0.0 -roiHeight=-1 -roiWidth=-1 -roiX=0 -roiY=0 -rotation=0.0 -rotationCrop=false -scale=1.0 -spatialCalOffsetX=NaN -spatialCalOffsetY=NaN -spatialCalScaleX=NaN -spatialCalScaleY=NaN -spatialCalUnits=mm -transpose=false +#Thu Aug 09 11:01:09 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/n2_pressure.properties b/devices/n2_pressure.properties index e476b09..8679b28 100644 --- a/devices/n2_pressure.properties +++ b/devices/n2_pressure.properties @@ -1,5 +1,5 @@ -#Thu Mar 01 11:13:34 CET 2018 -offset=0.0 -precision=-1 -scale=1.0 -unit=null +#Thu Mar 01 11:13:34 CET 2018 +offset=0.0 +precision=-1 +scale=1.0 +unit=null diff --git a/devices/p1.properties b/devices/p1.properties index 1b82551..f34c93b 100644 --- a/devices/p1.properties +++ b/devices/p1.properties @@ -1,10 +1,10 @@ -#Tue Aug 11 09:44:03 CEST 2020 -minValue=0.0 -unit=mm -offset=0.0 -maxValue=1000.0 -precision=-1 -rotation=false -sign_bit=0 -scale=1.0 -resolution=NaN +#Tue Aug 11 09:44:03 CEST 2020 +minValue=0.0 +unit=mm +offset=0.0 +maxValue=1000.0 +precision=-1 +rotation=false +sign_bit=0 +scale=1.0 +resolution=NaN diff --git a/devices/phase_separator.properties b/devices/phase_separator.properties index 122f8e9..354a4c3 100644 --- a/devices/phase_separator.properties +++ b/devices/phase_separator.properties @@ -1,8 +1,8 @@ -#Wed Feb 28 17:35:59 CET 2018 -maxValue=30000.0 -minValue=0.0 -offset=0.0 -precision=-1 -resolution=NaN -scale=0.1 -unit=% +#Wed Feb 28 17:35:59 CET 2018 +maxValue=30000.0 +minValue=0.0 +offset=0.0 +precision=-1 +resolution=NaN +scale=0.1 +unit=% diff --git a/devices/phase_separator_level.properties b/devices/phase_separator_level.properties index 92a5279..f0015d4 100644 --- a/devices/phase_separator_level.properties +++ b/devices/phase_separator_level.properties @@ -1,6 +1,6 @@ -#Tue Jun 19 16:41:20 CEST 2018 -offset=-25.81632 -precision=2 -scale=0.003888 -sign_bit=0 -unit=% +#Tue Jun 19 16:41:20 CEST 2018 +offset=-25.81632 +precision=2 +scale=0.003888 +sign_bit=0 +unit=% diff --git a/devices/rim_heater_temp.properties b/devices/rim_heater_temp.properties index e1c3b95..ea3398b 100644 --- a/devices/rim_heater_temp.properties +++ b/devices/rim_heater_temp.properties @@ -1,6 +1,6 @@ -#Tue Jun 19 16:41:20 CEST 2018 -offset=-25.81632 -precision=2 -scale=0.003888 -sign_bit=0 -unit=C +#Tue Jun 19 16:41:20 CEST 2018 +offset=-25.81632 +precision=2 +scale=0.003888 +sign_bit=0 +unit=C diff --git a/devices/robot x.properties b/devices/robot x.properties index 02ffbf3..9563e54 100644 --- a/devices/robot x.properties +++ b/devices/robot x.properties @@ -1,9 +1,9 @@ -#Tue Sep 12 15:00:38 CEST 2017 -maxValue=NaN -minValue=NaN -offset=0.0 -precision=-1 -resolution=NaN -rotation=false -scale=1.0 -unit=null +#Tue Sep 12 15:00:38 CEST 2017 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +rotation=false +scale=1.0 +unit=null diff --git a/devices/robot.properties b/devices/robot.properties index 97f6ad6..8614b40 100644 --- a/devices/robot.properties +++ b/devices/robot.properties @@ -1,8 +1,8 @@ -#Thu Jul 21 08:35:47 CEST 2016 -offsetReadAnalogInput=0 -offsetReadAnalogOutput=0 -offsetReadDigitalInput=0 -offsetReadDigitalOutput=0 -offsetWriteAnalogOutput=0 -offsetWriteDigitalOutput=0 -timeout=1000 +#Thu Jul 21 08:35:47 CEST 2016 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/devices/robot_j1.properties b/devices/robot_j1.properties index bc3a381..effc910 100644 --- a/devices/robot_j1.properties +++ b/devices/robot_j1.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=180.0 -minValue=-180.0 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j2.properties b/devices/robot_j2.properties index 6a892bc..483dbce 100644 --- a/devices/robot_j2.properties +++ b/devices/robot_j2.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=127.5 -minValue=-127.5 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=127.5 +minValue=-127.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j3.properties b/devices/robot_j3.properties index 07bff75..57ef9b6 100644 --- a/devices/robot_j3.properties +++ b/devices/robot_j3.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=152.5 -minValue=-152.5 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=152.5 +minValue=-152.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j4.properties b/devices/robot_j4.properties index 41d8586..813162f 100644 --- a/devices/robot_j4.properties +++ b/devices/robot_j4.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=270.0 -minValue=-270.0 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=270.0 +minValue=-270.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j5.properties b/devices/robot_j5.properties index dab429f..e15853d 100644 --- a/devices/robot_j5.properties +++ b/devices/robot_j5.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=132.5 -minValue=-122.5 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=132.5 +minValue=-122.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j6.properties b/devices/robot_j6.properties index d688634..86f954a 100644 --- a/devices/robot_j6.properties +++ b/devices/robot_j6.properties @@ -1,10 +1,10 @@ -#Fri Aug 24 14:56:42 CEST 2018 -maxValue=400.0 -minValue=-400.0 -offset=0.0 -precision=2 -resolution=0.1 -rotation=false -scale=1.0 -sign_bit=0 -unit=deg +#Fri Aug 24 14:56:42 CEST 2018 +maxValue=400.0 +minValue=-400.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_modbus.properties b/devices/robot_modbus.properties index 31a13be..5f51544 100644 --- a/devices/robot_modbus.properties +++ b/devices/robot_modbus.properties @@ -1,8 +1,8 @@ -#Thu Jul 21 12:02:04 CEST 2016 -offsetReadAnalogInput=0 -offsetReadAnalogOutput=0 -offsetReadDigitalInput=0 -offsetReadDigitalOutput=0 -offsetWriteAnalogOutput=0 -offsetWriteDigitalOutput=0 -timeout=1000 +#Thu Jul 21 12:02:04 CEST 2016 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/devices/robot_rx.properties b/devices/robot_rx.properties index df63f03..bc44a7f 100644 --- a/devices/robot_rx.properties +++ b/devices/robot_rx.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=180.0 -minValue=-180.0 -offset=0.0 -precision=2 -resolution=0.05 -rotation=true -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_ry.properties b/devices/robot_ry.properties index a789ebf..da7bc27 100644 --- a/devices/robot_ry.properties +++ b/devices/robot_ry.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=180.0 -minValue=-180.0 -offset=0.0 -precision=-2 -resolution=0.05 -rotation=true -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=-2 +resolution=0.05 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_rz.properties b/devices/robot_rz.properties index 2b88035..852eba0 100644 --- a/devices/robot_rz.properties +++ b/devices/robot_rz.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=360.0 -minValue=-360.0 -offset=0.0 -precision=2 -resolution=0.1 -rotation=true -scale=1.0 -sign_bit=0 -unit=deg +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=360.0 +minValue=-360.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_x.properties b/devices/robot_x.properties index 5cdadcc..5c10107 100644 --- a/devices/robot_x.properties +++ b/devices/robot_x.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=1000.0 -minValue=-1000.0 -offset=0.0 -precision=2 -resolution=0.05 -rotation=false -scale=1.0 -sign_bit=0 -unit=mm +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=mm diff --git a/devices/robot_y.properties b/devices/robot_y.properties index eb8022e..ac371ea 100644 --- a/devices/robot_y.properties +++ b/devices/robot_y.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=1000.0 -minValue=-1000.0 -offset=0.0 -precision=2 -resolution=0.05 -rotation=false -scale=1.0 -sign_bit=0 -unit=null +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/robot_z.properties b/devices/robot_z.properties index eb8022e..ac371ea 100644 --- a/devices/robot_z.properties +++ b/devices/robot_z.properties @@ -1,10 +1,10 @@ -#Tue Jun 19 16:41:28 CEST 2018 -maxValue=1000.0 -minValue=-1000.0 -offset=0.0 -precision=2 -resolution=0.05 -rotation=false -scale=1.0 -sign_bit=0 -unit=null +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/ry.properties b/devices/ry.properties index f43c3d2..6a849f6 100644 --- a/devices/ry.properties +++ b/devices/ry.properties @@ -1,17 +1,17 @@ -#Fri Aug 10 15:47:14 CEST 2018 -defaultSpeed=50.0 -estbilizationDelay=0 -hasEnable=false -homingType=None -maxSpeed=NaN -maxValue=0.0 -minSpeed=NaN -minValue=0.0 -offset=0.0 -precision=3 -resolution=0.001 -rotation=false -scale=1.0 -sign_bit=0 -startRetries=1 -unit=deg +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=50.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=deg diff --git a/devices/smart_magnet.properties b/devices/smart_magnet.properties index 259bb59..35f69ae 100644 --- a/devices/smart_magnet.properties +++ b/devices/smart_magnet.properties @@ -1,8 +1,8 @@ -#Thu Sep 24 14:17:37 CEST 2020 -reverseTime=0.2 -unmountCurrent=20.0 -holdingCurrent=50.0 -restingCurrent=30.0 -reverseCurrent=-10.0 -remanenceCurrent=-10.0 -mountCurrent=30.0 +#Thu Sep 24 14:17:37 CEST 2020 +reverseTime=0.2 +unmountCurrent=20.0 +holdingCurrent=50.0 +restingCurrent=30.0 +reverseCurrent=-10.0 +remanenceCurrent=-10.0 +mountCurrent=30.0 diff --git a/devices/smc_current.properties b/devices/smc_current.properties index 6cd5133..857a5cd 100644 --- a/devices/smc_current.properties +++ b/devices/smc_current.properties @@ -1,9 +1,9 @@ -#Tue Sep 15 15:20:57 CEST 2020 -offset=0.0 -maxValue=90.0 -precision=2 -scale=0.003 -resolution=NaN -minValue=-50.0 -unit=mA -sign_bit=0 +#Tue Sep 15 15:20:57 CEST 2020 +offset=0.0 +maxValue=90.0 +precision=2 +scale=0.003 +resolution=NaN +minValue=-50.0 +unit=mA +sign_bit=0 diff --git a/devices/smc_current_rb.properties b/devices/smc_current_rb.properties index 7709ada..994983b 100644 --- a/devices/smc_current_rb.properties +++ b/devices/smc_current_rb.properties @@ -1,6 +1,6 @@ -#Tue Jun 19 16:45:06 CEST 2018 -offset=0.0 -precision=2 -scale=0.003 -sign_bit=15 -unit=mA +#Tue Jun 19 16:45:06 CEST 2018 +offset=0.0 +precision=2 +scale=0.003 +sign_bit=15 +unit=mA diff --git a/devices/src1.properties b/devices/src1.properties index d6ac1f5..00e2429 100644 --- a/devices/src1.properties +++ b/devices/src1.properties @@ -1,25 +1,25 @@ -#Tue Aug 11 09:44:03 CEST 2020 -spatialCalOffsetY=NaN -spatialCalOffsetX=NaN -colormapLogarithmic=false -scale=1.0 -grayscale=false -spatialCalScaleX=NaN -spatialCalScaleY=NaN -colormapMax=255.0 -rescaleOffset=0.0 -roiWidth=-1 -colormap=Temperature -invert=false -colormapMin=0.0 -rotation=0.0 -rotationCrop=false -rescaleFactor=1.0 -spatialCalUnits=mm -flipVertically=false -roiHeight=-1 -flipHorizontally=false -colormapAutomatic=true -roiY=0 -roiX=0 -transpose=false +#Tue Aug 11 09:44:03 CEST 2020 +spatialCalOffsetY=NaN +spatialCalOffsetX=NaN +colormapLogarithmic=false +scale=1.0 +grayscale=false +spatialCalScaleX=NaN +spatialCalScaleY=NaN +colormapMax=255.0 +rescaleOffset=0.0 +roiWidth=-1 +colormap=Temperature +invert=false +colormapMin=0.0 +rotation=0.0 +rotationCrop=false +rescaleFactor=1.0 +spatialCalUnits=mm +flipVertically=false +roiHeight=-1 +flipHorizontally=false +colormapAutomatic=true +roiY=0 +roiX=0 +transpose=false diff --git a/devices/src2.properties b/devices/src2.properties index c9ad00a..4f21658 100644 --- a/devices/src2.properties +++ b/devices/src2.properties @@ -1,25 +1,25 @@ -#Tue Aug 11 09:44:03 CEST 2020 -spatialCalOffsetY=NaN -spatialCalOffsetX=NaN -colormapLogarithmic=false -scale=1.0 -grayscale=false -spatialCalScaleX=NaN -spatialCalScaleY=NaN -colormapMax=255.0 -rescaleOffset=0.0 -roiWidth=-1 -colormap=Grayscale -invert=false -colormapMin=0.0 -rotation=0.0 -rotationCrop=false -rescaleFactor=1.0 -spatialCalUnits=mm -flipVertically=false -roiHeight=-1 -flipHorizontally=false -colormapAutomatic=true -roiY=0 -roiX=0 -transpose=false +#Tue Aug 11 09:44:03 CEST 2020 +spatialCalOffsetY=NaN +spatialCalOffsetX=NaN +colormapLogarithmic=false +scale=1.0 +grayscale=false +spatialCalScaleX=NaN +spatialCalScaleY=NaN +colormapMax=255.0 +rescaleOffset=0.0 +roiWidth=-1 +colormap=Grayscale +invert=false +colormapMin=0.0 +rotation=0.0 +rotationCrop=false +rescaleFactor=1.0 +spatialCalUnits=mm +flipVertically=false +roiHeight=-1 +flipHorizontally=false +colormapAutomatic=true +roiY=0 +roiX=0 +transpose=false diff --git a/devices/temp.properties b/devices/temp.properties index 4614b41..a180684 100644 --- a/devices/temp.properties +++ b/devices/temp.properties @@ -1,6 +1,6 @@ -#Thu Feb 27 14:29:59 CET 2020 -unit=null -offset=0.0 -precision=1 -sign_bit=0 -scale=0.1 +#Thu Feb 27 14:29:59 CET 2020 +unit=null +offset=0.0 +precision=1 +sign_bit=0 +scale=0.1 diff --git a/devices/temperature.properties b/devices/temperature.properties index e0a67e5..86bcfec 100644 --- a/devices/temperature.properties +++ b/devices/temperature.properties @@ -1,6 +1,6 @@ -#Thu Feb 27 14:44:24 CET 2020 -unit=null -offset=0.0 -precision=1 -sign_bit=0 -scale=0.1 +#Thu Feb 27 14:44:24 CET 2020 +unit=null +offset=0.0 +precision=1 +sign_bit=0 +scale=0.1 diff --git a/devices/th2e.properties b/devices/th2e.properties index e608221..3bfe5c9 100644 --- a/devices/th2e.properties +++ b/devices/th2e.properties @@ -1,8 +1,8 @@ -#Thu Feb 27 14:04:38 CET 2020 -offsetWriteAnalogOutput=0 -offsetWriteDigitalOutput=0 -offsetReadAnalogOutput=0 -offsetReadDigitalInput=0 -offsetReadAnalogInput=0 -offsetReadDigitalOutput=0 -timeout=1000 +#Thu Feb 27 14:04:38 CET 2020 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +offsetReadAnalogOutput=0 +offsetReadDigitalInput=0 +offsetReadAnalogInput=0 +offsetReadDigitalOutput=0 +timeout=1000 diff --git a/devices/top_cam.properties b/devices/top_cam.properties index 827552b..1f826cd 100644 --- a/devices/top_cam.properties +++ b/devices/top_cam.properties @@ -1,20 +1,20 @@ -#Thu Aug 09 11:46:12 CEST 2018 -flipHorizontally=false -flipVertically=false -grayscale=false -invert=false -rescaleFactor=1.0 -rescaleOffset=0.0 -roiHeight=-1 -roiWidth=-1 -roiX=0 -roiY=0 -rotation=0.0 -rotationCrop=false -scale=1.0 -spatialCalOffsetX=NaN -spatialCalOffsetY=NaN -spatialCalScaleX=NaN -spatialCalScaleY=NaN -spatialCalUnits=mm -transpose=false +#Thu Aug 09 11:46:12 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/ue.properties b/devices/ue.properties index f241f62..ca0968a 100644 --- a/devices/ue.properties +++ b/devices/ue.properties @@ -1,6 +1,6 @@ -#Thu Aug 31 16:41:09 CEST 2017 -baudRate=9600 -dataBits=DB_8 -parity=None -port=null -stopBits=SB_1 +#Thu Aug 31 16:41:09 CEST 2017 +baudRate=9600 +dataBits=DB_8 +parity=None +port=null +stopBits=SB_1 diff --git a/devices/wago.properties b/devices/wago.properties index f2650ea..170e99d 100644 --- a/devices/wago.properties +++ b/devices/wago.properties @@ -1,8 +1,8 @@ -#Wed Feb 28 16:27:51 CET 2018 -offsetReadAnalogInput=0 -offsetReadAnalogOutput=0x200 -offsetReadDigitalInput=0 -offsetReadDigitalOutput=0x200 -offsetWriteAnalogOutput=0 -offsetWriteDigitalOutput=0 -timeout=1000 +#Wed Feb 28 16:27:51 CET 2018 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0x200 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0x200 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/plugins/LaserUE.java b/plugins/LaserUE.java index cb79550..579d317 100644 --- a/plugins/LaserUE.java +++ b/plugins/LaserUE.java @@ -1,90 +1,90 @@ -import ch.psi.pshell.device.Readable; -import ch.psi.pshell.serial.SerialPortDevice; -import ch.psi.pshell.serial.SerialPortDeviceConfig; -import static ch.psi.utils.BitMask.*; -import ch.psi.utils.Convert; -import ch.psi.utils.State; -import java.io.IOException; - -/* - * - */ -public class LaserUE extends SerialPortDevice { - - final Readable readable; - final double range; - final double offset; - - public LaserUE(String name, String port, double range, double offset) { - super(name, port, 921600, SerialPortDeviceConfig.DataBits.DB_8, SerialPortDeviceConfig.StopBits.SB_1, SerialPortDeviceConfig.Parity.None); - this.range = range; - this.offset = offset; - this.setMode(Mode.FullDuplex); - readable = new Readable() { - @Override - public Object read() throws IOException, InterruptedException { - return take(); - } - - @Override - public String getName() { - return LaserUE.this.getName() + "_readout"; - } - }; - } - - @Override - protected void doInitialize() throws IOException, InterruptedException { - super.doInitialize(); - //TODO: Start DAQ in ILD1320: http://www.micro-epsilon.com/download/manuals/man--optoNCDT-1320--en.pdf - setState(State.Ready); - write("OUTPUT RS422\n\r"); - } - - public Readable getReadable() { - return readable; - } - - int value = 0; - int count = 0; - - @Override - protected void onByte(int rx) { - int index = ((rx & BIT7) > 0) ? 2 : (((rx & BIT6) > 0) ? 1 : 0); - if (count == index) { - if (index == 0) { - value = rx & 0x3F; - count = 1; - } else if (index == 1) { - value = ((rx & 0x3F) << 6) + value; - count = 2; - } else if (index == 2) { - value = ((rx & 0x0F) << 12) + value; - //double val = ((double)value)/1000; - double val = (0.01) * (102.0 * value / 65520.0 - 1) * range; - if ((val <= 0.0) || (val > range)) { - val = Double.NaN; - } else { - val+=offset; - val = Convert.roundDouble(val, 3); - } - setCache(val); - count = 0; - } else { - count = 0; - } - } else { - count = 0; - } - } - - public static void main(String[] args) throws Exception { - LaserUE l = new LaserUE("UE", "COM3", 50.0, 35.0); - l.setMonitored(true); - l.initialize(); - - Thread.sleep(10000); - l.close(); - } -} - +import ch.psi.pshell.device.Readable; +import ch.psi.pshell.serial.SerialPortDevice; +import ch.psi.pshell.serial.SerialPortDeviceConfig; +import static ch.psi.utils.BitMask.*; +import ch.psi.utils.Convert; +import ch.psi.utils.State; +import java.io.IOException; + +/* + * + */ +public class LaserUE extends SerialPortDevice { + + final Readable readable; + final double range; + final double offset; + + public LaserUE(String name, String port, double range, double offset) { + super(name, port, 921600, SerialPortDeviceConfig.DataBits.DB_8, SerialPortDeviceConfig.StopBits.SB_1, SerialPortDeviceConfig.Parity.None); + this.range = range; + this.offset = offset; + this.setMode(Mode.FullDuplex); + readable = new Readable() { + @Override + public Object read() throws IOException, InterruptedException { + return take(); + } + + @Override + public String getName() { + return LaserUE.this.getName() + "_readout"; + } + }; + } + + @Override + protected void doInitialize() throws IOException, InterruptedException { + super.doInitialize(); + //TODO: Start DAQ in ILD1320: http://www.micro-epsilon.com/download/manuals/man--optoNCDT-1320--en.pdf + setState(State.Ready); + write("OUTPUT RS422\n\r"); + } + + public Readable getReadable() { + return readable; + } + + int value = 0; + int count = 0; + + @Override + protected void onByte(int rx) { + int index = ((rx & BIT7) > 0) ? 2 : (((rx & BIT6) > 0) ? 1 : 0); + if (count == index) { + if (index == 0) { + value = rx & 0x3F; + count = 1; + } else if (index == 1) { + value = ((rx & 0x3F) << 6) + value; + count = 2; + } else if (index == 2) { + value = ((rx & 0x0F) << 12) + value; + //double val = ((double)value)/1000; + double val = (0.01) * (102.0 * value / 65520.0 - 1) * range; + if ((val <= 0.0) || (val > range)) { + val = Double.NaN; + } else { + val+=offset; + val = Convert.roundDouble(val, 3); + } + setCache(val); + count = 0; + } else { + count = 0; + } + } else { + count = 0; + } + } + + public static void main(String[] args) throws Exception { + LaserUE l = new LaserUE("UE", "COM3", 50.0, 35.0); + l.setMonitored(true); + l.initialize(); + + Thread.sleep(10000); + l.close(); + } +} + diff --git a/plugins/MjpegSource2.java b/plugins/MjpegSource2.java index 89ab9ef..a92ce88 100644 --- a/plugins/MjpegSource2.java +++ b/plugins/MjpegSource2.java @@ -1,149 +1,149 @@ - -import ch.psi.pshell.imaging.SourceBase; -import ch.psi.pshell.imaging.SourceConfig; -import ch.psi.pshell.imaging.Utils; -import java.awt.image.BufferedImage; -import java.io.BufferedInputStream; -import java.io.EOFException; -import java.io.IOException; -import java.io.InputStream; -import java.net.URL; -import java.util.logging.Level; - -/** - * Image source receive frames from a mjpeg server. - */ -public class MjpegSource2 extends SourceBase { - - final String url; - final boolean flushOnUpdate; - - public MjpegSource2(String name, String url) { - this(name, url, false); - } - - public MjpegSource2(String name, String url, boolean flushOnUpdate) { - super(name, new SourceConfig()); - this.url = url; - this.flushOnUpdate = flushOnUpdate; - } - - InputStream stream; - - @Override - protected void doInitialize() throws IOException, InterruptedException { - super.doInitialize(); - URL aux = new URL(url); - stream = aux.openStream(); - if (!stream.markSupported()) { - stream = new BufferedInputStream(stream); - } - } - - Thread monitoredThread; - - @Override - protected void doSetMonitored(boolean value) { - if (value && (monitoredThread == null)) { - monitoredThread = new Thread(() -> { - try { - while (true) { - try { - doUpdate(); - Thread.sleep(1); - } catch (IOException ex) { - getLogger().log(Level.FINE, null, ex); - } - } - } catch (InterruptedException ex) { - return; - } - }); - monitoredThread.setDaemon(true); - monitoredThread.start(); - } else if (!value && (monitoredThread != null)) { - monitoredThread.interrupt(); - monitoredThread = null; - } - } - - final byte[] START_OF_FRAME = {(byte) 0xFF, (byte) 0xD8}; - final byte[] END_OF_FRAME = {(byte) 0xFF, (byte) 0xD9}; - final int MAX_FRAME_SIZE = 512 * 1024; - - @Override - protected void doUpdate() throws IOException, InterruptedException { - byte[] data = null; - if (stream != null) { - if (flushOnUpdate) { - flush(); - } - try { - data = readData(); - } catch (EOFException ex) { - //Try to reopen stream - doInitialize(); - data = readData(); - } - } - if (data == null) { - pushImage(null); - } else { - BufferedImage img = Utils.newImage(data); - pushImage(img); - } - } - byte[] readData() throws IOException { - if (stream != null) { - stream.mark(MAX_FRAME_SIZE); - int startOfFrame = waitBytes(START_OF_FRAME) - START_OF_FRAME.length; - if (startOfFrame >= 0) { - int endOfFrame = waitBytes(END_OF_FRAME); - if (endOfFrame >= 0) { - stream.reset(); - stream.skip(startOfFrame); - int length = endOfFrame ;//- END_OF_FRAME.length ; - byte[] data = new byte[length]; - stream.read(data, 0, length); - return data; - } - } - } - return null; - } - - int waitBytes(byte[] data) throws IOException { - int index = 0; - int dataPos = 0; - while (true) { - int ret = stream.read(); - if (ret < 0) { - throw new EOFException(); - } - byte value = (byte) ret; - if (value == data[dataPos]) { - dataPos++; - if (dataPos == data.length) { - return (index + 1); - } - } else { - dataPos = 0; - } - index++; - if (index >= MAX_FRAME_SIZE) { - return -1; - } - } - } - - public void flush() throws IOException { - //stream.skip(stream.available()); - //TODO: Skipping won't make the current image to be displayed - stream.close(); - stream = new URL(url).openStream(); - if (!stream.markSupported()) { - stream = new BufferedInputStream(stream); - } - } - -} + +import ch.psi.pshell.imaging.SourceBase; +import ch.psi.pshell.imaging.SourceConfig; +import ch.psi.pshell.imaging.Utils; +import java.awt.image.BufferedImage; +import java.io.BufferedInputStream; +import java.io.EOFException; +import java.io.IOException; +import java.io.InputStream; +import java.net.URL; +import java.util.logging.Level; + +/** + * Image source receive frames from a mjpeg server. + */ +public class MjpegSource2 extends SourceBase { + + final String url; + final boolean flushOnUpdate; + + public MjpegSource2(String name, String url) { + this(name, url, false); + } + + public MjpegSource2(String name, String url, boolean flushOnUpdate) { + super(name, new SourceConfig()); + this.url = url; + this.flushOnUpdate = flushOnUpdate; + } + + InputStream stream; + + @Override + protected void doInitialize() throws IOException, InterruptedException { + super.doInitialize(); + URL aux = new URL(url); + stream = aux.openStream(); + if (!stream.markSupported()) { + stream = new BufferedInputStream(stream); + } + } + + Thread monitoredThread; + + @Override + protected void doSetMonitored(boolean value) { + if (value && (monitoredThread == null)) { + monitoredThread = new Thread(() -> { + try { + while (true) { + try { + doUpdate(); + Thread.sleep(1); + } catch (IOException ex) { + getLogger().log(Level.FINE, null, ex); + } + } + } catch (InterruptedException ex) { + return; + } + }); + monitoredThread.setDaemon(true); + monitoredThread.start(); + } else if (!value && (monitoredThread != null)) { + monitoredThread.interrupt(); + monitoredThread = null; + } + } + + final byte[] START_OF_FRAME = {(byte) 0xFF, (byte) 0xD8}; + final byte[] END_OF_FRAME = {(byte) 0xFF, (byte) 0xD9}; + final int MAX_FRAME_SIZE = 512 * 1024; + + @Override + protected void doUpdate() throws IOException, InterruptedException { + byte[] data = null; + if (stream != null) { + if (flushOnUpdate) { + flush(); + } + try { + data = readData(); + } catch (EOFException ex) { + //Try to reopen stream + doInitialize(); + data = readData(); + } + } + if (data == null) { + pushImage(null); + } else { + BufferedImage img = Utils.newImage(data); + pushImage(img); + } + } + byte[] readData() throws IOException { + if (stream != null) { + stream.mark(MAX_FRAME_SIZE); + int startOfFrame = waitBytes(START_OF_FRAME) - START_OF_FRAME.length; + if (startOfFrame >= 0) { + int endOfFrame = waitBytes(END_OF_FRAME); + if (endOfFrame >= 0) { + stream.reset(); + stream.skip(startOfFrame); + int length = endOfFrame ;//- END_OF_FRAME.length ; + byte[] data = new byte[length]; + stream.read(data, 0, length); + return data; + } + } + } + return null; + } + + int waitBytes(byte[] data) throws IOException { + int index = 0; + int dataPos = 0; + while (true) { + int ret = stream.read(); + if (ret < 0) { + throw new EOFException(); + } + byte value = (byte) ret; + if (value == data[dataPos]) { + dataPos++; + if (dataPos == data.length) { + return (index + 1); + } + } else { + dataPos = 0; + } + index++; + if (index >= MAX_FRAME_SIZE) { + return -1; + } + } + } + + public void flush() throws IOException { + //stream.skip(stream.available()); + //TODO: Skipping won't make the current image to be displayed + stream.close(); + stream = new URL(url).openStream(); + if (!stream.markSupported()) { + stream = new BufferedInputStream(stream); + } + } + +} diff --git a/plugins/SmartMagnetConfig.java b/plugins/SmartMagnetConfig.java index 2c6213c..7351ab4 100644 --- a/plugins/SmartMagnetConfig.java +++ b/plugins/SmartMagnetConfig.java @@ -1,14 +1,14 @@ - -import ch.psi.pshell.device.DeviceConfig; - -/** - * - */ -public class SmartMagnetConfig extends DeviceConfig{ - public double holdingCurrent; - public double restingCurrent; - public double mountCurrent; - public double unmountCurrent; - public double remanenceCurrent; - -} + +import ch.psi.pshell.device.DeviceConfig; + +/** + * + */ +public class SmartMagnetConfig extends DeviceConfig{ + public double holdingCurrent; + public double restingCurrent; + public double mountCurrent; + public double unmountCurrent; + public double remanenceCurrent; + +} diff --git a/plugins/TestZMQ.java b/plugins/TestZMQ.java index cec2c40..ae4cbac 100644 --- a/plugins/TestZMQ.java +++ b/plugins/TestZMQ.java @@ -1,26 +1,26 @@ -/* - * To change this license header, choose License Headers in Project Properties. - * To change this template file, choose Tools | Templates - * and open the template in the editor. - */ - -/** - * - * @author gac-S_Changer - */ -public class TestZMQ { - public static void main(String[] args) { - String server = "raspberrypi:5556"; - org.zeromq.ZMQ.Context context = org.zeromq.ZMQ.context(1); - org.zeromq.ZMQ.Socket subscriber = context.socket(org.zeromq.ZMQ.SUB); - subscriber.connect("tcp://" + server); - subscriber.subscribe("Status".getBytes()); - while (!Thread.currentThread().isInterrupted()) { - String type = subscriber.recvStr(); - String contents = subscriber.recvStr(); - System.out.println(type + " : " + contents); - } - subscriber.close(); - context.term(); - } -} +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ + +/** + * + * @author gac-S_Changer + */ +public class TestZMQ { + public static void main(String[] args) { + String server = "raspberrypi:5556"; + org.zeromq.ZMQ.Context context = org.zeromq.ZMQ.context(1); + org.zeromq.ZMQ.Socket subscriber = context.socket(org.zeromq.ZMQ.SUB); + subscriber.connect("tcp://" + server); + subscriber.subscribe("Status".getBytes()); + while (!Thread.currentThread().isInterrupted()) { + String type = subscriber.recvStr(); + String contents = subscriber.recvStr(); + System.out.println(type + " : " + contents); + } + subscriber.close(); + context.term(); + } +} diff --git a/plugins/gui.java b/plugins/gui.java index abeb59b..fe17ab2 100644 --- a/plugins/gui.java +++ b/plugins/gui.java @@ -1,96 +1,96 @@ -/* - * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. - */ - -import ch.psi.pshell.ui.Panel; -import ch.psi.utils.State; -import java.util.logging.Level; -import java.util.logging.Logger; - -/** - * - */ -public class gui extends Panel { - - public gui() { - initComponents(); - } - - //Overridable callbacks - @Override - public void onInitialize(int runCount) { - - } - - @Override - public void onStateChange(State state, State former) { - - } - - @Override - public void onExecutedFile(String fileName, Object result) { - } - - - //Callback to perform update - in event thread - @Override - protected void doUpdate() { - } - - @SuppressWarnings("unchecked") - // //GEN-BEGIN:initComponents - private void initComponents() { - - jButton1 = new javax.swing.JButton(); - renderer1 = new ch.psi.pshell.imaging.Renderer(); - linePlotJFree1 = new ch.psi.pshell.plot.LinePlotJFree(); - - jButton1.setText("Abort"); - jButton1.addActionListener(new java.awt.event.ActionListener() { - public void actionPerformed(java.awt.event.ActionEvent evt) { - jButton1ActionPerformed(evt); - } - }); - - javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); - this.setLayout(layout); - layout.setHorizontalGroup( - layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(layout.createSequentialGroup() - .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) - .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 154, javax.swing.GroupLayout.PREFERRED_SIZE) - .addGap(82, 82, 82)) - .addGroup(layout.createSequentialGroup() - .addGap(51, 51, 51) - .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addComponent(jButton1) - .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) - .addContainerGap(250, Short.MAX_VALUE)) - ); - layout.setVerticalGroup( - layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) - .addGroup(layout.createSequentialGroup() - .addGap(24, 24, 24) - .addComponent(jButton1) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) - .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 102, javax.swing.GroupLayout.PREFERRED_SIZE) - .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 20, Short.MAX_VALUE) - .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) - .addContainerGap()) - ); - }// //GEN-END:initComponents - - private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed - try { - abort(); - } catch (InterruptedException ex) { - Logger.getLogger(gui.class.getName()).log(Level.SEVERE, null, ex); - } - }//GEN-LAST:event_jButton1ActionPerformed - - // Variables declaration - do not modify//GEN-BEGIN:variables - private javax.swing.JButton jButton1; - private ch.psi.pshell.plot.LinePlotJFree linePlotJFree1; - private ch.psi.pshell.imaging.Renderer renderer1; - // End of variables declaration//GEN-END:variables -} +/* + * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import java.util.logging.Level; +import java.util.logging.Logger; + +/** + * + */ +public class gui extends Panel { + + public gui() { + initComponents(); + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + + } + + @Override + public void onStateChange(State state, State former) { + + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + + //Callback to perform update - in event thread + @Override + protected void doUpdate() { + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + jButton1 = new javax.swing.JButton(); + renderer1 = new ch.psi.pshell.imaging.Renderer(); + linePlotJFree1 = new ch.psi.pshell.plot.LinePlotJFree(); + + jButton1.setText("Abort"); + jButton1.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + jButton1ActionPerformed(evt); + } + }); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 154, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(82, 82, 82)) + .addGroup(layout.createSequentialGroup() + .addGap(51, 51, 51) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jButton1) + .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addContainerGap(250, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addGap(24, 24, 24) + .addComponent(jButton1) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 102, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 20, Short.MAX_VALUE) + .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + }// //GEN-END:initComponents + + private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed + try { + abort(); + } catch (InterruptedException ex) { + Logger.getLogger(gui.class.getName()).log(Level.SEVERE, null, ex); + } + }//GEN-LAST:event_jButton1ActionPerformed + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton jButton1; + private ch.psi.pshell.plot.LinePlotJFree linePlotJFree1; + private ch.psi.pshell.imaging.Renderer renderer1; + // End of variables declaration//GEN-END:variables +} diff --git a/robot/MXLAB/Controller1/Controller1.controller b/robot/MXLAB/Controller1/Controller1.controller index 478f6d6..abb0b1e 100644 --- a/robot/MXLAB/Controller1/Controller1.controller +++ b/robot/MXLAB/Controller1/Controller1.controller @@ -1,16 +1,16 @@ - - - s7.9.1 - - - TX60L-HB-L-WS - - - - - - - - - + + + s7.9.1 + + + TX60L-HB-L-WS + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml b/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml index 607856a..3d2b900 100644 --- a/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml +++ b/robot/MXLAB/Controller1/usr/applicom/Modbus/modbus.xml @@ -1,10 +1,10 @@ - - - - - - - - - - + + + + + + + + + + diff --git a/robot/MXLAB/Controller1/usr/configs/arm.cfx b/robot/MXLAB/Controller1/usr/configs/arm.cfx index 9742c85..e64b1e9 100644 --- a/robot/MXLAB/Controller1/usr/configs/arm.cfx +++ b/robot/MXLAB/Controller1/usr/configs/arm.cfx @@ -1,22 +1,22 @@ - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/bio.cfx b/robot/MXLAB/Controller1/usr/configs/bio.cfx index ac01acb..4c74761 100644 --- a/robot/MXLAB/Controller1/usr/configs/bio.cfx +++ b/robot/MXLAB/Controller1/usr/configs/bio.cfx @@ -1,35 +1,35 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/bio2.cfx b/robot/MXLAB/Controller1/usr/configs/bio2.cfx index 867f8f4..6ad3c91 100644 --- a/robot/MXLAB/Controller1/usr/configs/bio2.cfx +++ b/robot/MXLAB/Controller1/usr/configs/bio2.cfx @@ -1,35 +1,35 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/cell.cfx b/robot/MXLAB/Controller1/usr/configs/cell.cfx index 5d1786d..4059679 100644 --- a/robot/MXLAB/Controller1/usr/configs/cell.cfx +++ b/robot/MXLAB/Controller1/usr/configs/cell.cfx @@ -1,68 +1,68 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/cio.cfx b/robot/MXLAB/Controller1/usr/configs/cio.cfx index 68c8816..57da145 100644 --- a/robot/MXLAB/Controller1/usr/configs/cio.cfx +++ b/robot/MXLAB/Controller1/usr/configs/cio.cfx @@ -1,27 +1,27 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/controller.cfx b/robot/MXLAB/Controller1/usr/configs/controller.cfx index 19e8f5b..3f011f5 100644 --- a/robot/MXLAB/Controller1/usr/configs/controller.cfx +++ b/robot/MXLAB/Controller1/usr/configs/controller.cfx @@ -1,37 +1,37 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/encoder.cfx b/robot/MXLAB/Controller1/usr/configs/encoder.cfx index ccb512d..1442e35 100644 --- a/robot/MXLAB/Controller1/usr/configs/encoder.cfx +++ b/robot/MXLAB/Controller1/usr/configs/encoder.cfx @@ -1,45 +1,45 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/mio.cfx b/robot/MXLAB/Controller1/usr/configs/mio.cfx index f57cf92..435f904 100644 --- a/robot/MXLAB/Controller1/usr/configs/mio.cfx +++ b/robot/MXLAB/Controller1/usr/configs/mio.cfx @@ -1,67 +1,67 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/network.cfx b/robot/MXLAB/Controller1/usr/configs/network.cfx index e784a07..3a6839b 100644 --- a/robot/MXLAB/Controller1/usr/configs/network.cfx +++ b/robot/MXLAB/Controller1/usr/configs/network.cfx @@ -1,29 +1,29 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx b/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx index a173ef0..14ca359 100644 --- a/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx +++ b/robot/MXLAB/Controller1/usr/configs/profiles/default.cfx @@ -1,21 +1,21 @@ - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + diff --git a/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx b/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx index e5fa2ea..d5d1fd9 100644 --- a/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx +++ b/robot/MXLAB/Controller1/usr/configs/profiles/maintenance.cfx @@ -1,21 +1,21 @@ - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/sio.cfx b/robot/MXLAB/Controller1/usr/configs/sio.cfx index b330109..c7d3137 100644 --- a/robot/MXLAB/Controller1/usr/configs/sio.cfx +++ b/robot/MXLAB/Controller1/usr/configs/sio.cfx @@ -1,11 +1,11 @@ - - - - - - - - - - + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/configs/systemios.cfx b/robot/MXLAB/Controller1/usr/configs/systemios.cfx index 74107f3..e796e96 100644 --- a/robot/MXLAB/Controller1/usr/configs/systemios.cfx +++ b/robot/MXLAB/Controller1/usr/configs/systemios.cfx @@ -1,304 +1,304 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robot/MXLAB/Controller1/usr/configs/val3version.xml b/robot/MXLAB/Controller1/usr/configs/val3version.xml index 7824503..56b8de2 100644 --- a/robot/MXLAB/Controller1/usr/configs/val3version.xml +++ b/robot/MXLAB/Controller1/usr/configs/val3version.xml @@ -1,4 +1,4 @@ - - - s7.9.1 + + + s7.9.1 \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx index cf8e3dc..d7b0bfb 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx @@ -1,130 +1,130 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx index f9a6756..99597b4 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.pjx @@ -1,26 +1,26 @@ - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx index 5c36ae4..ad6d524 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comModbus.pgx @@ -1,61 +1,61 @@ - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx index 805a4bd..1e4eeda 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx @@ -1,238 +1,238 @@ - - - - - - - - - - - - - - - - - - - - - - - - 0 - if rec_val>31 - rx=rx+chr(rec_val) - elseIf rec_val==10 - if len(rx)<4 - rx = "" - else - msg_id = left(rx, 4) - msg = right(rx, len(rx)-4) - rx="" - //If same id, repeat last answer - if msg_id != last_id - for index=0 to 9 - args[index]="" - endFor - index = find(msg, " ") - if index < 0 - cmd = msg - else - cmd = left(msg, index) - msg = right(msg, len(msg) - index -1) - arg=0 - while (len(msg) > 0 and (arg < 10)) - index = find(msg, array_separator) - if index<0 - args[arg] = msg - msg ="" - else - args[arg] = left(msg, index) - msg = right(msg, len(msg) - index -1) - endIf - arg = arg+1 - endWhile - endIf - tx = "" - ex = "" - //General commands - switch(cmd) - case "eval" - tx=$exec(args[0]) - break - - case "get_status" - aux = workingMode(count) - tx = toString("", aux ) + array_separator - tx = tx + toString("", count ) + array_separator - if isPowered() - tx = tx + "1" + array_separator - else - tx = tx + "0" + array_separator - endIf - aux = getMonitorSpeed() - tx = tx + toString("", aux ) + array_separator - if isEmpty() - tx = tx + "1" + array_separator - else - tx = tx + "0" + array_separator - endIf - if isSettled() - tx = tx + "1" + array_separator - else - tx = tx + "0" + array_separator - endIf - //Task status - if len(args[0])>0 - tx=tx+toString("",taskStatus(args[0])) - else - tx=tx+"0"+array_separator - endIf - - if tcp_events[0] != "" - tx = tx + tcp_events[0] - for index=0 to 8 - tcp_events[index]= tcp_events[index+1] - endFor - tcp_events[9] = "" - endIf - break - - case "get_var","get_bool" - if cmd == "get_var" - ret = getData(args[0], aux) - else - ret = getData(args[0], auxb) - endIf - switch(ret) - case -1 - ex = "The variable does not exists" - break - case -2 - ex = "The variable library does not exist" - break - case -3 - ex = "The index is out of range" - break - case -4 - ex = "The data's type does not match the variable's type" - break - default - if cmd == "get_var" - tx = toString(".4", aux) - else - if auxb - tx = "1" - else - tx = "0" - endIf - endIf - break - endSwitch - break - - case "get_arr" - toNum(args[1], count, ok) - for index = 0 to count - ret = getData(args[0] + "[" + toString("", index )+ "]", aux) - switch(ret) - case -1 - ex = "The variable does not exists" - return - break - case -2 - ex = "The variable library does not exist" - return - break - case -3 - ex = "The index is out of range" - return - break - case -4 - ex = "The data's type does not match the variable's type" - return - break - default - tx = tx + toString(".4", aux) + "|" - break - endSwitch - endFor - break - - //case "get_str" - // //$exec("tcp_s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH! - // //tx = s - //break - - case "get_pnt" - $exec("tcp_p = " + args[0]) - tx = tx + toString(".4", tcp_p.trsf.x) + "|" - tx = tx + toString(".4", tcp_p.trsf.y) + "|" - tx = tx + toString(".4", tcp_p.trsf.z) + "|" - tx = tx + toString(".4", tcp_p.trsf.rx) + "|" - tx = tx + toString(".4", tcp_p.trsf.ry) + "|" - tx = tx + toString(".4", tcp_p.trsf.rz) + "|" - break - - case "get_jnt" - $exec("tcp_j = " + args[0]) - tx = tx + toString(".4", tcp_j.j1) + "|" - tx = tx + toString(".4", tcp_j.j2) + "|" - tx = tx + toString(".4", tcp_j.j3) + "|" - tx = tx + toString(".4", tcp_j.j4) + "|" - tx = tx + toString(".4", tcp_j.j5) + "|" - tx = tx + toString(".4", tcp_j.j6) + "|" - break - - case "get_trf" - $exec("tcp_t = " + args[0]) - tx = tx + toString(".4", tcp_t.x) + "|" - tx = tx + toString(".4", tcp_t.y) + "|" - tx = tx + toString(".4", tcp_t.z) + "|" - tx = tx + toString(".4", tcp_t.rx) + "|" - tx = tx + toString(".4", tcp_t.ry) + "|" - tx = tx + toString(".4", tcp_t.rz) + "|" - break - - case "get_help" - toNum(args[0], aux, ok) - if ok == true - tx = help(aux) - else - ex = "Invalid code: " + args[0] - endIf - break - - default - //App specific - call onCommandTcp(cmd,args, tx, ex) - if ((len(tx) == 0) and (len(ex) == 0)) - ex = "Invalid command: " + cmd - endIf - break - endSwitch - last_id = msg_id - endIf - if len(ex) == 0 - sSio = msg_id + tx - else - msg_id = replace (msg_id,"*",1,3) - sSio = msg_id + ex - endIf - endIf - endIf - endWhile - delay(0) - endWhile -end]]> - + + + + + + + + + + + + + + + + + + + + + + + + 0 + if rec_val>31 + rx=rx+chr(rec_val) + elseIf rec_val==10 + if len(rx)<4 + rx = "" + else + msg_id = left(rx, 4) + msg = right(rx, len(rx)-4) + rx="" + //If same id, repeat last answer + if msg_id != last_id + for index=0 to 9 + args[index]="" + endFor + index = find(msg, " ") + if index < 0 + cmd = msg + else + cmd = left(msg, index) + msg = right(msg, len(msg) - index -1) + arg=0 + while (len(msg) > 0 and (arg < 10)) + index = find(msg, array_separator) + if index<0 + args[arg] = msg + msg ="" + else + args[arg] = left(msg, index) + msg = right(msg, len(msg) - index -1) + endIf + arg = arg+1 + endWhile + endIf + tx = "" + ex = "" + //General commands + switch(cmd) + case "eval" + tx=$exec(args[0]) + break + + case "get_status" + aux = workingMode(count) + tx = toString("", aux ) + array_separator + tx = tx + toString("", count ) + array_separator + if isPowered() + tx = tx + "1" + array_separator + else + tx = tx + "0" + array_separator + endIf + aux = getMonitorSpeed() + tx = tx + toString("", aux ) + array_separator + if isEmpty() + tx = tx + "1" + array_separator + else + tx = tx + "0" + array_separator + endIf + if isSettled() + tx = tx + "1" + array_separator + else + tx = tx + "0" + array_separator + endIf + //Task status + if len(args[0])>0 + tx=tx+toString("",taskStatus(args[0])) + else + tx=tx+"0"+array_separator + endIf + + if tcp_events[0] != "" + tx = tx + tcp_events[0] + for index=0 to 8 + tcp_events[index]= tcp_events[index+1] + endFor + tcp_events[9] = "" + endIf + break + + case "get_var","get_bool" + if cmd == "get_var" + ret = getData(args[0], aux) + else + ret = getData(args[0], auxb) + endIf + switch(ret) + case -1 + ex = "The variable does not exists" + break + case -2 + ex = "The variable library does not exist" + break + case -3 + ex = "The index is out of range" + break + case -4 + ex = "The data's type does not match the variable's type" + break + default + if cmd == "get_var" + tx = toString(".4", aux) + else + if auxb + tx = "1" + else + tx = "0" + endIf + endIf + break + endSwitch + break + + case "get_arr" + toNum(args[1], count, ok) + for index = 0 to count + ret = getData(args[0] + "[" + toString("", index )+ "]", aux) + switch(ret) + case -1 + ex = "The variable does not exists" + return + break + case -2 + ex = "The variable library does not exist" + return + break + case -3 + ex = "The index is out of range" + return + break + case -4 + ex = "The data's type does not match the variable's type" + return + break + default + tx = tx + toString(".4", aux) + "|" + break + endSwitch + endFor + break + + //case "get_str" + // //$exec("tcp_s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH! + // //tx = s + //break + + case "get_pnt" + $exec("tcp_p = " + args[0]) + tx = tx + toString(".4", tcp_p.trsf.x) + "|" + tx = tx + toString(".4", tcp_p.trsf.y) + "|" + tx = tx + toString(".4", tcp_p.trsf.z) + "|" + tx = tx + toString(".4", tcp_p.trsf.rx) + "|" + tx = tx + toString(".4", tcp_p.trsf.ry) + "|" + tx = tx + toString(".4", tcp_p.trsf.rz) + "|" + break + + case "get_jnt" + $exec("tcp_j = " + args[0]) + tx = tx + toString(".4", tcp_j.j1) + "|" + tx = tx + toString(".4", tcp_j.j2) + "|" + tx = tx + toString(".4", tcp_j.j3) + "|" + tx = tx + toString(".4", tcp_j.j4) + "|" + tx = tx + toString(".4", tcp_j.j5) + "|" + tx = tx + toString(".4", tcp_j.j6) + "|" + break + + case "get_trf" + $exec("tcp_t = " + args[0]) + tx = tx + toString(".4", tcp_t.x) + "|" + tx = tx + toString(".4", tcp_t.y) + "|" + tx = tx + toString(".4", tcp_t.z) + "|" + tx = tx + toString(".4", tcp_t.rx) + "|" + tx = tx + toString(".4", tcp_t.ry) + "|" + tx = tx + toString(".4", tcp_t.rz) + "|" + break + + case "get_help" + toNum(args[0], aux, ok) + if ok == true + tx = help(aux) + else + ex = "Invalid code: " + args[0] + endIf + break + + default + //App specific + call onCommandTcp(cmd,args, tx, ex) + if ((len(tx) == 0) and (len(ex) == 0)) + ex = "Invalid command: " + cmd + endIf + break + endSwitch + last_id = msg_id + endIf + if len(ex) == 0 + sSio = msg_id + tx + else + msg_id = replace (msg_id,"*",1,3) + sSio = msg_id + ex + endIf + endIf + endIf + endWhile + delay(0) + endWhile +end]]> + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx index 32bafce..062eb01 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/detect.pgx @@ -1,78 +1,78 @@ - - - - - - - - - - - - - - 0 - l_nPerc = abs(nJntForce[l_nIndex]/nJntMaxForce[l_nIndex] *100) - if l_nPerc>nJntMaxMeasured[l_nIndex] - nJntMaxMeasured[l_nIndex]=l_nPerc - endIf - l_bCondition=abs(nJntForce[l_nIndex]) > x_nThreshold - - gotoxy(0,8+l_nIndex) - put(toString(".2",nJntMaxForce[l_nIndex])) - gotoxy(8,8+l_nIndex) - put(toString(".2",x_nThreshold)) - gotoxy(16,8+l_nIndex) - put(toString(".2",abs(nJntForce[l_nIndex]))) - gotoxy(24,8+l_nIndex) - put(toString(".2",l_nPerc)) - gotoxy(32,8+l_nIndex) - put(toString(".2",nJntMaxMeasured[l_nIndex])) - - if l_bCondition - stopMove() - resetMotion() - bContact=true - l_sDisplay="Contact: force on joint "+toString("",l_nIndex+1)+" = "+toString("",abs(nJntForce[l_nIndex])) - logMsg(l_sDisplay) - endIf - endIf - endFor - delay(0) - endWhile -end]]> - + + + + + + + + + + + + + + 0 + l_nPerc = abs(nJntForce[l_nIndex]/nJntMaxForce[l_nIndex] *100) + if l_nPerc>nJntMaxMeasured[l_nIndex] + nJntMaxMeasured[l_nIndex]=l_nPerc + endIf + l_bCondition=abs(nJntForce[l_nIndex]) > x_nThreshold + + gotoxy(0,8+l_nIndex) + put(toString(".2",nJntMaxForce[l_nIndex])) + gotoxy(8,8+l_nIndex) + put(toString(".2",x_nThreshold)) + gotoxy(16,8+l_nIndex) + put(toString(".2",abs(nJntForce[l_nIndex]))) + gotoxy(24,8+l_nIndex) + put(toString(".2",l_nPerc)) + gotoxy(32,8+l_nIndex) + put(toString(".2",nJntMaxMeasured[l_nIndex])) + + if l_bCondition + stopMove() + resetMotion() + bContact=true + l_sDisplay="Contact: force on joint "+toString("",l_nIndex+1)+" = "+toString("",abs(nJntForce[l_nIndex])) + logMsg(l_sDisplay) + endIf + endIf + endFor + delay(0) + endWhile +end]]> + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx index 59c8c37..a3d758c 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/getContact.pgx @@ -1,25 +1,25 @@ - - - - - - - - + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx index 09fe785..2bfd52d 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandModbus.pgx @@ -1,27 +1,27 @@ - - - - - - - - - - - + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx index ae75db5..2f87816 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx @@ -1,28 +1,28 @@ - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx index f9ecb24..049986d 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/resetData.pgx @@ -1,29 +1,29 @@ - - - - - - - - + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx index 0c6a14b..da16f9f 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/sendEventTcp.pgx @@ -1,23 +1,23 @@ - - - - - - - - - - - - + + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx index 537bd33..47e7353 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setInZone.pgx @@ -1,21 +1,21 @@ - - - - - + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx index 44c16b4..2ca97a8 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/setOutZone.pgx @@ -1,22 +1,22 @@ - - - - - + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx index bcbc273..c064f93 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/simulateEvents.pgx @@ -1,22 +1,22 @@ - - - - - - - - - - - + + + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx index c0e4066..9c33a31 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/start.pgx @@ -1,65 +1,65 @@ - - - - - - - - - + + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx index 2905e91..77853c0 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startDetection.pgx @@ -1,36 +1,36 @@ - - - - - - - - + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx index 8b89127..9809543 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/startTraining.pgx @@ -1,31 +1,31 @@ - - - - - - - - + + + + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx index 4ab99bc..bcf910d 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/train.pgx @@ -1,28 +1,28 @@ - - - - - - - nJntMaxForce[l_nIndex] - nJntMaxForce[l_nIndex]=abs(nJntForce[l_nIndex]) - endIf - endFor - delay(0) - endWhile -end]]> - + + + + + + + nJntMaxForce[l_nIndex] + nJntMaxForce[l_nIndex]=abs(nJntForce[l_nIndex]) + endIf + endFor + delay(0) + endWhile +end]]> + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/goGonio.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/goGonio.pgx index 6255828..7fa2396 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/goGonio.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/goGonio.pgx @@ -1,44 +1,44 @@ - - - - - + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/movePark.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/movePark.pgx index c314d69..07ac746 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/movePark.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/movePark.pgx @@ -1,62 +1,62 @@ - - - - - + + + + + \ No newline at end of file diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveScanner.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveScanner.pgx index c90136c..5fefc84 100644 --- a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveScanner.pgx +++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveScanner.pgx @@ -1,50 +1,50 @@ - - - - - + + + + + \ No newline at end of file diff --git a/robot/MXLAB/MXLAB.cell b/robot/MXLAB/MXLAB.cell index b18506b..458e2a5 100644 --- a/robot/MXLAB/MXLAB.cell +++ b/robot/MXLAB/MXLAB.cell @@ -1,5 +1,5 @@ - - - - + + + + \ No newline at end of file diff --git a/script/local.groovy b/script/local.groovy index 6cd1527..eef7106 100644 --- a/script/local.groovy +++ b/script/local.groovy @@ -1,3 +1,3 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////// -// Deployment specific global definitions - executed after startup.groovy -/////////////////////////////////////////////////////////////////////////////////////////////////// +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Deployment specific global definitions - executed after startup.groovy +/////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/script/local.js b/script/local.js index 17db863..e2eeaad 100644 --- a/script/local.js +++ b/script/local.js @@ -1,4 +1,4 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////// -// Deployment specific global definitions - executed after startup.js -/////////////////////////////////////////////////////////////////////////////////////////////////// - +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Deployment specific global definitions - executed after startup.js +/////////////////////////////////////////////////////////////////////////////////////////////////// + diff --git a/script/local.py b/script/local.py index 30a8bb8..7b076ca 100644 --- a/script/local.py +++ b/script/local.py @@ -1,431 +1,434 @@ -################################################################################################### -# Deployment specific global definitions - executed after startup.py -################################################################################################### -import traceback -from ch.psi.pshell.serial import TcpDevice -from ch.psi.pshell.modbus import ModbusTCP -import ch.psi.mxsc.Controller as Controller -import ch.psi.pshell.core.Nameable as Nameable -import ch.psi.utils.Chrono as Chrono -import ch.psi.mxsc.Controller as Controller - - - -run("setup/Layout") +################################################################################################### +# Deployment specific global definitions - executed after startup.py +################################################################################################### +import traceback +from ch.psi.pshell.serial import TcpDevice +from ch.psi.pshell.modbus import ModbusTCP +import ch.psi.mxsc.Controller as Controller +import ch.psi.pshell.core.Nameable as Nameable +import ch.psi.utils.Chrono as Chrono +import ch.psi.mxsc.Controller as Controller + + + +run("setup/Layout") run("data/reports") - - - -################################################################################################### -# Configuration -################################################################################################### - -IMAGING_ENABLED_PREFERENCE = "imaging_enabled" -PUCK_TYPES_PREFERENCE = "puck_types" -BARCODE_READER_SCAN_PUCKS = "barcode_reader_scan_pucks" -ROOM_TEMPERATURE_ENABLED_PREFERENCE = "room_temperature_enabled" -BEAMLINE_STATUS_ENABLED_PREFERENCE = "beamline_status_enabled" -VALVE_CONTROL_ENABLED_PREFERENCE = "valve_control" - -def is_imaging_enabled(): - setting = get_setting(IMAGING_ENABLED_PREFERENCE) - return not (str(setting).lower() == 'false') - -def set_imaging_enabled(value): - set_setting(IMAGING_ENABLED_PREFERENCE, (True if value else False) ) - -def assert_imaging_enabled(): - if is_imaging_enabled() == False: - raise Exception ("Imaging is disabled") - -#"unipuck", "minispine" or "mixed" -def set_puck_types(value): - set_setting(PUCK_TYPES_PREFERENCE, True if value else False ) - -def get_puck_types(): - setting = get_setting(PUCK_TYPES_PREFERENCE) - if setting == "unipuck" or setting == "minispine": - return setting - return "mixed" - - -def is_barcode_reader_scan_pucks(): - setting = get_setting(BARCODE_READER_SCAN_PUCKS) - return False if setting is None else setting.lower() == "true" - -def set_barcode_reader_scan_pucks(value): - set_setting(BARCODE_READER_SCAN_PUCKS, True if value else False ) - -def is_valve_controlled(): - setting = get_setting(VALVE_CONTROL_ENABLED_PREFERENCE) - return False if setting is None else setting.lower() == "true" - -def set_valve_controlled(value): - set_setting(VALVE_CONTROL_ENABLED_PREFERENCE, True if value else False ) - -def reset_mounted_sample_position(): - set_setting("mounted_sample_position", None) - - -def get_puck_barcode_reader(): - if is_barcode_reader_scan_pucks(): - return barcode_reader - else: - return barcode_reader_puck - -#In order to apply current config -set_imaging_enabled(is_imaging_enabled()) -set_puck_types(get_puck_types()) -set_barcode_reader_scan_pucks(is_barcode_reader_scan_pucks()) -set_valve_controlled(is_valve_controlled()) - - -force_dry_mount_count = get_setting("force_dry_mount_count") -if force_dry_mount_count is None: - set_setting("force_dry_mount_count", 0) - -force_dry_timeout = get_setting("force_dry_timeout") -if force_dry_timeout is None: - set_setting("force_dry_timeout", 0) - + + + +################################################################################################### +# Configuration +################################################################################################### + +IMAGING_ENABLED_PREFERENCE = "imaging_enabled" +PUCK_TYPES_PREFERENCE = "puck_types" +BARCODE_READER_SCAN_PUCKS = "barcode_reader_scan_pucks" +ROOM_TEMPERATURE_ENABLED_PREFERENCE = "room_temperature_enabled" +BEAMLINE_STATUS_ENABLED_PREFERENCE = "beamline_status_enabled" +VALVE_CONTROL_ENABLED_PREFERENCE = "valve_control" + +def is_imaging_enabled(): + setting = get_setting(IMAGING_ENABLED_PREFERENCE) + return not (str(setting).lower() == 'false') + +def set_imaging_enabled(value): + set_setting(IMAGING_ENABLED_PREFERENCE, (True if value else False) ) + +def assert_imaging_enabled(): + if is_imaging_enabled() == False: + raise Exception ("Imaging is disabled") + +#"unipuck", "minispine" or "mixed" +def set_puck_types(value): + set_setting(PUCK_TYPES_PREFERENCE, True if value else False ) + +def get_puck_types(): + setting = get_setting(PUCK_TYPES_PREFERENCE) + if setting == "unipuck" or setting == "minispine": + return setting + return "mixed" + + +def is_barcode_reader_scan_pucks(): + setting = get_setting(BARCODE_READER_SCAN_PUCKS) + return False if setting is None else setting.lower() == "true" + +def set_barcode_reader_scan_pucks(value): + set_setting(BARCODE_READER_SCAN_PUCKS, True if value else False ) + +def is_valve_controlled(): + setting = get_setting(VALVE_CONTROL_ENABLED_PREFERENCE) + return False if setting is None else setting.lower() == "true" + +def set_valve_controlled(value): + set_setting(VALVE_CONTROL_ENABLED_PREFERENCE, True if value else False ) + +def reset_mounted_sample_position(): + set_setting("mounted_sample_position", None) + + +def get_puck_barcode_reader(): + if is_barcode_reader_scan_pucks(): + return barcode_reader + else: + return barcode_reader_puck + +#In order to apply current config +set_imaging_enabled(is_imaging_enabled()) +set_puck_types(get_puck_types()) +set_barcode_reader_scan_pucks(is_barcode_reader_scan_pucks()) +set_valve_controlled(is_valve_controlled()) + + +force_dry_mount_count = get_setting("force_dry_mount_count") +if force_dry_mount_count is None: + set_setting("force_dry_mount_count", 0) + +force_dry_timeout = get_setting("force_dry_timeout") +if force_dry_timeout is None: + set_setting("force_dry_timeout", 0) + cold_position_timeout = get_setting("cold_position_timeout") if cold_position_timeout is None: set_setting("cold_position_timeout", 0) - - -def is_room_temperature_enabled(): - setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE) - return str(setting).lower() == 'true' - -set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled()) - - -def is_beamline_status_enabled(): - setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE) - return str(setting).lower() == 'true' - -set_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE, is_beamline_status_enabled()) - -################################################################################################### -# Scripted devices and pseudo-devices -################################################################################################### - -for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance", \ - "devices/LedCtrl", "devices/SmartMagnet", "devices/HexiPosi", "devices/Gonio"]: - try: - run(script) - except: - print >> sys.stderr, traceback.format_exc() - -#if is_imaging_enabled(): -if get_device("img") is not None: - add_device(img.getContrast(), force = True) - add_device(img.getCamera(), force = True) - - -################################################################################################### -# Utility modules -################################################################################################### - -run("data/samples") -run("data/pucks") -run("motion/tools") -run("motion/mount") -run("motion/unmount") -run("motion/get_dewar") -run("motion/put_dewar") -run("motion/get_gonio") -run("motion/put_gonio") -run("motion/move_dewar") -run("motion/move_gonio") -run("motion/move_heater") -run("motion/move_home") -run("motion/move_park") -run("motion/move_cold") -run("motion/move_scanner") -run("motion/move_aux") -run("motion/get_aux") -run("motion/put_aux") -run("motion/dry") -run("motion/trash") -run("motion/homing_hexiposi") -run("motion/calibrate_tool") -run("motion/scan_pin") -run("motion/robot_recover") -run("motion/recover") -run("tools/Math") -if is_imaging_enabled(): - run("imgproc/Utils") - -def system_check(robot_move=True): - if not air_pressure_ok.read(): - raise Exception("Air pressure is not ok") - if not n2_pressure_ok.read(): - raise Exception("N2 pressure is not ok") - hexiposi.assert_in_known_position() - - if robot_move: - if not feedback_local_safety.read(): - raise Exception("Local safety not released") - auto = not is_manual_mode() - if auto: - if not feedback_psys_safety.read(): - raise Exception("Psys safety not released") - if not guiding_tool_park.read(): - raise Exception("Guiding tool not parked") - -def system_check_msg(): - try: - system_check(True) - return "Ok" - except: - return sys.exc_info()[1] - -def get_puck_dev(segment, puck): - if type(segment) is int: - segment = chr( ord('A') + (segment-1)) - - return Controller.getInstance().getPuck(str(segment).upper() + str(puck)) - -def get_puck_elect_detection(segment, puck): - return str(get_puck_dev(segment, puck).detection) - -def get_puck_img_detection(segment, puck): - return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection) - -def assert_puck_detected(segment, puck): - if (segment == AUX_SEGMENT) and (puck == 1): - return - if get_puck_elect_detection(segment, puck) != "Present": - raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present") - - -def start_puck_detection(): - run("tools/RestartPuckDetection") - -def check_puck_detection(): - return run("tools/CheckPuckDetection") - -def stop_puck_detection(): - run("tools/StopPuckDetection") - - - -def get_detected_pucks(): - ret = [] - for i in range(30): - p = BasePlate.getPucks()[i] - if (str(p.getDetection()) == "Present"): - ret.append(str(p.getName())) - return ret - -def get_pucks_info(): - ret = [] - for i in range(30): - p = BasePlate.getPucks()[i] - name = p.getName() - det = str(p.getDetection()) - barcode = "" if p.getId() is None else p.getId() - - ret.append({"puckAddress": name, "puckState": det, "puckBarcode":barcode}) - return json.dumps(ret) - - -################################################################################################### -# Device initialization -################################################################################################### - -try: - set_heater(False) - set_air_stream(False) -except: - print >> sys.stderr, traceback.format_exc() - - -try: - release_local_safety.write(False) - release_psys_safety.write(False) -except: - print >> sys.stderr, traceback.format_exc() - -try: - hexiposi.polling=500 -except: - print >> sys.stderr, traceback.format_exc() - -try: - robot.setPolling(DEFAULT_ROBOT_POLLING) - robot.set_tool(TOOL_DEFAULT) - robot.set_frame(FRAME_DEFAULT) - robot.set_motors_enabled(True) - robot.set_joint_motors_enabled(True) -except: - print >> sys.stderr, traceback.format_exc() - -if is_imaging_enabled(): - try: - import ch.psi.pshell.device.Camera as Camera - #img.camera.setColorMode(Camera.ColorMode.Mono) - #img.camera.setDataType(Camera.DataType.UInt8) - img.camera.setGrabMode(Camera.GrabMode.Continuous) - img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate) - img.camera.setExposure(25.00) - img.camera.setAcquirePeriod(200.00) - img.camera.setGain(0.0) - #img.camera.setROI(200, 0,1200,1200) - """ - img.camera.setROI(300, 200,1000,1000) - img.config.rotation=17 - img.config.rotationCrop=True - img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900 - """ - img.camera.setROI(int(get_setting("roi_x")), int(get_setting("roi_y")), int(get_setting("roi_w")), int(get_setting("roi_h"))) - - img.camera.stop() - img.camera.start() - except: - print >> sys.stderr, traceback.format_exc() - -#TODO: The Smart Magnet keeps moving sample if detecting is enabled -# Detection keeps disabled unless during moount/unmount -try: - smart_magnet.set_supress(True) -except: - print >> sys.stderr, traceback.format_exc() - -#gripper_cam.paused = True -################################################################################################### -# Device monitoring -################################################################################################### - -DEWAR_LEVEL_RT = 5.0 -is_room_temperature = False - -def is_room_temp(): - return is_room_temperature - - -class DewarLevelListener (DeviceListener): - def onValueChanged(self, device, value, former): - global is_room_temperature - if value is not None: - is_room_temperature = value <= DEWAR_LEVEL_RT -dewar_level_listener = DewarLevelListener() - -for l in dewar_level.listeners: - #if isinstance(l, DewarLevelListener): #Class changes... - if Nameable.getShortClassName(l.getClass()) == "DewarLevelListener": - dewar_level.removeListener(l) - -dewar_level.addListener(dewar_level_listener) -dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None) - - - - -class HexiposiListener (DeviceListener): - def onValueChanging(self, device, value, former): - robot.assert_cleared() - -hexiposi_listener = HexiposiListener() -hexiposi.addListener(hexiposi_listener) - -################################################################################################### -# Global variables & application state -################################################################################################### - - -context = get_context() - -cover_detection_debug = False - -in_mount_position = False - - -def assert_mount_position(): - print "Source: ", get_exec_pars().source - if not in_mount_position and get_exec_pars().source == CommandSource.server : - raise Exception("Not in mount position") - - -def is_puck_loading(): - return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \ - feedback_psys_safety.take() == False and \ - not guiding_tool_park.read() - -def set_pin_offset(val): - if abs(val) >5: - raise Exception("Invalid pin offset: " + str(val)) - try: - set_setting("pin_offset",float(val)) - except: - log("Error setting pin offset: " + str(sys.exc_info()[1]), False) - -def get_pin_offset(): - try: - ret = float(get_setting("pin_offset")) - if abs(ret) >5: - raise Exception("Invalid configured pin offset: " + str(ret)) - return ret - except: - log("Error getting pin offset: " + str(sys.exc_info()[1]), False) - return 0.0 - - -def set_pin_angle_offset(val): - if (abs(val) > 180.0) or (abs(val) < -180.0): - raise Exception("Invalid pin angle offset: " + str(val)) - try: - set_setting("pin_angle_offset",float(val)) - except: - log("Error setting pin angle offset: " + str(sys.exc_info()[1]), False) - -def get_pin_angle_offset(): - try: - ret = float(get_setting("pin_angle_offset")) - if (abs(ret) > 180.0) or (abs(ret) < -180.0): - raise Exception("Invalid configured pin angle offset: " + str(ret)) - return ret - except: - log("Error getting pin angle offset: " + str(sys.exc_info()[1]), False) - return 0.0 - -def is_force_dry(): - try: - dry_mount_counter = int(get_setting("dry_mount_counter")) - except: - dry_mount_counter = 0 - - try: - dry_timespan = time.time() - float( get_setting("dry_timestamp")) - except: - dry_timespan = 3600 - - try: - force_dry_mount_count = int(get_setting("force_dry_mount_count")) - if force_dry_mount_count>0 and dry_mount_counter>=force_dry_mount_count: - return True - except: - pass - - try: - force_dry_timeout = float(get_setting("force_dry_timeout")) - if force_dry_timeout>0 and dry_timespan>=force_dry_timeout: - return True - except: - pass - return False + + +def is_room_temperature_enabled(): + setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE) + return str(setting).lower() == 'true' + +set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled()) + + +def is_beamline_status_enabled(): + setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE) + return str(setting).lower() == 'true' + +set_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE, is_beamline_status_enabled()) + +################################################################################################### +# Scripted devices and pseudo-devices +################################################################################################### + +for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance", \ + "devices/LedCtrl", "devices/SmartMagnet", "devices/HexiPosi", "devices/Gonio"]: + try: + run(script) + except: + print >> sys.stderr, traceback.format_exc() + +#if is_imaging_enabled(): +if get_device("img") is not None: + add_device(img.getContrast(), force = True) + add_device(img.getCamera(), force = True) + + +################################################################################################### +# Utility modules +################################################################################################### + +run("data/samples") +run("data/pucks") +run("motion/tools") +run("motion/mount") +run("motion/unmount") +run("motion/get_dewar") +run("motion/put_dewar") +run("motion/get_gonio") +run("motion/put_gonio") +run("motion/move_dewar") +run("motion/move_gonio") +run("motion/move_heater") +run("motion/move_home") +run("motion/move_park") +run("motion/move_cold") +run("motion/move_scanner") +run("motion/move_aux") +run("motion/get_aux") +run("motion/put_aux") +run("motion/dry") +run("motion/trash") +run("motion/homing_hexiposi") +run("motion/calibrate_tool") +run("motion/scan_pin") +run("motion/robot_recover") +run("motion/recover") +run("tools/Math") +if is_imaging_enabled(): + run("imgproc/Utils") + +def system_check(robot_move=True): + if not air_pressure_ok.read(): + raise Exception("Air pressure is not ok") + if not n2_pressure_ok.read(): + raise Exception("N2 pressure is not ok") + hexiposi.assert_in_known_position() + + if robot_move: + if not feedback_local_safety.read(): + raise Exception("Local safety not released") + auto = not is_manual_mode() + if auto: + if not feedback_psys_safety.read(): + raise Exception("Psys safety not released") + if not guiding_tool_park.read(): + raise Exception("Guiding tool 1 not parked") + if not guiding_tool_park_2.read(): + raise Exception("Guiding tool 2 not parked") + +def system_check_msg(): + try: + system_check(True) + return "Ok" + except: + return sys.exc_info()[1] + +def get_puck_dev(segment, puck): + if type(segment) is int: + segment = chr( ord('A') + (segment-1)) + + return Controller.getInstance().getPuck(str(segment).upper() + str(puck)) + +def get_puck_elect_detection(segment, puck): + return str(get_puck_dev(segment, puck).detection) + +def get_puck_img_detection(segment, puck): + return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection) + +def assert_puck_detected(segment, puck): + if (segment == AUX_SEGMENT) and (puck == 1): + return + if get_puck_elect_detection(segment, puck) != "Present": + raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present") + + +def start_puck_detection(): + run("tools/RestartPuckDetection") + +def check_puck_detection(): + return run("tools/CheckPuckDetection") + +def stop_puck_detection(): + run("tools/StopPuckDetection") + + + +def get_detected_pucks(): + ret = [] + for i in range(30): + p = BasePlate.getPucks()[i] + if (str(p.getDetection()) == "Present"): + ret.append(str(p.getName())) + return ret + +def get_pucks_info(): + ret = [] + for i in range(30): + p = BasePlate.getPucks()[i] + name = p.getName() + det = str(p.getDetection()) + barcode = "" if p.getId() is None else p.getId() + + ret.append({"puckAddress": name, "puckState": det, "puckBarcode":barcode}) + return json.dumps(ret) + + +################################################################################################### +# Device initialization +################################################################################################### + +try: + set_heater(False) + set_air_stream(False) +except: + print >> sys.stderr, traceback.format_exc() + + +try: + release_local_safety.write(False) + release_psys_safety.write(False) +except: + print >> sys.stderr, traceback.format_exc() + +try: + hexiposi.polling=500 +except: + print >> sys.stderr, traceback.format_exc() + +try: + robot.setPolling(DEFAULT_ROBOT_POLLING) + robot.set_tool(TOOL_DEFAULT) + robot.set_frame(FRAME_DEFAULT) + robot.set_motors_enabled(True) + robot.set_joint_motors_enabled(True) +except: + print >> sys.stderr, traceback.format_exc() + +if is_imaging_enabled(): + try: + import ch.psi.pshell.device.Camera as Camera + #img.camera.setColorMode(Camera.ColorMode.Mono) + #img.camera.setDataType(Camera.DataType.UInt8) + img.camera.setGrabMode(Camera.GrabMode.Continuous) + img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate) + img.camera.setExposure(25.00) + img.camera.setAcquirePeriod(200.00) + img.camera.setGain(0.0) + #img.camera.setROI(200, 0,1200,1200) + """ + img.camera.setROI(300, 200,1000,1000) + img.config.rotation=17 + img.config.rotationCrop=True + img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900 + """ + img.camera.setROI(int(get_setting("roi_x")), int(get_setting("roi_y")), int(get_setting("roi_w")), int(get_setting("roi_h"))) + + img.camera.stop() + img.camera.start() + except: + print >> sys.stderr, traceback.format_exc() + +#TODO: The Smart Magnet keeps moving sample if detecting is enabled +# Detection keeps disabled unless during moount/unmount +try: + smart_magnet.set_supress(True) +except: + print >> sys.stderr, traceback.format_exc() + +#gripper_cam.paused = True +################################################################################################### +# Device monitoring +################################################################################################### + +DEWAR_LEVEL_RT = 5.0 +is_room_temperature = False + +def is_room_temp(): + return is_room_temperature + + +class DewarLevelListener (DeviceListener): + def onValueChanged(self, device, value, former): + global is_room_temperature + if value is not None: + is_room_temperature = value <= DEWAR_LEVEL_RT +dewar_level_listener = DewarLevelListener() + +for l in dewar_level.listeners: + #if isinstance(l, DewarLevelListener): #Class changes... + if Nameable.getShortClassName(l.getClass()) == "DewarLevelListener": + dewar_level.removeListener(l) + +dewar_level.addListener(dewar_level_listener) +dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None) + + + + +class HexiposiListener (DeviceListener): + def onValueChanging(self, device, value, former): + robot.assert_cleared() + +hexiposi_listener = HexiposiListener() +hexiposi.addListener(hexiposi_listener) + +################################################################################################### +# Global variables & application state +################################################################################################### + + +context = get_context() + +cover_detection_debug = False + +in_mount_position = False + + +def assert_mount_position(): + print "Source: ", get_exec_pars().source + if not in_mount_position and get_exec_pars().source == CommandSource.server : + raise Exception("Not in mount position") + + +def is_puck_loading(): + guiding_tools_parked = guiding_tool_park.read() and guiding_tool_park_2.read() + return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \ + feedback_psys_safety.take() == False and \ + not guiding_tools_parked + +def set_pin_offset(val): + if abs(val) >5: + raise Exception("Invalid pin offset: " + str(val)) + try: + set_setting("pin_offset",float(val)) + except: + log("Error setting pin offset: " + str(sys.exc_info()[1]), False) + +def get_pin_offset(): + try: + ret = float(get_setting("pin_offset")) + if abs(ret) >5: + raise Exception("Invalid configured pin offset: " + str(ret)) + return ret + except: + log("Error getting pin offset: " + str(sys.exc_info()[1]), False) + return 0.0 + + +def set_pin_angle_offset(val): + if (abs(val) > 180.0) or (abs(val) < -180.0): + raise Exception("Invalid pin angle offset: " + str(val)) + try: + set_setting("pin_angle_offset",float(val)) + except: + log("Error setting pin angle offset: " + str(sys.exc_info()[1]), False) + +def get_pin_angle_offset(): + try: + ret = float(get_setting("pin_angle_offset")) + if (abs(ret) > 180.0) or (abs(ret) < -180.0): + raise Exception("Invalid configured pin angle offset: " + str(ret)) + return ret + except: + log("Error getting pin angle offset: " + str(sys.exc_info()[1]), False) + return 0.0 + +def is_force_dry(): + try: + dry_mount_counter = int(get_setting("dry_mount_counter")) + except: + dry_mount_counter = 0 + + try: + dry_timespan = time.time() - float( get_setting("dry_timestamp")) + except: + dry_timespan = 3600 + + try: + force_dry_mount_count = int(get_setting("force_dry_mount_count")) + if force_dry_mount_count>0 and dry_mount_counter>=force_dry_mount_count: + return True + except: + pass + + try: + force_dry_timeout = float(get_setting("force_dry_timeout")) + if force_dry_timeout>0 and dry_timespan>=force_dry_timeout: + return True + except: + pass + return False def onPuckLoadingChange(puck_loading): set_led_state(puck_loading) - #pass - -update() -add_device(Controller.getInstance().basePlate, True) -restore_samples_info() - - -print "Initialization complete" + #pass + +update() +add_device(Controller.getInstance().basePlate, True) +restore_samples_info() + + +print "Initialization complete" \ No newline at end of file diff --git a/script/motion/mount.py b/script/motion/mount.py index 6a81d22..43384d3 100644 --- a/script/motion/mount.py +++ b/script/motion/mount.py @@ -62,21 +62,11 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False) assert_mount_position() do_unmount = False print "%4.1f s asserted " % (tg() - t1,) - - # detect sample before moving to cold - if smart_magnet.get_supress() == True: - smart_magnet.set_supress(False) - time.sleep(0.2) - sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) - Controller.getInstance().logEvent("Sample Detection", str(sample_det)) - - print "%4.1f s SMC checked" % (tg() - t1,) - - + mounting_in_same_segment = False - + try: - if sample_det == True: + if previous_mounted is not None: if was_warm and previous_segment in COLD_SEGMENTS: print " was warm previous %s %s %s" % (previous_segment, COLD_SEGMENTS, previous_mounted) robot.move_cold() @@ -91,9 +81,6 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False) print "%4.1f s ....done" % (tg() - t1,) do_unmount = True - if sample_det == True: - raise Exception("Pin detected on gonio") - if is_normal and not robot.is_cold(): print "mount():83 needs_chilling" @@ -130,7 +117,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False) if (not robot.is_dewar()) and (not mounting_in_same_segment): robot.move_dewar() print "%4.1f s get_dewar" % (tg() - t1,) - robot.get_dewar(segment, puck, sample, mounting_in_same_segment=mounting_in_same_segment) + robot.get_dewar(segment, puck, sample) if read_dm: @@ -192,22 +179,14 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False) else: robot.move_cold() - mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) - Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected)) - update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id) - if mount_sample_detected == False: - raise Exception("No pin detected on gonio") + update_samples_info_sample_mount(get_puck_name(segment, puck), sample, True, mount_sample_id) - if is_force_dry(): - smart_magnet.set_default_current() print "%4.1f Auto dry async" % (tg() - t1,) log("Starting auto dry", False) set_exec_pars(then = "dry()") set_setting("mounted_sample_position", get_sample_name(segment, puck, sample)) - return [mount_sample_detected, mount_sample_id] + return [True, mount_sample_id] finally: - print "%4.1f s magnet suppress/default current" % (tg() - t1,) - smart_magnet.set_default_current() - smart_magnet.set_supress(True) + pass \ No newline at end of file diff --git a/script/motion/unmount.py b/script/motion/unmount.py index 8ae593a..22f4043 100644 --- a/script/motion/unmount.py +++ b/script/motion/unmount.py @@ -55,20 +55,6 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun Controller.getInstance().logEvent("Unmount Sample", str(segment) + str(puck) + str(sample)) try: - if smart_magnet.get_supress() == True: - smart_magnet.set_supress(False) - time.sleep(0.2) - - #smart_magnet.apply_reverse() - #smart_magnet.apply_resting() - - if not force: - sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) - Controller.getInstance().logEvent("Sample Detection", str(sample_det)) - if sample_det == False: - raise Exception("No pin detected on gonio") - - #Enabling enable_motion() if is_normal: @@ -87,8 +73,6 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun if not robot.is_gonio(): robot.move_gonio() - - #smart_magnet.set_unmount_current() curpos = cryopos.getPosition() speed = cryopos.getSpeed() / 1000. @@ -98,11 +82,6 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun robot.get_gonio() - smart_magnet.apply_reverse() - smart_magnet.apply_resting() - mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) - Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected)) - if is_aux: robot.move_aux() robot.put_aux(sample) @@ -115,8 +94,6 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun robot.put_dewar(segment, puck, sample) set_setting("mounted_sample_position", None) - return mount_sample_detected + return False finally: - if not auto_unmount: - smart_magnet.set_default_current() - smart_magnet.set_supress(True) + pass \ No newline at end of file