This commit is contained in:
gac-S_Changer
@@ -1,4 +1,4 @@
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#Wed Feb 06 11:13:25 CET 2019
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#Tue Mar 19 08:37:33 CET 2019
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autoSaveScanData=true
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commandExecutionEvents=false
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createSessionFiles=true
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@@ -10,6 +10,7 @@ dataScanPreserveTypes=false
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dataScanReleaseRecords=false
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dataServerPort=-1
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depthDimension=0
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hideServerMessages=true
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hostName=null
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instanceName=X06SA
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logDaysToLive=30
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@@ -1,4 +1,4 @@
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img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000;MulticastEnable=Off"||-200|false
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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
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gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=1 reopen||-200|false
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monitoring_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200|
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#top_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=3 true||-200|
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@@ -1,12 +1,17 @@
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#Tue Feb 19 12:07:34 CET 2019
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#Tue Mar 19 08:36:08 CET 2019
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barcode_reader_scan_pucks=false
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beamline_status_enabled=false
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dry_mount_counter=0
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dry_timestamp=1.550572774662E9
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dry_timestamp=1.552980281686E9
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force_dry_mount_count=15
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force_dry_timeout=0
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imaging_enabled=false
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led_level=0.0
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pin_offset=0.0
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puck_types=true
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roi_h=1000
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roi_w=1000
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roi_x=286
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roi_y=127
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room_temperature_enabled=false
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valve_control=false
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@@ -1,3 +1,3 @@
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#Wed Feb 06 11:02:19 CET 2019
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#Mon Mar 11 10:22:44 CET 2019
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detection=Mechanical
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disabled=false
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disabled=true
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+10
-10
@@ -1,4 +1,4 @@
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#Wed Sep 12 14:06:31 CEST 2018
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#Tue Mar 12 14:02:05 CET 2019
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colormap=Grayscale
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colormapAutomatic=false
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colormapMax=18.133
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@@ -9,16 +9,16 @@ grayscale=false
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invert=false
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rescaleFactor=1.0
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rescaleOffset=0.0
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roiHeight=899
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roiWidth=893
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roiX=48
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roiY=45
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rotation=230.05382605006437
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roiHeight=959
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roiWidth=958
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roiX=21
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roiY=20
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rotation=90.09354404670171
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rotationCrop=true
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scale=1.0
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spatialCalOffsetX=-447.0
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spatialCalOffsetY=-450.0
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spatialCalScaleX=0.5262180258614136
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spatialCalScaleY=0.5227145226413789
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spatialCalOffsetX=-479.0
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spatialCalOffsetY=-480.0
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spatialCalScaleX=0.49018322600904013
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spatialCalScaleY=0.489795265579423
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spatialCalUnits=mm
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transpose=false
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@@ -1,4 +1,4 @@
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#Wed Feb 13 10:40:48 CET 2019
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#Mon Mar 11 10:54:31 CET 2019
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maxValue=1.0
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minValue=0.0
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offset=0.0
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@@ -1,4 +1,4 @@
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#Wed Feb 13 10:40:48 CET 2019
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#Mon Mar 11 10:54:31 CET 2019
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maxValue=1.0
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minValue=0.0
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offset=0.0
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@@ -1,4 +1,4 @@
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#Wed Feb 13 10:40:48 CET 2019
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#Mon Mar 11 10:54:31 CET 2019
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maxValue=1.0
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minValue=0.0
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offset=0.0
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@@ -838,12 +838,12 @@ public class Commands extends Panel {
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private void buttonGetAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetAuxActionPerformed
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int sample = (Integer) spinnerSample.getValue();
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execute("get_aux('" + sample + ")");
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execute("get_aux('" + sample + "')");
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}//GEN-LAST:event_buttonGetAuxActionPerformed
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private void buttonPutAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutAuxActionPerformed
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int sample = (Integer) spinnerSample.getValue();
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execute("put_aux('" + sample + ")");
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execute("put_aux('" + sample + "')");
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}//GEN-LAST:event_buttonPutAuxActionPerformed
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private void checkAuxiliaryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_checkAuxiliaryActionPerformed
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Binary file not shown.
@@ -75,7 +75,7 @@
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<SubComponents>
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<Component class="javax.swing.JButton" name="buttonPuckDetCheck">
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<Properties>
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<Property name="text" type="java.lang.String" value="Ckeck"/>
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<Property name="text" type="java.lang.String" value="Check"/>
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</Properties>
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<Events>
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<EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPuckDetCheckActionPerformed"/>
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@@ -111,16 +111,18 @@
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<Layout>
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<DimensionLayout dim="0">
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<Group type="103" groupAlignment="0" attributes="0">
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<Group type="102" alignment="0" attributes="0">
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<Group type="102" attributes="0">
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<EmptySpace max="-2" attributes="0"/>
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<Component id="jScrollPane1" pref="0" max="32767" attributes="0"/>
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<Group type="103" groupAlignment="0" attributes="0">
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<Component id="jScrollPane1" alignment="0" pref="0" max="32767" attributes="0"/>
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<Group type="102" alignment="0" attributes="0">
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<EmptySpace min="0" pref="0" max="32767" attributes="0"/>
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<Component id="buttonConfigure" min="-2" max="-2" attributes="0"/>
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<EmptySpace min="0" pref="0" max="32767" attributes="0"/>
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</Group>
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</Group>
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<EmptySpace max="-2" attributes="0"/>
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</Group>
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<Group type="102" alignment="0" attributes="0">
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<EmptySpace max="32767" attributes="0"/>
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<Component id="buttonConfigure" min="-2" max="-2" attributes="0"/>
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<EmptySpace max="32767" attributes="0"/>
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</Group>
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</Group>
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</DimensionLayout>
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<DimensionLayout dim="1">
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@@ -83,7 +83,7 @@ public class PuckDetectionPanel extends DevicePanel {
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jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Raspberry Pi "));
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buttonPuckDetCheck.setText("Ckeck");
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buttonPuckDetCheck.setText("Check");
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buttonPuckDetCheck.addActionListener(new java.awt.event.ActionListener() {
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public void actionPerformed(java.awt.event.ActionEvent evt) {
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buttonPuckDetCheckActionPerformed(evt);
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@@ -200,12 +200,13 @@ public class PuckDetectionPanel extends DevicePanel {
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jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addGroup(jPanel1Layout.createSequentialGroup()
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.addContainerGap()
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.addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
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.addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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.addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
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.addGroup(jPanel1Layout.createSequentialGroup()
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.addGap(0, 0, Short.MAX_VALUE)
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.addComponent(buttonConfigure)
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.addGap(0, 0, Short.MAX_VALUE)))
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.addContainerGap())
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.addGroup(jPanel1Layout.createSequentialGroup()
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
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.addComponent(buttonConfigure)
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.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
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);
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jPanel1Layout.setVerticalGroup(
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jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
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@@ -2,9 +2,10 @@ import ch.psi.pshell.device.Camera as Camera
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import ch.psi.pshell.imaging.RendererMode as RendererMode
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import ch.psi.pshell.imaging.Calibration as Calibration
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from ch.psi.pshell.imaging.Overlays import *
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import ch.psi.pshell.imaging.Pen as Pen
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import ch.psi.utils.swing.SwingUtils as SwingUtils
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import javax.swing.SwingUtilities as SwingUtilities
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from swingutils.threads.swing import callSwing
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#from swingutils.threads.swing import callSwing
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#SIMULATION = ch.psi.pshell.imaging.FileSource
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"""
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img.camera.setColorMode(Camera.ColorMode.Mono)
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@@ -17,7 +18,7 @@ img.camera.setGain(0.0)
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img.config.rotationCrop=True
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"""
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MOVE_HEXIPOSI = True
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MOVE_HEXIPOSI = not is_manual_mode()
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ROTATION_OFFSET = 180.0
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if MOVE_HEXIPOSI:
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+418
-409
@@ -1,413 +1,422 @@
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###################################################################################################
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# Deployment specific global definitions - executed after startup.py
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###################################################################################################
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import traceback
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from ch.psi.pshell.serial import TcpDevice
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from ch.psi.pshell.modbus import ModbusTCP
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import ch.psi.mxsc.Controller as Controller
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import ch.psi.pshell.core.Nameable as Nameable
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import ch.psi.utils.Chrono as Chrono
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import ch.psi.mxsc.Controller as Controller
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run("setup/Layout")
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###################################################################################################
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# Configuration
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###################################################################################################
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IMAGING_ENABLED_PREFERENCE = "imaging_enabled"
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PUCK_TYPES_PREFERENCE = "puck_types"
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BARCODE_READER_SCAN_PUCKS = "barcode_reader_scan_pucks"
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ROOM_TEMPERATURE_ENABLED_PREFERENCE = "room_temperature_enabled"
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BEAMLINE_STATUS_ENABLED_PREFERENCE = "beamline_status_enabled"
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def is_imaging_enabled():
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setting = get_setting(IMAGING_ENABLED_PREFERENCE)
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return not (str(setting).lower() == 'false')
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def set_imaging_enabled(value):
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set_setting(IMAGING_ENABLED_PREFERENCE, (True if value else False) )
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def assert_imaging_enabled():
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if is_imaging_enabled() == False:
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raise Exception ("Imaging is disabled")
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#"unipuck", "minispine" or "mixed"
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def set_puck_types(value):
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set_setting(PUCK_TYPES_PREFERENCE, True if value else False )
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def get_puck_types():
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setting = get_setting(PUCK_TYPES_PREFERENCE)
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if setting == "unipuck" or setting == "minispine":
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return setting
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return "mixed"
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def is_barcode_reader_scan_pucks():
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setting = get_setting(BARCODE_READER_SCAN_PUCKS)
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return False if setting is None else setting.lower() == "true"
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def set_barcode_reader_scan_pucks(value):
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set_setting(BARCODE_READER_SCAN_PUCKS, True if value else False )
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|
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def reset_mounted_sample_position():
|
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set_setting("mounted_sample_position", None)
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|
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|
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def get_puck_barcode_reader():
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if is_barcode_reader_scan_pucks():
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return barcode_reader
|
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else:
|
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return barcode_reader_puck
|
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|
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#In order to apply current config
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set_imaging_enabled(is_imaging_enabled())
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set_puck_types(get_puck_types())
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set_barcode_reader_scan_pucks(is_barcode_reader_scan_pucks())
|
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|
||||
|
||||
force_dry_mount_count = get_setting("force_dry_mount_count")
|
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if force_dry_mount_count is None:
|
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set_setting("force_dry_mount_count", 0)
|
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|
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force_dry_timeout = get_setting("force_dry_timeout")
|
||||
if force_dry_timeout is None:
|
||||
set_setting("force_dry_timeout", 0)
|
||||
|
||||
|
||||
|
||||
def is_room_temperature_enabled():
|
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setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE)
|
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return str(setting).lower() == 'true'
|
||||
|
||||
set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled())
|
||||
|
||||
|
||||
def is_beamline_status_enabled():
|
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setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE)
|
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return str(setting).lower() == 'true'
|
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|
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set_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE, is_beamline_status_enabled())
|
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|
||||
###################################################################################################
|
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# Scripted devices and pseudo-devices
|
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###################################################################################################
|
||||
|
||||
for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance", \
|
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"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)
|
||||
|
||||
|
||||
###################################################################################################
|
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# Utility modules
|
||||
###################################################################################################
|
||||
|
||||
run("data/samples")
|
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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
|
||||
|
||||
|
||||
update()
|
||||
add_device(Controller.getInstance().basePlate, True)
|
||||
restore_samples_info()
|
||||
|
||||
|
||||
print "Initialization complete"
|
||||
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")
|
||||
|
||||
|
||||
|
||||
###################################################################################################
|
||||
# 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)
|
||||
|
||||
|
||||
|
||||
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
|
||||
|
||||
|
||||
update()
|
||||
add_device(Controller.getInstance().basePlate, True)
|
||||
restore_samples_info()
|
||||
|
||||
|
||||
print "Initialization complete"
|
||||
|
||||
@@ -134,18 +134,18 @@ def assert_valid_address(segment, puck, sample):
|
||||
return
|
||||
if is_string(segment):
|
||||
segment = ord(segment.upper()) - ord('A') +1
|
||||
if segment<=0 or segment >6:
|
||||
raise Exception ("Invalid segment")
|
||||
if puck<=0 or puck >5:
|
||||
raise Exception ("Invalid puck")
|
||||
if sample<=0 or sample >16:
|
||||
raise Exception ("Invalid sample")
|
||||
if (segment<=0) or (segment >6):
|
||||
raise Exception ("Invalid segment: " + str(segment))
|
||||
if (puck<=0) or (puck >5):
|
||||
raise Exception ("Invalid puck: " + str(puck))
|
||||
if (sample<=0) or (sample >16):
|
||||
raise Exception ("Invalid sample: " + str(sample))
|
||||
if get_puck_dev(segment, puck).isDisabled():
|
||||
raise Exception ("Puck is disabled")
|
||||
|
||||
def assert_valid_sample(sample):
|
||||
if sample<=0 or sample >16:
|
||||
raise Exception ("Invalid sample")
|
||||
if (sample<=0) or (sample >16):
|
||||
raise Exception ("Invalid sample: " + str(sample))
|
||||
|
||||
def get_puck_name(segment, puck):
|
||||
try:
|
||||
|
||||
Reference in New Issue
Block a user