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Fix controller crashes with $exec

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This commit is contained in:
gac-S_Changer
2018-12-13 16:15:29 +01:00
parent d4813692c5
commit da3bf82cfe
8 changed files with 55 additions and 98 deletions
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4
config/config.properties
View File

@@ -1,4 +1,4 @@
#Mon Dec 03 12:22:43 CET 2018
#Wed Dec 12 09:19:49 CET 2018
autoSaveScanData=true
commandExecutionEvents=false
createSessionFiles=true
@@ -20,7 +20,7 @@ notificationLevel=null
scanStreamerPort=-1
serverEnabled=true
serverPort=8080
simulation=true
simulation=false
terminalEnabled=false
terminalPort=3579
userAuthenticator=

85
config/devices.properties
View File

@@ -5,65 +5,42 @@
#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM|||
microscan=ch.psi.pshell.serial.TcpDevice|MicroHAWK38C528:2001|||
microscan_cmd=ch.psi.pshell.serial.TcpDevice|MicroHAWK38C528:2003|||
ue=LaserUE|COM4|||false
puck_detection=ch.psi.mxsc.PuckDetection|tell-raspberrypi:5556|||
#onewire=ch.psi.pshell.serial.TcpDevice|129.129.126.83:5000|||
#robot=RobotTcp|127.0.0.1:1000|||
#$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=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502|||
$ue=LaserUE|COM4|||false
puck_detection=ch.psi.mxsc.PuckDetection|tell6s-raspberrypi:5556|||
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_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|
#spare_di_1=ch.psi.pshell.modbus.DigitalInput|wago 11|||
#spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 12|||
#spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 13|||
#spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 14|||
he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000|
he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000|
smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 17||1000|
smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 18||1000|
smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 19||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|||
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|||
smc_sup_det=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|
#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 3|||true
#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|||
@@ -72,9 +49,3 @@ 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|||
#img_back=ch.psi.pshell.imaging.CameraSource|cam||-100|
#fx=ch.psi.pshell.epics.Motor|SAR-EXPMX:MOT_FX|||true
#fy=ch.psi.pshell.epics.Motor|SAR-EXPMX:MOT_FY|||true
#ry=ch.psi.pshell.epics.Motor|SAR-EXPMX:MOT_ROT_Y|||true
#cz=ch.psi.pshell.epics.Motor|SAR-EXPMX:MOT_CZ|||true
#cx=ch.psi.pshell.epics.Motor|SAR-EXPMX:MOT_CX|||true

1
config/plugins.properties
View File

@@ -9,7 +9,6 @@ HexiposiPanel.java=enabled
MjpegSource2.java=enabled
LN2.java=disabled
Hexiposi.java=disabled
NewJPanel.java=disabled
RobotPanel.java=enabled
SmartMagnetConfig.java=disabled
SmartMagnetPanel.java=enabled

BIN
plugins/MXSC-1.10.0.jar
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Binary file not shown.

2
script/data/samples.py
View File

@@ -48,7 +48,7 @@ def restore_samples_info():
set_samples_info(info)
def get_samples_info(as_json=True):
global samples_info
global samples_info
return json.dumps(to_list(samples_info)) if as_json else samples_info
def has_puck_datamatrix(datamatrix):

5
script/devices/RobotSC.py
View File

@@ -268,10 +268,7 @@ class RobotSC(RobotTCP):
if simulation:
add_device(RobotSC("robot","localhost:1000"),force = True)
else:
#add_device(RobotSC("robot", "129.129.243.120:1000"), force = True)
#add_device(RobotSC("robot", "pcp068129.psi.ch:1000"), force = True)
#add_device(RobotSC("robot", "saresb-cons-06.psi.ch:1000"), force = True)
add_device(RobotSC("robot", "129.129.243.90:1000"), force = True)
add_device(RobotSC("robot", "TellRobot6S:1000"), force = True)
robot.set_default_desc(DESC_DEFAULT)

25
script/devices/RobotTCP.py
View File

@@ -382,8 +382,13 @@ class RobotTCP(TcpDevice, Stoppable):
def resume(self):
self.evaluate("restartMove()")
def reset_motion(self, joint=None):
self.evaluate("resetMotion()" if (joint is None) else ("resetMotion(" + joint + ")"))
def reset_motion(self, joint=None, timeout=None):
#TODO: in new robot robot.resetMotion() is freezing controller
#self.evaluate("resetMotion()" if (joint is None) else ("resetMotion(" + joint + ")"))
if joint is None:
self.execute('reset', timeout=timeout)
else:
self.execute('reset', str(joint), timeout=timeout)
def is_empty(self):
self.empty = self.eval_bool("isEmpty()")
@@ -652,6 +657,7 @@ class RobotTCP(TcpDevice, Stoppable):
self.setState(State.Offline)
#Cartesian space
"""
def get_flange_pos(self):
return self.eval_pnt("jointToPoint(" +FLANGE + ", " + self.frame + ", herej())")
@@ -660,6 +666,21 @@ class RobotTCP(TcpDevice, Stoppable):
return self.eval_pnt("jointToPoint(" + self.tool + ", " + self.frame + ", herej())")
#self.set_jnt(self.herej())
#return self.joint_to_point(tool, frame)
"""
#TODO: in new robot robot.evaluate("tcp_p=jointToPoint(tSuna, world, herej())") is freezing controller (cannot cal herej directly)
#We can consider atomic because tcp_j is only accessed in comTcp
def get_flange_pos(self):
self.evaluate("tcp_j=herej(); tcp_p=jointToPoint(" +FLANGE + ", " + self.frame + ", tcp_j)")
return self.get_pnt()
def get_cartesian_pos(self):
self.assert_tool()
self.evaluate("tcp_j=herej(); tcp_p=jointToPoint(" + self.tool + ", " + self.frame + ", tcp_j)")
return self.get_pnt()
#self.set_jnt(self.herej())
#return self.joint_to_point(tool, frame)
def get_cartesian_destination(self):
self.assert_tool()

31
script/devices/Wago.py
View File

@@ -2,37 +2,6 @@ LED_LEVEL_ROOM_TEMPERATURE = 0.4
LED_LEVEL_LN2 = 1.0
"""
wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502|||
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||1000|
dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||1000|
rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||1000|
air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||1000|
n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000|
#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|||
"""
###################################################################################################
# Leds
###################################################################################################