From da3bf82cfed8c802fea4303200627bbfb365e384 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC13306.psi.ch>
Date: Thu, 13 Dec 2018 16:15:29 +0100
Subject: [PATCH] Fix controller crashes with $exec

---
 config/config.properties   |   4 +-
 config/devices.properties  |  85 ++++++++++++-------------------------
 config/plugins.properties  |   1 -
 plugins/MXSC-1.10.0.jar    | Bin 262914 -> 262941 bytes
 script/data/samples.py     |   2 +-
 script/devices/RobotSC.py  |   5 +--
 script/devices/RobotTCP.py |  25 ++++++++++-
 script/devices/Wago.py     |  31 --------------
 8 files changed, 55 insertions(+), 98 deletions(-)

diff --git a/config/config.properties b/config/config.properties
index f6a2e08..5d22e9c 100644
--- a/config/config.properties
+++ b/config/config.properties
@@ -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=
diff --git a/config/devices.properties b/config/devices.properties
index 9c89763..7f3bcad 100644
--- a/config/devices.properties
+++ b/config/devices.properties
@@ -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
diff --git a/config/plugins.properties b/config/plugins.properties
index 1568671..a3380ea 100644
--- a/config/plugins.properties
+++ b/config/plugins.properties
@@ -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
diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar
index 5e3025c8f71cc6fa79fd781f23d1a337641a49c0..dd0ba72ba31a7569ad628018c7db96517500e5e2 100644
GIT binary patch
delta 16052
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diff --git a/script/data/samples.py b/script/data/samples.py
index f6ba272..44064a2 100644
--- a/script/data/samples.py
+++ b/script/data/samples.py
@@ -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):
diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py
index f878be7..d0289e8 100644
--- a/script/devices/RobotSC.py
+++ b/script/devices/RobotSC.py
@@ -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)
diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py
index e2a0454..c701a48 100644
--- a/script/devices/RobotTCP.py
+++ b/script/devices/RobotTCP.py
@@ -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()
diff --git a/script/devices/Wago.py b/script/devices/Wago.py
index 1ce7931..d76a5b0 100644
--- a/script/devices/Wago.py
+++ b/script/devices/Wago.py
@@ -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
 ###################################################################################################