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This commit is contained in:
alexgobbo
2024-09-11 16:17:17 +02:00
parent 4c44934e04
commit 75400ca453
49 changed files with 1507 additions and 593 deletions
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config/config.properties
+52 -27
View File
@@ -1,37 +1,62 @@
#Tue Jan 26 15:55:46 CET 2021
#Thu Aug 15 14:00:07 CEST 2024
autoSaveScanData=true
simulation=false
commandExecutionEvents=false
logDaysToLive=30
createSessionFiles=true
dataLayout=table
dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
dataProvider=txt
dataScanFlushRecords=true
dataScanLazyTableCreation=false
dataScanPreserveTypes=false
dataScanReleaseRecords=false
dataScanSaveOutput=false
userAuthenticator=
logLevelConsole=Off
scanStreamerPort=-1
dataScanSaveScript=false
dataScanSaveSetpoints=false
parallelInitialization=false
versionTrackingManual=true
hostName=null
userManagement=false
instanceName=X06DA
dataScanSaveTimestamps=false
dataServerPort=-1
hideServerMessages=true
serverPort=8080
versionTrackingEnabled=true
dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
serverEnabled=true
dataScanReleaseRecords=false
dataTransferMode=Off
dataTransferPath=
dataTransferUser=
depthDimension=0
dataScanPreserveTypes=false
disableDataFileLogs=false
disableEmbeddedAttributes=false
fdaSerialization=false
filePermissionsConfig=Default
filePermissionsData=Default
filePermissionsLogs=Default
filePermissionsScripts=Default
hideServerMessages=true
hostName=null
instanceName=X06DA
logDaysToLive=30
logLevel=Fine
dataScanFlushRecords=true
logLevelConsole=Off
logPath={logs}/{date}_{time}
dataLayout=table
terminalEnabled=false
notificationLevel=null
terminalPort=3579
createSessionFiles=true
versionTrackingLogin={context}/svcusr-hlapp_robot
versionTrackingRemote=git@git.psi.ch\:tell/x06da.git
dataProvider=txt
noBytecodeFiles=false
notificationLevel=Off
notifiedTasks=
parallelInitialization=false
pythonHome=
saveCommandStatistics=true
saveConsoleSessionFiles=false
scanStreamerPort=-1
serverEnabled=true
serverPort=8080
sessionHandling=Off
simulation=false
terminalEnabled=false
terminalPort=3579
userAuthenticator=
userManagement=false
versionTrackingEnabled=true
versionTrackingLogin={context}/svcusr-hlapp_robot
versionTrackingManual=true
versionTrackingRemote=git@git.psi.ch\:tell/x06da.git
xscanAppendSuffix=true
xscanContinuousUpdate=false
xscanCrlogicAbortable=true
xscanCrlogicChannel=null
xscanCrlogicIoc=null
xscanCrlogicPrefix=null
xscanCrlogicSimulated=false
xscanMoveTimeout=600
config/devices.properties
+4 -4
View File
@@ -1,5 +1,5 @@
cryostage=ch.psi.pshell.epics.Motor|X06DA-ES-CJ:TRX1|||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
#img=ch.psi.pshell.prosilica.Prosilica|25001|||true
#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|
@@ -25,7 +25,7 @@ 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|
magnet_release=ch.psi.pshell.modbus.DigitalInput|wago 13||500|
detector_cleared=ch.psi.pshell.modbus.DigitalInput|wago 14||1000|
#detector_cleared=ch.psi.pshell.modbus.DigitalInput|wago 14||1000|
guiding_tool_park=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|
@@ -57,6 +57,6 @@ 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|||
#th2e=ch.psi.pshell.modbus.ModbusTCP|129.129.110.200|||
#temperature=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 1||10000|
#humidity=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 5||10000|
#temperature=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 1||10000|false
#humidity=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 5||10000|false
#dew_point=ch.psi.pshell.modbus.ReadonlyProcessVariable|th2e 9||10000|
config/plugins.properties
+3 -3
View File
@@ -1,7 +1,7 @@
MXSC-1.10.0\ -\ Back.jar=disabled
MXSC-1.14.0.jar=disabled
MXSC-1.15.0.jar=disabled
Commands.java=disabled
Recovery.java=disabled
MXSC-1.10.0.jar=disabled
WagoPanel.java=enabled
LaserUEPanel.java=enabled
BarcodeReaderPanel.java=enabled
@@ -10,7 +10,7 @@ HexiposiPanel.java=enabled
MjpegSource2.java=enabled
LN2.java=disabled
Hexiposi.java=disabled
RobotPanel.java=enabled
RobotPanel.java=disabled
SmartMagnetConfig.java=disabled
SmartMagnetPanel.java=enabled
LaserUE.java=enabled
config/preferences.json
+149
View File
@@ -0,0 +1,149 @@
{
"fontShellPanel" : {
"name" : "Lucida Console",
"style" : 0,
"size" : 11
},
"fontShellCommand" : {
"name" : "SansSerif",
"style" : 0,
"size" : 13
},
"fontOutput" : {
"name" : "Lucida Console",
"style" : 0,
"size" : 11
},
"fontEditor" : {
"name" : "Lucida Console",
"style" : 0,
"size" : 11
},
"fontPlotLabel" : {
"name" : "SansSerif",
"style" : 0,
"size" : 11
},
"fontPlotTick" : {
"name" : "SansSerif",
"style" : 0,
"size" : 10
},
"fontPlotTitle" : {
"name" : "SansSerif",
"style" : 1,
"size" : 13
},
"fontTerminal" : {
"name" : "Consolas",
"style" : 0,
"size" : 14
},
"tabSize" : 4,
"contentWidth" : 0,
"editorBackground" : null,
"editorForeground" : null,
"simpleEditor" : false,
"hideEditorLineNumbers" : false,
"hideEditorContextMenu" : false,
"consoleLocation" : "Left",
"dataPanelLocation" : null,
"openDataFilesInDocTab" : false,
"noVariableEvaluationPropagation" : false,
"processingScripts" : [ ],
"asyncViewersUpdate" : true,
"asyncHistoryPlotsUpdate" : false,
"scanPlotDisabled" : false,
"scanTableDisabled" : false,
"cachedDataPanel" : false,
"dataExtensions" : "",
"dataSubFiles" : "",
"hideFileName" : false,
"showEmergencyStop" : false,
"showHomingButtons" : false,
"showJogButtons" : false,
"hideScanPanel" : false,
"hideOutputPanel" : false,
"showXScanFileBrowser" : false,
"showQueueBrowser" : false,
"backgroundRendering" : false,
"showImageStatusBar" : true,
"persistRendererWindows" : true,
"defaultRendererColormap" : "Grayscale",
"linePlot" : "ch.psi.pshell.plot.LinePlotJFree",
"matrixPlot" : "ch.psi.pshell.plot.MatrixPlotJFree",
"surfacePlot" : "null",
"timePlot" : "ch.psi.pshell.plot.TimePlotJFree",
"plotsDetached" : false,
"plotsHidden" : false,
"plotLayout" : "Vertical",
"quality" : "High",
"defaultPlotColormap" : "Temperature",
"markerSize" : 2,
"plotBackground" : null,
"gridColor" : null,
"outlineColor" : null,
"disableOffscreenBuffer" : false,
"defaultPanels" : [ {
"deviceClassName" : "ch.psi.pshell.epics.Scaler",
"panelClassName" : "ch.psi.pshell.swing.ScalerPanel"
}, {
"deviceClassName" : "ch.psi.pshell.epics.Scienta",
"panelClassName" : "ch.psi.pshell.swing.ScientaPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.Motor",
"panelClassName" : "ch.psi.pshell.swing.MotorPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.MasterPositioner",
"panelClassName" : "ch.psi.pshell.swing.MasterPositionerPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.ProcessVariable",
"panelClassName" : "ch.psi.pshell.swing.ProcessVariablePanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.MotorGroup",
"panelClassName" : "ch.psi.pshell.swing.MotorGroupPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.DiscretePositioner",
"panelClassName" : "ch.psi.pshell.swing.DiscretePositionerPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.Camera",
"panelClassName" : "ch.psi.pshell.swing.CameraPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.Slit",
"panelClassName" : "ch.psi.pshell.swing.SlitPanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.HistogramGenerator",
"panelClassName" : "ch.psi.pshell.swing.HistogramGeneratorPanel"
}, {
"deviceClassName" : "ch.psi.pshell.bs.Stream",
"panelClassName" : "ch.psi.pshell.swing.StreamPanel"
}, {
"deviceClassName" : "ch.psi.pshell.bs.StreamChannel",
"panelClassName" : "ch.psi.pshell.swing.StreamChannelPanel"
}, {
"deviceClassName" : "ch.psi.pshell.camserver.CamServerStream",
"panelClassName" : "ch.psi.pshell.swing.CamServerStreamPanel"
}, {
"deviceClassName" : "ch.psi.pshell.camserver.CamServerService",
"panelClassName" : "ch.psi.pshell.swing.CamServerServicePanel"
}, {
"deviceClassName" : "ch.psi.pshell.device.ReadonlyRegister",
"panelClassName" : "ch.psi.pshell.swing.DeviceValueChart"
}, {
"deviceClassName" : "RobotSC",
"panelClassName" : "RobotPanel"
}, {
"deviceClassName" : "BarcodeReader",
"panelClassName" : "BarcodeReaderPanel"
}, {
"deviceClassName" : "ch.psi.mxsc.PuckDetection",
"panelClassName" : "PuckDetectionPanel"
}, {
"deviceClassName" : "ch.psi.pshell.modbus.ModbusTCP",
"panelClassName" : "WagoPanel"
}, {
"deviceClassName" : "LaserUE",
"panelClassName" : "LaserUEPanel"
} ],
"scriptPopupDialog" : "None"
}
config/settings.properties
+15 -16
View File
@@ -1,20 +1,19 @@
#Wed Dec 01 14:00:32 CET 2021
#Wed Sep 11 16:12:29 CEST 2024
barcode_reader_scan_pucks=false
beamline_status_enabled=false
cold_position_timeout=3600
dry_mount_counter=0
mounted_sample_position=X11
room_temperature_enabled=false
dry_timestamp=1.69564645367E9
force_dry_mount_count=4
force_dry_timeout=27000
imaging_enabled=true
led_level=0.0
pin_cleaner_timer=60
pin_offset=-0.0
puck_types=true
pin_cleaner_timer=60
imaging_enabled=false
dry_timestamp=1.638363632386E9
roi_h=1000
led_level=0.0
beamline_status_enabled=false
force_dry_mount_count=1
roi_y=123
barcode_reader_scan_pucks=false
cold_position_timeout=3600
force_dry_timeout=2700
roi_w=1000
roi_h=400
roi_w=600
roi_x=289
valve_control=false
roi_y=123
room_temperature_enabled=false
valve_control=true
config/setup.properties
+6 -1
View File
@@ -1,11 +1,13 @@
#Tue Sep 17 15:06:05 CEST 2019
#Thu Aug 15 14:00:07 CEST 2024
configFile={config}/config.properties
configFileDevices={config}/devices.properties
configFilePlugins={config}/plugins.properties
configFileSessions={config}/sessions.properties
configFileSettings={config}/settings.properties
configFileTasks={config}/tasks.properties
configFileVariables={config}/variables.properties
configPath={home}/config
consoleSessionsPath={sessions}/console
contextPath={outp}/context
dataPath={outp}/data
devicesPath={home}/devices
@@ -14,7 +16,10 @@ imagesPath={outp}/images
libraryPath={script}; {script}/Lib
logPath={outp}/log
pluginsPath={home}/plugins
queuePath={script}
scriptPath={home}/script
scriptType=py
sessionsPath={outp}/sessions
userSessionsPath={sessions}/user
wwwPath={home}/www
xscanPath={script}
config/tasks.properties
+3 -2
View File
@@ -1,2 +1,3 @@
tasks/LedMonitoring=120
tasks/ColdPositionTimeout=300
tasks/LedMonitoring=120.0;120.0
tasks/ColdPositionTimeout=300.0;300.0
#tasks/Reinit=30.0;30.0
config/variables.properties
+4 -2
View File
@@ -1,2 +1,4 @@
#Mon Sep 27 14:34:33 CEST 2021
FileSequentialNumber=236
#Thu Aug 15 14:25:40 CEST 2024
DaySequentialNumber=4
FileSequentialNumber=269
LastRunDate=240815
devices/B3.properties
+1 -1
View File
@@ -1,3 +1,3 @@
#Tue Nov 30 15:12:06 CET 2021
#Thu Jan 20 14:10:37 CET 2022
detection=Mechanical
disabled=false
devices/C4.properties
+1 -1
View File
@@ -1,3 +1,3 @@
#Tue Dec 01 08:46:40 CET 2020
#Thu Jan 20 14:12:27 CET 2022
detection=Mechanical
disabled=false
devices/D1.properties
+1 -1
View File
@@ -1,3 +1,3 @@
#Thu Sep 19 08:23:48 CEST 2019
#Wed Sep 13 14:42:38 CEST 2023
detection=Mechanical
disabled=false
devices/E1.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 14:28:32 CEST 2020
#Wed Sep 13 14:42:28 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/E2.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:15 CEST 2020
#Wed Sep 13 14:42:25 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/E3.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:19 CEST 2020
#Wed Sep 13 14:42:21 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/E4.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:24 CEST 2020
#Wed Sep 13 14:42:18 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/E5.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:29 CEST 2020
#Wed Sep 13 14:42:14 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/F1.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 11:31:09 CEST 2020
#Wed Sep 13 14:42:10 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/F2.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:39 CEST 2020
#Wed Sep 13 14:42:07 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/F3.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:44 CEST 2020
#Wed Sep 13 14:42:03 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/F4.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:47 CEST 2020
#Wed Sep 13 14:41:59 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/F5.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Fri Aug 14 10:51:50 CEST 2020
#Wed Sep 13 14:41:55 CEST 2023
detection=Mechanical
disabled=true
disabled=false
devices/Time.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Wed Jun 27 10:48:14 CEST 2018
#Thu Aug 15 14:11:16 CEST 2024
description=null
maxValue=NaN
minValue=NaN
offset=0.0
devices/cryostage.properties
+16 -15
View File
@@ -1,18 +1,19 @@
#Mon Jul 26 08:33:12 CEST 2021
offset=0.0
maxValue=60.0
rotation=false
precision=5
scale=1.0
estbilizationDelay=0
maxSpeed=NaN
resolution=0.0025
homingType=None
startRetries=1
minValue=-3.0
unit=mm
#Thu Aug 15 14:00:10 CEST 2024
defaultSpeed=5.0
description=null
estbilizationDelay=0
hasEnable=false
sign_bit=0
monitorByPosition=false
homingType=None
maxSpeed=NaN
maxValue=60.0
minSpeed=1.0
minValue=-3.0
monitorByPosition=false
offset=0.0
precision=5
resolution=0.0025
rotation=false
scale=1.0
sign_bit=0
startRetries=1
unit=mm
devices/dewar_level.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Tue Jan 22 10:58:09 CET 2019
#Thu Aug 15 14:00:10 CEST 2024
description=null
offset=0.0
precision=2
scale=0.0032
devices/image.properties
+25
View File
@@ -0,0 +1,25 @@
#Wed Sep 04 15:28:07 CEST 2024
colormap=Grayscale
colormapAutomatic=true
colormapLogarithmic=false
colormapMax=NaN
colormapMin=NaN
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
devices/img.properties
+22 -19
View File
@@ -1,24 +1,27 @@
#Wed Oct 30 16:03:50 CET 2019
spatialCalOffsetY=-482.0
invert=false
#Tue Aug 27 15:22:44 CEST 2024
colormap=Grayscale
colormapAutomatic=true
colormapLogarithmic=false
colormapMax=18.133
colormapMin=6.4
spatialCalOffsetX=-476.0
rotation=90.5119714057
flipHorizontally=false
flipVertically=false
grayscale=false
imageHeight=0
imageWidth=0
invert=false
rescaleFactor=1.0
rescaleOffset=0.0
roiHeight=-1
roiWidth=-1
roiX=0
roiY=0
rotation=0.0
rotationCrop=true
scale=1.0
rescaleFactor=1.0
grayscale=false
spatialCalOffsetX=NaN
spatialCalOffsetY=NaN
spatialCalScaleX=NaN
spatialCalScaleY=NaN
spatialCalUnits=mm
flipVertically=false
roiHeight=964
spatialCalScaleX=0.49344173073372655
spatialCalScaleY=0.48738915251539194
flipHorizontally=false
colormapAutomatic=false
colormapMax=18.133
roiY=17
roiX=25
rescaleOffset=0.0
roiWidth=952
transpose=false
colormap=Grayscale
devices/led_ctrl_1.properties
+6 -5
View File
@@ -1,9 +1,10 @@
#Wed Dec 01 08:50:46 CET 2021
#Thu Aug 15 14:00:10 CEST 2024
description=null
maxValue=0.4
minValue=0.0
unit=V
offset=0.0
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
resolution=NaN
scale=3.0E-4
sign_bit=0
unit=V
devices/led_ctrl_2.properties
+6 -5
View File
@@ -1,9 +1,10 @@
#Wed Dec 01 08:50:46 CET 2021
#Thu Aug 15 14:00:10 CEST 2024
description=null
maxValue=0.4
minValue=0.0
unit=V
offset=0.0
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
resolution=NaN
scale=3.0E-4
sign_bit=0
unit=V
devices/led_ctrl_3.properties
+6 -5
View File
@@ -1,9 +1,10 @@
#Wed Dec 01 08:50:46 CET 2021
#Thu Aug 15 14:00:10 CEST 2024
description=null
maxValue=0.4
minValue=0.0
unit=V
offset=0.0
maxValue=1.0
precision=2
sign_bit=0
scale=3.0E-4
resolution=NaN
scale=3.0E-4
sign_bit=0
unit=V
devices/led_level.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Tue Jun 19 16:41:24 CEST 2018
#Thu Aug 15 14:04:07 CEST 2024
description=null
maxValue=NaN
minValue=NaN
offset=0.0
devices/rim_heater_temp.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Tue Jun 19 16:41:20 CEST 2018
#Thu Aug 15 14:00:10 CEST 2024
description=null
offset=-25.81632
precision=2
scale=0.003888
devices/smc_current.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Wed Jan 30 11:33:15 CET 2019
#Thu Aug 15 14:00:10 CEST 2024
description=null
maxValue=70.0
minValue=-50.0
offset=0.0
devices/smc_current_rb.properties
+2 -1
View File
@@ -1,4 +1,5 @@
#Tue Jun 19 16:45:06 CEST 2018
#Thu Aug 15 14:00:10 CEST 2024
description=null
offset=0.0
precision=2
scale=0.003
plugins/LN2.java
+1 -1
View File
@@ -1,6 +1,6 @@
/*
* Copyright (c) 2014-2018 Paul Scherrer Institute. All rights reserved.
*/
*/
import ch.psi.pshell.core.Context;
import ch.psi.pshell.plot.TimePlotBase;
script/cpython/VmbPyServer.py
+275
View File
@@ -0,0 +1,275 @@
import sys
import time
import argparse
import socket
from bsread.sender import sender, PUSH, PUB
from typing import Optional, Tuple
from logging import getLogger
from vmbpy import *
from flask import Flask, request, jsonify
import threading
_logger = getLogger(__name__)
def can_bind_to_port(port, host='0.0.0.0'):
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
try:
# Attempt to bind to the host and port
sock.bind((host, port))
return True # If binding is successful, the port is available
except OSError:
return False # If an OSError occurs, the port is not available
class VmbPyStreamServer():
def __init__(self, id=None, port=None, alloc=None, start = None):
self.id = id
self.port = port if port else 9000
self.alloc = AllocationMode.AllocAndAnnounceFrame if alloc else AllocationMode.AnnounceFrame
self.camera = None
self.handler_exception = None
self.exit_cmd = False
self.start_streaming = True if (start or (start is None)) else None
if self.port > 0:
if not can_bind_to_port(self.port):
raise Exception(f"Stream port {self.port} is not free")
def open_camera(self, camera_id: Optional[str]) -> Camera:
self.camera = None
self.handler_exception = None
with VmbSystem.get_instance() as vmb:
if camera_id:
try:
return vmb.get_camera_by_id(camera_id)
except VmbCameraError:
abort('Failed to access Camera \'{}\'. Abort.'.format(camera_id))
else:
cams = vmb.get_all_cameras()
if not cams:
abort('No Cameras accessible. Abort.')
return cams[0]
def init_camera(self):
#cam.set_pixel_format(PixelFormat.BayerGR8)
self.camera.set_pixel_format(PixelFormat.Mono8)
# Try to adjust GeV packet size. This Feature is only available for GigE - Cameras.
try:
stream = self.camera.get_streams()[0]
stream.GVSPAdjustPacketSize.run()
while not stream.GVSPAdjustPacketSize.is_done():
pass
except (AttributeError, VmbFeatureError):
pass
def get_camera_features(self, readonly=True, readwrite=True):
if self.camera is None:
raise Exception("No camera instantiated")
features = self.camera.get_all_features()
pars = {}
for f in features:
try:
name, v, (r, w) = f.get_name(), f.get(), f.get_access_mode()
ro, rw = not w, w
if (readonly and ro) or (readwrite and rw):
if type(v) is EnumEntry:
pars[name] = str(v)
else:
pars[name] = v
except:
pass
return pars
def get_camera_feature(self,name):
pars = self.get_camera_features()
if name in pars:
return pars[name]
else:
raise Exception( f"Invalid parameter: {name}")
def set_camera_feature(self, name, value):
feature = self.camera.get_feature_by_name(name)
feature.set(value)
def start_stream(self, publisher):
def frame_handler(cam: Camera, stream: Stream, frame: Frame):
try:
fmt = frame.get_pixel_format()
if fmt == PixelFormat.Mono8:
arr = frame.as_numpy_ndarray()
else:
arr = frame.convert_pixel_format(PixelFormat.Mono8).as_numpy_ndarray()
arr = arr[:, :, 0]
data = {"image": arr}
publisher.send(data=data, pulse_id=None, timestamp=time.time(), check_data=True)
cam.queue_frame(frame)
except Exception as e:
self.handler_exception = e
if not self.is_streaming():
self.camera.start_streaming(handler=frame_handler,
buffer_count=10,
allocation_mode=self.alloc)
def stop_stream(self):
if self.is_streaming():
self.camera.stop_streaming()
def is_streaming(self):
return self.camera.is_streaming()
def set_streaming(self, value):
if value!= self.is_streaming():
self.start_streaming = value
def run(self, retry=False):
while True:
try:
self.camera = None
self.handler_exception = None
with sender(queue_size=10, port=self.port, mode=PUB, start_pulse_id=1,
data_header_compression=None) as publisher:
with VmbSystem.get_instance():
with self.open_camera(self.id) as self.camera:
self.init_camera()
_logger.info(f"Connected to {self.camera}")
try:
while True:
if self.start_streaming is not None:
if self.start_streaming:
self.start_stream(publisher)
else:
self.stop_stream()
self.start_streaming = None
if self.handler_exception is not None:
raise self.handler_exception
time.sleep(0.1)
if self.exit_cmd:
break
finally:
self.stop_stream()
except Exception as e:
_logger.exception(e)
if not retry or self.exit_cmd:
break
time.sleep(3.0)
_logger.info("Restarting")
def start(self):
self.thread = threading.Thread(target=self.run, daemon=True)
self.thread.start()
def exit(self):
_logger.info(f"Received exit command")
self.exit_cmd = True
class VmbPyConfigServer():
def __init__(self, stream_server, port=None):
self.stream_server = stream_server
self.port = port if port else 9010
if self.port>0:
if not can_bind_to_port(self.port):
raise Exception(f"Config port {self.port} is not free")
def run(self):
if self.port > 0:
app = Flask(__name__)
@app.route('/api/parameters', methods=['GET'])
def get_parameters():
def str_to_bool(val):
return not str(val).lower() in ('false', '1', 'no')
try:
ro = str_to_bool(request.args.get("ro", True))
rw = str_to_bool(request.args.get("rw", True))
return jsonify(self.stream_server.get_camera_features(ro, rw))
except Exception as e:
return jsonify({"error": str(e)}), 404
# Route to get a specific parameter
@app.route('/api/parameters/<name>', methods=['GET'])
def get_parameter(name):
try:
value = self.stream_server.get_camera_feature(name)
return jsonify({name: value})
except Exception as e:
return jsonify({"error": str(e)}), 404
# Route to update a specific parameter
@app.route('/api/parameters/<name>', methods=['PUT'])
def update_parameter(name):
try:
pars = self.stream_server.get_camera_features(False, True)
if name in pars:
new_value = request.json.get('value')
self.stream_server.set_camera_feature(name, new_value)
updated_value = self.stream_server.get_camera_feature(name)
return jsonify({name: updated_value})
else:
return jsonify({"error": f"Not a writable parameter: {name}"}), 404
except Exception as e:
return jsonify({"error": str(e)}), 404
@app.route('/api/streaming', methods=['GET'])
def get_streaming():
try:
return jsonify({"value": self.stream_server.is_streaming()})
except Exception as e:
return jsonify({"error": str(e)}), 404
# Route to update a specific parameter
@app.route('/api/streaming', methods=['PUT'])
def update_streaming():
try:
self.stream_server.set_streaming(request.json.get('value'))
return jsonify({"value": self.stream_server.is_streaming()})
except Exception as e:
return jsonify({"error": str(e)}), 404
@app.route('/api/exit', methods=['GET'])
def exit():
self.stream_server.exit()
return jsonify({"exit": "ok"})
app.run(host='0.0.0.0', port=self.port, debug=False, use_reloader=False)
def start(self):
self.thread = threading.Thread(target=self.run, daemon=True)
self.thread.start()
def print_preamble():
print('///////////////////////////////////////')
print('/// VmbPy Camera Server ///')
print('///////////////////////////////////////\n')
def abort(reason: str, return_code: int = 1, usage: bool = False):
print(reason + '\n')
sys.exit(return_code)
def parse_args():
usage = None
desc=None
epilog=None
parser = argparse.ArgumentParser(usage=usage, description=desc, prefix_chars='--', epilog=epilog)
parser.add_argument("-i", "--id", help="Camera ID (default first camera)", required=False)
parser.add_argument("-p", "--port", help="Output stream port (default 9000)", required=False)
parser.add_argument("-c", "--config", help="Config port (default 9010, -1 for disabling config interface)", required=False)
parser.add_argument("-a", "--alloc", action='store_true', help="Alloc frames", required=False)
parser.add_argument("-s", "--start", action='store_true', help="Start streaming (default true)", default= True, required=False)
return parser.parse_args()
def main():
print_preamble()
args = parse_args()
stream_server = VmbPyStreamServer(args.id, args.port, args.alloc, args.start)
config_server = VmbPyConfigServer(stream_server, args.config)
config_server.start()
stream_server.run(retry=True)
sys.exit(0)
if __name__ == '__main__':
#args = ["-h"]
#sys.argv = sys.argv + args
main()
script/devices/Camera.py
+27
View File
@@ -0,0 +1,27 @@
def start_camera_server():
python_name = "{home}/../anaconda3/envs/py38/python.exe"
script_name = "{home}/script/cpython/VmbPyServer.py"
python_name = expand_path(python_name)
script_name = expand_path(script_name)
print("Starting camera Server")
r=exec_cpython(script_name, python_name = python_name)
fork(start_camera_server)
img_stream = Stream("img_stream","localhost:9000", SocketType.SUB)
img_stream.createMatrix = True
img_stream.initialize()
img_stream.start()
#show_panel(img_stream)
def add_img(img_stream):
img_stream.waitCacheChange(0)
if (img_stream.state == State.Busy) and (get_context().state.isActive()):
add_device(img_stream.getChild("image"), True)
img = RegisterMatrixSource("img", image)
#img = RegisterArraySource("img", image)
#img.config.imageWidth = image.shape[0]
#img.config.imageHeight = image.shape[1]
add_device(img, True)
fork((add_img, (img_stream,)))
script/devices/CameraServer.py
+6
View File
@@ -0,0 +1,6 @@
python_name = "{home}/../anaconda3/envs/py38/python.exe"
script_name = "{home}/script/cpython/VmbPyServer.py"
python_name = expand_path(python_name)
script_name = expand_path(script_name)
r=exec_cpython(script_name, python_name = python_name)
script/devices/Hexiposi.py
+13 -5
View File
@@ -19,10 +19,18 @@ class Hexiposi(DiscretePositionerBase):
self.timeout = 3.0
self.offline = False
def doInitialize(self):
super(Hexiposi, self).doInitialize()
self.val = self._posNameToIndex(self.doReadReadback())
def doInitialize(self):
super(Hexiposi, self).doInitialize()
retries = 3
for retry in range(retries):
try:
self.val = self._posNameToIndex(self.doReadReadback())
return
except:
if retry>=(retries-1):
raise
time.sleep(3.0)
def get_response(self, response):
if (response.status_code!=200):
raise Exception (response.text)
@@ -186,7 +194,7 @@ class Hexiposi(DiscretePositionerBase):
dev = Hexiposi("hexiposi", "myriotell6d")
#If no Rotation Lid is mounted set it to simulated
#dev.setSimulated()
dev.setSimulated()
add_device(dev, True)
hexiposi.polling=1000
script/devices/SmartMagnet.py
+3 -1
View File
@@ -49,7 +49,7 @@ class SmartMagnet(DeviceBase):
def get_supress(self):
return smc_sup_det.read()
def check_mounted(self, idle_time =1.0, timeout = -1, interval = 0.01):
def check_mounted(self, idle_time =1.0, timeout = -1, interval = 0.1):
self.assert_status()
start = time.time()
last = None
@@ -64,10 +64,12 @@ class SmartMagnet(DeviceBase):
else:
if det is not None:
if (time.time()-settling_timestamp > idle_time):
print "got result " + str(det)
return det
if timeout >= 0:
if (time.time() - start) > timeout:
raise Exception("Timeout waiting for Smart Magnet detection.")
print "smc trying hard: det=" + str(det) + " last="+str(last)
time.sleep(interval)
script/devices/VmbCamera.py
+287
View File
@@ -0,0 +1,287 @@
import requests
import json
class VmbCamera (CameraBase):
def __init__(self, name, config_url="localhost:9010", stream_url="localhost:9000", image_name=None):
CameraBase.__init__(self,name)
self.config_url = config_url
self.base_url = "http://" + config_url + "/api"
self.data_type = None
self.color_mode= None
self.stream_url = stream_url
self.stream= Stream(name + "_stream",stream_url, SocketType.SUB)
self.stream.createMatrix = True
self.register = None
self.image = None
self.image_name = image_name if image_name else name + "_image"
def _get_response(self, response, is_json=True):
if response.status_code != 200:
raise Exception(response.text)
return json.loads(response.text) if is_json else response.text
def read_parameters(self):
return self._get_response(requests.get(url=self.base_url + "/parameters"))
def read_parameter(self, name):
return self._get_response(requests.get(url=self.base_url + "/parameters/"+name))[name]
def write_parameter(self, name, value):
return self._get_response(requests.put(url=self.base_url + "/parameters/"+name, json={"value": value}))
def doInitialize(self):
#super(SourceBase, self).doInitialize()
self.stream.initialize()
self.stream.start()
def init_img():
try:
self.stream.waitCacheChange(0)
if (self.stream.state == State.Busy) and (get_context().state.isActive()):
self.register = self.stream.getChild("image")
self.image = RegisterMatrixSource(self.image_name , self.register)
#self.image = RegisterArraySource(name, )
#self.image.config.imageWidth =self.register.shape[0]
#self.image.config.imageHeight = self.register.shape[1]
log("Successful VmbCamera Initialization")
self.setState(State.Ready)
except Exception as e:
log(str(e))
fork(init_img)
self.setState(State.Disabled)
def add_img_device(self):
def add_dev_task():
try:
self.waitStateNot(State.Disabled, -1)
if (self.stream.state == State.Busy) and (get_context().state.isActive()):
add_device(self.image, True)
log("Added VmbCamera image device")
except Exception as e:
log(str(e))
fork(add_dev_task)
def getInfo(self):
try:
pars = self.read_parameters()
return pars["DeviceModelName"] + " - uid: " + pars["DeviceID"]
except:
return ""
def getSensorSize(self):
pars = self.read_parameters()
return [pars["SensorWidth"], pars["SensorHeight"]]
def setBinningX(self, value):
self.write_parameter("BinningHorizontal", value)
def getBinningX(self):
return self.read_parameter("BinningHorizontal")
def setBinningY(self, value):
self.write_parameter("BinningVertical", value)
def getBinningY(self):
return self.read_parameter("BinningVertical")
def setROI(self, x, y, w, h):
self.write_parameter("OffsetX", 0)
self.write_parameter("OffsetY", 0)
self.write_parameter("Height", h)
self.write_parameter("Width", w)
self.write_parameter("OffsetX", x)
self.write_parameter("OffsetY", y)
def getROI(self):
pars = self.read_parameters()
return [pars["OffsetX"], pars["OffsetY"], pars["Width"], pars["Height"]]
def setGain(self, value):
self.write_parameter("GainRaw", value);
def getGain(self):
return self.read_parameter("GainRaw");
def setDataType(self, data_type):
self.data_type = data_type;
self.setPixelFormat();
def getDataType(self):
if self.data_type:
return self.data_type
fmt = self.read_parameter("PixelFormat")
if fmt in ("Mono8", "Bayer8"):
return Camera.DataType.UInt8
if fmt in ("Mono16", "Bayer16"):
return Camera.DataType.UInt16
if fmt in ("Rgb24", "Brg24"):
return Camera.DataType.UInt24
if fmt in ("Rgba32", "Brga32"):
return Camera.DataType.UInt32
return None
def setPixelFormat(self):
pixelFormat = None
if not self.color_mode:
self.color_mode = self.getColorMode()
if not self.color_mode:
raise IOException("Invalid color mode")
if self.data_type is None:
self.data_type = self.getDataType();
if self.data_type is None:
raise IOException("Invalid data type")
if self.color_mode == Camera.ColorMode.Mono:
pixelFormat = "Mono"
elif self.color_mode == Camera.ColorMode. RGB1:
pixelFormat = "Rgb"
elif self.color_mode == Camera.ColorMode.RGB2:
pixelFormat = "Brg"
elif self.color_mode == Camera.ColorMode. RGB3:
pixelFormat = "Bayer"
size =self.data_type.getSize()
if size==1:
pixelFormat += "8"
elif size== 2:
pixelFormat += "16"
elif size==3:
pixelFormat += "24"
elif size==4:
pixelFormat += "a32"
self.write_parameter("PixelFormat", pixelFormat);
def setColorMode(self, mode):
self.color_mode = mode;
self.setPixelFormat();
def getColorMode(self):
if self.color_mode:
return self.color_mode
fmt = self.read_parameter("PixelFormat")
if fmt in ("Mono8", "Mono16"):
return Camera.ColorMode.Mono
if fmt in ("Rgb24", "Rgba32"):
return Camera.ColorMode.RGB1
if fmt in ("Brga24", "Brga32"):
return Camera.ColorMode.RGB2
if fmt in ("Bayer8", "Bayer16"):
return Camera.ColorMode.RGB3
return None
def getImageSize(self):
pars = self.read_parameters()
return [pars["Width"], pars["Height"]]
def setExposure(self, value):
self.write_parameter("ExposureTimeAbs", int(value * 1000))
def getExposure(self):
return float(self.read_parameter("ExposureTimeAbs"))/1000
def setAcquirePeriod(self, value):
self.write_parameter("AcquisitionFrameRateAbs", 1000.0 / value)
def getAcquirePeriod(self):
return 1000.0 / self.read_parameter("AcquisitionFrameRateAbs")
def setNumImages(self, value):
self.write_parameter("AcquisitionFrameCount", value)
def getNumImages(self):
return self.read_parameter("AcquisitionFrameCount")
def setIterations(self, value):
pass
def getIterations (self):
return 1;
def getImagesComplete(self):
return 0
def setGrabMode(self, value):
if value==Camera.GrabMode.Continuous:
mode = "Continuous"
elif value==Camera.GrabMode.Single:
mode = "SingleFrame"
elif value==Camera.GrabMode.Multiple:
mode = "MultiFrame"
else:
raise IOException("Not supported mode: ", str(value))
self.write_parameter("AcquisitionMode", mode)
def getGrabMode(self):
mode = self.read_parameter("AcquisitionMode")
if mode == "Continuous":
return Camera.GrabMode.Continuous
elif mode == "SingleFrame":
return Camera.GrabMode.Single
elif mode == "MultiFrame":
return Camera.GrabMode.Multiple
return None
def setTriggerMode(self, value):
if value == Camera.TriggerMode.Free_Run:
triggerMode = "Freerun";
elif value == Camera.TriggerMode.External:
triggerMode = "SyncIn1"
elif value == Camera.TriggerMode.Software:
triggerMode = "Software"
elif value == Camera.TriggerMode.Fixed_Rate:
triggerMode = "FixedRate"
else:
return
self.write_parameter("TriggerSource", triggerMode);
def getTriggerMode(self):
mode = self.read_parameter("TriggerSource")
if mode == "Freerun":
return Camera.TriggerMode.Free_Run
if mode == "SyncIn1":
return Camera.TriggerMode.External
if mode == "Software":
return Camera.TriggerMode.Software
if mode == "FixedRate":
return Camera.TriggerMode.Fixed_Rate
return None
def trigger(self):
pass
def doStart(self):
self._get_response(requests.put(url=self.base_url + "/streaming", json={"value": True}))
def doStop(self):
self._get_response(requests.put(url=self.base_url + "/streaming", json={"value": False}))
def getStarted(self):
return self._get_response(requests.get(url=self.base_url + "/streaming"))["value"]
def start_camera_server():
try:
python_name = "{home}/../anaconda3/envs/py38/python.exe"
script_name = "{home}/script/cpython/VmbPyServer.py"
python_name = expand_path(python_name)
script_name = expand_path(script_name)
print("Starting camera Server")
r=exec_cpython(script_name, python_name = python_name)
log("Start camera server = ret: " + str(e))
except Exception as e:
log(str(e))
fork(start_camera_server)
c = VmbCamera("cam", image_name="image")
add_device(c, True)
add_device(c.stream, True)
c.add_img_device()
script/devices/Wago.py
+11
View File
@@ -154,6 +154,17 @@ def get_pin_cleaner():
"""
return valve_7.read()
def get_valves_states():
return [
valve_1.read(),
valve_2.read(),
valve_3.read(),
valve_4.read(),
valve_5.read(),
valve_6.read(),
valve_7.read(),
valve_8.read(),
]
monitor_pin_cleaner_task = None
script/local.py
+413 -413
View File
@@ -1,442 +1,442 @@
###################################################################################################
# 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:
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
###################################################################################################
scripted_devices = ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance",
"devices/LedCtrl", "devices/SmartMagnet", "devices/Gonio", "devices/VmbCamera" #"devices/HexiPosi"]"
]
for script in scripted_devices:
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)
print "Running: ", script
run(script)
except:
print >> sys.stderr, traceback.format_exc()
###################################################################################################
# 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 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():
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)
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:
set_pin_cleaner(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.set_offset(16.4)
except:
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)
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)
dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None)
"""
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 :
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")
guiding_tools_parked = guiding_tool_park.read() and guiding_tool_park_2.read()
return robot.state == State.Ready and robot.take()["pos"] == 'pPark' 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:
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
def assert_detector_safe():
if detector_cleared.read() == False:
raise Exception ("Detector not in safe position: move it back")
except:
pass
return False
def assert_detector_safe():
set_led_state(puck_loading)
#pass
update()
add_device(Controller.getInstance().basePlate, True)
restore_samples_info()
pass
def onPuckLoadingChange(puck_loading):
set_led_state(puck_loading)
#pass
update()
add_device(Controller.getInstance().basePlate, True)
script/motion/dry.py
+1 -2
View File
@@ -9,8 +9,7 @@ def dry(heat_time=None, speed=None, wait_cold = None):
wait_cold(float): if negative, move to dewar after drying
Else move to cold and wait (in seconds) before returning.
"""
print "dry"
print "dry()"
if heat_time is None:
heat_time = DEFAULT_DRY_HEAT_TIME
script/motion/mount.py
+22 -11
View File
@@ -74,10 +74,12 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
#smart_magnet.apply_resting()
#time.sleep(0.5)
sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
evlog("Sample Detection", str(sample_det))
sample_det = smart_magnet.check_mounted(idle_time=0.6, timeout = 2.0)
evlog("SMC Detection: ", "sample on gonio" if sample_det else "gonio free")
if sample_det == True:
if auto_unmount and (get_setting("mounted_sample_position") is not None):
evlog("sample detected on gonio, calling unmount script")
#auto_unmount set to true so detection remains enabled
sample_det = unmount(force = True, auto_unmount = True)
do_unmount = True
@@ -123,10 +125,13 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
barcode_reader.start_read(10.0)
robot.move_scanner()
#time.sleep(1.0)
print "moving cryo out to 17"
cryostage.moveAsync(17.0)
#cryostage.waitInPosition(17.0, 3500)
robot.move_gonio()
print "waiting cryo out to 17"
cryostage.waitInPosition(17.0, 3500)
print "move_gonio"
robot.move_gonio()
if read_dm:
@@ -135,11 +140,17 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
else:
mount_sample_id = None
print "put_gonio"
robot.put_gonio()
cleaner_timer = float(get_setting("pin_cleaner_timer"))
if cleaner_timer > 0:
start_pin_cleaner(cleaner_timer)
set_pin_cleaner(True)
print get_valves_states()
if not is_aux:
cryostage.moveAsync(5.0)
# cleaner_timer = float(get_setting("pin_cleaner_timer"))
# if cleaner_timer > 0:
# start_pin_cleaner(cleaner_timer)
try:
dry_mount_count = int(get_setting("dry_mount_counter"))
@@ -152,11 +163,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
else:
robot.move_cold_async()
cryostage.moveAsync(8.0)
robot.wait_async_motion()
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.6, timeout = 2.0, interval=0.1)
evlog("SMC Detection", str(mount_sample_detected))
@@ -164,6 +174,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)
if mount_sample_detected == False:
evlog("MISSING SAMPLE: No pin detected on gonio")
raise Exception("MISSING SAMPLE: No pin detected on gonio")
keep_gripper_warm = was_cold and is_aux
script/motion/unmount.py
+18 -11
View File
@@ -7,6 +7,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
"""
Returns if sample is detected in the end
"""
evlog = Controller.getInstance().logEvent
print "unmount: ", segment, puck, sample, force
if (segment is None) or (puck is None) or (sample is None):
@@ -56,9 +57,10 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
hexiposi.assert_homed()
print "assert mount pos"
assert_mount_position()
set_status("Unmounting: " + str(segment) + str(puck) + str(sample))
Controller.getInstance().logEvent("Unmount Sample", str(segment) + str(puck) + str(sample))
sample_name = str(segment) + str(puck) + str(sample)
set_status("Unmounting: " + sample_name)
evlog("Unmount Sample", sample_name)
try:
if smart_magnet.get_supress() == True:
@@ -69,8 +71,8 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#smart_magnet.apply_resting()
if not force:
sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0)
Controller.getInstance().logEvent("SMC Detection", str(sample_det))
sample_det = smart_magnet.check_mounted(idle_time=0.6, timeout = 3.0)
evlog("SMC Detection", str(sample_det))
if sample_det == False:
raise Exception("No pin detected on gonio")
@@ -91,7 +93,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#location = robot.get_current_point()
cryostage.moveAsync(17.0)
#cryostage.waitInPosition(17.0, 3500)
cryostage.waitInPosition(17.0, 3500)
if not robot.is_gonio():
robot.move_gonio()
@@ -99,12 +101,13 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
#smart_magnet.set_unmount_current()
robot.get_gonio()
set_pin_cleaner(True)
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("SMC Detection", str(mount_sample_detected))
mount_sample_detected = smart_magnet.check_mounted(idle_time=0.6, timeout = 2.0)
evlog("SMC Detection: ", "sample on gonio" if mount_sample_detected else "gonio free")
if is_aux:
robot.move_aux()
robot.put_aux(sample)
@@ -114,7 +117,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
if hexiposi.position != segment:
robot.move_cold() #Save the sample
log_str = "Hexiposi detected in wrong position " + str(hexiposi.readback.take()) + " - not in " + str(segment)
Controller.getInstance().logEvent(log_str); log(log_str, False) ; print log_str
evlog(log_str); log(log_str, False) ; print log_str
set_hexiposi(segment, force=False)
if hexiposi.position != segment:
log_str = "Cannot restore hexiposi position"
@@ -126,8 +129,12 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
robot.move_dewar()
robot.put_dewar(segment, puck, sample)
set_setting("mounted_sample_position", None)
if mount_sample_detected:
evlog("failed to unmount sample " + sample_name)
raise Exception("failed to unmount sample " + sample_name)
else:
set_setting("mounted_sample_position", None)
return mount_sample_detected
finally:
if not auto_unmount:
script/tasks/Reinit.py
+2
View File
@@ -0,0 +1,2 @@
if len(reinit()) == 0:
stop_task("reinit", False)
script/test/TestCoverDetection.py
+55 -16
View File
@@ -1,19 +1,58 @@
import math
from ijutils import *
ca = []
aa = []
pa = []
#for i in range(6):
#index = i+1
for i in ['A', 'B', 'C', 'D', 'E', 'F']:
hexiposi.move(i)
[position, angle, confidence] = run("imgproc/CoverDetection")
print [position, angle, confidence]
pa.append(position)
aa.append(angle)
ca.append(confidence)
print "---"
print "Position: " ,pa
print "Angle: " ,aa
print "Confidence: " ,ca, " mean: ", mean(ca)
DIAM_1 = 80
DIAM_2 = 550
DETECT_THRESHOLD = 10 #PIXELS
renderer=show_panel(image)
renderer.setMarker(None);
#Image Loading
ip = load_image(image.output, title="Image")
aux = grayscale(ip, in_place=False)
#invert(aux);
px1 = int(pow(DIAM_1/2,2) * math.pi)
px2 = int(pow(DIAM_2/2,2) * math.pi)
#aux.show()
#binary_open(aux); aux.repaintWindow()
ti = auto_threshold(aux, dark_background=False, in_place=False) #; aux.repaintWindow()
#ti.show()
#binary_fill_holes(ti)
#ti.repaintWindow()
(res1,out1)=analyse_particles(ti, px1/2, px1*2, \
fill_holes = False, exclude_edges = True, print_table=True, \
output_image = "outlines", minCirc = 0.8, maxCirc = 1.0)
#out1.show()
ti = auto_threshold(aux, dark_background=True, in_place=False) #; aux.repaintWindow()
(res2,out2)=analyse_particles(ti, px2/2, px2*2, \
fill_holes = False, exclude_edges = True, print_table=True, \
output_image = "outlines", minCirc = 0.8, maxCirc = 1.0)
#output_img.show()
if res1.size() == res2.size() == 1:
x1,y1 = res1.getValue("XM", 0), res1.getValue("YM", 0)
x2,y2 = res2.getValue("XM", 0), res2.getValue("YM", 0)
if abs(x1-x2) <= DETECT_THRESHOLD and abs(y1-y2) <= DETECT_THRESHOLD:
print("Detected: ", (x1, y1))
renderer=show_panel(image)
p = Point(int(x1),int(y1))
ov = Overlays.Crosshairs(renderer.getPenProfile(), p, Dimension(-1, -1))
renderer.setMarker(ov);
script/test/TestImageStream.py
+16
View File
@@ -0,0 +1,16 @@
img_stream = Stream("img_stream","localhost:9000", SocketType.SUB)
#image = img_stream.addWaveform("image", "image")
add_device(img_stream, True)
img_stream.start()
show_panel(img_stream)
img_stream.waitCacheChange(0)
add_device(img_stream.getChild("image"), True)
#img = RegisterMatrixSource("img", image)
#add_device(img, True)
img = RegisterArraySource("img", image)
img.config.imageWidth = image.shape[0]
img.config.imageHeight = image.shape[1]
add_device(img, True)
script/test/pars_prosilica.py
+5
View File
@@ -0,0 +1,5 @@
"PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;Width=1000;Height=1000;MulticastEnable=Off;AcquisitionMode=Continuous"
"PacketSize=9000;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=0;RegionY=0;Width=1000;Height=1000;MulticastEnable=Off;AcquisitionMode=Continuous"
25001 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;Width=1000;Height=1000;MulticastEnable=Off"