From c85d4b4aa9379851154313d285de56c391f77ebb Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Tue, 8 Sep 2020 11:53:11 +0200 Subject: [PATCH] Startup --- config/devices - Copy.properties | 67 + config/devices-modbus.properties | 42 + config/devices.properties | 57 + config/jcae.properties | 11 + config/mail.properties | 9 + config/plugins.properties | 21 + config/settings.properties | 19 + config/setup-modbus.properties | 18 + config/setup.properties | 20 + config/tasks.properties | 2 + config/variables.properties | 2 + devices/20161117_163816.png.properties | 20 + devices/A1.properties | 3 + devices/A2.properties | 3 + devices/A3.properties | 3 + devices/A4.properties | 3 + devices/A5.properties | 3 + devices/B1.properties | 3 + devices/B2.properties | 3 + devices/B3.properties | 3 + devices/B4.properties | 3 + devices/B5.properties | 3 + devices/BasePlate.properties | 1 + devices/C1.properties | 3 + devices/C2.properties | 3 + devices/C3.properties | 3 + devices/C4.properties | 3 + devices/C5.properties | 3 + devices/D1.properties | 3 + devices/D2.properties | 3 + devices/D3.properties | 3 + devices/D4.properties | 3 + devices/D5.properties | 3 + devices/E1.properties | 3 + devices/E2.properties | 3 + devices/E3.properties | 3 + devices/E4.properties | 3 + devices/E5.properties | 3 + devices/F1.properties | 3 + devices/F2.properties | 3 + devices/F3.properties | 3 + devices/F4.properties | 3 + devices/F5.properties | 3 + devices/R1.properties | 3 + devices/R2.properties | 3 + devices/R3.properties | 3 + devices/R4.properties | 3 + devices/R5.properties | 3 + devices/RoomTemperatureBasePlate.properties | 1 + devices/Time.properties | 10 + devices/air_pressure.properties | 5 + devices/cx.properties | 17 + devices/cz.properties | 17 + devices/dewar_level.properties | 6 + devices/dispatcher.properties | 11 + devices/dp1.properties | 11 + devices/fx.properties | 17 + devices/fy.properties | 17 + devices/gripper_cam.properties | 20 + devices/img.properties | 24 + devices/led_ctrl.properties | 8 + devices/led_ctrl_1.properties | 9 + devices/led_ctrl_2.properties | 9 + devices/led_ctrl_3.properties | 9 + devices/led_level.properties | 9 + devices/m1.properties | 13 + devices/m2.properties | 13 + devices/monitoring_cam.properties | 20 + devices/n2_pressure.properties | 5 + devices/p1.properties | 9 + devices/phase_separator.properties | 8 + devices/phase_separator_level.properties | 6 + devices/rim_heater_temp.properties | 6 + devices/robot x.properties | 9 + devices/robot.properties | 8 + devices/robot_j1.properties | 10 + devices/robot_j2.properties | 10 + devices/robot_j3.properties | 10 + devices/robot_j4.properties | 10 + devices/robot_j5.properties | 10 + devices/robot_j6.properties | 10 + devices/robot_modbus.properties | 8 + devices/robot_rx.properties | 10 + devices/robot_ry.properties | 10 + devices/robot_rz.properties | 10 + devices/robot_x.properties | 10 + devices/robot_y.properties | 10 + devices/robot_z.properties | 10 + devices/ry.properties | 17 + devices/smart_magnet.properties | 8 + devices/smc_current.properties | 9 + devices/smc_current_rb.properties | 6 + devices/src1.properties | 24 + devices/src2.properties | 24 + devices/top_cam.properties | 20 + devices/ue.properties | 6 + devices/wago.properties | 8 + plugins/BarcodeReaderPanel.form | 114 ++ plugins/BarcodeReaderPanel.java | 170 ++ plugins/Beeper.java | 72 + plugins/Commands.form | 804 ++++++++ plugins/Commands.java | 928 +++++++++ plugins/Hexiposi.form | 34 + plugins/Hexiposi.java | 78 + plugins/HexiposiPanel.form | 81 + plugins/HexiposiPanel.java | 110 ++ plugins/LN2.form | 34 + plugins/LN2.java | 106 ++ plugins/LaserUE.java | 90 + plugins/LaserUEPanel.form | 59 + plugins/LaserUEPanel.java | 98 + plugins/MXSC-1.14.0.jar | Bin 0 -> 286787 bytes plugins/MjpegSource2.java | 149 ++ plugins/PuckDetectionPanel.form | 201 ++ plugins/PuckDetectionPanel.java | 281 +++ plugins/Recovery.form | 140 ++ plugins/Recovery.java | 288 +++ plugins/RobotModbus.java | 21 + plugins/RobotPanel.form | 587 ++++++ plugins/RobotPanel.java | 685 +++++++ plugins/RobotTcp.java | 21 + plugins/SmartMagnetConfig.java | 14 + plugins/SmartMagnetPanel.form | 284 +++ plugins/SmartMagnetPanel.java | 320 ++++ plugins/TestZMQ.java | 26 + plugins/WagoPanel.form | 167 ++ plugins/WagoPanel.java | 207 +++ plugins/gui.form | 62 + plugins/gui.java | 96 + script/LN2_Monitoring.scd | 15 + script/LevelMonitoring.scd | 12 + script/calibration/BinarySearchYZ.py | 29 + script/calibration/HillClimbingXZ.py | 45 + script/calibration/ScanRZ.py | 31 + script/calibration/ScanX.py | 101 + script/calibration/ScanY.py | 99 + script/calibration/ScanYZ.py | 93 + script/calibration/ToolCalibration.py | 60 + script/calibration/ToolCalibration2.py | 86 + script/calibration/ToolCalibration3.py | 83 + script/calibration/ToolCalibration6d.py | 79 + script/calibration/ToolCalibration6s.py | 79 + script/client/PShellClient.py | 369 ++++ script/client/TellClient.py | 184 ++ script/client/sseclient.py | 163 ++ script/client/tell.py | 79 + script/data/get_samples_info.py | 4 + script/data/pucks.py | 51 + script/data/reports.py | 39 + script/data/samples.py | 350 ++++ script/data/set_samples_info.py | 4 + script/devices/BarcodeReader.py | 83 + script/devices/Gonio.py | 43 + script/devices/Hexiposi.py | 175 ++ script/devices/LaserDistance.py | 27 + script/devices/LedCtrl.py | 46 + script/devices/OneWire.py | 134 ++ script/devices/RobotModbus.py | 46 + script/devices/RobotMotors.py | 62 + script/devices/RobotSC.py | 358 ++++ script/devices/RobotTCP.py | 919 +++++++++ script/devices/SmartMagnet.py | 129 ++ script/devices/Wago.py | 175 ++ script/hexiposi_positon.scd | 11 + script/imgproc/CameraCalibration.py | 156 ++ script/imgproc/CoverDetection.py | 98 + script/imgproc/CoverDetectionCalibration.py | 40 + script/imgproc/CreateMask.py | 29 + script/imgproc/LedDetectionFilter.py | 102 + script/imgproc/LedDetectionProc.py | 106 ++ script/imgproc/Utils.py | 113 ++ script/local.groovy | 3 + script/local.js | 4 + script/local.py | 438 +++++ script/motion/calibrate_tool.py | 32 + script/motion/dry.py | 58 + script/motion/get_aux.py | 21 + script/motion/get_dewar.py | 30 + script/motion/get_gonio.py | 20 + script/motion/homing_hexiposi.py | 18 + script/motion/mount.py | 153 ++ script/motion/move_aux.py | 18 + script/motion/move_cold.py | 22 + script/motion/move_dewar.py | 18 + script/motion/move_gonio.py | 18 + script/motion/move_heater.py | 18 + script/motion/move_home.py | 18 + script/motion/move_park.py | 18 + script/motion/move_scanner.py | 30 + script/motion/put_aux.py | 21 + script/motion/put_dewar.py | 30 + script/motion/put_gonio.py | 23 + script/motion/recover.py | 179 ++ script/motion/robot_recover.py | 16 + script/motion/scan_pin.py | 99 + script/motion/tools.py | 180 ++ script/motion/trash.py | 36 + script/motion/unmount.py | 108 ++ script/setup/ExposureScan.py | 33 + script/setup/Layout.py | 292 +++ script/tasks/ColdPositionTimeout.py | 23 + script/tasks/LedMonitoring.py | 26 + script/tasks/MangnetMonitoring.py | 24 + script/test/CameraCalibration.py | 71 + script/test/CoverDetection.py | 116 ++ script/test/PuckDetection.py | 24 + script/test/PuckDetectionTest.py | 11 + script/test/RobotCartesianScan.py | 28 + script/test/SampleDataInput.py | 1861 ++++++++++++++++++ script/test/SampleDataInput_Dominik.py | 1862 +++++++++++++++++++ script/test/SampleDetection.py | 23 + script/test/TestAlign.py | 9 + script/test/TestBugPcAPI | 4 + script/test/TestBugPcAPI.py | 30 + script/test/TestBugPcAPI2.py | 6 + script/test/TestBugPcAPI3.py | 4 + script/test/TestCalib.py | 30 + script/test/TestCameraStability1.py | 11 + script/test/TestCameraStability2.py | 14 + script/test/TestCameraStability3.py | 9 + script/test/TestCmdSynchronization.py | 32 + script/test/TestCoverDetection.py | 19 + script/test/TestEuclidean.py | 23 + script/test/TestLaserScan.py | 12 + script/test/TestLayout.py | 21 + script/test/TestMicrohawk.py | 10 + script/test/TestRecover.py | 15 + script/test/TestRelays.py | 12 + script/test/TestRemoveBackground.py | 31 + script/test/TestRobot.py | 41 + script/test/TestRobot2.py | 72 + script/test/TestRobotCmds.py | 32 + script/test/TestRobotCmds2.py | 25 + script/test/cycle_time | 4 + script/test/imgtest.py | 47 + script/test/ip | 15 + script/test/mount_profile.py | 144 ++ script/test/onewire.py | 122 ++ script/test/test.py | 24 + script/test/test_hexiposi.py | 8 + script/test/test_segments.py | 16 + script/test/test_swingutils.py | 24 + script/test/then.py | 3 + script/test/transfer_profile.py | 23 + script/test/unmount_profile.py | 98 + script/tools/CheckGripper.py | 23 + script/tools/CheckPuckDetection.py | 6 + script/tools/Math.py | 68 + script/tools/RestartPuckDetection.py | 8 + script/tools/SshExec.py | 61 + script/tools/StopPuckDetection.py | 8 + 251 files changed, 19362 insertions(+) create mode 100644 config/devices - Copy.properties create mode 100644 config/devices-modbus.properties create mode 100644 config/devices.properties create mode 100644 config/jcae.properties create mode 100644 config/mail.properties create mode 100644 config/plugins.properties create mode 100644 config/settings.properties create mode 100644 config/setup-modbus.properties create mode 100644 config/setup.properties create mode 100644 config/tasks.properties create mode 100644 config/variables.properties create mode 100644 devices/20161117_163816.png.properties create mode 100644 devices/A1.properties create mode 100644 devices/A2.properties create mode 100644 devices/A3.properties create mode 100644 devices/A4.properties create mode 100644 devices/A5.properties create mode 100644 devices/B1.properties create mode 100644 devices/B2.properties create mode 100644 devices/B3.properties create mode 100644 devices/B4.properties create mode 100644 devices/B5.properties create mode 100644 devices/BasePlate.properties create mode 100644 devices/C1.properties create mode 100644 devices/C2.properties create mode 100644 devices/C3.properties create mode 100644 devices/C4.properties create mode 100644 devices/C5.properties create mode 100644 devices/D1.properties create mode 100644 devices/D2.properties create mode 100644 devices/D3.properties create mode 100644 devices/D4.properties create mode 100644 devices/D5.properties create mode 100644 devices/E1.properties create mode 100644 devices/E2.properties create mode 100644 devices/E3.properties create mode 100644 devices/E4.properties create mode 100644 devices/E5.properties create mode 100644 devices/F1.properties create mode 100644 devices/F2.properties create mode 100644 devices/F3.properties create mode 100644 devices/F4.properties create mode 100644 devices/F5.properties create mode 100644 devices/R1.properties create mode 100644 devices/R2.properties create mode 100644 devices/R3.properties create mode 100644 devices/R4.properties create mode 100644 devices/R5.properties create mode 100644 devices/RoomTemperatureBasePlate.properties create mode 100644 devices/Time.properties create mode 100644 devices/air_pressure.properties create mode 100644 devices/cx.properties create mode 100644 devices/cz.properties create mode 100644 devices/dewar_level.properties create mode 100644 devices/dispatcher.properties create mode 100644 devices/dp1.properties create mode 100644 devices/fx.properties create mode 100644 devices/fy.properties create mode 100644 devices/gripper_cam.properties create mode 100644 devices/img.properties create mode 100644 devices/led_ctrl.properties create mode 100644 devices/led_ctrl_1.properties create mode 100644 devices/led_ctrl_2.properties create mode 100644 devices/led_ctrl_3.properties create mode 100644 devices/led_level.properties create mode 100644 devices/m1.properties create mode 100644 devices/m2.properties create mode 100644 devices/monitoring_cam.properties create mode 100644 devices/n2_pressure.properties create mode 100644 devices/p1.properties create mode 100644 devices/phase_separator.properties create mode 100644 devices/phase_separator_level.properties create mode 100644 devices/rim_heater_temp.properties create mode 100644 devices/robot x.properties create mode 100644 devices/robot.properties create mode 100644 devices/robot_j1.properties create mode 100644 devices/robot_j2.properties create mode 100644 devices/robot_j3.properties create mode 100644 devices/robot_j4.properties create mode 100644 devices/robot_j5.properties create mode 100644 devices/robot_j6.properties create mode 100644 devices/robot_modbus.properties create mode 100644 devices/robot_rx.properties create mode 100644 devices/robot_ry.properties create mode 100644 devices/robot_rz.properties create mode 100644 devices/robot_x.properties create mode 100644 devices/robot_y.properties create mode 100644 devices/robot_z.properties create mode 100644 devices/ry.properties create mode 100644 devices/smart_magnet.properties create mode 100644 devices/smc_current.properties create mode 100644 devices/smc_current_rb.properties create mode 100644 devices/src1.properties create mode 100644 devices/src2.properties create mode 100644 devices/top_cam.properties create mode 100644 devices/ue.properties create mode 100644 devices/wago.properties create mode 100644 plugins/BarcodeReaderPanel.form create mode 100644 plugins/BarcodeReaderPanel.java create mode 100644 plugins/Beeper.java create mode 100644 plugins/Commands.form create mode 100644 plugins/Commands.java create mode 100644 plugins/Hexiposi.form create mode 100644 plugins/Hexiposi.java create mode 100644 plugins/HexiposiPanel.form create mode 100644 plugins/HexiposiPanel.java create mode 100644 plugins/LN2.form create mode 100644 plugins/LN2.java create mode 100644 plugins/LaserUE.java create mode 100644 plugins/LaserUEPanel.form create mode 100644 plugins/LaserUEPanel.java create mode 100644 plugins/MXSC-1.14.0.jar create mode 100644 plugins/MjpegSource2.java create mode 100644 plugins/PuckDetectionPanel.form create mode 100644 plugins/PuckDetectionPanel.java create mode 100644 plugins/Recovery.form create mode 100644 plugins/Recovery.java create mode 100644 plugins/RobotModbus.java create mode 100644 plugins/RobotPanel.form create mode 100644 plugins/RobotPanel.java create mode 100644 plugins/RobotTcp.java create mode 100644 plugins/SmartMagnetConfig.java create mode 100644 plugins/SmartMagnetPanel.form create mode 100644 plugins/SmartMagnetPanel.java create mode 100644 plugins/TestZMQ.java create mode 100644 plugins/WagoPanel.form create mode 100644 plugins/WagoPanel.java create mode 100644 plugins/gui.form create mode 100644 plugins/gui.java create mode 100644 script/LN2_Monitoring.scd create mode 100644 script/LevelMonitoring.scd create mode 100644 script/calibration/BinarySearchYZ.py create mode 100644 script/calibration/HillClimbingXZ.py create mode 100644 script/calibration/ScanRZ.py create mode 100644 script/calibration/ScanX.py create mode 100644 script/calibration/ScanY.py create mode 100644 script/calibration/ScanYZ.py create mode 100644 script/calibration/ToolCalibration.py create mode 100644 script/calibration/ToolCalibration2.py create mode 100644 script/calibration/ToolCalibration3.py create mode 100644 script/calibration/ToolCalibration6d.py create mode 100644 script/calibration/ToolCalibration6s.py create mode 100644 script/client/PShellClient.py create mode 100644 script/client/TellClient.py create mode 100644 script/client/sseclient.py create mode 100644 script/client/tell.py create mode 100644 script/data/get_samples_info.py create mode 100644 script/data/pucks.py create mode 100644 script/data/reports.py create mode 100644 script/data/samples.py create mode 100644 script/data/set_samples_info.py create mode 100644 script/devices/BarcodeReader.py create mode 100644 script/devices/Gonio.py create mode 100644 script/devices/Hexiposi.py create mode 100644 script/devices/LaserDistance.py create mode 100644 script/devices/LedCtrl.py create mode 100644 script/devices/OneWire.py create mode 100644 script/devices/RobotModbus.py create mode 100644 script/devices/RobotMotors.py create mode 100644 script/devices/RobotSC.py create mode 100644 script/devices/RobotTCP.py create mode 100644 script/devices/SmartMagnet.py create mode 100644 script/devices/Wago.py create mode 100644 script/hexiposi_positon.scd create mode 100644 script/imgproc/CameraCalibration.py create mode 100644 script/imgproc/CoverDetection.py create mode 100644 script/imgproc/CoverDetectionCalibration.py create mode 100644 script/imgproc/CreateMask.py create mode 100644 script/imgproc/LedDetectionFilter.py create mode 100644 script/imgproc/LedDetectionProc.py create mode 100644 script/imgproc/Utils.py create mode 100644 script/local.groovy create mode 100644 script/local.js create mode 100644 script/local.py create mode 100644 script/motion/calibrate_tool.py create mode 100644 script/motion/dry.py create mode 100644 script/motion/get_aux.py create mode 100644 script/motion/get_dewar.py create mode 100644 script/motion/get_gonio.py create mode 100644 script/motion/homing_hexiposi.py create mode 100644 script/motion/mount.py create mode 100644 script/motion/move_aux.py create mode 100644 script/motion/move_cold.py create mode 100644 script/motion/move_dewar.py create mode 100644 script/motion/move_gonio.py create mode 100644 script/motion/move_heater.py create mode 100644 script/motion/move_home.py create mode 100644 script/motion/move_park.py create mode 100644 script/motion/move_scanner.py create mode 100644 script/motion/put_aux.py create mode 100644 script/motion/put_dewar.py create mode 100644 script/motion/put_gonio.py create mode 100644 script/motion/recover.py create mode 100644 script/motion/robot_recover.py create mode 100644 script/motion/scan_pin.py create mode 100644 script/motion/tools.py create mode 100644 script/motion/trash.py create mode 100644 script/motion/unmount.py create mode 100644 script/setup/ExposureScan.py create mode 100644 script/setup/Layout.py create mode 100644 script/tasks/ColdPositionTimeout.py create mode 100644 script/tasks/LedMonitoring.py create mode 100644 script/tasks/MangnetMonitoring.py create mode 100644 script/test/CameraCalibration.py create mode 100644 script/test/CoverDetection.py create mode 100644 script/test/PuckDetection.py create mode 100644 script/test/PuckDetectionTest.py create mode 100644 script/test/RobotCartesianScan.py create mode 100644 script/test/SampleDataInput.py create mode 100644 script/test/SampleDataInput_Dominik.py create mode 100644 script/test/SampleDetection.py create mode 100644 script/test/TestAlign.py create mode 100644 script/test/TestBugPcAPI create mode 100644 script/test/TestBugPcAPI.py create mode 100644 script/test/TestBugPcAPI2.py create mode 100644 script/test/TestBugPcAPI3.py create mode 100644 script/test/TestCalib.py create mode 100644 script/test/TestCameraStability1.py create mode 100644 script/test/TestCameraStability2.py create mode 100644 script/test/TestCameraStability3.py create mode 100644 script/test/TestCmdSynchronization.py create mode 100644 script/test/TestCoverDetection.py create mode 100644 script/test/TestEuclidean.py create mode 100644 script/test/TestLaserScan.py create mode 100644 script/test/TestLayout.py create mode 100644 script/test/TestMicrohawk.py create mode 100644 script/test/TestRecover.py create mode 100644 script/test/TestRelays.py create mode 100644 script/test/TestRemoveBackground.py create mode 100644 script/test/TestRobot.py create mode 100644 script/test/TestRobot2.py create mode 100644 script/test/TestRobotCmds.py create mode 100644 script/test/TestRobotCmds2.py create mode 100644 script/test/cycle_time create mode 100644 script/test/imgtest.py create mode 100644 script/test/ip create mode 100644 script/test/mount_profile.py create mode 100644 script/test/onewire.py create mode 100644 script/test/test.py create mode 100644 script/test/test_hexiposi.py create mode 100644 script/test/test_segments.py create mode 100644 script/test/test_swingutils.py create mode 100644 script/test/then.py create mode 100644 script/test/transfer_profile.py create mode 100644 script/test/unmount_profile.py create mode 100644 script/tools/CheckGripper.py create mode 100644 script/tools/CheckPuckDetection.py create mode 100644 script/tools/Math.py create mode 100644 script/tools/RestartPuckDetection.py create mode 100644 script/tools/SshExec.py create mode 100644 script/tools/StopPuckDetection.py diff --git a/config/devices - Copy.properties b/config/devices - Copy.properties new file mode 100644 index 0000000..cc3672f --- /dev/null +++ b/config/devices - Copy.properties @@ -0,0 +1,67 @@ +img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000"|||false +gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||-1000| +microscan=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2001||| +microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2003||| +ue=LaserUE|COM4|||false +#robot=RobotTcp|127.0.0.1:1000||| +#onewire=ch.psi.pshell.serial.TcpDevice|129.129.126.83:5000||| +puck_detection=ch.psi.mxsc.PuckDetection|tell-raspberrypi:5556||| +#robot_modbus=ch.psi.pshell.modbus.ModbusTCP|129.129.126.100:502||| +#jf1=ch.psi.pshell.modbus.AnalogInput|robot_modbus 0||100| +#jf2=ch.psi.pshell.modbus.AnalogInput|robot_modbus 1||100| +#jf3=ch.psi.pshell.modbus.AnalogInput|robot_modbus 2||100| +#jf4=ch.psi.pshell.modbus.AnalogInput|robot_modbus 3||100| +#jf5=ch.psi.pshell.modbus.AnalogInput|robot_modbus 4||100| +#jf6=ch.psi.pshell.modbus.AnalogInput|robot_modbus 5||100| +#robot_sts=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 6 6||100| +#robot_cmd=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 12||| +#robot_args=ch.psi.pshell.modbus.AnalogOutputArray|robot_modbus 47 12||| +#robot_req=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 13||| +#robot_ack=ch.psi.pshell.modbus.AnalogInput|robot_modbus 14||| +#robot_ret=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 15 12||| +#wago_back=ch.psi.pshell.modbus.ModbusTCP|SF-TEST-WAGO1:502||| +wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502||| +led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| +led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| +led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| +feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| +feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| +filling_phase_separator=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| +filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| +dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| +guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 8||1000| +air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|false +n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| +he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000| +he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000| +relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| +release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| +release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| +ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2||| +rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3||| +phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4||| +dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false +valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6||| +gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7||| +valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8||| +valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9||| +valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10||| +valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11||| +#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12||| +#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 13||| +#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14||| +#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15||| +phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| +dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| +rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||10000| +air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||10000| +n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||10000| +#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 5||| +#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 6||| +#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 7||| +led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| +led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| +led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| +#spare_ao_3=ch.psi.pshell.modbus.AnalogOutput|wago 3||| +#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM||| +#img_back=ch.psi.pshell.imaging.CameraSource|cam||-100| diff --git a/config/devices-modbus.properties b/config/devices-modbus.properties new file mode 100644 index 0000000..3faf1af --- /dev/null +++ b/config/devices-modbus.properties @@ -0,0 +1,42 @@ +wago=ch.psi.pshell.modbus.ModbusTCP|tell6d-wago:502||| +led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| +led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| +led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| +feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| +feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| +filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| +dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| +guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| +air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|false +n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000| +smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| +smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 11||1000| +smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 12||1000| +magnet_release=ch.psi.pshell.modbus.DigitalInput|wago 13||500| +spare_di_2=ch.psi.pshell.modbus.DigitalInput|wago 14||500| +spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 15||500| +spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 16||500| +relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| +release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| +release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| +#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 2||| +#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 3||| +#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4||| +gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5||| +smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6||| +valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7||| +valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 8||| +valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 9||| +valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 10||| +dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| +rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| +#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 2|||false +#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 3||| +smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000| +#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5||| +#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6||| +#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7||| +led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| +led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| +led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| +smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3||| diff --git a/config/devices.properties b/config/devices.properties new file mode 100644 index 0000000..439fff4 --- /dev/null +++ b/config/devices.properties @@ -0,0 +1,57 @@ +img=ch.psi.pshell.prosilica.Prosilica|204464 "PacketSize=1504;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=290;RegionY=130;Width=1000;Height=1000;MulticastEnable=Off"||-200|false +#gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=1 reopen||-200|false +#monitoring_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200| +#top_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8ea5e463.psi.ch/axis-cgi/mjpg/video.cgi?camera=3 true||-200| +#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM||| +mscan_pin=ch.psi.pshell.serial.TcpDevice|129.129.110.109:2001||| +mscan_pin_cmd=ch.psi.pshell.serial.TcpDevice|129.129.110.109:2003||| +mscan_puck=ch.psi.pshell.serial.TcpDevice|129.129.110.93:2001||| +mscan_puck_cmd=ch.psi.pshell.serial.TcpDevice|129.129.110.93:2003||| +ue=LaserUE|COM3 50 35|||true +puck_detection=ch.psi.mxsc.PuckDetection|tell6d-raspberrypi:5556||| +wago=ch.psi.pshell.modbus.ModbusTCP|tell6d-wago:502||| +led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000| +led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000| +led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000| +feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000| +feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000| +filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 5||1000| +dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 6||1000| +guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 7||1000| +air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|false +n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000| +smc_magnet_status=ch.psi.pshell.modbus.DigitalInput|wago 10||1000| +smc_mounted_1=ch.psi.pshell.modbus.DigitalInput|wago 11||1000| +smc_mounted_2=ch.psi.pshell.modbus.DigitalInput|wago 12||1000| +magnet_release=ch.psi.pshell.modbus.DigitalInput|wago 13||500| +detector_cleared=ch.psi.pshell.modbus.DigitalInput|wago 14||1000| +spare_di_3=ch.psi.pshell.modbus.DigitalInput|wago 15||1000| +spare_di_4=ch.psi.pshell.modbus.DigitalInput|wago 16||1000| +relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000| +release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0||| +release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1||| +#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 2||| +#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 3||| +#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 4||| +gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 5||| +smc_sup_det=ch.psi.pshell.modbus.DigitalOutput|wago 6||| +valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 7||1000| +valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 10||1000| +valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 8||1000| +valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11||1000| +valve_5=ch.psi.pshell.modbus.DigitalOutput|wago 9||1000| +valve_6=ch.psi.pshell.modbus.DigitalOutput|wago 12||1000| +valve_7=ch.psi.pshell.modbus.DigitalOutput|wago 13||1000| +valve_8=ch.psi.pshell.modbus.DigitalOutput|wago 14||1000| +dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000| +rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000| +#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 2|||false +#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 3||| +smc_current_rb=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||1000| +#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 5||| +#spare_ai_4=ch.psi.pshell.modbus.AnalogInput|wago 6||| +#spare_ai_5=ch.psi.pshell.modbus.AnalogInput|wago 7||| +led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0||| +led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1||| +led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2||| +smc_current=ch.psi.pshell.modbus.ProcessVariable|wago 3||| diff --git a/config/jcae.properties b/config/jcae.properties new file mode 100644 index 0000000..2bb0691 --- /dev/null +++ b/config/jcae.properties @@ -0,0 +1,11 @@ +#Tue Sep 06 15:10:24 CEST 2016 +ch.psi.jcae.ContextFactory.addressList= +ch.psi.jcae.ContextFactory.serverPort= +ch.psi.jcae.ContextFactory.maxArrayBytes=20000000 +ch.psi.jcae.ChannelFactory.retries=1 +ch.psi.jcae.ChannelFactory.timeout=500 +ch.psi.jcae.impl.DefaultChannelService.retries=2 +ch.psi.jcae.impl.DefaultChannelService.timeout=1000 +ch.psi.jcae.ContextFactory.autoAddressList=true +ch.psi.jcae.ContextFactory.useShellVariables=false +ch.psi.jcae.ContextFactory.addLocalBroadcastInterfaces=false diff --git a/config/mail.properties b/config/mail.properties new file mode 100644 index 0000000..e04b672 --- /dev/null +++ b/config/mail.properties @@ -0,0 +1,9 @@ +#Mon Oct 23 10:53:54 CEST 2017 +auth=None +from= +host= +port=0 +pwd= +smsSuffix=@sms.switch.ch +to= +usr= diff --git a/config/plugins.properties b/config/plugins.properties new file mode 100644 index 0000000..1522a96 --- /dev/null +++ b/config/plugins.properties @@ -0,0 +1,21 @@ +MXSC-1.10.0\ -\ Back.jar=disabled +Commands.java=disabled +Recovery.java=disabled +MXSC-1.10.0.jar=disabled +WagoPanel.java=enabled +LaserUEPanel.java=enabled +BarcodeReaderPanel.java=enabled +PuckDetectionPanel.java=enabled +HexiposiPanel.java=enabled +MjpegSource2.java=enabled +LN2.java=disabled +Hexiposi.java=disabled +RobotPanel.java=enabled +SmartMagnetConfig.java=disabled +SmartMagnetPanel.java=enabled +LaserUE.java=enabled +TestZMQ.java=disabled +RobotModbus.java=disabled +RobotTcp.java=disabled +Beeper.java=disabled +gui.java=disabled diff --git a/config/settings.properties b/config/settings.properties new file mode 100644 index 0000000..fd12ba9 --- /dev/null +++ b/config/settings.properties @@ -0,0 +1,19 @@ +#Tue Sep 08 11:53:06 CEST 2020 +dry_mount_counter=1 +room_temperature_enabled=false +pin_offset=0.0 +puck_types=true +pin_cleaner_timer=60 +imaging_enabled=false +dry_timestamp=1.599556340515E9 +roi_h=1000 +led_level=0.0 +beamline_status_enabled=false +force_dry_mount_count=15 +roi_y=123 +barcode_reader_scan_pucks=false +cold_position_timeout=3600 +force_dry_timeout=2700 +roi_w=1000 +roi_x=289 +valve_control=false diff --git a/config/setup-modbus.properties b/config/setup-modbus.properties new file mode 100644 index 0000000..eb292c1 --- /dev/null +++ b/config/setup-modbus.properties @@ -0,0 +1,18 @@ +#Wed Sep 14 15:16:45 CEST 2016 +configFile={config}/config.properties +configFileDevices={config}/devices-modbus.properties +configFilePlugins={config}/plugins.properties +configFileTasks={config}/tasks.properties +configPath={home}/config +contextPath={outp}/context +dataPath={outp}/data +devicesPath={home}/devices +extensionsPath={home}/extensions +imagesPath={outp}/images +libraryPath={script}; {script}/Lib +logPath={outp}/log +pluginsPath={home}/plugins +scriptPath={home}/script +scriptType=py +sessionsPath={outp}/sessions +wwwPath={home}/www diff --git a/config/setup.properties b/config/setup.properties new file mode 100644 index 0000000..7ad15eb --- /dev/null +++ b/config/setup.properties @@ -0,0 +1,20 @@ +#Tue Sep 17 15:06:05 CEST 2019 +configFile={config}/config.properties +configFileDevices={config}/devices.properties +configFilePlugins={config}/plugins.properties +configFileSettings={config}/settings.properties +configFileTasks={config}/tasks.properties +configFileVariables={config}/variables.properties +configPath={home}/config +contextPath={outp}/context +dataPath={outp}/data +devicesPath={home}/devices +extensionsPath={home}/extensions +imagesPath={outp}/images +libraryPath={script}; {script}/Lib +logPath={outp}/log +pluginsPath={home}/plugins +scriptPath={home}/script +scriptType=py +sessionsPath={outp}/sessions +wwwPath={home}/www diff --git a/config/tasks.properties b/config/tasks.properties new file mode 100644 index 0000000..92f138b --- /dev/null +++ b/config/tasks.properties @@ -0,0 +1,2 @@ +tasks/LedMonitoring=120 +tasks/ColdPositionTimeout=300 diff --git a/config/variables.properties b/config/variables.properties new file mode 100644 index 0000000..d3aee7a --- /dev/null +++ b/config/variables.properties @@ -0,0 +1,2 @@ +#Tue Sep 01 09:11:47 CEST 2020 +FileSequentialNumber=184 diff --git a/devices/20161117_163816.png.properties b/devices/20161117_163816.png.properties new file mode 100644 index 0000000..be1fd91 --- /dev/null +++ b/devices/20161117_163816.png.properties @@ -0,0 +1,20 @@ +#Mon Oct 23 15:10:20 CEST 2017 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/A1.properties b/devices/A1.properties new file mode 100644 index 0000000..d9b32f1 --- /dev/null +++ b/devices/A1.properties @@ -0,0 +1,3 @@ +#Fri Jan 31 16:58:30 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/A2.properties b/devices/A2.properties new file mode 100644 index 0000000..ce6347e --- /dev/null +++ b/devices/A2.properties @@ -0,0 +1,3 @@ +#Thu Jun 06 15:47:03 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/A3.properties b/devices/A3.properties new file mode 100644 index 0000000..d21184c --- /dev/null +++ b/devices/A3.properties @@ -0,0 +1,3 @@ +#Tue Jan 21 09:46:43 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/A4.properties b/devices/A4.properties new file mode 100644 index 0000000..502a5d0 --- /dev/null +++ b/devices/A4.properties @@ -0,0 +1,3 @@ +#Thu Jun 06 15:40:34 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/A5.properties b/devices/A5.properties new file mode 100644 index 0000000..adcc5f3 --- /dev/null +++ b/devices/A5.properties @@ -0,0 +1,3 @@ +#Tue Jan 21 09:46:49 CET 2020 +detection=Mechanical +disabled=false diff --git a/devices/B1.properties b/devices/B1.properties new file mode 100644 index 0000000..22f2102 --- /dev/null +++ b/devices/B1.properties @@ -0,0 +1,3 @@ +#Mon Apr 29 16:18:33 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/B2.properties b/devices/B2.properties new file mode 100644 index 0000000..ea802c8 --- /dev/null +++ b/devices/B2.properties @@ -0,0 +1,3 @@ +#Mon Apr 29 16:40:00 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/B3.properties b/devices/B3.properties new file mode 100644 index 0000000..ad0f99d --- /dev/null +++ b/devices/B3.properties @@ -0,0 +1,3 @@ +#Tue Sep 01 14:03:17 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/B4.properties b/devices/B4.properties new file mode 100644 index 0000000..074e71d --- /dev/null +++ b/devices/B4.properties @@ -0,0 +1,3 @@ +#Sat Dec 14 17:27:09 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/B5.properties b/devices/B5.properties new file mode 100644 index 0000000..f768e0f --- /dev/null +++ b/devices/B5.properties @@ -0,0 +1,3 @@ +#Wed Dec 11 08:55:08 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/BasePlate.properties b/devices/BasePlate.properties new file mode 100644 index 0000000..1e25f83 --- /dev/null +++ b/devices/BasePlate.properties @@ -0,0 +1 @@ +#Fri Feb 10 14:35:38 CET 2017 diff --git a/devices/C1.properties b/devices/C1.properties new file mode 100644 index 0000000..52198c1 --- /dev/null +++ b/devices/C1.properties @@ -0,0 +1,3 @@ +#Tue Sep 01 08:37:42 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/C2.properties b/devices/C2.properties new file mode 100644 index 0000000..fbcc31c --- /dev/null +++ b/devices/C2.properties @@ -0,0 +1,3 @@ +#Tue Sep 01 13:18:50 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/C3.properties b/devices/C3.properties new file mode 100644 index 0000000..5210a65 --- /dev/null +++ b/devices/C3.properties @@ -0,0 +1,3 @@ +#Thu Sep 19 08:23:37 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/C4.properties b/devices/C4.properties new file mode 100644 index 0000000..61fba0c --- /dev/null +++ b/devices/C4.properties @@ -0,0 +1,3 @@ +#Wed Dec 11 08:56:26 CET 2019 +detection=Mechanical +disabled=false diff --git a/devices/C5.properties b/devices/C5.properties new file mode 100644 index 0000000..354cfeb --- /dev/null +++ b/devices/C5.properties @@ -0,0 +1,3 @@ +#Thu Sep 19 08:23:43 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D1.properties b/devices/D1.properties new file mode 100644 index 0000000..d83b456 --- /dev/null +++ b/devices/D1.properties @@ -0,0 +1,3 @@ +#Thu Sep 19 08:23:48 CEST 2019 +detection=Mechanical +disabled=false diff --git a/devices/D2.properties b/devices/D2.properties new file mode 100644 index 0000000..a5df751 --- /dev/null +++ b/devices/D2.properties @@ -0,0 +1,3 @@ +#Tue Sep 08 09:28:59 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/D3.properties b/devices/D3.properties new file mode 100644 index 0000000..2e933c9 --- /dev/null +++ b/devices/D3.properties @@ -0,0 +1,3 @@ +#Tue Sep 08 09:29:02 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/D4.properties b/devices/D4.properties new file mode 100644 index 0000000..1be19b4 --- /dev/null +++ b/devices/D4.properties @@ -0,0 +1,3 @@ +#Tue Sep 08 09:29:05 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/D5.properties b/devices/D5.properties new file mode 100644 index 0000000..9d34242 --- /dev/null +++ b/devices/D5.properties @@ -0,0 +1,3 @@ +#Tue Sep 08 09:29:08 CEST 2020 +detection=Mechanical +disabled=false diff --git a/devices/E1.properties b/devices/E1.properties new file mode 100644 index 0000000..861f9f8 --- /dev/null +++ b/devices/E1.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 14:28:32 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/E2.properties b/devices/E2.properties new file mode 100644 index 0000000..34dabc7 --- /dev/null +++ b/devices/E2.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:15 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/E3.properties b/devices/E3.properties new file mode 100644 index 0000000..a133c30 --- /dev/null +++ b/devices/E3.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:19 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/E4.properties b/devices/E4.properties new file mode 100644 index 0000000..818280c --- /dev/null +++ b/devices/E4.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:24 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/E5.properties b/devices/E5.properties new file mode 100644 index 0000000..7fb793f --- /dev/null +++ b/devices/E5.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:29 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/F1.properties b/devices/F1.properties new file mode 100644 index 0000000..b9fd935 --- /dev/null +++ b/devices/F1.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 11:31:09 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/F2.properties b/devices/F2.properties new file mode 100644 index 0000000..12b665e --- /dev/null +++ b/devices/F2.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:39 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/F3.properties b/devices/F3.properties new file mode 100644 index 0000000..321743f --- /dev/null +++ b/devices/F3.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:44 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/F4.properties b/devices/F4.properties new file mode 100644 index 0000000..a0e68f2 --- /dev/null +++ b/devices/F4.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:47 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/F5.properties b/devices/F5.properties new file mode 100644 index 0000000..2c095dc --- /dev/null +++ b/devices/F5.properties @@ -0,0 +1,3 @@ +#Fri Aug 14 10:51:50 CEST 2020 +detection=Mechanical +disabled=true diff --git a/devices/R1.properties b/devices/R1.properties new file mode 100644 index 0000000..fa91122 --- /dev/null +++ b/devices/R1.properties @@ -0,0 +1,3 @@ +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R2.properties b/devices/R2.properties new file mode 100644 index 0000000..fa91122 --- /dev/null +++ b/devices/R2.properties @@ -0,0 +1,3 @@ +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R3.properties b/devices/R3.properties new file mode 100644 index 0000000..fa91122 --- /dev/null +++ b/devices/R3.properties @@ -0,0 +1,3 @@ +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R4.properties b/devices/R4.properties new file mode 100644 index 0000000..fa91122 --- /dev/null +++ b/devices/R4.properties @@ -0,0 +1,3 @@ +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/R5.properties b/devices/R5.properties new file mode 100644 index 0000000..fa91122 --- /dev/null +++ b/devices/R5.properties @@ -0,0 +1,3 @@ +#Tue Feb 19 12:07:25 CET 2019 +detection=Both +disabled=false diff --git a/devices/RoomTemperatureBasePlate.properties b/devices/RoomTemperatureBasePlate.properties new file mode 100644 index 0000000..a8e063a --- /dev/null +++ b/devices/RoomTemperatureBasePlate.properties @@ -0,0 +1 @@ +#Tue Feb 19 12:07:25 CET 2019 diff --git a/devices/Time.properties b/devices/Time.properties new file mode 100644 index 0000000..33011f0 --- /dev/null +++ b/devices/Time.properties @@ -0,0 +1,10 @@ +#Wed Jun 27 10:48:14 CEST 2018 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/air_pressure.properties b/devices/air_pressure.properties new file mode 100644 index 0000000..e476b09 --- /dev/null +++ b/devices/air_pressure.properties @@ -0,0 +1,5 @@ +#Thu Mar 01 11:13:34 CET 2018 +offset=0.0 +precision=-1 +scale=1.0 +unit=null diff --git a/devices/cx.properties b/devices/cx.properties new file mode 100644 index 0000000..1720045 --- /dev/null +++ b/devices/cx.properties @@ -0,0 +1,17 @@ +#Fri Aug 10 15:47:53 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/cz.properties b/devices/cz.properties new file mode 100644 index 0000000..b8877dd --- /dev/null +++ b/devices/cz.properties @@ -0,0 +1,17 @@ +#Fri Aug 10 15:47:15 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/dewar_level.properties b/devices/dewar_level.properties new file mode 100644 index 0000000..ac55365 --- /dev/null +++ b/devices/dewar_level.properties @@ -0,0 +1,6 @@ +#Tue Jan 22 10:58:09 CET 2019 +offset=0.0 +precision=2 +scale=0.0032 +sign_bit=0 +unit=% diff --git a/devices/dispatcher.properties b/devices/dispatcher.properties new file mode 100644 index 0000000..5a3e672 --- /dev/null +++ b/devices/dispatcher.properties @@ -0,0 +1,11 @@ +#Thu May 03 11:54:38 CEST 2018 +disableCompression=false +keepListeningOnStop=false +mappingIncomplete=null +parallelHandlerProcessing=true +sendAwaitFirstMessage=false +sendBuildChannelConfig=null +sendStrategy=null +sendSyncTimeout=0 +socketType=DEFAULT +validationInconsistency=null diff --git a/devices/dp1.properties b/devices/dp1.properties new file mode 100644 index 0000000..c853c11 --- /dev/null +++ b/devices/dp1.properties @@ -0,0 +1,11 @@ +#Fri Jul 08 10:53:26 CEST 2016 +motor1=0.0|4.0|8.0|0.0 +motor2=0.0|5.0|3.0|NaN +motor3=null +motor4=null +motor5=null +motor6=null +motor7=null +motor8=null +positions=Park|Ready|Out|Clear +precision=-1 diff --git a/devices/fx.properties b/devices/fx.properties new file mode 100644 index 0000000..44a1a35 --- /dev/null +++ b/devices/fx.properties @@ -0,0 +1,17 @@ +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/fy.properties b/devices/fy.properties new file mode 100644 index 0000000..44a1a35 --- /dev/null +++ b/devices/fy.properties @@ -0,0 +1,17 @@ +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=2.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=mm diff --git a/devices/gripper_cam.properties b/devices/gripper_cam.properties new file mode 100644 index 0000000..6fc903f --- /dev/null +++ b/devices/gripper_cam.properties @@ -0,0 +1,20 @@ +#Thu Jun 28 17:46:46 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/img.properties b/devices/img.properties new file mode 100644 index 0000000..8ef03e0 --- /dev/null +++ b/devices/img.properties @@ -0,0 +1,24 @@ +#Wed Oct 30 16:03:50 CET 2019 +spatialCalOffsetY=-482.0 +invert=false +colormapMin=6.4 +spatialCalOffsetX=-476.0 +rotation=90.5119714057 +rotationCrop=true +scale=1.0 +rescaleFactor=1.0 +grayscale=false +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 diff --git a/devices/led_ctrl.properties b/devices/led_ctrl.properties new file mode 100644 index 0000000..00dcc48 --- /dev/null +++ b/devices/led_ctrl.properties @@ -0,0 +1,8 @@ +#Tue Jun 20 15:07:30 CEST 2017 +maxValue=0.4 +minValue=0.0 +offset=0.0 +precision=2 +resolution=NaN +scale=3.0E-4 +unit=V diff --git a/devices/led_ctrl_1.properties b/devices/led_ctrl_1.properties new file mode 100644 index 0000000..eb9cf02 --- /dev/null +++ b/devices/led_ctrl_1.properties @@ -0,0 +1,9 @@ +#Mon Sep 07 09:39:40 CEST 2020 +minValue=0.0 +unit=V +offset=0.0 +maxValue=1.0 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_ctrl_2.properties b/devices/led_ctrl_2.properties new file mode 100644 index 0000000..eb9cf02 --- /dev/null +++ b/devices/led_ctrl_2.properties @@ -0,0 +1,9 @@ +#Mon Sep 07 09:39:40 CEST 2020 +minValue=0.0 +unit=V +offset=0.0 +maxValue=1.0 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_ctrl_3.properties b/devices/led_ctrl_3.properties new file mode 100644 index 0000000..eb9cf02 --- /dev/null +++ b/devices/led_ctrl_3.properties @@ -0,0 +1,9 @@ +#Mon Sep 07 09:39:40 CEST 2020 +minValue=0.0 +unit=V +offset=0.0 +maxValue=1.0 +precision=2 +sign_bit=0 +scale=3.0E-4 +resolution=NaN diff --git a/devices/led_level.properties b/devices/led_level.properties new file mode 100644 index 0000000..52dee03 --- /dev/null +++ b/devices/led_level.properties @@ -0,0 +1,9 @@ +#Tue Jun 19 16:41:24 CEST 2018 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/m1.properties b/devices/m1.properties new file mode 100644 index 0000000..1cf4553 --- /dev/null +++ b/devices/m1.properties @@ -0,0 +1,13 @@ +#Fri Jun 30 09:37:38 CEST 2017 +defaultSpeed=1.0 +estbilizationDelay=0 +maxSpeed=10.0 +maxValue=10.0 +minSpeed=0.1 +minValue=-10.0 +offset=0.0 +precision=2 +resolution=NaN +rotation=false +scale=1.0 +unit=mm diff --git a/devices/m2.properties b/devices/m2.properties new file mode 100644 index 0000000..1cf4553 --- /dev/null +++ b/devices/m2.properties @@ -0,0 +1,13 @@ +#Fri Jun 30 09:37:38 CEST 2017 +defaultSpeed=1.0 +estbilizationDelay=0 +maxSpeed=10.0 +maxValue=10.0 +minSpeed=0.1 +minValue=-10.0 +offset=0.0 +precision=2 +resolution=NaN +rotation=false +scale=1.0 +unit=mm diff --git a/devices/monitoring_cam.properties b/devices/monitoring_cam.properties new file mode 100644 index 0000000..fa56b35 --- /dev/null +++ b/devices/monitoring_cam.properties @@ -0,0 +1,20 @@ +#Thu Aug 09 11:01:09 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/n2_pressure.properties b/devices/n2_pressure.properties new file mode 100644 index 0000000..e476b09 --- /dev/null +++ b/devices/n2_pressure.properties @@ -0,0 +1,5 @@ +#Thu Mar 01 11:13:34 CET 2018 +offset=0.0 +precision=-1 +scale=1.0 +unit=null diff --git a/devices/p1.properties b/devices/p1.properties new file mode 100644 index 0000000..07d9ba5 --- /dev/null +++ b/devices/p1.properties @@ -0,0 +1,9 @@ +#Fri Jun 30 09:37:38 CEST 2017 +maxValue=1000.0 +minValue=0.0 +offset=0.0 +precision=-1 +resolution=NaN +rotation=false +scale=1.0 +unit=mm diff --git a/devices/phase_separator.properties b/devices/phase_separator.properties new file mode 100644 index 0000000..122f8e9 --- /dev/null +++ b/devices/phase_separator.properties @@ -0,0 +1,8 @@ +#Wed Feb 28 17:35:59 CET 2018 +maxValue=30000.0 +minValue=0.0 +offset=0.0 +precision=-1 +resolution=NaN +scale=0.1 +unit=% diff --git a/devices/phase_separator_level.properties b/devices/phase_separator_level.properties new file mode 100644 index 0000000..92a5279 --- /dev/null +++ b/devices/phase_separator_level.properties @@ -0,0 +1,6 @@ +#Tue Jun 19 16:41:20 CEST 2018 +offset=-25.81632 +precision=2 +scale=0.003888 +sign_bit=0 +unit=% diff --git a/devices/rim_heater_temp.properties b/devices/rim_heater_temp.properties new file mode 100644 index 0000000..e1c3b95 --- /dev/null +++ b/devices/rim_heater_temp.properties @@ -0,0 +1,6 @@ +#Tue Jun 19 16:41:20 CEST 2018 +offset=-25.81632 +precision=2 +scale=0.003888 +sign_bit=0 +unit=C diff --git a/devices/robot x.properties b/devices/robot x.properties new file mode 100644 index 0000000..02ffbf3 --- /dev/null +++ b/devices/robot x.properties @@ -0,0 +1,9 @@ +#Tue Sep 12 15:00:38 CEST 2017 +maxValue=NaN +minValue=NaN +offset=0.0 +precision=-1 +resolution=NaN +rotation=false +scale=1.0 +unit=null diff --git a/devices/robot.properties b/devices/robot.properties new file mode 100644 index 0000000..97f6ad6 --- /dev/null +++ b/devices/robot.properties @@ -0,0 +1,8 @@ +#Thu Jul 21 08:35:47 CEST 2016 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/devices/robot_j1.properties b/devices/robot_j1.properties new file mode 100644 index 0000000..bc3a381 --- /dev/null +++ b/devices/robot_j1.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j2.properties b/devices/robot_j2.properties new file mode 100644 index 0000000..6a892bc --- /dev/null +++ b/devices/robot_j2.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=127.5 +minValue=-127.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j3.properties b/devices/robot_j3.properties new file mode 100644 index 0000000..07bff75 --- /dev/null +++ b/devices/robot_j3.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=152.5 +minValue=-152.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j4.properties b/devices/robot_j4.properties new file mode 100644 index 0000000..41d8586 --- /dev/null +++ b/devices/robot_j4.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=270.0 +minValue=-270.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j5.properties b/devices/robot_j5.properties new file mode 100644 index 0000000..dab429f --- /dev/null +++ b/devices/robot_j5.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=132.5 +minValue=-122.5 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_j6.properties b/devices/robot_j6.properties new file mode 100644 index 0000000..d688634 --- /dev/null +++ b/devices/robot_j6.properties @@ -0,0 +1,10 @@ +#Fri Aug 24 14:56:42 CEST 2018 +maxValue=400.0 +minValue=-400.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=false +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_modbus.properties b/devices/robot_modbus.properties new file mode 100644 index 0000000..31a13be --- /dev/null +++ b/devices/robot_modbus.properties @@ -0,0 +1,8 @@ +#Thu Jul 21 12:02:04 CEST 2016 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/devices/robot_rx.properties b/devices/robot_rx.properties new file mode 100644 index 0000000..df63f03 --- /dev/null +++ b/devices/robot_rx.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_ry.properties b/devices/robot_ry.properties new file mode 100644 index 0000000..a789ebf --- /dev/null +++ b/devices/robot_ry.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=180.0 +minValue=-180.0 +offset=0.0 +precision=-2 +resolution=0.05 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_rz.properties b/devices/robot_rz.properties new file mode 100644 index 0000000..2b88035 --- /dev/null +++ b/devices/robot_rz.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=360.0 +minValue=-360.0 +offset=0.0 +precision=2 +resolution=0.1 +rotation=true +scale=1.0 +sign_bit=0 +unit=deg diff --git a/devices/robot_x.properties b/devices/robot_x.properties new file mode 100644 index 0000000..5cdadcc --- /dev/null +++ b/devices/robot_x.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=mm diff --git a/devices/robot_y.properties b/devices/robot_y.properties new file mode 100644 index 0000000..eb8022e --- /dev/null +++ b/devices/robot_y.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/robot_z.properties b/devices/robot_z.properties new file mode 100644 index 0000000..eb8022e --- /dev/null +++ b/devices/robot_z.properties @@ -0,0 +1,10 @@ +#Tue Jun 19 16:41:28 CEST 2018 +maxValue=1000.0 +minValue=-1000.0 +offset=0.0 +precision=2 +resolution=0.05 +rotation=false +scale=1.0 +sign_bit=0 +unit=null diff --git a/devices/ry.properties b/devices/ry.properties new file mode 100644 index 0000000..f43c3d2 --- /dev/null +++ b/devices/ry.properties @@ -0,0 +1,17 @@ +#Fri Aug 10 15:47:14 CEST 2018 +defaultSpeed=50.0 +estbilizationDelay=0 +hasEnable=false +homingType=None +maxSpeed=NaN +maxValue=0.0 +minSpeed=NaN +minValue=0.0 +offset=0.0 +precision=3 +resolution=0.001 +rotation=false +scale=1.0 +sign_bit=0 +startRetries=1 +unit=deg diff --git a/devices/smart_magnet.properties b/devices/smart_magnet.properties new file mode 100644 index 0000000..18a705b --- /dev/null +++ b/devices/smart_magnet.properties @@ -0,0 +1,8 @@ +#Mon Aug 31 09:09:24 CEST 2020 +reverseTime=0.2 +unmountCurrent=20.0 +holdingCurrent=50.0 +restingCurrent=30.0 +reverseCurrent=-10.0 +remanenceCurrent=-10.0 +mountCurrent=30.0 diff --git a/devices/smc_current.properties b/devices/smc_current.properties new file mode 100644 index 0000000..9d9ba17 --- /dev/null +++ b/devices/smc_current.properties @@ -0,0 +1,9 @@ +#Wed Jan 30 11:33:15 CET 2019 +maxValue=70.0 +minValue=-50.0 +offset=0.0 +precision=2 +resolution=NaN +scale=0.003 +sign_bit=0 +unit=mA diff --git a/devices/smc_current_rb.properties b/devices/smc_current_rb.properties new file mode 100644 index 0000000..7709ada --- /dev/null +++ b/devices/smc_current_rb.properties @@ -0,0 +1,6 @@ +#Tue Jun 19 16:45:06 CEST 2018 +offset=0.0 +precision=2 +scale=0.003 +sign_bit=15 +unit=mA diff --git a/devices/src1.properties b/devices/src1.properties new file mode 100644 index 0000000..a0b5d6d --- /dev/null +++ b/devices/src1.properties @@ -0,0 +1,24 @@ +#Thu Sep 22 14:45:06 CEST 2016 +colormap=Temperature +colormapAutomatic=true +colormapMax=255.0 +colormapMin=0.0 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/src2.properties b/devices/src2.properties new file mode 100644 index 0000000..2bf8406 --- /dev/null +++ b/devices/src2.properties @@ -0,0 +1,24 @@ +#Thu Sep 22 14:45:06 CEST 2016 +colormap=Grayscale +colormapAutomatic=true +colormapMax=255.0 +colormapMin=0.0 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/top_cam.properties b/devices/top_cam.properties new file mode 100644 index 0000000..827552b --- /dev/null +++ b/devices/top_cam.properties @@ -0,0 +1,20 @@ +#Thu Aug 09 11:46:12 CEST 2018 +flipHorizontally=false +flipVertically=false +grayscale=false +invert=false +rescaleFactor=1.0 +rescaleOffset=0.0 +roiHeight=-1 +roiWidth=-1 +roiX=0 +roiY=0 +rotation=0.0 +rotationCrop=false +scale=1.0 +spatialCalOffsetX=NaN +spatialCalOffsetY=NaN +spatialCalScaleX=NaN +spatialCalScaleY=NaN +spatialCalUnits=mm +transpose=false diff --git a/devices/ue.properties b/devices/ue.properties new file mode 100644 index 0000000..f241f62 --- /dev/null +++ b/devices/ue.properties @@ -0,0 +1,6 @@ +#Thu Aug 31 16:41:09 CEST 2017 +baudRate=9600 +dataBits=DB_8 +parity=None +port=null +stopBits=SB_1 diff --git a/devices/wago.properties b/devices/wago.properties new file mode 100644 index 0000000..f2650ea --- /dev/null +++ b/devices/wago.properties @@ -0,0 +1,8 @@ +#Wed Feb 28 16:27:51 CET 2018 +offsetReadAnalogInput=0 +offsetReadAnalogOutput=0x200 +offsetReadDigitalInput=0 +offsetReadDigitalOutput=0x200 +offsetWriteAnalogOutput=0 +offsetWriteDigitalOutput=0 +timeout=1000 diff --git a/plugins/BarcodeReaderPanel.form b/plugins/BarcodeReaderPanel.form new file mode 100644 index 0000000..1d2c4af --- /dev/null +++ b/plugins/BarcodeReaderPanel.form @@ -0,0 +1,114 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/BarcodeReaderPanel.java b/plugins/BarcodeReaderPanel.java new file mode 100644 index 0000000..d6dabed --- /dev/null +++ b/plugins/BarcodeReaderPanel.java @@ -0,0 +1,170 @@ +import ch.psi.pshell.core.Context; +import ch.psi.pshell.device.Device; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; +import java.util.concurrent.CompletableFuture; + +/** + * + */ +public class BarcodeReaderPanel extends DevicePanel { + + volatile boolean enabled; + public BarcodeReaderPanel() { + initComponents(); + this.startTimer(100); + } + + + CompletableFuture future; + + + @Override + public void setDevice(Device device){ + super.setDevice(device); + if (device != null){ + deviceStatePanel1.setDevice(device); + deviceValuePanel1.setDevice(device); + } + } + + @Override + public void onTimer(){ + if ((getDevice()!=null) && enabled){ + if ((future==null) || (future.isDone())){ + future = Context.getInstance().evalLineBackgroundAsync(getDevice().getName() + ".get()"); + } + } + } + + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (BarcodeReaderPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + if (ret == null){ + SwingUtils.showMessage(this, "Return", "No code detected", 20000); + } else { + SwingUtils.showMessage(this, "Return", "Detected code: " +ret, 20000); + } + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + jPanel3 = new javax.swing.JPanel(); + buttonEnable = new javax.swing.JButton(); + buttonDisable = new javax.swing.JButton(); + buttonRead = new javax.swing.JButton(); + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + deviceValuePanel1 = new ch.psi.pshell.swing.DeviceValuePanel(); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Commands")); + + buttonEnable.setText("Enable"); + buttonEnable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableActionPerformed(evt); + } + }); + + buttonDisable.setText("Disable"); + buttonDisable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonDisableActionPerformed(evt); + } + }); + + buttonRead.setText("Read"); + buttonRead.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReadActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonEnable) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonDisable) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonRead) + .addContainerGap()) + ); + + jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDisable, buttonEnable, buttonRead}); + + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonEnable) + .addComponent(buttonDisable) + .addComponent(buttonRead)) + .addContainerGap()) + ); + + deviceValuePanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Value")); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0)) + ); + }// //GEN-END:initComponents + + private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed + execute(getDevice().getName() + ".enable()", false); + enabled = true; + }//GEN-LAST:event_buttonEnableActionPerformed + + private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed + enabled = false; + execute(getDevice().getName() + ".disable()", false); + }//GEN-LAST:event_buttonDisableActionPerformed + + private void buttonReadActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReadActionPerformed + enabled = false; + execute(getDevice().getName() + ".read(5.0) ", true); + }//GEN-LAST:event_buttonReadActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonDisable; + private javax.swing.JButton buttonEnable; + private javax.swing.JButton buttonRead; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private ch.psi.pshell.swing.DeviceValuePanel deviceValuePanel1; + private javax.swing.JPanel jPanel3; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/Beeper.java b/plugins/Beeper.java new file mode 100644 index 0000000..c1fea67 --- /dev/null +++ b/plugins/Beeper.java @@ -0,0 +1,72 @@ +/* + * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.device.*; +import com.sun.jna.Function; +import com.sun.jna.Native; +import com.sun.jna.Pointer; +import com.sun.jna.Structure; +import com.sun.jna.ptr.IntByReference; +import com.sun.jna.win32.StdCallLibrary; +import com.sun.jna.win32.W32APIFunctionMapper; +import com.sun.jna.win32.W32APITypeMapper; +import java.util.HashMap; +import java.util.Map; + +/** + */ +public class Beeper extends DeviceBase { + + public Beeper(String name) { + super(name); + } + + // JNA Mapping + static Map UNICODE_OPTIONS = new HashMap() { + + { + put("type-mapper", W32APITypeMapper.UNICODE); + put("function-mapper", W32APIFunctionMapper.UNICODE); + } + }; + + interface Kernel32 extends StdCallLibrary { + + public static final String LIBRARY_NAME = "kernel32"; + Kernel32 INSTANCE = (Kernel32) Native.loadLibrary(LIBRARY_NAME, Kernel32.class, UNICODE_OPTIONS); + Kernel32 SYNC_INSTANCE = (Kernel32) Native.synchronizedLibrary(INSTANCE); + + boolean Beep(int FREQUENCY, int DURATION); + + void Sleep(int DURATION); + + int CreateEventW(Pointer securityAttributes, boolean manualReset, boolean initialState, String name); + + int CreateThread(/*Pointer*/int lpThreadAttributes, IntByReference dwStackSize, Function lpStartAddress, Structure lpParameter, int dwCreationFlags, IntByReference lpThreadId); + public static final int STILL_ACTIVE = 259; + + int GetExitCodeThread(int hThread, IntByReference lpExitCode); + + int GetLastError(); + + boolean CloseHandle(int handle); + + } + private final int mEventHandle = Kernel32.INSTANCE.CreateEventW(Pointer.NULL, true, false, null); + + + //Public interface + public int getLastError(){ + return Kernel32.SYNC_INSTANCE.GetLastError(); + } + + public void sleep(int duration){ + Kernel32.SYNC_INSTANCE.Sleep(duration); + } + + public void beep(int frequency, int duration){ + Kernel32.SYNC_INSTANCE.Beep(frequency, duration); + } + +} diff --git a/plugins/Commands.form b/plugins/Commands.form new file mode 100644 index 0000000..26eeaf0 --- /dev/null +++ b/plugins/Commands.form @@ -0,0 +1,804 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/Commands.java b/plugins/Commands.java new file mode 100644 index 0000000..fb37d24 --- /dev/null +++ b/plugins/Commands.java @@ -0,0 +1,928 @@ +/* + * Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.device.Device; +import ch.psi.pshell.device.DeviceAdapter; +import ch.psi.pshell.device.GenericDevice; +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import ch.psi.utils.swing.SwingUtils; +import java.awt.Component; +import java.io.IOException; +import java.util.logging.Level; +import java.util.logging.Logger; +import javax.swing.JComponent; +import javax.swing.JSpinner; +import javax.swing.JTextField; + +/** + * + */ +public class Commands extends Panel { + + public Commands() { + initComponents(); + ((JSpinner.DefaultEditor)spinnerSegment.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER); + ((JSpinner.DefaultEditor)spinnerPuck.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER); + ((JSpinner.DefaultEditor)spinnerSample.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER); + + + try{ + spinnerDryTime.setValue(getContext().getScriptManager().getVar("DEFAULT_DRY_HEAT_TIME")); + spinnerDrySpeed.setValue(getContext().getScriptManager().getVar("DEFAULT_DRY_SPEED")); + } catch(Exception ex){ + this.showException(ex); + } + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + GenericDevice basePlate = getDevice("BasePlate"); + if (basePlate != null){ + basePlate.addListener(new DeviceAdapter() { + @Override + public void onValueChanged(Device device, Object value, Object former) { + if (value!=null){ + String segment = ((Object[])value)[0].toString(); + spinnerSegment.setValue(segment); + Integer puck = (Integer) ((Object[])value)[1]; + spinnerPuck.setValue(Integer.valueOf(puck)); + Integer sample = (Integer) ((Object[])value)[2]; + if (sample!=null){ + spinnerSample.setValue(Integer.valueOf(sample)); + } + } + } + }); + } + } + + @Override + public void onStateChange(State state, State former) { + boolean enabled = (state == State.Ready); + for (Component c: SwingUtils.getComponentsByType(this, JComponent.class)){ + c.setEnabled(enabled); + } + spinnerSegment.setEnabled(enabled && !checkAuxiliary.isSelected()); + spinnerPuck.setEnabled(enabled && !checkAuxiliary.isSelected()); + buttonScanPuck.setEnabled(enabled && !checkAuxiliary.isSelected()); + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + //Callback to perform update - in event thread + @Override + protected void doUpdate() { + } + + @Override + public boolean isActive() { + return true; + } + + + void execute(String statement){ + execute(statement, false); + } + + void execute(String statement, boolean background){ + execute(statement, background, false); + } + + void execute(String statement, boolean background, boolean showReturn){ + try { + evalAsync(statement, background).handle((ret, ex) -> { + if (ex != null){ + if (getContext().getGlobal("recovering") == null) { + showException((Exception)ex); + } + } else if (showReturn){ + SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret)); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + void execute(String script, Object args){ + try { + runAsync(script, args).handle((ret, ex) -> { + if (ex != null){ + showException((Exception)ex); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + jTabbedPane1 = new javax.swing.JTabbedPane(); + tabCommands = new javax.swing.JPanel(); + pnDry = new javax.swing.JPanel(); + jLabel6 = new javax.swing.JLabel(); + spinnerDryTime = new ch.psi.utils.swing.HorizontalSpinner(); + buttonDry = new javax.swing.JButton(); + spinnerDrySpeed = new ch.psi.utils.swing.HorizontalSpinner(); + jLabel7 = new javax.swing.JLabel(); + ckeckParkOnDry = new javax.swing.JCheckBox(); + pnTransfer = new javax.swing.JPanel(); + buttonMount = new javax.swing.JButton(); + jPanel5 = new javax.swing.JPanel(); + jLabel4 = new javax.swing.JLabel(); + checkForce = new javax.swing.JCheckBox(); + spinnerSample = new ch.psi.utils.swing.HorizontalSpinner(); + spinnerPuck = new ch.psi.utils.swing.HorizontalSpinner(); + jLabel1 = new javax.swing.JLabel(); + jLabel2 = new javax.swing.JLabel(); + spinnerSegment = new ch.psi.utils.swing.HorizontalSpinner(); + jLabel3 = new javax.swing.JLabel(); + jLabel5 = new javax.swing.JLabel(); + checkDatamatrix = new javax.swing.JCheckBox(); + buttonUnmount = new javax.swing.JButton(); + buttonScanPin = new javax.swing.JButton(); + buttonScanPuck = new javax.swing.JButton(); + checkAuxiliary = new javax.swing.JCheckBox(); + jPanel1 = new javax.swing.JPanel(); + buttonGripperScan = new javax.swing.JButton(); + buttonTrash = new javax.swing.JButton(); + tabAdvanced = new javax.swing.JPanel(); + pnLowLevel = new javax.swing.JPanel(); + buttonMovePark = new javax.swing.JButton(); + buttonMoveCold = new javax.swing.JButton(); + buttonMoveGonio = new javax.swing.JButton(); + buttonMoveHeater = new javax.swing.JButton(); + buttonGetGonio = new javax.swing.JButton(); + buttonPutGonio = new javax.swing.JButton(); + buttonMoveDewar = new javax.swing.JButton(); + buttonMoveHome = new javax.swing.JButton(); + buttonMoveScanner = new javax.swing.JButton(); + buttonGetDewar = new javax.swing.JButton(); + buttonPutDewar = new javax.swing.JButton(); + buttonMoveAux = new javax.swing.JButton(); + buttonGetAux = new javax.swing.JButton(); + buttonPutAux = new javax.swing.JButton(); + pnDatabase = new javax.swing.JPanel(); + buttonClearSampleDb = new javax.swing.JButton(); + buttonResetPuckIds = new javax.swing.JButton(); + pnMotion = new javax.swing.JPanel(); + buttonRecover = new javax.swing.JButton(); + buttonEnableAll = new javax.swing.JButton(); + + pnDry.setBorder(javax.swing.BorderFactory.createTitledBorder("Drying")); + + jLabel6.setText("Heat time(s):"); + + spinnerDryTime.setModel(new javax.swing.SpinnerNumberModel(35.0d, 1.0d, 50.0d, 1.0d)); + spinnerDryTime.setRequestFocusEnabled(false); + + buttonDry.setText("Dry"); + buttonDry.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonDryActionPerformed(evt); + } + }); + + spinnerDrySpeed.setModel(new javax.swing.SpinnerNumberModel(0.4d, 0.1d, 1.0d, 0.1d)); + + jLabel7.setText("Speed(%):"); + + ckeckParkOnDry.setText("Park on finish"); + + javax.swing.GroupLayout pnDryLayout = new javax.swing.GroupLayout(pnDry); + pnDry.setLayout(pnDryLayout); + pnDryLayout.setHorizontalGroup( + pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnDryLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonDry, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(ckeckParkOnDry)) + .addGap(18, 25, Short.MAX_VALUE) + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) + .addComponent(jLabel6) + .addComponent(jLabel7)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addContainerGap()) + ); + + pnDryLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonDry, spinnerDrySpeed, spinnerDryTime}); + + pnDryLayout.setVerticalGroup( + pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnDryLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnDryLayout.createSequentialGroup() + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonDry) + .addComponent(spinnerDryTime, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(spinnerDrySpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(jLabel7) + .addComponent(ckeckParkOnDry))) + .addComponent(jLabel6)) + .addContainerGap()) + ); + + pnTransfer.setBorder(javax.swing.BorderFactory.createTitledBorder("Sample Transfer")); + + buttonMount.setText("Mount"); + buttonMount.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMountActionPerformed(evt); + } + }); + + jLabel4.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel4.setText("Force:"); + + checkForce.setSelected(true); + checkForce.setHorizontalTextPosition(javax.swing.SwingConstants.LEADING); + + spinnerSample.setModel(new javax.swing.SpinnerNumberModel(1, 1, 16, 1)); + + spinnerPuck.setModel(new javax.swing.SpinnerNumberModel(1, 1, 5, 1)); + + jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel1.setText("Segment:"); + + jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel2.setText("Puck:"); + + spinnerSegment.setModel(new javax.swing.SpinnerListModel(new String[] {"A", "B", "C", "D", "E", "F"})); + + jLabel3.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel3.setText("Sample:"); + + jLabel5.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel5.setText("Read DM:"); + + checkDatamatrix.setHorizontalTextPosition(javax.swing.SwingConstants.LEADING); + + javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5); + jPanel5.setLayout(jPanel5Layout); + jPanel5Layout.setHorizontalGroup( + jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jLabel3) + .addComponent(jLabel2) + .addComponent(jLabel1) + .addComponent(jLabel4) + .addComponent(jLabel5)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(checkForce) + .addComponent(checkDatamatrix) + .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(0, 0, 0)) + ); + + jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel1, jLabel2, jLabel3, jLabel4, jLabel5}); + + jPanel5Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {spinnerPuck, spinnerSample, spinnerSegment}); + + jPanel5Layout.setVerticalGroup( + jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel5Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel1) + .addComponent(spinnerSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel2) + .addComponent(spinnerPuck, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel3) + .addComponent(spinnerSample, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel4) + .addComponent(checkForce)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel5) + .addComponent(checkDatamatrix))) + ); + + buttonUnmount.setText("Unmount"); + buttonUnmount.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonUnmountActionPerformed(evt); + } + }); + + buttonScanPin.setText("Scan Pin"); + buttonScanPin.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonScanPinActionPerformed(evt); + } + }); + + buttonScanPuck.setText("Scan Puck"); + buttonScanPuck.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonScanPuckActionPerformed(evt); + } + }); + + checkAuxiliary.setText("Auxiliary"); + checkAuxiliary.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + checkAuxiliaryActionPerformed(evt); + } + }); + + javax.swing.GroupLayout pnTransferLayout = new javax.swing.GroupLayout(pnTransfer); + pnTransfer.setLayout(pnTransferLayout); + pnTransferLayout.setHorizontalGroup( + pnTransferLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnTransferLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnTransferLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonMount, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonUnmount, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonScanPin, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonScanPuck, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(checkAuxiliary)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + + pnTransferLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonMount, buttonScanPin, buttonUnmount}); + + pnTransferLayout.setVerticalGroup( + pnTransferLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnTransferLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnTransferLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGroup(pnTransferLayout.createSequentialGroup() + .addComponent(buttonMount) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonUnmount) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonScanPin) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonScanPuck) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(checkAuxiliary))) + .addContainerGap()) + ); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Gripper")); + + buttonGripperScan.setText("Scan"); + buttonGripperScan.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonGripperScanActionPerformed(evt); + } + }); + + buttonTrash.setText("Trash"); + buttonTrash.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonTrashActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonGripperScan, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonTrash, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonGripperScan) + .addComponent(buttonTrash)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + javax.swing.GroupLayout tabCommandsLayout = new javax.swing.GroupLayout(tabCommands); + tabCommands.setLayout(tabCommandsLayout); + tabCommandsLayout.setHorizontalGroup( + tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(tabCommandsLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(pnDry, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(pnTransfer, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))) + ); + tabCommandsLayout.setVerticalGroup( + tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(tabCommandsLayout.createSequentialGroup() + .addContainerGap() + .addComponent(pnDry, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(pnTransfer, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + + jTabbedPane1.addTab("Commands", tabCommands); + + pnLowLevel.setBorder(javax.swing.BorderFactory.createTitledBorder("Low-level Motion Commands")); + + buttonMovePark.setText("Move Park"); + buttonMovePark.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveParkActionPerformed(evt); + } + }); + + buttonMoveCold.setText("Move Cold"); + buttonMoveCold.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveColdActionPerformed(evt); + } + }); + + buttonMoveGonio.setText("Move Gonio"); + buttonMoveGonio.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveGonioActionPerformed(evt); + } + }); + + buttonMoveHeater.setText("Move Heater"); + buttonMoveHeater.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveHeaterActionPerformed(evt); + } + }); + + buttonGetGonio.setText("Get Gonio"); + buttonGetGonio.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonGetGonioActionPerformed(evt); + } + }); + + buttonPutGonio.setText("Put Gonio"); + buttonPutGonio.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPutGonioActionPerformed(evt); + } + }); + + buttonMoveDewar.setText("Move Dewar"); + buttonMoveDewar.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveDewarActionPerformed(evt); + } + }); + + buttonMoveHome.setText("Move Home"); + buttonMoveHome.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveHomeActionPerformed(evt); + } + }); + + buttonMoveScanner.setText("Move Scanner"); + buttonMoveScanner.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveScannerActionPerformed(evt); + } + }); + + buttonGetDewar.setText("Get Dewar"); + buttonGetDewar.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonGetDewarActionPerformed(evt); + } + }); + + buttonPutDewar.setText("Put Dewar"); + buttonPutDewar.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPutDewarActionPerformed(evt); + } + }); + + buttonMoveAux.setText("Move Aux"); + buttonMoveAux.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonMoveAuxActionPerformed(evt); + } + }); + + buttonGetAux.setText("Get Aux"); + buttonGetAux.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonGetAuxActionPerformed(evt); + } + }); + + buttonPutAux.setText("Put Aux"); + buttonPutAux.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPutAuxActionPerformed(evt); + } + }); + + javax.swing.GroupLayout pnLowLevelLayout = new javax.swing.GroupLayout(pnLowLevel); + pnLowLevel.setLayout(pnLowLevelLayout); + pnLowLevelLayout.setHorizontalGroup( + pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnLowLevelLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonMovePark, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveAux) + .addComponent(buttonMoveCold, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveHeater) + .addComponent(buttonGetGonio) + .addComponent(buttonGetDewar, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonGetAux, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 64, Short.MAX_VALUE) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(buttonPutDewar, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonPutGonio, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveGonio, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveHome, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveDewar, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonMoveScanner) + .addComponent(buttonPutAux, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addContainerGap()) + ); + + pnLowLevelLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonGetAux, buttonGetDewar, buttonGetGonio, buttonMoveAux, buttonMoveCold, buttonMoveDewar, buttonMoveGonio, buttonMoveHeater, buttonMoveHome, buttonMovePark, buttonMoveScanner, buttonPutAux, buttonPutDewar, buttonPutGonio}); + + pnLowLevelLayout.setVerticalGroup( + pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnLowLevelLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonGetDewar) + .addComponent(buttonPutDewar)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonGetAux) + .addComponent(buttonPutAux)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonGetGonio) + .addComponent(buttonPutGonio)) + .addGap(18, 18, 18) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonMoveGonio) + .addComponent(buttonMoveAux)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonMovePark) + .addComponent(buttonMoveHome)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonMoveDewar) + .addComponent(buttonMoveCold)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonMoveHeater) + .addComponent(buttonMoveScanner)) + .addContainerGap()) + ); + + pnDatabase.setBorder(javax.swing.BorderFactory.createTitledBorder("Database")); + + buttonClearSampleDb.setText("Clear Sample Db"); + buttonClearSampleDb.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonClearSampleDbActionPerformed(evt); + } + }); + + buttonResetPuckIds.setText("Reset Puck IDs"); + buttonResetPuckIds.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonResetPuckIdsActionPerformed(evt); + } + }); + + javax.swing.GroupLayout pnDatabaseLayout = new javax.swing.GroupLayout(pnDatabase); + pnDatabase.setLayout(pnDatabaseLayout); + pnDatabaseLayout.setHorizontalGroup( + pnDatabaseLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnDatabaseLayout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonClearSampleDb) + .addGap(18, 18, Short.MAX_VALUE) + .addComponent(buttonResetPuckIds) + .addContainerGap()) + ); + + pnDatabaseLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonClearSampleDb, buttonResetPuckIds}); + + pnDatabaseLayout.setVerticalGroup( + pnDatabaseLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnDatabaseLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnDatabaseLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonClearSampleDb) + .addComponent(buttonResetPuckIds)) + .addContainerGap()) + ); + + pnMotion.setBorder(javax.swing.BorderFactory.createTitledBorder("Motion")); + + buttonRecover.setText("Dewar Recovery"); + buttonRecover.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonRecoverActionPerformed(evt); + } + }); + + buttonEnableAll.setText("Enable Motion"); + buttonEnableAll.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableAllActionPerformed(evt); + } + }); + + javax.swing.GroupLayout pnMotionLayout = new javax.swing.GroupLayout(pnMotion); + pnMotion.setLayout(pnMotionLayout); + pnMotionLayout.setHorizontalGroup( + pnMotionLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnMotionLayout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonRecover) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonEnableAll) + .addContainerGap()) + ); + + pnMotionLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonEnableAll, buttonRecover}); + + pnMotionLayout.setVerticalGroup( + pnMotionLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(pnMotionLayout.createSequentialGroup() + .addContainerGap() + .addGroup(pnMotionLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonRecover) + .addComponent(buttonEnableAll)) + .addContainerGap()) + ); + + javax.swing.GroupLayout tabAdvancedLayout = new javax.swing.GroupLayout(tabAdvanced); + tabAdvanced.setLayout(tabAdvancedLayout); + tabAdvancedLayout.setHorizontalGroup( + tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(tabAdvancedLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(pnMotion, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(pnDatabase, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(pnLowLevel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGap(0, 0, 0)) + ); + tabAdvancedLayout.setVerticalGroup( + tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(tabAdvancedLayout.createSequentialGroup() + .addContainerGap() + .addComponent(pnLowLevel, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(pnDatabase, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(pnMotion, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + + jTabbedPane1.addTab("Advanced", tabAdvanced); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jTabbedPane1, javax.swing.GroupLayout.Alignment.TRAILING) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jTabbedPane1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + ); + }// //GEN-END:initComponents + + private void buttonEnableAllActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableAllActionPerformed + execute("enable_motion()", true); + }//GEN-LAST:event_buttonEnableAllActionPerformed + + private void buttonMountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMountActionPerformed + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + String readDatamatrix = checkDatamatrix.isSelected() ? "True" : "False"; + execute("mount('" + segment + "'," + puck + "," + sample + ", force=" + force + ", read_dm=" + readDatamatrix + ")"); + + }//GEN-LAST:event_buttonMountActionPerformed + + private void buttonMoveAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveAuxActionPerformed + execute("move_aux()"); + }//GEN-LAST:event_buttonMoveAuxActionPerformed + + private void buttonUnmountActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonUnmountActionPerformed + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("unmount('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); + }//GEN-LAST:event_buttonUnmountActionPerformed + + private void buttonGetDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetDewarActionPerformed + String segment = (String) spinnerSegment.getValue(); + int puck = (Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("get_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); + }//GEN-LAST:event_buttonGetDewarActionPerformed + + private void buttonPutDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutDewarActionPerformed + String segment = (String) spinnerSegment.getValue(); + int puck = (Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("put_dewar('" + segment + "'," + puck + "," + sample + ", force=" + force + ")"); + }//GEN-LAST:event_buttonPutDewarActionPerformed + + private void buttonGetGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetGonioActionPerformed + String force = checkForce.isSelected() ? "True" : "False"; + execute("get_gonio(force=" + force + ")"); + }//GEN-LAST:event_buttonGetGonioActionPerformed + + private void buttonPutGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutGonioActionPerformed + String force = checkForce.isSelected() ? "True" : "False"; + execute("put_gonio(force=" + force + ")"); + }//GEN-LAST:event_buttonPutGonioActionPerformed + + private void buttonMoveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveParkActionPerformed + execute("move_park()"); + }//GEN-LAST:event_buttonMoveParkActionPerformed + + private void buttonMoveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHomeActionPerformed + execute("move_home()"); + }//GEN-LAST:event_buttonMoveHomeActionPerformed + + private void buttonMoveGonioActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveGonioActionPerformed + execute("move_gonio()"); + }//GEN-LAST:event_buttonMoveGonioActionPerformed + + private void buttonMoveDewarActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveDewarActionPerformed + execute("move_dewar()"); + }//GEN-LAST:event_buttonMoveDewarActionPerformed + + private void buttonMoveScannerActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveScannerActionPerformed + execute("move_scanner()"); + }//GEN-LAST:event_buttonMoveScannerActionPerformed + + private void buttonMoveHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveHeaterActionPerformed + execute("move_heater()"); + }//GEN-LAST:event_buttonMoveHeaterActionPerformed + + private void buttonDryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDryActionPerformed + double dryTime = (Double) spinnerDryTime.getValue(); + double streamTime = (Double) spinnerDrySpeed.getValue(); + boolean park = ckeckParkOnDry.isSelected(); + + execute("dry(" + dryTime + ", " + streamTime + (park ? ", wait_cold=-1": "") + ")"); + }//GEN-LAST:event_buttonDryActionPerformed + + private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed + execute("robot_recover()"); + }//GEN-LAST:event_buttonRecoverActionPerformed + + private void buttonMoveColdActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonMoveColdActionPerformed + execute("move_cold()"); + }//GEN-LAST:event_buttonMoveColdActionPerformed + + private void buttonClearSampleDbActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonClearSampleDbActionPerformed + execute("clear_samples_info()", true); + }//GEN-LAST:event_buttonClearSampleDbActionPerformed + + private void buttonResetPuckIdsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResetPuckIdsActionPerformed + execute("reset_puck_datamatrix()", true); + }//GEN-LAST:event_buttonResetPuckIdsActionPerformed + + private void buttonScanPinActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonScanPinActionPerformed + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); + int sample = (Integer) spinnerSample.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("scan_pin('" + segment + "'," + puck + "," + sample + ", force=" + force + ")", false, true); + }//GEN-LAST:event_buttonScanPinActionPerformed + + private void buttonScanPuckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonScanPuckActionPerformed + String segment = checkAuxiliary.isSelected() ? "X" : (String) spinnerSegment.getValue(); + int puck = checkAuxiliary.isSelected() ? 1 :(Integer) spinnerPuck.getValue(); + String force = checkForce.isSelected() ? "True" : "False"; + execute("scan_puck('" + segment + "'," + puck + ", force=" + force + ")", false, true); + }//GEN-LAST:event_buttonScanPuckActionPerformed + + private void buttonGetAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGetAuxActionPerformed + int sample = (Integer) spinnerSample.getValue(); + execute("get_aux('" + sample + "')"); + }//GEN-LAST:event_buttonGetAuxActionPerformed + + private void buttonPutAuxActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPutAuxActionPerformed + int sample = (Integer) spinnerSample.getValue(); + execute("put_aux('" + sample + "')"); + }//GEN-LAST:event_buttonPutAuxActionPerformed + + private void checkAuxiliaryActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_checkAuxiliaryActionPerformed + onStateChange(getState(), null); + }//GEN-LAST:event_checkAuxiliaryActionPerformed + + private void buttonGripperScanActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGripperScanActionPerformed + execute("scan_gripper()"); + }//GEN-LAST:event_buttonGripperScanActionPerformed + + private void buttonTrashActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTrashActionPerformed + execute("trash()"); + }//GEN-LAST:event_buttonTrashActionPerformed + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonClearSampleDb; + private javax.swing.JButton buttonDry; + private javax.swing.JButton buttonEnableAll; + private javax.swing.JButton buttonGetAux; + private javax.swing.JButton buttonGetDewar; + private javax.swing.JButton buttonGetGonio; + private javax.swing.JButton buttonGripperScan; + private javax.swing.JButton buttonMount; + private javax.swing.JButton buttonMoveAux; + private javax.swing.JButton buttonMoveCold; + private javax.swing.JButton buttonMoveDewar; + private javax.swing.JButton buttonMoveGonio; + private javax.swing.JButton buttonMoveHeater; + private javax.swing.JButton buttonMoveHome; + private javax.swing.JButton buttonMovePark; + private javax.swing.JButton buttonMoveScanner; + private javax.swing.JButton buttonPutAux; + private javax.swing.JButton buttonPutDewar; + private javax.swing.JButton buttonPutGonio; + private javax.swing.JButton buttonRecover; + private javax.swing.JButton buttonResetPuckIds; + private javax.swing.JButton buttonScanPin; + private javax.swing.JButton buttonScanPuck; + private javax.swing.JButton buttonTrash; + private javax.swing.JButton buttonUnmount; + private javax.swing.JCheckBox checkAuxiliary; + private javax.swing.JCheckBox checkDatamatrix; + private javax.swing.JCheckBox checkForce; + private javax.swing.JCheckBox ckeckParkOnDry; + private javax.swing.JLabel jLabel1; + private javax.swing.JLabel jLabel2; + private javax.swing.JLabel jLabel3; + private javax.swing.JLabel jLabel4; + private javax.swing.JLabel jLabel5; + private javax.swing.JLabel jLabel6; + private javax.swing.JLabel jLabel7; + private javax.swing.JPanel jPanel1; + private javax.swing.JPanel jPanel5; + private javax.swing.JTabbedPane jTabbedPane1; + private javax.swing.JPanel pnDatabase; + private javax.swing.JPanel pnDry; + private javax.swing.JPanel pnLowLevel; + private javax.swing.JPanel pnMotion; + private javax.swing.JPanel pnTransfer; + private javax.swing.JSpinner spinnerDrySpeed; + private javax.swing.JSpinner spinnerDryTime; + private javax.swing.JSpinner spinnerPuck; + private javax.swing.JSpinner spinnerSample; + private javax.swing.JSpinner spinnerSegment; + private javax.swing.JPanel tabAdvanced; + private javax.swing.JPanel tabCommands; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/Hexiposi.form b/plugins/Hexiposi.form new file mode 100644 index 0000000..4687d34 --- /dev/null +++ b/plugins/Hexiposi.form @@ -0,0 +1,34 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/Hexiposi.java b/plugins/Hexiposi.java new file mode 100644 index 0000000..2c55c2c --- /dev/null +++ b/plugins/Hexiposi.java @@ -0,0 +1,78 @@ +/* + * Copyright (c) 2014-2018 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.core.Context; +import ch.psi.pshell.ui.StripChart; +import ch.psi.pshell.ui.App; +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import java.io.File; +import java.util.logging.Level; +import java.util.logging.Logger; + +/** + * + */ +public class Hexiposi extends Panel { + final StripChart stripChart; + public Hexiposi() { + initComponents(); + stripChart = new StripChart(this.getTopLevel(), false, App.getStripChartFolderArg()); + panel.add(stripChart.getPlotPanel()); + + try { + stripChart.open(new File(Context.getInstance().getSetup().expandPath("{home}/stripchart/hexiposi_positon.scd"))); + stripChart.start(); + } catch (Exception ex) { + showException(ex); + Logger.getLogger(Hexiposi.class.getName()).log(Level.WARNING, null, ex); + } + + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + + } + + @Override + public void onStateChange(State state, State former) { + + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + + //Callback to perform update - in event thread + @Override + protected void doUpdate() { + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + panel = new javax.swing.JPanel(); + + panel.setLayout(new java.awt.BorderLayout()); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(panel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(panel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + }// //GEN-END:initComponents + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JPanel panel; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/HexiposiPanel.form b/plugins/HexiposiPanel.form new file mode 100644 index 0000000..65d0c18 --- /dev/null +++ b/plugins/HexiposiPanel.form @@ -0,0 +1,81 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/HexiposiPanel.java b/plugins/HexiposiPanel.java new file mode 100644 index 0000000..b29a526 --- /dev/null +++ b/plugins/HexiposiPanel.java @@ -0,0 +1,110 @@ + + +import ch.psi.pshell.core.Context; +import ch.psi.pshell.device.Device; +import ch.psi.pshell.swing.DevicePanel; + +/** + * + */ +public class HexiposiPanel extends DevicePanel { + + /** + * Creates new form HexiposiPositionPanel + */ + public HexiposiPanel() { + initComponents(); + } + + @Override + public void setDevice(Device device){ + super.setDevice(device); + discretePositionerPanel.setDevice(device); + } + + @Override + public void setEnabled(boolean enabled){ + super.setEnabled(enabled); + discretePositionerPanel.setEnabled(enabled); + } + + /** + * This method is called from within the constructor to initialize the form. + * WARNING: Do NOT modify this code. The content of this method is always + * regenerated by the Form Editor. + */ + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + discretePositionerPanel = new ch.psi.pshell.swing.DiscretePositionerPanel(); + jPanel1 = new javax.swing.JPanel(); + buttonHoming = new javax.swing.JButton(); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Initialize")); + + buttonHoming.setText("Homing"); + buttonHoming.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonHomingActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonHoming) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(buttonHoming) + .addContainerGap()) + ); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(jPanel1, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(discretePositionerPanel, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGap(0, 0, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(discretePositionerPanel, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + ); + }// //GEN-END:initComponents + + private void buttonHomingActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHomingActionPerformed + try { + //Context.getInstance().evalLineAsync("hexiposi.move_home()").handle((ret, ex) -> { + Context.getInstance().evalLineAsync("homing_hexiposi()").handle((ret, ex) -> { + if (ex != null){ + showException((Exception)ex); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + + }//GEN-LAST:event_buttonHomingActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonHoming; + private ch.psi.pshell.swing.DiscretePositionerPanel discretePositionerPanel; + private javax.swing.JPanel jPanel1; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/LN2.form b/plugins/LN2.form new file mode 100644 index 0000000..4687d34 --- /dev/null +++ b/plugins/LN2.form @@ -0,0 +1,34 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/LN2.java b/plugins/LN2.java new file mode 100644 index 0000000..2300e49 --- /dev/null +++ b/plugins/LN2.java @@ -0,0 +1,106 @@ +/* + * Copyright (c) 2014-2018 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.core.Context; +import ch.psi.pshell.plot.TimePlotBase; +import ch.psi.pshell.ui.StripChart; +import ch.psi.pshell.ui.App; +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import ch.psi.utils.swing.SwingUtils; +import java.awt.Dimension; +import java.io.File; +import java.io.IOException; +import java.util.logging.Level; +import java.util.logging.Logger; + +/** + * + */ +public class LN2 extends Panel { + final StripChart stripChart; + TimePlotBase plot; + public LN2() { + initComponents(); + stripChart = new StripChart(this.getTopLevel(), false, App.getStripChartFolderArg()); + panel.add(stripChart.getPlotPanel()); + + try { + stripChart.open(new File(Context.getInstance().getSetup().expandPath("{home}/stripchart/LN2_Monitoring.scd"))); + stripChart.start(); + } catch (Exception ex) { + showException(ex); + Logger.getLogger(LN2.class.getName()).log(Level.WARNING, null, ex); + } + + plot = (TimePlotBase) SwingUtils.getComponentsByType(stripChart.getPlotPanel(),TimePlotBase.class)[0]; + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + } + + + @Override + public void onStop() { + //saveImage(); + super.onStop(); + } + + @Override + public void onStateChange(State state, State former) { + if ( (state == State.Closing) || + ((state == State.Initializing) && (former != State.Invalid)) + ){ + saveImage(); + } + + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + public void saveImage(){ + getLogger().severe("Saving image"); + try { + String fileName = new File(getContext().getSetup().expandPath("{images}/ln2/{date}_{time}.png")).getCanonicalPath(); + getLogger().severe("File: " + fileName); + plot.saveSnapshot(fileName, "png", new Dimension(1200,800)); + } catch (Exception ex) { + getLogger().log(Level.SEVERE, null, ex); + } + getLogger().severe("Done"); + } + + //Callback to perform update - in event thread + @Override + protected void doUpdate() { + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + panel = new javax.swing.JPanel(); + + panel.setLayout(new java.awt.BorderLayout()); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(panel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(panel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + }// //GEN-END:initComponents + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JPanel panel; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/LaserUE.java b/plugins/LaserUE.java new file mode 100644 index 0000000..cb79550 --- /dev/null +++ b/plugins/LaserUE.java @@ -0,0 +1,90 @@ +import ch.psi.pshell.device.Readable; +import ch.psi.pshell.serial.SerialPortDevice; +import ch.psi.pshell.serial.SerialPortDeviceConfig; +import static ch.psi.utils.BitMask.*; +import ch.psi.utils.Convert; +import ch.psi.utils.State; +import java.io.IOException; + +/* + * + */ +public class LaserUE extends SerialPortDevice { + + final Readable readable; + final double range; + final double offset; + + public LaserUE(String name, String port, double range, double offset) { + super(name, port, 921600, SerialPortDeviceConfig.DataBits.DB_8, SerialPortDeviceConfig.StopBits.SB_1, SerialPortDeviceConfig.Parity.None); + this.range = range; + this.offset = offset; + this.setMode(Mode.FullDuplex); + readable = new Readable() { + @Override + public Object read() throws IOException, InterruptedException { + return take(); + } + + @Override + public String getName() { + return LaserUE.this.getName() + "_readout"; + } + }; + } + + @Override + protected void doInitialize() throws IOException, InterruptedException { + super.doInitialize(); + //TODO: Start DAQ in ILD1320: http://www.micro-epsilon.com/download/manuals/man--optoNCDT-1320--en.pdf + setState(State.Ready); + write("OUTPUT RS422\n\r"); + } + + public Readable getReadable() { + return readable; + } + + int value = 0; + int count = 0; + + @Override + protected void onByte(int rx) { + int index = ((rx & BIT7) > 0) ? 2 : (((rx & BIT6) > 0) ? 1 : 0); + if (count == index) { + if (index == 0) { + value = rx & 0x3F; + count = 1; + } else if (index == 1) { + value = ((rx & 0x3F) << 6) + value; + count = 2; + } else if (index == 2) { + value = ((rx & 0x0F) << 12) + value; + //double val = ((double)value)/1000; + double val = (0.01) * (102.0 * value / 65520.0 - 1) * range; + if ((val <= 0.0) || (val > range)) { + val = Double.NaN; + } else { + val+=offset; + val = Convert.roundDouble(val, 3); + } + setCache(val); + count = 0; + } else { + count = 0; + } + } else { + count = 0; + } + } + + public static void main(String[] args) throws Exception { + LaserUE l = new LaserUE("UE", "COM3", 50.0, 35.0); + l.setMonitored(true); + l.initialize(); + + Thread.sleep(10000); + l.close(); + } +} + diff --git a/plugins/LaserUEPanel.form b/plugins/LaserUEPanel.form new file mode 100644 index 0000000..c9c5f8d --- /dev/null +++ b/plugins/LaserUEPanel.form @@ -0,0 +1,59 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/plugins/LaserUEPanel.java b/plugins/LaserUEPanel.java new file mode 100644 index 0000000..017fb77 --- /dev/null +++ b/plugins/LaserUEPanel.java @@ -0,0 +1,98 @@ +import ch.psi.pshell.core.Context; +import ch.psi.pshell.device.Device; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; + +/** + * + */ +public class LaserUEPanel extends DevicePanel { + + public LaserUEPanel() { + initComponents(); + } + + @Override + public void setDevice(Device device){ + super.setDevice(device); + if (device!=null){ + historyChart.addDevice("Laser Distance", device); + } else { + for (Device d: historyChart.getDevices()){ + historyChart.removeDevice(device); + } + } + } + + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (LaserUEPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + if (ret == null){ + SwingUtils.showMessage(this, "Return", "No code detected", 20000); + } else { + SwingUtils.showMessage(this, "Return", "Detected code: " +ret, 20000); + } + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // //GEN-BEGIN:initComponents + private void initComponents() { + + deviceStatePanel2 = new ch.psi.pshell.swing.DeviceStatePanel(); + try { + historyChart = new ch.psi.pshell.swing.HistoryChart(); + } catch (java.lang.ClassNotFoundException e1) { + e1.printStackTrace(); + } catch (java.lang.InstantiationException e2) { + e2.printStackTrace(); + } catch (java.lang.IllegalAccessException e3) { + e3.printStackTrace(); + } + deviceValuePanel1 = new ch.psi.pshell.swing.DeviceValuePanel(); + + deviceStatePanel2.setDeviceName("ue"); + + deviceValuePanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Value")); + deviceValuePanel1.setDeviceName("ue"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(historyChart, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE) + .addGroup(layout.createSequentialGroup() + .addComponent(deviceStatePanel2, javax.swing.GroupLayout.DEFAULT_SIZE, 297, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, 297, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(historyChart, javax.swing.GroupLayout.DEFAULT_SIZE, 307, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(deviceStatePanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(deviceValuePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) + ); + }// //GEN-END:initComponents + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel2; + private ch.psi.pshell.swing.DeviceValuePanel deviceValuePanel1; + private ch.psi.pshell.swing.HistoryChart historyChart; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/MXSC-1.14.0.jar b/plugins/MXSC-1.14.0.jar new file mode 100644 index 0000000000000000000000000000000000000000..c935b068934c4f4db5da21980b3310f2ec904e03 GIT binary patch literal 286787 zcmaHyV~l7)x2D^+ZQHipecHBd+qP}nwr%6IZF|n#x%15=lT0PMs*-wstkllldDp79 z6r_PcpaA}78&@Fw^Iwzy?jZk-vZBg@w32dS^a}rtK>&>X!?rQV&n*5e`~G`S{%=fH 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java.io.BufferedInputStream; +import java.io.EOFException; +import java.io.IOException; +import java.io.InputStream; +import java.net.URL; +import java.util.logging.Level; + +/** + * Image source receive frames from a mjpeg server. + */ +public class MjpegSource2 extends SourceBase { + + final String url; + final boolean flushOnUpdate; + + public MjpegSource2(String name, String url) { + this(name, url, false); + } + + public MjpegSource2(String name, String url, boolean flushOnUpdate) { + super(name, new SourceConfig()); + this.url = url; + this.flushOnUpdate = flushOnUpdate; + } + + InputStream stream; + + @Override + protected void doInitialize() throws IOException, InterruptedException { + super.doInitialize(); + URL aux = new URL(url); + stream = aux.openStream(); + if (!stream.markSupported()) { + stream = new BufferedInputStream(stream); + } + } + + Thread monitoredThread; + + @Override + protected void doSetMonitored(boolean value) { + if (value && (monitoredThread == null)) { + monitoredThread = new Thread(() -> { + try { + while (true) { + try { + doUpdate(); + Thread.sleep(1); + } catch (IOException ex) { + getLogger().log(Level.FINE, null, ex); + } + } + } catch (InterruptedException ex) { + return; + } + }); + monitoredThread.setDaemon(true); + monitoredThread.start(); + } else if (!value && (monitoredThread != null)) { + monitoredThread.interrupt(); + monitoredThread = null; + } + } + + final byte[] START_OF_FRAME = {(byte) 0xFF, (byte) 0xD8}; + final byte[] END_OF_FRAME = {(byte) 0xFF, (byte) 0xD9}; + final int MAX_FRAME_SIZE = 512 * 1024; + + @Override + protected void doUpdate() throws IOException, InterruptedException { + byte[] data = null; + if (stream != null) { + if (flushOnUpdate) { + flush(); + } + try { + data = readData(); + } catch (EOFException ex) { + //Try to reopen stream + doInitialize(); + data = readData(); + } + } + if (data == null) { + pushImage(null); + } else { + BufferedImage img = Utils.newImage(data); + pushImage(img); + } + } + byte[] readData() throws IOException { + if (stream != null) { + stream.mark(MAX_FRAME_SIZE); + int startOfFrame = waitBytes(START_OF_FRAME) - START_OF_FRAME.length; + if (startOfFrame >= 0) { + int endOfFrame = waitBytes(END_OF_FRAME); + if (endOfFrame >= 0) { + stream.reset(); + stream.skip(startOfFrame); + int length = endOfFrame ;//- END_OF_FRAME.length ; + byte[] data = new byte[length]; + stream.read(data, 0, length); + return data; + } + } + } + return null; + } + + int waitBytes(byte[] data) throws IOException { + int index = 0; + int dataPos = 0; + while (true) { + int ret = stream.read(); + if (ret < 0) { + throw new EOFException(); + } + byte value = (byte) ret; + if (value == data[dataPos]) { + dataPos++; + if (dataPos == data.length) { + return (index + 1); + } + } else { + dataPos = 0; + } + index++; + if (index >= MAX_FRAME_SIZE) { + return -1; + } + } + } + + public void flush() throws IOException { + //stream.skip(stream.available()); + //TODO: Skipping won't make the current image to be displayed + stream.close(); + stream = new URL(url).openStream(); + if (!stream.markSupported()) { + stream = new BufferedInputStream(stream); + } + } + +} diff --git a/plugins/PuckDetectionPanel.form b/plugins/PuckDetectionPanel.form new file mode 100644 index 0000000..8045142 --- /dev/null +++ b/plugins/PuckDetectionPanel.form @@ -0,0 +1,201 @@ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + <Editor/> + <Renderer/> + </Column> + <Column maxWidth="-1" minWidth="-1" prefWidth="-1" resizable="true"> + <Title/> + <Editor/> + <Renderer/> + </Column> + <Column maxWidth="-1" minWidth="-1" prefWidth="-1" resizable="true"> + <Title/> + <Editor/> + <Renderer/> + </Column> + </TableColumnModel> + </Property> + <Property name="tableHeader" type="javax.swing.table.JTableHeader" editor="org.netbeans.modules.form.editors2.JTableHeaderEditor"> + <TableHeader reorderingAllowed="true" resizingAllowed="true"/> + </Property> + </Properties> + </Component> + </SubComponents> + </Container> + <Component class="javax.swing.JButton" name="buttonConfigure"> + <Properties> + <Property name="text" type="java.lang.String" value="Configure"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonConfigureActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="deviceStatePanel1"> + <Properties> + <Property name="deviceName" type="java.lang.String" value="puck_detection"/> + </Properties> + </Component> + </SubComponents> +</Form> diff --git a/plugins/PuckDetectionPanel.java b/plugins/PuckDetectionPanel.java new file mode 100644 index 0000000..e07dde6 --- /dev/null +++ b/plugins/PuckDetectionPanel.java @@ -0,0 +1,281 @@ +import ch.psi.mxsc.Puck; +import ch.psi.mxsc.PuckDetection; +import ch.psi.mxsc.PuckState; +import ch.psi.mxsc.PuckState.SwitchState; +import ch.psi.pshell.core.Context; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.utils.swing.SwingUtils; + +/** + * + */ +public class PuckDetectionPanel extends DevicePanel { + + public PuckDetectionPanel() { + initComponents(); + int row = 0; + for (String segment : new String[]{"A", "B", "C", "D", "E", "F"}){ + for (int puck=1; puck<=5; puck++){ + table.getModel().setValueAt(segment+puck, row++, 0); + } + } + } + + @Override + public PuckDetection getDevice(){ + return (PuckDetection) super.getDevice(); + } + + + @Override + protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean arg3) { + for (int row=0; row< 30; row++){ + String name = table.getModel().getValueAt(row, 0).toString(); + //int id = row+1; + try { + Puck puck = getDevice().getPuck(name); + int id = puck.getIndex() + 1; + PuckState state = getDevice().getPuckState(id); + table.getModel().setValueAt(state.online, row, 1); + table.getModel().setValueAt((SwitchState.Off == state.mecSwitch) ? "" : String.valueOf(state.mecSwitch), row, 2); + table.getModel().setValueAt((SwitchState.Off == state.indSwitch) ? "" : String.valueOf(state.indSwitch), row, 3); + table.getModel().setValueAt(puck.getDetection() == null ? "" : puck.getDetection(), row, 4); + table.getModel().setValueAt(puck.getPuckType() == null ? "" : puck.getPuckType(), row, 5); + } catch (Exception ex) { + ex.printStackTrace(); + table.getModel().setValueAt(false, row, 1); + table.getModel().setValueAt(false, row, 2); + table.getModel().setValueAt(false, row, 3); + table.getModel().setValueAt("", row, 4); + table.getModel().setValueAt("", row, 5); + } + } + } + + void execute(String statement, boolean showReturn){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (ex != null){ + showException((Exception)ex); + } else if (showReturn){ + SwingUtils.showMessage(this, "Return", String.valueOf(ret)); + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + jPanel3 = new javax.swing.JPanel(); + buttonPuckDetCheck = new javax.swing.JButton(); + buttonPuckDetStop = new javax.swing.JButton(); + buttonPuckDetStart = new javax.swing.JButton(); + jPanel1 = new javax.swing.JPanel(); + jScrollPane1 = new javax.swing.JScrollPane(); + table = new javax.swing.JTable(); + buttonConfigure = new javax.swing.JButton(); + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Raspberry Pi ")); + + buttonPuckDetCheck.setText("Check"); + buttonPuckDetCheck.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetCheckActionPerformed(evt); + } + }); + + buttonPuckDetStop.setText("Stop"); + buttonPuckDetStop.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetStopActionPerformed(evt); + } + }); + + buttonPuckDetStart.setText("Start"); + buttonPuckDetStart.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPuckDetStartActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonPuckDetCheck) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 107, Short.MAX_VALUE) + .addComponent(buttonPuckDetStop) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 108, Short.MAX_VALUE) + .addComponent(buttonPuckDetStart) + .addContainerGap()) + ); + + jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonPuckDetCheck, buttonPuckDetStart, buttonPuckDetStop}); + + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonPuckDetCheck) + .addComponent(buttonPuckDetStop) + .addComponent(buttonPuckDetStart)) + .addContainerGap()) + ); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Detection")); + + table.setModel(new javax.swing.table.DefaultTableModel( + new Object [][] { + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null}, + {null, null, null, null, null, null} + }, + new String [] { + "Puck", "Online", "Mechanical", "Inductive", "Detection", "Image" + } + ) { + Class[] types = new Class [] { + java.lang.String.class, java.lang.Boolean.class, java.lang.String.class, java.lang.String.class, java.lang.String.class, java.lang.String.class + }; + boolean[] canEdit = new boolean [] { + false, false, false, false, false, false + }; + + public Class getColumnClass(int columnIndex) { + return types [columnIndex]; + } + + public boolean isCellEditable(int rowIndex, int columnIndex) { + return canEdit [columnIndex]; + } + }); + jScrollPane1.setViewportView(table); + + buttonConfigure.setText("Configure"); + buttonConfigure.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonConfigureActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE) + .addGroup(jPanel1Layout.createSequentialGroup() + .addGap(0, 0, Short.MAX_VALUE) + .addComponent(buttonConfigure) + .addGap(0, 0, Short.MAX_VALUE))) + .addContainerGap()) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(jScrollPane1, javax.swing.GroupLayout.DEFAULT_SIZE, 282, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonConfigure) + .addContainerGap()) + ); + + deviceStatePanel1.setDeviceName("puck_detection"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonPuckDetCheckActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetCheckActionPerformed + execute("check_puck_detection()", true); + }//GEN-LAST:event_buttonPuckDetCheckActionPerformed + + private void buttonPuckDetStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStopActionPerformed + execute("stop_puck_detection()", false); + }//GEN-LAST:event_buttonPuckDetStopActionPerformed + + private void buttonPuckDetStartActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPuckDetStartActionPerformed + execute("start_puck_detection()", false); + }//GEN-LAST:event_buttonPuckDetStartActionPerformed + + private void buttonConfigureActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonConfigureActionPerformed + try { + if (table.getSelectedRow()<0){ + throw new Exception("Select a puck"); + } + String name = table.getModel().getValueAt(table.getSelectedRow(), 0).toString(); + Puck puck = getDevice().getPuck(name); + DevicePanel.showConfigEditor(this, puck, true, false); + } catch (Exception ex) { + showException(ex); + } + + }//GEN-LAST:event_buttonConfigureActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonConfigure; + private javax.swing.JButton buttonPuckDetCheck; + private javax.swing.JButton buttonPuckDetStart; + private javax.swing.JButton buttonPuckDetStop; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private javax.swing.JPanel jPanel1; + private javax.swing.JPanel jPanel3; + private javax.swing.JScrollPane jScrollPane1; + private javax.swing.JTable table; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/Recovery.form b/plugins/Recovery.form new file mode 100644 index 0000000..fa22373 --- /dev/null +++ b/plugins/Recovery.form @@ -0,0 +1,140 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="ledKnownPosition" min="-2" max="-2" attributes="0"/> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Component id="jLabel6" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" min="-2" max="-2" attributes="0"/> + <Component id="textPosition" max="32767" attributes="0"/> + </Group> + <Group type="102" alignment="0" attributes="0"> + <Component id="ledValidSegment" min="-2" max="-2" attributes="0"/> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Component id="jLabel7" min="-2" max="-2" attributes="0"/> + <EmptySpace min="-2" pref="16" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="0" pref="103" max="32767" attributes="0"/> + <Component id="jLabel8" min="-2" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="textDistance" min="-2" pref="86" max="-2" attributes="0"/> + </Group> + <Component id="textSegment" max="32767" attributes="0"/> + </Group> + </Group> + </Group> + <EmptySpace min="-2" pref="8" max="-2" attributes="0"/> + </Group> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Group type="103" groupAlignment="0" max="-2" attributes="0"> + <Component id="buttonRecover" pref="179" max="32767" attributes="0"/> + <Component id="buttonAbort" max="32767" attributes="0"/> + </Group> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="ledKnownPosition" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="jLabel6" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="textPosition" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="ledValidSegment" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="jLabel7" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="textSegment" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="jLabel8" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="textDistance" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace pref="61" max="32767" attributes="0"/> + <Component id="buttonRecover" min="-2" max="-2" attributes="0"/> + <EmptySpace type="separate" max="-2" attributes="0"/> + <Component id="buttonAbort" min="-2" max="-2" attributes="0"/> + <EmptySpace min="-2" pref="24" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.Led" name="ledKnownPosition"> + </Component> + <Component class="javax.swing.JLabel" name="jLabel6"> + <Properties> + <Property name="text" type="java.lang.String" value="Known position"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledValidSegment"> + </Component> + <Component class="javax.swing.JLabel" name="jLabel7"> + <Properties> + <Property name="text" type="java.lang.String" value="Valid segment"/> + </Properties> + </Component> + <Component class="javax.swing.JButton" name="buttonRecover"> + <Properties> + <Property name="text" type="java.lang.String" value="Recover"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonRecoverActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonAbort"> + <Properties> + <Property name="text" type="java.lang.String" value="Abort"/> + <Property name="enabled" type="boolean" value="false"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonAbortActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JTextField" name="textPosition"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + </Properties> + </Component> + <Component class="javax.swing.JTextField" name="textSegment"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + </Properties> + </Component> + <Component class="javax.swing.JTextField" name="textDistance"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + <Property name="horizontalAlignment" type="int" value="11"/> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel8"> + <Properties> + <Property name="text" type="java.lang.String" value="Distance:"/> + </Properties> + </Component> + </SubComponents> +</Form> diff --git a/plugins/Recovery.java b/plugins/Recovery.java new file mode 100644 index 0000000..ee1e216 --- /dev/null +++ b/plugins/Recovery.java @@ -0,0 +1,288 @@ +/* + * Copyright (c) 2014-2017 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.device.Device; +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import ch.psi.utils.swing.SwingUtils; +import java.awt.Color; +import java.io.IOException; +import java.util.List; +import java.util.logging.Level; +import java.util.logging.Logger; +import javax.swing.SwingUtilities; + +/** + * + */ +public class Recovery extends Panel { + + public Recovery() { + initComponents(); + startTimer(2500, 200); + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + getContext().setGlobal("recovering", null); + } + + @Override + public void onStateChange(State state, State former) { + if (state==State.Ready){ + SwingUtilities.invokeLater(()->{onTimer();}); + } + textSegment.setEnabled(state == State.Ready); + textDistance.setEnabled(state == State.Ready); + textPosition.setEnabled(state == State.Ready); + updateButton(); + } + + void updateButton(){ + buttonRecover.setEnabled((getContext().getState().isNormal()) && + (textPosition.getText().trim().isEmpty()) && + (!textSegment.getText().trim().isEmpty()) && + !isRecovering() + ); + + } + + boolean isRecovering(){ + return "true".equals(getContext().getGlobal("recovering")); + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + + + @Override + protected void onTimer() { + System.out.println("."); + Device robot = getContext().getDevicePool().getByName("robot", Device.class); + if ((robot==null) || (!robot.getState().isNormal())){ + System.out.println("*"); + ledValidSegment.setColor(Color.BLACK); + textSegment.setText(""); + ledKnownPosition.setColor(Color.BLACK); + textPosition.setText(""); + } else { + if (getState().isNormal()){ + String point = null; + try{ + point = (String) eval("robot.get_current_point()", true); + ledKnownPosition.setColor((point == null) ? Color.RED : Color.GREEN); + textPosition.setText((point == null) ? "": point); + } catch (Exception ex) { + System.out.println(ex); + ledKnownPosition.setColor(Color.BLACK); + textPosition.setText(""); + } + List segment = null; + try{ + segment = (List) eval("get_current_segment()", true); + ledValidSegment.setColor((segment == null) ? Color.RED : Color.GREEN); + textSegment.setText((segment == null) ? "": segment.get(0) + "->" + segment.get(1) + " [" + segment.get(2) + "mm]"); + if ((segment == null)||(point!=null)){ + textDistance.setText(""); + } else { + try{ + Object distance = eval("get_current_distance()", true); + textDistance.setText((distance == null) ? "" : String.format("%1.2f",((Number)distance).doubleValue())); + } catch (Exception ex) { + textDistance.setText(""); + } + } + } catch (Exception ex) { + System.out.println(ex); + ledValidSegment.setColor(Color.BLACK); + textSegment.setText(""); + textDistance.setText(""); + } + try{ + Boolean is_in_dewar = (Boolean) eval("is_in_dewar()", true); + if ((segment==null) && is_in_dewar){ + ledValidSegment.setColor(Color.GREEN); + textSegment.setText("Inside Dewar"); + } + } catch (Exception ex) { + System.out.println(ex); + } + } + } + updateButton(); + } + + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + ledKnownPosition = new ch.psi.pshell.swing.Led(); + jLabel6 = new javax.swing.JLabel(); + ledValidSegment = new ch.psi.pshell.swing.Led(); + jLabel7 = new javax.swing.JLabel(); + buttonRecover = new javax.swing.JButton(); + buttonAbort = new javax.swing.JButton(); + textPosition = new javax.swing.JTextField(); + textSegment = new javax.swing.JTextField(); + textDistance = new javax.swing.JTextField(); + jLabel8 = new javax.swing.JLabel(); + + jLabel6.setText("Known position"); + + jLabel7.setText("Valid segment"); + + buttonRecover.setText("Recover"); + buttonRecover.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonRecoverActionPerformed(evt); + } + }); + + buttonAbort.setText("Abort"); + buttonAbort.setEnabled(false); + buttonAbort.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonAbortActionPerformed(evt); + } + }); + + textPosition.setEditable(false); + + textSegment.setEditable(false); + + textDistance.setEditable(false); + textDistance.setHorizontalAlignment(javax.swing.JTextField.TRAILING); + + jLabel8.setText("Distance:"); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addContainerGap() + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jLabel6) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(textPosition)) + .addGroup(layout.createSequentialGroup() + .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(jLabel7) + .addGap(16, 16, 16) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addGap(0, 103, Short.MAX_VALUE) + .addComponent(jLabel8) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, 86, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addComponent(textSegment)))) + .addGap(8, 8, 8)) + .addGroup(layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) + .addComponent(buttonRecover, javax.swing.GroupLayout.DEFAULT_SIZE, 179, Short.MAX_VALUE) + .addComponent(buttonAbort, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addContainerGap() + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(ledKnownPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(jLabel6) + .addComponent(textPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(ledValidSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(jLabel7) + .addComponent(textSegment, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(jLabel8) + .addComponent(textDistance, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 61, Short.MAX_VALUE) + .addComponent(buttonRecover) + .addGap(18, 18, 18) + .addComponent(buttonAbort) + .addGap(24, 24, 24)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed + try{ + if (isRecovering()){ + getLogger().warning("Ongoing recovery "); + return; + } + buttonAbort.setEnabled(true); + getContext().setGlobal("recovering", "true"); + Device robot = getContext().getDevicePool().getByName("robot", Device.class); + abort(); + getContext().waitState(State.Ready, 5000); + eval("robot.stop_task()", false); + robot.waitReady(5000); + evalAsync("recover()", false).handle((ret, ex) -> { + if (ex != null){ + if (!getContext().isAborted()){ + showException((Exception)ex); + } + } else { + SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret)); + } + getContext().setGlobal("recovering", null); + buttonAbort.setEnabled(false); + return ret; + }); + } catch (Exception ex) { + showException(ex); + getContext().setGlobal("recovering", null); + buttonAbort.setEnabled(false); + } + }//GEN-LAST:event_buttonRecoverActionPerformed + + private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed + try { + abort(); + try{ + eval("robot.disable()", true); + } catch (Exception ex){ + this.showException(ex); + } + try{ + eval("robot.stop_task()", true); + } catch (Exception ex){ + this.showException(ex); + } + try{ + eval("robot.reset_motion()", true); + } catch (Exception ex){ + this.showException(ex); + } + } catch (InterruptedException ex) { + //showException(ex); + } + }//GEN-LAST:event_buttonAbortActionPerformed + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonAbort; + private javax.swing.JButton buttonRecover; + private javax.swing.JLabel jLabel6; + private javax.swing.JLabel jLabel7; + private javax.swing.JLabel jLabel8; + private ch.psi.pshell.swing.Led ledKnownPosition; + private ch.psi.pshell.swing.Led ledValidSegment; + private javax.swing.JTextField textDistance; + private javax.swing.JTextField textPosition; + private javax.swing.JTextField textSegment; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/RobotModbus.java b/plugins/RobotModbus.java new file mode 100644 index 0000000..ca2e149 --- /dev/null +++ b/plugins/RobotModbus.java @@ -0,0 +1,21 @@ +/* + * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.device.*; +import ch.psi.pshell.modbus.*; + +/** + */ +public class RobotModbus extends ModbusTCP { + + public RobotModbus(String name, String server) { + super(name, server); + } + + public Object run() throws Exception{ + Thread.sleep(1000); + return ("Done run"); + } + +} diff --git a/plugins/RobotPanel.form b/plugins/RobotPanel.form new file mode 100644 index 0000000..bf9c0d6 --- /dev/null +++ b/plugins/RobotPanel.form @@ -0,0 +1,587 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="jPanel1" max="32767" attributes="0"/> + <Component id="jPanel2" alignment="0" max="32767" attributes="0"/> + <Component id="jPanel3" alignment="0" max="32767" attributes="0"/> + <Component id="panelState" alignment="0" max="32767" attributes="0"/> + <Component id="jPanel4" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="jPanel1" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel4" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel2" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel3" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelState" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Container class="javax.swing.JPanel" name="jPanel1"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Power"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Component id="jLabel1" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledPowered" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="panelPowerCtr" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel1" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledPowered" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="panelPowerCtr" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.Led" name="ledPowered"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel1"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Powered:"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelPowerCtr"> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="buttonEnable" min="-2" max="-2" attributes="0"/> + <EmptySpace pref="18" max="32767" attributes="0"/> + <Component id="buttonDisable" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Group type="103" alignment="2" groupAlignment="1" max="-2" attributes="0"> + <Component id="buttonDisable" alignment="1" max="32767" attributes="0"/> + <Component id="buttonEnable" alignment="1" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonDisable"> + <Properties> + <Property name="text" type="java.lang.String" value="Disable"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonDisableActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonEnable"> + <Properties> + <Property name="text" type="java.lang.String" value="Enable"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonEnableActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + </SubComponents> + </Container> + <Container class="javax.swing.JPanel" name="jPanel2"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Motion"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <Component id="jLabel7" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledMoving" min="-2" max="-2" attributes="0"/> + </Group> + <Component id="jLabel2" alignment="0" min="-2" pref="52" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="14" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" max="-2" attributes="0"> + <Component id="panelMotionCtr" max="32767" attributes="0"/> + <Component id="spinnerSpeed" max="32767" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel7" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledMoving" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="panelMotionCtr" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="jLabel2" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="spinnerSpeed" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JLabel" name="jLabel2"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Speed:"/> + </Properties> + </Component> + <Component class="javax.swing.JSpinner" name="spinnerSpeed"> + <Properties> + <Property name="model" type="javax.swing.SpinnerModel" editor="org.netbeans.modules.form.editors2.SpinnerModelEditor"> + <SpinnerModel initial="10" maximum="100" numberType="java.lang.Integer" stepSize="1" type="number"/> + </Property> + </Properties> + <Events> + <EventHandler event="stateChanged" listener="javax.swing.event.ChangeListener" parameters="javax.swing.event.ChangeEvent" handler="spinnerSpeedStateChanged"/> + </Events> + <AuxValues> + <AuxValue name="JavaCodeGenerator_CreateCodeCustom" type="java.lang.String" value="new ch.psi.utils.swing.HorizontalSpinner()"/> + </AuxValues> + </Component> + <Component class="javax.swing.JLabel" name="jLabel7"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Moving:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledMoving"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelMotionCtr"> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" pref="0" max="-2" attributes="0"/> + <Component id="butonStop" pref="45" max="32767" attributes="0"/> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Component id="buttonPause" pref="46" max="32767" attributes="0"/> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Component id="buttonResume" pref="47" max="32767" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" pref="0" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="butonStop" alignment="2" max="32767" attributes="0"/> + <Component id="buttonPause" alignment="2" max="32767" attributes="0"/> + <Component id="buttonResume" alignment="2" max="32767" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="0" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="butonStop"> + <Properties> + <Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor"> + <Connection code="new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Stop.png"))" type="code"/> + </Property> + <Property name="text" type="java.lang.String" value=" "/> + <Property name="horizontalTextPosition" type="int" value="0"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="butonStopActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonResume"> + <Properties> + <Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor"> + <Connection code="new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Play.png"))" type="code"/> + </Property> + <Property name="text" type="java.lang.String" value=" "/> + <Property name="horizontalTextPosition" type="int" value="0"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonResumeActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonPause"> + <Properties> + <Property name="icon" type="javax.swing.Icon" editor="org.netbeans.modules.form.RADConnectionPropertyEditor"> + <Connection code="new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Pause.png"))" type="code"/> + </Property> + <Property name="text" type="java.lang.String" value=" "/> + <Property name="horizontalTextPosition" type="int" value="0"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonPauseActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + </SubComponents> + </Container> + <Container class="javax.swing.JPanel" name="jPanel3"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Status"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="jLabel8" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledTask" min="-2" max="-2" attributes="0"/> + </Group> + <Group type="103" alignment="0" groupAlignment="1" attributes="0"> + <Group type="102" attributes="0"> + <Component id="jLabel4" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledEmpty" min="-2" max="-2" attributes="0"/> + </Group> + <Group type="102" alignment="1" attributes="0"> + <Component id="jLabel3" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledSettled" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + <Group type="102" attributes="0"> + <Component id="jLabel9" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledPosition" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="textTask" max="32767" attributes="0"/> + <Component id="textPosition" max="32767" attributes="0"/> + </Group> + </Group> + <Group type="102" alignment="0" attributes="0"> + <Component id="jLabel6" linkSize="2" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledMode" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="textMode" max="32767" attributes="0"/> + </Group> + </Group> + <EmptySpace min="-2" max="-2" attributes="0"/> + <Component id="buttonAbort" min="-2" max="-2" attributes="0"/> + <EmptySpace min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="1" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel3" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledSettled" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel4" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledEmpty" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="textMode" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledMode" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="jLabel6" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="buttonAbort" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="jLabel8" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledTask" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="textTask" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel9" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledPosition" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="textPosition" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JLabel" name="jLabel3"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Settled:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledSettled"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel4"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Empty:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledEmpty"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JTextField" name="textTask"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + <Property name="horizontalAlignment" type="int" value="0"/> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel6"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Mode:"/> + </Properties> + </Component> + <Component class="javax.swing.JTextField" name="textMode"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + <Property name="horizontalAlignment" type="int" value="0"/> + </Properties> + </Component> + <Component class="javax.swing.JButton" name="buttonAbort"> + <Properties> + <Property name="text" type="java.lang.String" value="Abort"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonAbortActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JLabel" name="jLabel8"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Task:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledTask"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledMode"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JTextField" name="textPosition"> + <Properties> + <Property name="editable" type="boolean" value="false"/> + <Property name="horizontalAlignment" type="int" value="0"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledPosition"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel9"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Position:"/> + </Properties> + </Component> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="panelState"> + </Component> + <Container class="javax.swing.JPanel" name="jPanel4"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Tool"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Component id="jLabel5" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledOpen" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="panelPowerCtr1" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel5" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledOpen" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="panelPowerCtr1" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="-2" pref="2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.Led" name="ledOpen"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel5"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Open:"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelPowerCtr1"> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="buttonOpen" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace pref="18" max="32767" attributes="0"/> + <Component id="buttonClose" linkSize="3" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Group type="103" alignment="2" groupAlignment="1" max="-2" attributes="0"> + <Component id="buttonClose" alignment="1" max="32767" attributes="0"/> + <Component id="buttonOpen" alignment="1" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonClose"> + <Properties> + <Property name="text" type="java.lang.String" value=" Close "/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonCloseActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonOpen"> + <Properties> + <Property name="text" type="java.lang.String" value=" Open "/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonOpenActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + </SubComponents> + </Container> + </SubComponents> +</Form> diff --git a/plugins/RobotPanel.java b/plugins/RobotPanel.java new file mode 100644 index 0000000..e841f57 --- /dev/null +++ b/plugins/RobotPanel.java @@ -0,0 +1,685 @@ + +import ch.psi.pshell.device.Device; +import ch.psi.pshell.ui.App; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.pshell.core.Context; +import ch.psi.utils.State; +import java.awt.Color; +import java.util.Map; +import javax.swing.JSpinner; +import javax.swing.JTextField; + +/** + * + */ +public class RobotPanel extends DevicePanel { + + /** + * Creates new form RobotPanel + */ + public RobotPanel() { + initComponents(); + ((JSpinner.DefaultEditor)spinnerSpeed.getEditor()).getTextField().setHorizontalAlignment(JTextField.CENTER); + } + + @Override + public void setDevice(Device device) { + super.setDevice(device); + if (device == null) { + + } + panelState.setDevice(device); + } + + @Override + protected void onDeviceStateChanged(State state, State former) { + boolean enabled = state.isNormal(); + spinnerSpeed.setEnabled(enabled); + buttonAbort.setEnabled(enabled); + if (!enabled){ + buttonEnable.setEnabled(enabled); + buttonDisable.setEnabled(enabled); + butonStop.setEnabled(enabled); + buttonPause.setEnabled(enabled); + buttonResume.setEnabled(enabled); + } + } + + boolean updating; + @Override + protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean valueChange) { + updating = true; + try{ + Boolean powered = null; + Boolean empty = null; + Boolean settled = null; + Boolean moving = null; + Boolean open = null; + Integer speed = null; + String task = null; + String mode = null; + String position = null; + + if ((value != null) && (value instanceof Map)) { + Map status = (Map) value; + try { + powered = (Boolean) status.get("powered"); + } catch (Exception ex) { + } + try { + empty = (Boolean) status.get("empty"); + } catch (Exception ex) { + } + try { + settled = (Boolean) status.get("settled"); + } catch (Exception ex) { + } + try { + open = (Boolean) status.get("open"); + } catch (Exception ex) { + } + try { + speed = (Integer) status.get("speed"); + } catch (Exception ex) { + } + try { + position = (String) status.get("pos"); + if (position==null){ + position = ""; + } + } catch (Exception ex) { + } + try { + task = ((status.containsKey("task")) && (status.get("task") == null)) ? "" : ((String) status.get("task")).trim(); + } catch (Exception ex) { + System.out.println(ex); + ex.printStackTrace(); + } + try { + mode = ((String) status.get("mode")).trim(); + //mode = (String) Context.getInstance().evalLineBackground(getDevice().getName() + ".working_mode"); + } catch (Exception ex) { + } + try { + //if (status.get("status").equals("hold")){ + // moving = false; + //} else if (status.get("status").equals("move")){ + // moving = true; + //} + moving = Boolean.FALSE.equals(settled) || Boolean.FALSE.equals(empty); + } catch (Exception ex) { + } + } + + boolean remote = mode.equals("remote"); + boolean enabled = Boolean.TRUE.equals(powered); + buttonEnable.setEnabled((powered != null) && (powered == false)); + buttonDisable.setEnabled(enabled); + + butonStop.setEnabled(remote && Boolean.TRUE.equals(moving)); + buttonPause.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.FALSE.equals(settled)); + buttonResume.setEnabled(remote && enabled && Boolean.TRUE.equals(moving) && Boolean.TRUE.equals(settled)); + + + ledPowered.setColor((powered == null) ? Color.GRAY : (powered ? Color.YELLOW : Color.DARK_GRAY)); + ledEmpty.setColor((empty == null) ? Color.GRAY : (empty ? Color.GREEN : Color.YELLOW)); + ledSettled.setColor((settled == null) ? Color.GRAY : (settled ? Color.GREEN : Color.YELLOW)); + ledOpen.setColor((open == null) ? Color.GRAY : (open ? Color.GREEN : Color.DARK_GRAY)); + ledMoving.setColor((moving == null) ? Color.GRAY : (moving ? Color.YELLOW : Color.DARK_GRAY)); + textTask.setText((task == null) ? "" : task); + ledTask.setColor((task == null) ? Color.GRAY : (task.isEmpty() ? Color.DARK_GRAY : Color.YELLOW)); + textPosition.setText((position == null) ? "" : position); + ledPosition.setColor((position == null) ? Color.GRAY : (position.isEmpty() ? Color.DARK_GRAY : Color.GREEN)); + //buttonAbort.setEnabled(!textTask.getText().isEmpty()); + spinnerSpeed.setEnabled(speed != null); + if (speed == null) { + spinnerSpeed.setValue(0); + } else { + spinnerSpeed.setValue(speed); + } + ledMode.setColor((mode == null) ? Color.BLACK : (remote ? Color.GREEN : Color.YELLOW)); + textMode.setText((mode == null) ? "" : mode); + + } finally{ + updating = false; + } + } + + /** + * This method is called from within the constructor to initialize the form. + * WARNING: Do NOT modify this code. The content of this method is always + * regenerated by the Form Editor. + */ + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + jPanel1 = new javax.swing.JPanel(); + ledPowered = new ch.psi.pshell.swing.Led(); + jLabel1 = new javax.swing.JLabel(); + panelPowerCtr = new javax.swing.JPanel(); + buttonDisable = new javax.swing.JButton(); + buttonEnable = new javax.swing.JButton(); + jPanel2 = new javax.swing.JPanel(); + jLabel2 = new javax.swing.JLabel(); + spinnerSpeed = new ch.psi.utils.swing.HorizontalSpinner(); + jLabel7 = new javax.swing.JLabel(); + ledMoving = new ch.psi.pshell.swing.Led(); + panelMotionCtr = new javax.swing.JPanel(); + butonStop = new javax.swing.JButton(); + buttonResume = new javax.swing.JButton(); + buttonPause = new javax.swing.JButton(); + jPanel3 = new javax.swing.JPanel(); + jLabel3 = new javax.swing.JLabel(); + ledSettled = new ch.psi.pshell.swing.Led(); + jLabel4 = new javax.swing.JLabel(); + ledEmpty = new ch.psi.pshell.swing.Led(); + textTask = new javax.swing.JTextField(); + jLabel6 = new javax.swing.JLabel(); + textMode = new javax.swing.JTextField(); + buttonAbort = new javax.swing.JButton(); + jLabel8 = new javax.swing.JLabel(); + ledTask = new ch.psi.pshell.swing.Led(); + ledMode = new ch.psi.pshell.swing.Led(); + textPosition = new javax.swing.JTextField(); + ledPosition = new ch.psi.pshell.swing.Led(); + jLabel9 = new javax.swing.JLabel(); + panelState = new ch.psi.pshell.swing.DeviceStatePanel(); + jPanel4 = new javax.swing.JPanel(); + ledOpen = new ch.psi.pshell.swing.Led(); + jLabel5 = new javax.swing.JLabel(); + panelPowerCtr1 = new javax.swing.JPanel(); + buttonClose = new javax.swing.JButton(); + buttonOpen = new javax.swing.JButton(); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Power")); + + ledPowered.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel1.setText("Powered:"); + + buttonDisable.setText("Disable"); + buttonDisable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonDisableActionPerformed(evt); + } + }); + + buttonEnable.setText("Enable"); + buttonEnable.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonEnableActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelPowerCtrLayout = new javax.swing.GroupLayout(panelPowerCtr); + panelPowerCtr.setLayout(panelPowerCtrLayout); + panelPowerCtrLayout.setHorizontalGroup( + panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtrLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addComponent(buttonEnable) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE) + .addComponent(buttonDisable)) + ); + panelPowerCtrLayout.setVerticalGroup( + panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtrLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(buttonDisable, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonEnable)) + .addGap(0, 0, 0)) + ); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addComponent(jLabel1, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel1) + .addComponent(ledPowered, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2)) + ); + + jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Motion")); + + jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel2.setText("Speed:"); + + spinnerSpeed.setModel(new javax.swing.SpinnerNumberModel(10, null, 100, 1)); + spinnerSpeed.addChangeListener(new javax.swing.event.ChangeListener() { + public void stateChanged(javax.swing.event.ChangeEvent evt) { + spinnerSpeedStateChanged(evt); + } + }); + + jLabel7.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel7.setText("Moving:"); + + ledMoving.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + butonStop.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Stop.png"))); + butonStop.setText(" "); + butonStop.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER); + butonStop.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + butonStopActionPerformed(evt); + } + }); + + buttonResume.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Play.png"))); + buttonResume.setText(" "); + buttonResume.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER); + buttonResume.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonResumeActionPerformed(evt); + } + }); + + buttonPause.setIcon(new javax.swing.ImageIcon(App.class.getResource("/ch/psi/pshell/ui/Pause.png"))); + buttonPause.setText(" "); + buttonPause.setHorizontalTextPosition(javax.swing.SwingConstants.CENTER); + buttonPause.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonPauseActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelMotionCtrLayout = new javax.swing.GroupLayout(panelMotionCtr); + panelMotionCtr.setLayout(panelMotionCtrLayout); + panelMotionCtrLayout.setHorizontalGroup( + panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelMotionCtrLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, 45, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, 46, Short.MAX_VALUE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, 47, Short.MAX_VALUE) + .addGap(0, 0, 0)) + ); + panelMotionCtrLayout.setVerticalGroup( + panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelMotionCtrLayout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(panelMotionCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(butonStop, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonPause, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonResume, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + .addGap(0, 0, 0)) + ); + + javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2); + jPanel2.setLayout(jPanel2Layout); + jPanel2Layout.setHorizontalGroup( + jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel2Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel2Layout.createSequentialGroup() + .addComponent(jLabel7, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addComponent(jLabel2, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(14, 14, 14) + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false) + .addComponent(panelMotionCtr, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(spinnerSpeed)) + .addContainerGap()) + ); + jPanel2Layout.setVerticalGroup( + jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel2Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel7) + .addComponent(ledMoving, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(panelMotionCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(jLabel2) + .addComponent(spinnerSpeed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2)) + ); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Status")); + + jLabel3.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel3.setText("Settled:"); + + ledSettled.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel4.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel4.setText("Empty:"); + + ledEmpty.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + textTask.setEditable(false); + textTask.setHorizontalAlignment(javax.swing.JTextField.CENTER); + + jLabel6.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel6.setText("Mode:"); + + textMode.setEditable(false); + textMode.setHorizontalAlignment(javax.swing.JTextField.CENTER); + + buttonAbort.setText("Abort"); + buttonAbort.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonAbortActionPerformed(evt); + } + }); + + jLabel8.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel8.setText("Task:"); + + ledTask.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + ledMode.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + textPosition.setEditable(false); + textPosition.setHorizontalAlignment(javax.swing.JTextField.CENTER); + + ledPosition.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel9.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel9.setText("Position:"); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(jLabel8, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(jLabel4, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(jLabel3, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(jLabel9, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(textTask) + .addComponent(textPosition))) + .addGroup(jPanel3Layout.createSequentialGroup() + .addComponent(jLabel6, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(textMode))) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(buttonAbort) + .addContainerGap()) + ); + + jPanel3Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {jLabel3, jLabel4, jLabel6, jLabel8, jLabel9}); + + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel3Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel3) + .addComponent(ledSettled, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel4) + .addComponent(ledEmpty, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(textMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(ledMode, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(jLabel6)) + .addGap(2, 2, 2) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(buttonAbort) + .addComponent(jLabel8) + .addComponent(ledTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(textTask, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2) + .addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel9) + .addComponent(ledPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(textPosition, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2)) + ); + + jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("Tool")); + + ledOpen.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel5.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel5.setText("Open:"); + + buttonClose.setText(" Close "); + buttonClose.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonCloseActionPerformed(evt); + } + }); + + buttonOpen.setText(" Open "); + buttonOpen.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonOpenActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelPowerCtr1Layout = new javax.swing.GroupLayout(panelPowerCtr1); + panelPowerCtr1.setLayout(panelPowerCtr1Layout); + panelPowerCtr1Layout.setHorizontalGroup( + panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtr1Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addComponent(buttonOpen) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 18, Short.MAX_VALUE) + .addComponent(buttonClose)) + ); + + panelPowerCtr1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonClose, buttonOpen}); + + panelPowerCtr1Layout.setVerticalGroup( + panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelPowerCtr1Layout.createSequentialGroup() + .addGap(0, 0, 0) + .addGroup(panelPowerCtr1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false) + .addComponent(buttonClose, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonOpen)) + .addGap(0, 0, 0)) + ); + + javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4); + jPanel4.setLayout(jPanel4Layout); + jPanel4Layout.setHorizontalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.createSequentialGroup() + .addContainerGap() + .addComponent(jLabel5, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel4Layout.setVerticalGroup( + jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel4Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel5) + .addComponent(ledOpen, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(panelPowerCtr1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGap(2, 2, 2)) + ); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelState, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonEnableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonEnableActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".enable()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonEnableActionPerformed + + private void buttonDisableActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonDisableActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".disable()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonDisableActionPerformed + + private void spinnerSpeedStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_spinnerSpeedStateChanged + try{ + if (!updating){ + Context.getInstance().evalLineBackground(getDevice().getName() + ".set_monitor_speed(" + spinnerSpeed.getValue() + ")"); + } + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_spinnerSpeedStateChanged + + private void butonStopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_butonStopActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".reset_motion()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_butonStopActionPerformed + + private void buttonPauseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonPauseActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".stop()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonPauseActionPerformed + + private void buttonResumeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonResumeActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".resume()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonResumeActionPerformed + + private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".stop_task()"); + //Context.getInstance().evalLineBackground(getDevice().getName() + ".task_kill('" + textTask.getText() + "')"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonAbortActionPerformed + + private void buttonCloseActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonCloseActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".close_tool()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonCloseActionPerformed + + private void buttonOpenActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonOpenActionPerformed + try{ + Context.getInstance().evalLineBackground(getDevice().getName() + ".open_tool()"); + } catch (Exception ex){ + this.showException(ex); + } + }//GEN-LAST:event_buttonOpenActionPerformed + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton butonStop; + private javax.swing.JButton buttonAbort; + private javax.swing.JButton buttonClose; + private javax.swing.JButton buttonDisable; + private javax.swing.JButton buttonEnable; + private javax.swing.JButton buttonOpen; + private javax.swing.JButton buttonPause; + private javax.swing.JButton buttonResume; + private javax.swing.JLabel jLabel1; + private javax.swing.JLabel jLabel2; + private javax.swing.JLabel jLabel3; + private javax.swing.JLabel jLabel4; + private javax.swing.JLabel jLabel5; + private javax.swing.JLabel jLabel6; + private javax.swing.JLabel jLabel7; + private javax.swing.JLabel jLabel8; + private javax.swing.JLabel jLabel9; + private javax.swing.JPanel jPanel1; + private javax.swing.JPanel jPanel2; + private javax.swing.JPanel jPanel3; + private javax.swing.JPanel jPanel4; + private ch.psi.pshell.swing.Led ledEmpty; + private ch.psi.pshell.swing.Led ledMode; + private ch.psi.pshell.swing.Led ledMoving; + private ch.psi.pshell.swing.Led ledOpen; + private ch.psi.pshell.swing.Led ledPosition; + private ch.psi.pshell.swing.Led ledPowered; + private ch.psi.pshell.swing.Led ledSettled; + private ch.psi.pshell.swing.Led ledTask; + private javax.swing.JPanel panelMotionCtr; + private javax.swing.JPanel panelPowerCtr; + private javax.swing.JPanel panelPowerCtr1; + private ch.psi.pshell.swing.DeviceStatePanel panelState; + private javax.swing.JSpinner spinnerSpeed; + private javax.swing.JTextField textMode; + private javax.swing.JTextField textPosition; + private javax.swing.JTextField textTask; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/RobotTcp.java b/plugins/RobotTcp.java new file mode 100644 index 0000000..d3f4c33 --- /dev/null +++ b/plugins/RobotTcp.java @@ -0,0 +1,21 @@ +/* + * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.device.*; +import ch.psi.pshell.serial.*; + +/** + */ +public class RobotTcp extends TcpDevice { + + public RobotTcp(String name, String server) { + super(name, server); + } + + public Object run() throws Exception{ + Thread.sleep(1000); + return ("Done"); + } + +} diff --git a/plugins/SmartMagnetConfig.java b/plugins/SmartMagnetConfig.java new file mode 100644 index 0000000..2c6213c --- /dev/null +++ b/plugins/SmartMagnetConfig.java @@ -0,0 +1,14 @@ + +import ch.psi.pshell.device.DeviceConfig; + +/** + * + */ +public class SmartMagnetConfig extends DeviceConfig{ + public double holdingCurrent; + public double restingCurrent; + public double mountCurrent; + public double unmountCurrent; + public double remanenceCurrent; + +} diff --git a/plugins/SmartMagnetPanel.form b/plugins/SmartMagnetPanel.form new file mode 100644 index 0000000..432e7bd --- /dev/null +++ b/plugins/SmartMagnetPanel.form @@ -0,0 +1,284 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="jPanel1" max="32767" attributes="0"/> + <Component id="panelState" alignment="0" max="32767" attributes="0"/> + <Component id="panelCurrent" max="32767" attributes="0"/> + <Component id="jPanel2" max="32767" attributes="0"/> + <Component id="jPanel3" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="jPanel1" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelCurrent" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel2" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="jPanel3" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelState" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Container class="javax.swing.JPanel" name="jPanel1"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Status"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="jLabel1" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledStatus" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="panelPowerCtr" min="-2" max="-2" attributes="0"/> + </Group> + <Group type="102" alignment="0" attributes="0"> + <Component id="jLabel5" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledMounted" min="-2" max="-2" attributes="0"/> + </Group> + <Group type="102" alignment="0" attributes="0"> + <Component id="jLabel10" min="-2" pref="52" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="panelCurrentRb" min="-2" pref="173" max="-2" attributes="0"/> + </Group> + </Group> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="-2" pref="4" max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel1" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledStatus" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="panelPowerCtr" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel5" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledMounted" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="jLabel10" min="-2" max="-2" attributes="0"/> + <Component id="panelCurrentRb" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.Led" name="ledStatus"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel1"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Status:"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelPowerCtr"> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <EmptySpace min="0" pref="150" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <EmptySpace min="0" pref="23" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + </Layout> + </Container> + <Component class="javax.swing.JLabel" name="jLabel5"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Mounted:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledMounted"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JLabel" name="jLabel10"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Current:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.DeviceValuePanel" name="panelCurrentRb"> + <Properties> + <Property name="deviceName" type="java.lang.String" value="smc_current_rb"/> + </Properties> + </Component> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="panelState"> + </Component> + <Component class="ch.psi.pshell.swing.ProcessVariablePanel" name="panelCurrent"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Current"/> + </Border> + </Property> + <Property name="deviceName" type="java.lang.String" value="smc_current"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="jPanel2"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Supress"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Component id="jLabel2" min="-2" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="ledSupressed" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonSupressOn" linkSize="1" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="buttonSupressOff" linkSize="1" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="1" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="2" attributes="0"> + <Component id="jLabel2" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="ledSupressed" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="buttonSupressOn" alignment="2" min="-2" max="-2" attributes="0"/> + <Component id="buttonSupressOff" alignment="2" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JLabel" name="jLabel2"> + <Properties> + <Property name="horizontalAlignment" type="int" value="11"/> + <Property name="text" type="java.lang.String" value="Supressed:"/> + </Properties> + </Component> + <Component class="ch.psi.pshell.swing.Led" name="ledSupressed"> + <Properties> + <Property name="font" type="java.awt.Font" editor="org.netbeans.beaninfo.editors.FontEditor"> + <Font name="SansSerif" size="18" style="0"/> + </Property> + </Properties> + </Component> + <Component class="javax.swing.JButton" name="buttonSupressOn"> + <Properties> + <Property name="text" type="java.lang.String" value="On"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonSupressOnActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonSupressOff"> + <Properties> + <Property name="text" type="java.lang.String" value="Off"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonSupressOffActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Container class="javax.swing.JPanel" name="jPanel3"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Configuration"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonConfiguration" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="1" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Component id="buttonConfiguration" min="-2" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonConfiguration"> + <Properties> + <Property name="text" type="java.lang.String" value="Configuration"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonConfigurationActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + </SubComponents> +</Form> diff --git a/plugins/SmartMagnetPanel.java b/plugins/SmartMagnetPanel.java new file mode 100644 index 0000000..589fb82 --- /dev/null +++ b/plugins/SmartMagnetPanel.java @@ -0,0 +1,320 @@ + +import ch.psi.pshell.device.Device; +import ch.psi.pshell.ui.App; +import ch.psi.pshell.swing.DevicePanel; +import ch.psi.pshell.core.Context; +import ch.psi.utils.State; +import java.awt.Color; +import java.io.IOException; +import java.lang.reflect.Method; +import java.util.Map; +import java.util.logging.Level; +import java.util.logging.Logger; +import javax.script.ScriptException; + +/** + * + */ +public class SmartMagnetPanel extends DevicePanel { + + /** + * Creates new form RobotPanel + */ + public SmartMagnetPanel() { + initComponents(); + } + + @Override + public void setDevice(Device device) { + super.setDevice(device); + if (device == null) { + + } + panelState.setDevice(device); + this.startTimer(1000, 100); + } + + @Override + protected void onDeviceStateChanged(State state, State former) { + switch(state){ + case Paused: + ledSupressed.setColor(Color.ORANGE); + ledStatus.setColor(Color.GREEN); + ledMounted.setColor(Color.RED); + break; + case Ready: + ledSupressed.setColor(Color.BLACK); + ledStatus.setColor(Color.GREEN); + ledMounted.setColor(Color.GREEN); + break; + case Busy: + ledSupressed.setColor(Color.BLACK); + ledStatus.setColor(Color.GREEN); + ledMounted.setColor(Color.ORANGE); + break; + case Fault: + ledSupressed.setColor(Color.RED); + ledStatus.setColor(Color.RED); + ledMounted.setColor(Color.RED); + break; + default: + ledSupressed.setColor(Color.BLACK); + ledStatus.setColor(Color.BLACK); + ledMounted.setColor(Color.BLACK); + break; + } + buttonSupressOn.setEnabled((state==State.Ready) || (state == State.Busy)); + buttonSupressOff.setEnabled(state == State.Paused); + } + + @Override + protected void onDeviceCacheChanged(Object value, Object former, long timestamp, boolean valueChange) { + } + + /** + * This method is called from within the constructor to initialize the form. + * WARNING: Do NOT modify this code. The content of this method is always + * regenerated by the Form Editor. + */ + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + jPanel1 = new javax.swing.JPanel(); + ledStatus = new ch.psi.pshell.swing.Led(); + jLabel1 = new javax.swing.JLabel(); + panelPowerCtr = new javax.swing.JPanel(); + jLabel5 = new javax.swing.JLabel(); + ledMounted = new ch.psi.pshell.swing.Led(); + jLabel10 = new javax.swing.JLabel(); + panelCurrentRb = new ch.psi.pshell.swing.DeviceValuePanel(); + panelState = new ch.psi.pshell.swing.DeviceStatePanel(); + panelCurrent = new ch.psi.pshell.swing.ProcessVariablePanel(); + jPanel2 = new javax.swing.JPanel(); + jLabel2 = new javax.swing.JLabel(); + ledSupressed = new ch.psi.pshell.swing.Led(); + buttonSupressOn = new javax.swing.JButton(); + buttonSupressOff = new javax.swing.JButton(); + jPanel3 = new javax.swing.JPanel(); + buttonConfiguration = new javax.swing.JButton(); + + jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Status")); + + ledStatus.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel1.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel1.setText("Status:"); + + javax.swing.GroupLayout panelPowerCtrLayout = new javax.swing.GroupLayout(panelPowerCtr); + panelPowerCtr.setLayout(panelPowerCtrLayout); + panelPowerCtrLayout.setHorizontalGroup( + panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGap(0, 150, Short.MAX_VALUE) + ); + panelPowerCtrLayout.setVerticalGroup( + panelPowerCtrLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGap(0, 23, Short.MAX_VALUE) + ); + + jLabel5.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel5.setText("Mounted:"); + + ledMounted.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + jLabel10.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel10.setText("Current:"); + + panelCurrentRb.setDeviceName("smc_current_rb"); + + javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1); + jPanel1.setLayout(jPanel1Layout); + jPanel1Layout.setHorizontalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(jLabel1, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledStatus, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(jLabel5, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledMounted, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addGroup(jPanel1Layout.createSequentialGroup() + .addComponent(jLabel10, javax.swing.GroupLayout.PREFERRED_SIZE, 52, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(panelCurrentRb, javax.swing.GroupLayout.PREFERRED_SIZE, 173, javax.swing.GroupLayout.PREFERRED_SIZE))) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel1Layout.setVerticalGroup( + jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel1Layout.createSequentialGroup() + .addGap(4, 4, 4) + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel1) + .addComponent(ledStatus, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(panelPowerCtr, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel5) + .addComponent(ledMounted, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jLabel10) + .addComponent(panelCurrentRb, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addContainerGap()) + ); + + panelCurrent.setBorder(javax.swing.BorderFactory.createTitledBorder("Current")); + panelCurrent.setDeviceName("smc_current"); + + jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Supress")); + + jLabel2.setHorizontalAlignment(javax.swing.SwingConstants.TRAILING); + jLabel2.setText("Supressed:"); + + ledSupressed.setFont(new java.awt.Font("SansSerif", 0, 18)); // NOI18N + + buttonSupressOn.setText("On"); + buttonSupressOn.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonSupressOnActionPerformed(evt); + } + }); + + buttonSupressOff.setText("Off"); + buttonSupressOff.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonSupressOffActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2); + jPanel2.setLayout(jPanel2Layout); + jPanel2Layout.setHorizontalGroup( + jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel2Layout.createSequentialGroup() + .addContainerGap() + .addComponent(jLabel2) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(ledSupressed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonSupressOn) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonSupressOff) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + jPanel2Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonSupressOff, buttonSupressOn}); + + jPanel2Layout.setVerticalGroup( + jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup() + .addContainerGap() + .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.CENTER) + .addComponent(jLabel2) + .addComponent(ledSupressed, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addComponent(buttonSupressOn) + .addComponent(buttonSupressOff)) + .addContainerGap()) + ); + + jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Configuration")); + + buttonConfiguration.setText("Configuration"); + buttonConfiguration.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonConfigurationActionPerformed(evt); + } + }); + + javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3); + jPanel3.setLayout(jPanel3Layout); + jPanel3Layout.setHorizontalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(jPanel3Layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonConfiguration) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + jPanel3Layout.setVerticalGroup( + jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel3Layout.createSequentialGroup() + .addContainerGap() + .addComponent(buttonConfiguration) + .addContainerGap()) + ); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelState, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelCurrent, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel2, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(jPanel3, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelCurrent, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelState, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonSupressOnActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonSupressOnActionPerformed + try { + Context.getInstance().evalLineBackground("smart_magnet.set_supress(True)"); + } catch (Exception ex) { + Logger.getLogger(SmartMagnetPanel.class.getName()).log(Level.SEVERE, null, ex); + } + }//GEN-LAST:event_buttonSupressOnActionPerformed + + private void buttonSupressOffActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonSupressOffActionPerformed + try { + Context.getInstance().evalLineBackground("smart_magnet.set_supress(False)"); + } catch (Exception ex) { + Logger.getLogger(SmartMagnetPanel.class.getName()).log(Level.SEVERE, null, ex); + } + }//GEN-LAST:event_buttonSupressOffActionPerformed + + private void buttonConfigurationActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonConfigurationActionPerformed + try { + this.showConfigEditor(true, false); + } catch (Exception ex) { + Logger.getLogger(SmartMagnetPanel.class.getName()).log(Level.SEVERE, null, ex); + } + }//GEN-LAST:event_buttonConfigurationActionPerformed + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton buttonConfiguration; + private javax.swing.JButton buttonSupressOff; + private javax.swing.JButton buttonSupressOn; + private javax.swing.JLabel jLabel1; + private javax.swing.JLabel jLabel10; + private javax.swing.JLabel jLabel2; + private javax.swing.JLabel jLabel5; + private javax.swing.JPanel jPanel1; + private javax.swing.JPanel jPanel2; + private javax.swing.JPanel jPanel3; + private ch.psi.pshell.swing.Led ledMounted; + private ch.psi.pshell.swing.Led ledStatus; + private ch.psi.pshell.swing.Led ledSupressed; + private ch.psi.pshell.swing.ProcessVariablePanel panelCurrent; + private ch.psi.pshell.swing.DeviceValuePanel panelCurrentRb; + private javax.swing.JPanel panelPowerCtr; + private ch.psi.pshell.swing.DeviceStatePanel panelState; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/TestZMQ.java b/plugins/TestZMQ.java new file mode 100644 index 0000000..cec2c40 --- /dev/null +++ b/plugins/TestZMQ.java @@ -0,0 +1,26 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ + +/** + * + * @author gac-S_Changer + */ +public class TestZMQ { + public static void main(String[] args) { + String server = "raspberrypi:5556"; + org.zeromq.ZMQ.Context context = org.zeromq.ZMQ.context(1); + org.zeromq.ZMQ.Socket subscriber = context.socket(org.zeromq.ZMQ.SUB); + subscriber.connect("tcp://" + server); + subscriber.subscribe("Status".getBytes()); + while (!Thread.currentThread().isInterrupted()) { + String type = subscriber.recvStr(); + String contents = subscriber.recvStr(); + System.out.println(type + " : " + contents); + } + subscriber.close(); + context.term(); + } +} diff --git a/plugins/WagoPanel.form b/plugins/WagoPanel.form new file mode 100644 index 0000000..9864ffa --- /dev/null +++ b/plugins/WagoPanel.form @@ -0,0 +1,167 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="deviceStatePanel1" max="32767" attributes="0"/> + <Component id="panelSafety" max="32767" attributes="0"/> + <Component id="panelRobot1" max="32767" attributes="0"/> + <Component id="panelDewar" alignment="0" max="32767" attributes="0"/> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <Component id="panelSafety" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelDewar" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="panelRobot1" min="-2" max="-2" attributes="0"/> + <EmptySpace min="0" pref="0" max="-2" attributes="0"/> + <Component id="deviceStatePanel1" min="-2" max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="ch.psi.pshell.swing.DeviceStatePanel" name="deviceStatePanel1"> + <Properties> + <Property name="deviceName" type="java.lang.String" value="wago"/> + </Properties> + </Component> + <Container class="javax.swing.JPanel" name="panelSafety"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Safety"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonReleasePsys" linkSize="2" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="buttonReleaseLocal" linkSize="2" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="buttonReleaseLocal" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="buttonReleasePsys" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="buttonReleasePsys"> + <Properties> + <Property name="text" type="java.lang.String" value="Release PSYS"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonReleasePsysActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JButton" name="buttonReleaseLocal"> + <Properties> + <Property name="text" type="java.lang.String" value="Release Local"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonReleaseLocalActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Container class="javax.swing.JPanel" name="panelRobot1"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder title="Dryer"/> + </Border> + </Property> + </Properties> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="buttonHeater" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace type="unrelated" max="-2" attributes="0"/> + <Component id="buttonStream" linkSize="3" min="-2" max="-2" attributes="0"/> + <EmptySpace max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="-2" attributes="0"/> + <Group type="103" groupAlignment="3" attributes="0"> + <Component id="buttonHeater" alignment="3" min="-2" max="-2" attributes="0"/> + <Component id="buttonStream" alignment="3" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JToggleButton" name="buttonHeater"> + <Properties> + <Property name="text" type="java.lang.String" value="Heater"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonHeaterActionPerformed"/> + </Events> + </Component> + <Component class="javax.swing.JToggleButton" name="buttonStream"> + <Properties> + <Property name="text" type="java.lang.String" value="Air Stream"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="buttonStreamActionPerformed"/> + </Events> + </Component> + </SubComponents> + </Container> + <Component class="ch.psi.pshell.swing.ProcessVariablePanel" name="panelDewar"> + <Properties> + <Property name="border" type="javax.swing.border.Border" editor="org.netbeans.modules.form.editors2.BorderEditor"> + <Border info="org.netbeans.modules.form.compat2.border.TitledBorderInfo"> + <TitledBorder justification="1" title="Dewar Light"/> + </Border> + </Property> + <Property name="deviceName" type="java.lang.String" value="led_level"/> + <Property name="showAdvanced" type="boolean" value="false"/> + <Property name="showButtons" type="boolean" value="false"/> + <Property name="showLimitButtons" type="boolean" value="false"/> + <Property name="showSlider" type="boolean" value="true"/> + <Property name="showStop" type="boolean" value="false"/> + </Properties> + </Component> + </SubComponents> +</Form> diff --git a/plugins/WagoPanel.java b/plugins/WagoPanel.java new file mode 100644 index 0000000..cacadcd --- /dev/null +++ b/plugins/WagoPanel.java @@ -0,0 +1,207 @@ +import ch.psi.mxsc.Controller; +import ch.psi.pshell.core.Context; +import ch.psi.pshell.swing.DevicePanel; +import java.util.concurrent.CompletableFuture; +import javax.swing.border.TitledBorder; + +/** + * + */ +public class WagoPanel extends DevicePanel { + + public WagoPanel() { + initComponents(); + this.startTimer(10000); + } + + + CompletableFuture future; + + @Override + public void onTimer(){ + if ((getDevice()!=null)){ + updateTitle(); + } + } + + void updateTitle(){ + Boolean roomTemp = (Controller.getInstance().isLedRoomTemp()); + if (roomTemp==null){ + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light"); + } else if (roomTemp==true){ + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light (room temperature)"); + } else { + ((TitledBorder)panelDewar.getBorder()).setTitle("Dewar Light (LN2)"); + } + } + + + void execute(String statement){ + try { + Context.getInstance().evalLineBackgroundAsync(statement).handle((ret, ex) -> { + if (WagoPanel.this.isShowing()){ + if (ex != null){ + showException((Exception)ex); + } + } + return ret; + }); + } catch (Exception ex) { + showException(ex); + } + } + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + deviceStatePanel1 = new ch.psi.pshell.swing.DeviceStatePanel(); + panelSafety = new javax.swing.JPanel(); + buttonReleasePsys = new javax.swing.JButton(); + buttonReleaseLocal = new javax.swing.JButton(); + panelRobot1 = new javax.swing.JPanel(); + buttonHeater = new javax.swing.JToggleButton(); + buttonStream = new javax.swing.JToggleButton(); + panelDewar = new ch.psi.pshell.swing.ProcessVariablePanel(); + + deviceStatePanel1.setDeviceName("wago"); + + panelSafety.setBorder(javax.swing.BorderFactory.createTitledBorder("Safety")); + + buttonReleasePsys.setText("Release PSYS"); + buttonReleasePsys.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleasePsysActionPerformed(evt); + } + }); + + buttonReleaseLocal.setText("Release Local"); + buttonReleaseLocal.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonReleaseLocalActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelSafetyLayout = new javax.swing.GroupLayout(panelSafety); + panelSafety.setLayout(panelSafetyLayout); + panelSafetyLayout.setHorizontalGroup( + panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelSafetyLayout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonReleasePsys) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonReleaseLocal) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + panelSafetyLayout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonReleaseLocal, buttonReleasePsys}); + + panelSafetyLayout.setVerticalGroup( + panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelSafetyLayout.createSequentialGroup() + .addContainerGap() + .addGroup(panelSafetyLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonReleaseLocal) + .addComponent(buttonReleasePsys)) + .addContainerGap()) + ); + + panelRobot1.setBorder(javax.swing.BorderFactory.createTitledBorder("Dryer")); + + buttonHeater.setText("Heater"); + buttonHeater.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonHeaterActionPerformed(evt); + } + }); + + buttonStream.setText("Air Stream"); + buttonStream.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + buttonStreamActionPerformed(evt); + } + }); + + javax.swing.GroupLayout panelRobot1Layout = new javax.swing.GroupLayout(panelRobot1); + panelRobot1.setLayout(panelRobot1Layout); + panelRobot1Layout.setHorizontalGroup( + panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelRobot1Layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(buttonHeater) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED) + .addComponent(buttonStream) + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)) + ); + + panelRobot1Layout.linkSize(javax.swing.SwingConstants.HORIZONTAL, new java.awt.Component[] {buttonHeater, buttonStream}); + + panelRobot1Layout.setVerticalGroup( + panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(panelRobot1Layout.createSequentialGroup() + .addContainerGap() + .addGroup(panelRobot1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE) + .addComponent(buttonHeater) + .addComponent(buttonStream)) + .addContainerGap()) + ); + + panelDewar.setBorder(javax.swing.BorderFactory.createTitledBorder(null, "Dewar Light", javax.swing.border.TitledBorder.LEFT, javax.swing.border.TitledBorder.DEFAULT_POSITION)); + panelDewar.setDeviceName("led_level"); + panelDewar.setShowAdvanced(false); + panelDewar.setShowButtons(false); + panelDewar.setShowLimitButtons(false); + panelDewar.setShowSlider(true); + panelDewar.setShowStop(false); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelSafety, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelRobot1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(panelDewar, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addComponent(panelSafety, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelDewar, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(panelRobot1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(0, 0, 0) + .addComponent(deviceStatePanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + ); + }// </editor-fold>//GEN-END:initComponents + + private void buttonReleasePsysActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleasePsysActionPerformed + execute("release_psys()"); + }//GEN-LAST:event_buttonReleasePsysActionPerformed + + private void buttonReleaseLocalActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonReleaseLocalActionPerformed + execute("release_local()"); + }//GEN-LAST:event_buttonReleaseLocalActionPerformed + + private void buttonHeaterActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonHeaterActionPerformed + execute("set_heater(" + (buttonHeater.isSelected() ? "True": "False") + ")"); + }//GEN-LAST:event_buttonHeaterActionPerformed + + private void buttonStreamActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonStreamActionPerformed + execute("set_air_stream(" + (buttonStream.isSelected()? "True": "False")+ ")"); + }//GEN-LAST:event_buttonStreamActionPerformed + + + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JToggleButton buttonHeater; + private javax.swing.JButton buttonReleaseLocal; + private javax.swing.JButton buttonReleasePsys; + private javax.swing.JToggleButton buttonStream; + private ch.psi.pshell.swing.DeviceStatePanel deviceStatePanel1; + private ch.psi.pshell.swing.ProcessVariablePanel panelDewar; + private javax.swing.JPanel panelRobot1; + private javax.swing.JPanel panelSafety; + // End of variables declaration//GEN-END:variables +} diff --git a/plugins/gui.form b/plugins/gui.form new file mode 100644 index 0000000..5775937 --- /dev/null +++ b/plugins/gui.form @@ -0,0 +1,62 @@ +<?xml version="1.0" encoding="UTF-8" ?> + +<Form version="1.5" maxVersion="1.9" type="org.netbeans.modules.form.forminfo.JPanelFormInfo"> + <AuxValues> + <AuxValue name="FormSettings_autoResourcing" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_autoSetComponentName" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_generateFQN" type="java.lang.Boolean" value="true"/> + <AuxValue name="FormSettings_generateMnemonicsCode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_i18nAutoMode" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_layoutCodeTarget" type="java.lang.Integer" value="1"/> + <AuxValue name="FormSettings_listenerGenerationStyle" type="java.lang.Integer" value="0"/> + <AuxValue name="FormSettings_variablesLocal" type="java.lang.Boolean" value="false"/> + <AuxValue name="FormSettings_variablesModifier" type="java.lang.Integer" value="2"/> + </AuxValues> + + <Layout> + <DimensionLayout dim="0"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace max="32767" attributes="0"/> + <Component id="renderer1" min="-2" pref="154" max="-2" attributes="0"/> + <EmptySpace min="-2" pref="82" max="-2" attributes="0"/> + </Group> + <Group type="102" alignment="0" attributes="0"> + <EmptySpace min="-2" pref="51" max="-2" attributes="0"/> + <Group type="103" groupAlignment="0" attributes="0"> + <Component id="jButton1" min="-2" max="-2" attributes="0"/> + <Component id="linePlotJFree1" min="-2" max="-2" attributes="0"/> + </Group> + <EmptySpace pref="250" max="32767" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + <DimensionLayout dim="1"> + <Group type="103" groupAlignment="0" attributes="0"> + <Group type="102" attributes="0"> + <EmptySpace min="-2" pref="24" max="-2" attributes="0"/> + <Component id="jButton1" min="-2" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + <Component id="renderer1" min="-2" pref="102" max="-2" attributes="0"/> + <EmptySpace pref="20" max="32767" attributes="0"/> + <Component id="linePlotJFree1" min="-2" max="-2" attributes="0"/> + <EmptySpace max="-2" attributes="0"/> + </Group> + </Group> + </DimensionLayout> + </Layout> + <SubComponents> + <Component class="javax.swing.JButton" name="jButton1"> + <Properties> + <Property name="text" type="java.lang.String" value="Abort"/> + </Properties> + <Events> + <EventHandler event="actionPerformed" listener="java.awt.event.ActionListener" parameters="java.awt.event.ActionEvent" handler="jButton1ActionPerformed"/> + </Events> + </Component> + <Component class="ch.psi.pshell.imaging.Renderer" name="renderer1"> + </Component> + <Component class="ch.psi.pshell.plot.LinePlotJFree" name="linePlotJFree1"> + </Component> + </SubComponents> +</Form> diff --git a/plugins/gui.java b/plugins/gui.java new file mode 100644 index 0000000..abeb59b --- /dev/null +++ b/plugins/gui.java @@ -0,0 +1,96 @@ +/* + * Copyright (c) 2014 Paul Scherrer Institute. All rights reserved. + */ + +import ch.psi.pshell.ui.Panel; +import ch.psi.utils.State; +import java.util.logging.Level; +import java.util.logging.Logger; + +/** + * + */ +public class gui extends Panel { + + public gui() { + initComponents(); + } + + //Overridable callbacks + @Override + public void onInitialize(int runCount) { + + } + + @Override + public void onStateChange(State state, State former) { + + } + + @Override + public void onExecutedFile(String fileName, Object result) { + } + + + //Callback to perform update - in event thread + @Override + protected void doUpdate() { + } + + @SuppressWarnings("unchecked") + // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents + private void initComponents() { + + jButton1 = new javax.swing.JButton(); + renderer1 = new ch.psi.pshell.imaging.Renderer(); + linePlotJFree1 = new ch.psi.pshell.plot.LinePlotJFree(); + + jButton1.setText("Abort"); + jButton1.addActionListener(new java.awt.event.ActionListener() { + public void actionPerformed(java.awt.event.ActionEvent evt) { + jButton1ActionPerformed(evt); + } + }); + + javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this); + this.setLayout(layout); + layout.setHorizontalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE) + .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 154, javax.swing.GroupLayout.PREFERRED_SIZE) + .addGap(82, 82, 82)) + .addGroup(layout.createSequentialGroup() + .addGap(51, 51, 51) + .addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addComponent(jButton1) + .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)) + .addContainerGap(250, Short.MAX_VALUE)) + ); + layout.setVerticalGroup( + layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING) + .addGroup(layout.createSequentialGroup() + .addGap(24, 24, 24) + .addComponent(jButton1) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED) + .addComponent(renderer1, javax.swing.GroupLayout.PREFERRED_SIZE, 102, javax.swing.GroupLayout.PREFERRED_SIZE) + .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 20, Short.MAX_VALUE) + .addComponent(linePlotJFree1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE) + .addContainerGap()) + ); + }// </editor-fold>//GEN-END:initComponents + + private void jButton1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButton1ActionPerformed + try { + abort(); + } catch (InterruptedException ex) { + Logger.getLogger(gui.class.getName()).log(Level.SEVERE, null, ex); + } + }//GEN-LAST:event_jButton1ActionPerformed + + // Variables declaration - do not modify//GEN-BEGIN:variables + private javax.swing.JButton jButton1; + private ch.psi.pshell.plot.LinePlotJFree linePlotJFree1; + private ch.psi.pshell.imaging.Renderer renderer1; + // End of variables declaration//GEN-END:variables +} diff --git a/script/LN2_Monitoring.scd b/script/LN2_Monitoring.scd new file mode 100644 index 0000000..d2ab014 --- /dev/null +++ b/script/LN2_Monitoring.scd @@ -0,0 +1,15 @@ +[ + [ [ true, "phase_separator_level", "Device", 1, 1, "102,204,255" ], + [ true, "filling_phase_separator", "Device", 1, 1, "51,255,255" ], + [ true, "filling_dewar", "Device", 1, 1, "0,0,102" ], + [ true, "dewar_level", "Device", 1, 1, "0,51,153" ], + [ true, "rim_heater_temp", "Device", 1, 1, "255,0,51" ] ], + [ [ "1", 0.0, 100.0, null, null, 1000000.0, false, null ], + [ "2", null, null, null, null, null, null, null ], + [ "3", null, null, null, null, null, null, null ], + [ "4", null, null, null, null, null, null, null ], + [ "5", null, null, null, null, null, null, null ] ], + [ [ ] ], + [ [ "", 20000, 100 ], + [ "", "" ] ] +] \ No newline at end of file diff --git a/script/LevelMonitoring.scd b/script/LevelMonitoring.scd new file mode 100644 index 0000000..ae328cc --- /dev/null +++ b/script/LevelMonitoring.scd @@ -0,0 +1,12 @@ +[ + [ [ true, "phase_separator_level", "Device", 1, 1, "255,0,0" ], + [ true, "dewar_level", "Device", 1, 1, "0,0,255" ] ], + [ [ "1", 0.0, 100.0, null, null, 100000.0, false, null ], + [ "2", null, null, null, null, null, null, null ], + [ "3", null, null, null, null, null, null, null ], + [ "4", null, null, null, null, null, null, null ], + [ "5", null, null, null, null, null, null, null ] ], + [ [ ] ], + [ [ "", 20000, 100 ], + [ "", "" ] ] +] \ No newline at end of file diff --git a/script/calibration/BinarySearchYZ.py b/script/calibration/BinarySearchYZ.py new file mode 100644 index 0000000..42db379 --- /dev/null +++ b/script/calibration/BinarySearchYZ.py @@ -0,0 +1,29 @@ +import plotutils +import math + + +#STRATEGY = "Normal" +#STRATEGY = "Boundary" +#STRATEGY = "FullNeighborhood" +RANGE = [-5.0, 5.0] +STEP_SIZE = 0.1 +LATENCY = 0.05 + + +robot.enable() +move_to_laser() + + +robot.set_motors_enabled(True) +current_y = robot_y.getPosition() +current_z = robot_z.getPosition() + + +r = bsearch([robot_y, robot_z], laser_distance,[RANGE[0], RANGE[0]], [RANGE[1], RANGE[1]], [STEP_SIZE,STEP_SIZE], relative = True, maximum=True, strategy = STRATEGY, latency = LATENCY, title = "Binary Search YZ") + + +print r.print() +opt_y, opt_z= r.getOptimalPosition() +offset_y, offset_z = opt_y - current_y, opt_z - current_z + +print "offset_y: ", offset_y, " offset_z: ", offset_z \ No newline at end of file diff --git a/script/calibration/HillClimbingXZ.py b/script/calibration/HillClimbingXZ.py new file mode 100644 index 0000000..2fcab26 --- /dev/null +++ b/script/calibration/HillClimbingXZ.py @@ -0,0 +1,45 @@ +import plotutils +import math + + +#STRATEGY = "Normal" +STRATEGY = "Boundary" +#STRATEGY = "FullNeighborhood" +RANGE = [-5.0, 5.0] +INITIAL_STEP = 1.0 +STEP_SIZE = 0.05 +LATENCY = 0.05 +NOISE_FILTER = 1 + + +robot.enable() +move_to_laser() + + +robot.set_motors_enabled(True) + +current_x = robot_x.getPosition() +current_z = robot_z.getPosition() + + + + +class Distance(Readable): + def read(self): + ret = ue.readable.read() + ret = 0.0 if math.isnan(ret) else ret + return ret + +laser_distance=Distance() +start = time.time() +r = hsearch([robot_x, robot_z],laser_distance, [RANGE[0], RANGE[0]], [RANGE[1], RANGE[1]], [INITIAL_STEP,INITIAL_STEP], [STEP_SIZE,STEP_SIZE], NOISE_FILTER, relative = True, maximum=True, latency = LATENCY, title = "Hill Climbing XZ") + + + +print r.print() +opt_x, opt_z= r.getOptimalPosition() +offset_x, offset_z = opt_x - current_x, opt_z - current_z + +print "offset_x: ", offset_x, " offset_z: ", offset_z + + diff --git a/script/calibration/ScanRZ.py b/script/calibration/ScanRZ.py new file mode 100644 index 0000000..55d3bba --- /dev/null +++ b/script/calibration/ScanRZ.py @@ -0,0 +1,31 @@ +#Imports +import plotutils +from mathutils import fit_gaussian, Gaussian + +#Parameters +RANGE = [-120.0,120.0] +STEP = 5.0 +LATENCY = 0.005 +RELATIVE = False + +#Enabling and checking +#enable_motion() +#system_check() +robot.enable() + + +#Body +robot.set_tool(TOOL_DEFAULT) +move_to_laser() +#robot.set_joint_motors_enabled(True) +robot.set_motors_enabled(True) +robot_rz.move(0.0) +robot.set_motors_enabled(True) +ret = lscan(robot_rz, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = RELATIVE, range = "auto", title = "Scan2") + + +#Cleanup + + + + diff --git a/script/calibration/ScanX.py b/script/calibration/ScanX.py new file mode 100644 index 0000000..d10c505 --- /dev/null +++ b/script/calibration/ScanX.py @@ -0,0 +1,101 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +FIT = True + +d = robot.get_distance_to_pnt("pLaser") +if d<0: + raise Exception ("Error calculating distance to laser: " + str(d)) + +if d>20: + raise Exception ("Should be near the laser position to perform the scan") + +RANGE = [-5.0, 4.0] #[-1.5, 1.5] +STEP = 0.02 +Z_OFFSET = 0 #-1.0 +LATENCY = 0.025 +BORDER_SIZE = 0.15 + +robot.enable() +robot.set_motors_enabled(True) +current_positon = robot_x.getPosition() +robot_z.moveRel(Z_OFFSET) + +print "Moving to scan start position: " , RANGE[0] +robot.set_motors_enabled(True) +robot_x.moveRel( RANGE[0]) +robot.set_motors_enabled(True) +print "Starting scan X" + +RANGE = [0, (RANGE[1] - RANGE[0] )] + +robot.setPolling(25) + +try: + ret = lscan(robot_x, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = True) +finally: + robot.setPolling(DEFAULT_ROBOT_POLLING) + +d = ret.getReadable(0) + +first_index = -1 +last_index = -1 +for i in range(len(d)): + if not math.isnan(d[i]): + if first_index<0: + first_index = i + last_index = i + +if first_index == -1 or last_index < first_index: + raise Exception("Invalid range") + + +remove = int(max(BORDER_SIZE, STEP) / STEP) + +_range = [first_index+remove, last_index-remove] +if _range[1] <= _range[0]: + raise Exception("Invalid range: " + str(_range)) + + +center_index = int((_range[0] + _range[1])/2) +center_positon = ret.getPositions(0)[center_index] + + + + +y = ret.getReadable(0)[_range[0] : _range[1]] +x = ret.getPositions(0)[_range[0]: _range[1]] + +#Clear NaNs +first_value=ret.getReadable(0)[first_index] +y = [(first_value if math.isnan(v) else v) for v in y] + + + +if FIT: + x = enforce_monotonic(x) + offset=100 + (normalization, mean_val, sigma) = fit_gaussian([offset-v for v in y], x) + closest_x = mean_val + closest_y = 100 -normalization +else: + closest_x = x[y.index(min(y))] + closest_y = y[y.index(min(y))] + + + +if closest_x is None or closest_x <= ret.getPositions(0)[first_index] or closest_x >= ret.getPositions(0)[last_index]: + raise Exception("Invalid Fit") + + + +center_offset = center_positon-closest_y +#center_offset = current_positon-closest_y + + + +p=get_plots()[0] +p.addMarker(closest_x, p.AxisId.X, str(closest_x), Color.GREEN) + +robot.set_motors_enabled(True) +robot_x.move(closest_x) diff --git a/script/calibration/ScanY.py b/script/calibration/ScanY.py new file mode 100644 index 0000000..cf93b9a --- /dev/null +++ b/script/calibration/ScanY.py @@ -0,0 +1,99 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +FIT = True + +d = robot.get_distance_to_pnt("pLaser") +if d<0: + raise Exception ("Error calculating distance to laser: " + str(d)) + +if d>20: + raise Exception ("Should be near the laser position to perform the scan") + +RANGE = [-7.0, 4.0] #[-1.5, 1.5] +STEP = 0.02 +Z_OFFSET = 0 #-1.0 +LATENCY = 0.025 +BORDER_SIZE = 0.15 + +robot.enable() +robot.set_motors_enabled(True) +current_positon = robot_y.getPosition() +robot_z.moveRel(Z_OFFSET) + + +print "Moving to scan start position: " , RANGE[0] +robot.set_motors_enabled(True) +robot_y.moveRel( RANGE[0]) +robot.set_motors_enabled(True) +print "Starting scan Y" + +RANGE = [0, (RANGE[1] - RANGE[0] )] + +robot.setPolling(25) +try: + ret = lscan(robot_y, ue.readable, RANGE[0], RANGE[1], STEP, latency = LATENCY, relative = True) +finally: + robot.setPolling(DEFAULT_ROBOT_POLLING) + +d = ret.getReadable(0) + +first_index = -1 +last_index = -1 +for i in range(len(d)): + if not math.isnan(d[i]): + if first_index<0: + first_index = i + last_index = i + +if first_index == -1 or last_index < first_index: + raise Exception("Invalid range") + + +remove = int(max(BORDER_SIZE, STEP) / STEP) + +_range = [first_index+remove, last_index-remove] +if _range[1] <= _range[0]: + raise Exception("Invalid range: " + str(_range)) + + +center_index = int((_range[0] + _range[1])/2) +center_positon = ret.getPositions(0)[center_index] + + + + +y = ret.getReadable(0)[_range[0] : _range[1]] +x = ret.getPositions(0)[_range[0]: _range[1]] + +#Clear NaNs +first_value=ret.getReadable(0)[first_index] +y = [(first_value if math.isnan(v) else v) for v in y] + + +if FIT: + x = enforce_monotonic(x) + offset=100 + (normalization, mean_val, sigma) = fit_gaussian([offset-v for v in y], x) + closest_y = mean_val + closest_x = 100 -normalization +else: + closest_y = x[y.index(min(y))] + closest_x = y[y.index(min(y))] + + +if closest_y is None or closest_y <= ret.getPositions(0)[first_index] or closest_y >= ret.getPositions(0)[last_index]: + raise Exception("Invalid Fit") + + + +center_offset = center_positon-closest_y +#center_offset = current_positon-closest_y + + + +p=get_plots()[0] +p.addMarker(closest_y, p.AxisId.X, str(closest_y), Color.GREEN) + +robot.set_motors_enabled(True) +robot_y.move(closest_y) diff --git a/script/calibration/ScanYZ.py b/script/calibration/ScanYZ.py new file mode 100644 index 0000000..bee63e6 --- /dev/null +++ b/script/calibration/ScanYZ.py @@ -0,0 +1,93 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +SINGLE_PASS = False +if SINGLE_PASS: + STEP_SIZE = 0.2 +else: + STEP_SIZE = 1.0 +STEP_Z_FINAL = 0.1 + +RANGE = [-5.0, 5.0] +LATENCY = 0.05 + +Z_FINAL_OFFSET = 0.0 + + +SINGLE_PASS = True +STEP_SIZE = 0.1 + + +robot.enable() +move_to_laser() + +step_y = STEP_SIZE +step_z = STEP_SIZE +range_y = [RANGE[0], RANGE[1]] +range_z = [RANGE[0], RANGE[1]] + +robot.set_motors_enabled(True) +current_y = robot_y.getPosition() +current_z = robot_z.getPosition() + +print "Current pos y,z" , current_y, ",", current_z +ret = ascan([robot_y, robot_z], ue.readable, [range_y[0], range_z[0]], [range_y[1], range_z[1]], [step_y,step_z], latency = LATENCY, relative = True , zigzag=False, title = "Scan XY") +data = ret.getData(0)[0] +#plot(Convert.transpose(data), title="Data") + +integ = [] +for x in data: integ.append(sum( [ (0.0 if (math.isnan(y)) else y) for y in x])) + +xdata= frange(range_y[0], range_y[1], step_y , False, True) +p = plot(integ, title = "Fit", xdata=xdata)[0] + + +max_x_index = integ.index(max(integ)) +max_x = xdata[max_x_index] +try: + (normalization, mean_val, sigma) = fit_gaussian(integ, xdata) +except: + raise Exception("Invalid Fit") +gaussian = Gaussian(normalization, mean_val, sigma) +xdata= frange(range_y[0], range_y[1], step_y/100.0 , False, True) +plot_function(p, gaussian, "Fit", xdata, show_points = False, show_lines = True, color = Color.BLUE) + +#So +if abs(mean_val - max_x) > 1.0: + raise Exception("Invalid Y detection") +y_offset = mean_val +center_y = current_y + y_offset + +print "Y offset = ", y_offset + +robot_y.move(center_y) +if SINGLE_PASS: + z_scan_data = data[max_x_index] +else: + step_z = STEP_Z_FINAL + ret2 = lscan(robot_z, ue.readable, range_z[0], range_z[1], step_z, latency = LATENCY, relative = True , zigzag=False) + z_scan_data = ret2.getData(0)[0] + +max_z_index= z_scan_data.index(max(z_scan_data)) +last_z_index = 0 +for i in range(len(z_scan_data)): + if not math.isnan(z_scan_data[i]): + last_z_index = i +#Shape is cone: z is inceraseing. For proper detection last Z must be furthest +if abs(max_z_index - last_z_index) * step_z > 1.0: + raise Exception("Invalid Z detection") + +if SINGLE_PASS: + max_z = ret.getPositions(1)[len(data[0]) * max_x_index + last_z_index] +else: + max_z = ret2.getPositions(0)[last_z_index] + +z_offset = max_z - current_z + Z_FINAL_OFFSET + +robot_z.move(max_z + Z_FINAL_OFFSET) + +print "Z offset = ", z_offset + + +#Updating tool: +#update_tool(None, x_offset=x_offset, z_offset=z_offset) diff --git a/script/calibration/ToolCalibration.py b/script/calibration/ToolCalibration.py new file mode 100644 index 0000000..602403b --- /dev/null +++ b/script/calibration/ToolCalibration.py @@ -0,0 +1,60 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + + +robot.assert_tool(TOOL_CALIBRATION) +robot.set_motors_enabled(True) +robot.set_joint_motors_enabled(True) + + +initial_pos = robot.get_cartesian_pos() + +robot.enable() +move_to_laser() + +robot.align() + + +run("calibration/ScanYZ") + +robot.set_motors_enabled(True) + + +first_y = robot_y.take() +first_z = robot_z.take() +first_y = ue.take() +first_j6 = robot_j6.take() +if first_y is None: + raise Exception("Invalid YZ scan values in first scan") + + +robot.set_joint_motors_enabled(True) +if first_j6>0: + robot_j6.moveRel(-180.0, -1) +else: + robot_j6.moveRel(180.0, -1) + + +robot.set_motors_enabled(True) +run("calibration/ScanYZ") + +robot.set_motors_enabled(True) + +second_y = robot_y.take() +second_z = robot_z.take() +second_y = ue.take() +second_j6 = robot_j6.take() +if second_y is None: + raise Exception("Invalid XZ scan values in first scan") + + +#Updates the tool +xoff = (first_x - second_x)/2 +yoff = (first_y - second_y)/2 +t=robot.get_tool_trsf(TOOL_DEFAULT) +t[0]=xoff +t[1]=-yoff +robot.set_tool_trsf(t, TOOL_DEFAULT) + + + diff --git a/script/calibration/ToolCalibration2.py b/script/calibration/ToolCalibration2.py new file mode 100644 index 0000000..e9b71ae --- /dev/null +++ b/script/calibration/ToolCalibration2.py @@ -0,0 +1,86 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + + +#robot.assert_tool(TOOL_CALIBRATION) +#cal_tool = TOOL_DEFAULT +cal_tool = TOOL_CALIBRATION + +robot.set_tool(cal_tool) +robot.enable() +move_to_laser() + + +robot.set_motors_enabled(True) +robot.set_joint_motors_enabled(True) +initial_pos = robot.get_cartesian_pos() + +robot.enable() +move_to_laser() + +#robot.align() + + +run("calibration/ScanY") + +pos1 = robot.get_cartesian_pos() +x1, y1 = closest_x, closest_y + +print "Closest 1: ", [x1, y1] +print "Position 1: ", pos1 + + +pj6 = robot_j6.position +if pj6>0: + robot_j6.move(pj6 - 180.0) +else: + robot_j6.move(pj6 + 180.0) + + +run("calibration/ScanY") + + +x2, y2 = closest_x, closest_y + +print "Closest 2: ", [x2, y2] + + + +off_x = x1 - x2 + +#robot.set_motors_enabled(True) +#robot_x.moveRel(off_x, -1) + +#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed. +robot.set_pnt(robot.get_cartesian_pos(), "pTemp") +robot.set_trsf([off_x, 0,0,0,0,0]) +c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" ) +robot.set_pnt(c, "pTemp") +robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True) + + +pos2 = robot.get_cartesian_pos() +print pos2 + +print "Position 2: ", pos2 + + + +#Updates the tool +xoff = (pos2[0]-pos1[0])/2 +yoff = (pos2[1]-pos1[1])/2 + +#print "Offset: ", [xoff, yoff] + +t=robot.get_tool_trsf(TOOL_DEFAULT) +t[0]=xoff +t[1]=-yoff +print "Offset: ", [t[0], t[1]] +robot.set_tool_trsf(t, TOOL_DEFAULT) + +robot.set_tool(TOOL_DEFAULT) +d = robot.get_distance_to_pnt("pLaser") +if d<POSITION_TOLERANCE: + print "Moving calibrated tool to laser" +else: + print "Cannot move calibrated tool to laser: toog big offset" diff --git a/script/calibration/ToolCalibration3.py b/script/calibration/ToolCalibration3.py new file mode 100644 index 0000000..969707d --- /dev/null +++ b/script/calibration/ToolCalibration3.py @@ -0,0 +1,83 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +cal_tool = TOOL_CALIBRATION + +robot.set_tool(cal_tool) + +robot.enable() +move_to_laser() + + +robot.set_motors_enabled(True) +robot.set_joint_motors_enabled(True) +initial_pos = robot.get_cartesian_pos() + +#robot.align() +try: + robot.set_frame(FRAME_TABLE) + run("calibration/ScanX") +finally: + robot.set_default_frame() + +pos1 = robot.get_cartesian_pos() +x1, l1 = closest_x, closest_y + +print "Scan 1 result: ", [x1, l1] +print "Position 1: ", pos1 + + +pj6 = robot_j6.position +if pj6>0: + robot_j6.move(pj6 - 180.0) +else: + robot_j6.move(pj6 + 180.0) + + +try: + robot.set_frame(FRAME_TABLE) + run("calibration/ScanX") +finally: + robot.set_default_frame() + +pos2 =robot.get_cartesian_pos() +x2, l2 = closest_x, closest_y + +print "Scan 2 result: ", [x2, l2] +print "Position 2: ", pos1 + +off_l = l2 - l1 +print "Offset l: ", off_l + +#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed. +robot.set_pnt(robot.get_cartesian_pos(), "pTemp") +robot.set_trsf([0, -off_l, 0, 0, 0, 0]) +c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" ) +robot.set_pnt(c, "pTemp") +robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True) + + +pos3 = robot.get_cartesian_pos() +print "Position 3: ", pos3 + + +#Updates the tool +t=robot.get_tool_trsf(TOOL_DEFAULT) +print "Former tool: " + str(t) + +xoff = (pos3[0]-pos1[0])/2 +yoff = (pos3[1]-pos1[1])/2 +xrot = math.degrees(math.atan(yoff/t[2])) +yrot = math.degrees(math.atan(xoff/t[2])) +t[0]=xoff +t[1]=-yoff +print "Calibrated tool: " + str(t) +robot.set_tool_trsf(t, TOOL_DEFAULT) + +robot.set_tool(TOOL_DEFAULT) +d = robot.get_distance_to_pnt("pLaser") +if d<POSITION_TOLERANCE: + print "Moving calibrated tool to laser" + #move_to_laser() +else: + print "Cannot move calibrated tool to laser: too big offset" diff --git a/script/calibration/ToolCalibration6d.py b/script/calibration/ToolCalibration6d.py new file mode 100644 index 0000000..97bbc6f --- /dev/null +++ b/script/calibration/ToolCalibration6d.py @@ -0,0 +1,79 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +cal_tool = TOOL_CALIBRATION + +robot.set_tool(cal_tool) + +robot.enable() +move_to_laser("pPark") + + +robot.set_motors_enabled(True) +robot.set_joint_motors_enabled(True) +initial_pos = robot.get_cartesian_pos() + +#robot.align() +run("calibration/ScanX") + +pos1 = robot.get_cartesian_pos() +x1, l1 = closest_x, closest_y + +print "Scan 1 result: ", [x1, l1] +print "Position 1: ", pos1 + + +pj6 = robot_j6.position +if pj6>0: + robot_j6.move(pj6 - 180.0) +else: + robot_j6.move(pj6 + 180.0) + + +run("calibration/ScanX") + + +pos2 =robot.get_cartesian_pos() +x2, l2 = closest_x, closest_y + +print "Scan 2 result: ", [x2, l2] +print "Position 2: ", pos1 + +off_l = l2 - l1 +print "Offset l: ", off_l + + +#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed. +robot.set_pnt(robot.get_cartesian_pos(), "pTemp") +robot.set_trsf([0, -off_l, 0, 0, 0, 0]) +c=robot.compose("pTemp", FRAME_DEFAULT, "tcp_t" ) +robot.set_pnt(c, "pTemp") +robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True) + +pos3 = robot.get_cartesian_pos() +print "Position 3: ", pos3 + + +#Updates the tool +t=robot.get_tool_trsf(TOOL_DEFAULT) +print "Former tool: " + str(t) + +xoff = (pos3[0]-pos1[0])/2 +yoff = (pos3[1]-pos1[1])/2 +xrot = math.degrees(math.atan(yoff/t[2])) +yrot = math.degrees(math.atan(xoff/t[2])) +t[0]=xoff +t[1]=-yoff +print "Calibrated tool: " + str(t) +robot.set_tool_trsf(t, TOOL_DEFAULT) + +robot.set_tool(TOOL_DEFAULT) +d = robot.get_distance_to_pnt("pLaser") +if d<POSITION_TOLERANCE: + print "Moving calibrated tool to laser" + #move_to_laser() +else: + print "Cannot move calibrated tool to laser: too big offset" + + + diff --git a/script/calibration/ToolCalibration6s.py b/script/calibration/ToolCalibration6s.py new file mode 100644 index 0000000..7c213a5 --- /dev/null +++ b/script/calibration/ToolCalibration6s.py @@ -0,0 +1,79 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +cal_tool = TOOL_CALIBRATION + +robot.set_tool(cal_tool) + +robot.enable() +move_to_laser("pPark") + + +robot.set_motors_enabled(True) +robot.set_joint_motors_enabled(True) +initial_pos = robot.get_cartesian_pos() + +#robot.align() +run("calibration/ScanY") + +pos1 = robot.get_cartesian_pos() +l1, y1 = closest_x, closest_y + +print "Scan 1 result: ", [l1, y1] +print "Position 1: ", pos1 + + +pj6 = robot_j6.position +if pj6>0: + robot_j6.move(pj6 - 180.0) +else: + robot_j6.move(pj6 + 180.0) + +run("calibration/ScanY") + +pos2 =robot.get_cartesian_pos() +l2, y2 = closest_x, closest_y + +print "Scan 2 result: ", [l2, y2] +print "Position 2: ", pos1 + +off_l = l2 - l1 +print "Offset l: ", off_l + +#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed. +robot.set_pnt(robot.get_cartesian_pos(), "pTemp") +robot.set_trsf([-off_l, 0, 0, 0, 0, 0]) +c=robot.compose("pTemp", FRAME_DEFAULT, "tcp_t" ) +robot.set_pnt(c, "pTemp") +robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True) + + +pos3 = robot.get_cartesian_pos() +print "Position 3: ", pos3 + + +#Updates the tool +t=robot.get_tool_trsf(TOOL_DEFAULT) +print "Former tool: " + str(t) + +xoff = (pos3[0]-pos1[0])/2 +yoff = (pos3[1]-pos1[1])/2 +xrot = math.degrees(math.atan(yoff/t[2])) +yrot = math.degrees(math.atan(xoff/t[2])) +t[0]=xoff #X +t[1]=-yoff #Y +#t[3]= xropt #RX +#t[4]= yropt #RY + +print "Calibrated tool: " + str(t) + + +robot.set_tool_trsf(t, TOOL_DEFAULT) + +robot.set_tool(TOOL_DEFAULT) +d = robot.get_distance_to_pnt("pLaser") +if d<POSITION_TOLERANCE: + print "Moving calibrated tool to laser" + #move_to_laser() +else: + print "Cannot move calibrated tool to laser: too big offset" diff --git a/script/client/PShellClient.py b/script/client/PShellClient.py new file mode 100644 index 0000000..a40b1df --- /dev/null +++ b/script/client/PShellClient.py @@ -0,0 +1,369 @@ +import threading +import time +import sys +import requests +import json + +try: + from urllib import quote # Python 2 +except ImportError: + from urllib.parse import quote # Python 3 + +try: + from sseclient import SSEClient +except: + SSEClient = None + + +class PShellClient: + def __init__(self, url): + self.url = url + self.sse_event_loop_thread = None + self.subscribed_events = None + self.event_callback = None + + 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 _get_binary_response(self, response): + if response.status_code != 200: + raise Exception(response.text) + return response.raw.read() + + def get_version(self): + """Return application version. + + Args: + + Returns: + String with application version. + + """ + return self._get_response(requests.get(url=self.url+"/version"), False) + + def get_config(self): + """Return application configuration. + + Args: + + Returns: + Dictionary. + """ + return self._get_response(requests.get(url=self.url+"/config")) + + def get_state(self): + """Return application state. + + Args: + + Returns: + String: Invalid, Initializing,Ready, Paused, Busy, Disabled, Closing, Fault, Offline + """ + return self._get_response(requests.get(url=self.url+"/state")) + + def get_logs(self): + """Return application logs. + + Args: + + Returns: + List of logs. + Format of each log: [date, time, origin, level, description] + + """ + return self._get_response(requests.get(url=self.url+"/logs")) + + def get_history(self, index): + """Access console command history. + + Args: + index(int): Index of history entry (0 is the most recent) + + Returns: + History entry + + """ + return self._get_response(requests.get(url=self.url+"/history/"+str(index)), False) + + def get_script(self, path): + """Return script. + + Args: + path(str): Script path (absolute or relative to script folder) + + Returns: + String with file contents. + + """ + return self._get_response(requests.get(url=self.url+"/script/"+str(path)), False) + + def get_devices(self): + """Return global devices. + + Args: + + Returns: + List of devices. + Format of each device record: [name, type, state, value, age] + + """ + return self._get_response(requests.get(url=self.url+"/devices")) + + def abort(self, command_id=None): + """Abort execution of command + + Args: + command_id(optional, int): id of the command to be aborted. + if None (default), aborts the foreground execution. + + Returns: + + """ + if command_id is None: + requests.get(url=self.url+"/abort") + else: + return requests.get(url=self.url+"/abort/"+str(command_id)) + + def reinit(self): + """Reinitialize the software. + + Args: + + Returns: + + """ + requests.get(url=self.url+"/reinit") + + def stop(self): + """Stop all devices implementing the 'Stoppable' interface. + + Args: + + Returns: + + """ + requests.get(url=self.url+"/stop") + + def update(self): + """Update all global devices. + + Args: + + Returns: + + """ + requests.get(url=self.url+"/update") + + def eval(self,statement): + """Evaluates a statement in the interpreter. + If the statement finishes by '&', it is executed in background. + Otherwise statement is executed in foreground (exclusive). + + Args: + statement(str): input statement + + Returns: + String containing the console return. + If an exception is produces in the interpretor, it is re-thrown here. + """ + statement = quote(statement) + return self._get_response(requests.get(url=self.url+"/eval/"+statement), False) + + def run(self,script, pars=None, background=False): + """Executes script in the interpreter. + + Args: + script(str): name of the script (absolute or relative to the script base folder). Extension may be omitted. + pars(optional, list or dict): if a list is given, it sets sys.argv for the script. + If a dict is given, it sets global variable for the script. + background(optional, bool): if True script is executed in background. + + Returns: + Return value of the script. + If an exception is produces in the interpretor, it is re-thrown here. + """ + return self._get_response(requests.put(url=self.url+"/run", json={"script":script, "pars":pars, "background":background, "async":False })) + + def start_eval(self,statement): + """Starts evaluation of a statement in the interpreter. + If the statement finishes by '&', it is executed in background. + Otherwise statement is executed in foreground (exclusive). + + Args: + statement(str): input statement + + Returns: + Command id (int), which is used to retrieve command execution status/result (get_result). + """ + statement = quote(statement) + return int(self._get_response(requests.get(url=self.url+"/evalAsync/"+statement), False)) + + def start_run(self,script, pars=None, background=False): + """Starts execution of a script in the interpreter. + + Args: + script(str): name of the script (absolute or relative to the script base folder). Extension may be omitted. + pars(optional, list or dict): if a list is given, it sets sys.argv for the script. + If a dict is given, it sets global variable for the script. + background(optional, bool): if True script is executed in background. + + Returns: + Command id (int), which is used to retrieve command execution status/result (get_result). + """ + return int(self._get_response(requests.put(url=self.url+"/run", json={"script":script, "pars":pars, "background":background, "async":True }))) + + def get_result(self, command_id=-1): + """Gets status/result of a command executed asynchronously (start_eval and start_run). + + Args: + command_id(optional, int): command id. If equals to -1 (default) return status/result of the foreground task. + + Returns: + Dictionary with the fields: 'id' (int): command id + 'status' (str): unlaunched, invalid, removed, running, aborted, failed or completed. + 'exception' (str): if status equals 'failed', holds exception string. + 'return' (obj): if status equals 'completed', holds return value of script (start_run) + or console return (start_eval) + """ + return self._get_response(requests.get(url=self.url+"/result/"+str(command_id))) + + def help(self, input = "<builtins>"): + """Returns help or auto-completion strings. + + Args: + input(optional, str): - ":" for control commands + - "<builtins>" for builtin functions + - "devices" for device names + - builtin function name for function help + - else contains entry for auto-completion + + Returns: + List + + """ + return self._get_response(requests.get(url=self.url+"/autocompletion/" + input)) + + def get_contents(self, path=None): + """Returns contents of data path. + + Args: + path(optional, str): Path to data relative to data home path. + - Folder + - File + - File (data root) | internal path + - internal path (on currently open data root) + + Returns: + List of contents + + """ + return self._get_response(requests.get(url=self.url+ "/contents" + ("" if path is None else ( "/"+path))), False) + + def get_data(self, path, type="txt"): + """Returns data on a given path. + + Args: + path(str): Path to data relative to data home path. + - File (data root) | internal path + - internal path (on currently open data root) + type(optional, str): txt, "json", "bin", "bs" + + Returns: + Data accordind to selected format/. + + """ + if type == "json": + return self._get_response(requests.get(url=self.url+ "/data-json/"+path), True) + elif type == "bin": + return self._get_binary_response(requests.get(url=self.url+"/data-bin/"+path, stream=True)) + elif type == "bs": + from collections import OrderedDict + bs = self._get_binary_response(requests.get(url=self.url+"/data-bs/"+path, stream=True)) + index=0 + msg = [] + for i in range(4): + size =int.from_bytes(bs[index:index+4], byteorder='big', signed=False) + index=index+4 + msg.append(bs[index:index+size]) + index=index+size + [main_header, data_header, data, timestamp] = msg + main_header = json.loads(main_header, object_pairs_hook=OrderedDict) + data_header = json.loads(data_header, object_pairs_hook=OrderedDict) + channel = data_header["channels"][0] + channel["encoding"] = "<" if channel.get("encoding", "little") else ">" + from bsread.data.helpers import get_channel_reader + channel_value_reader = get_channel_reader(channel) + return channel_value_reader(data) + + return self._get_response(requests.get(url=self.url+ "/data" + ("" if path is None else ( "/"+path))), False) + + def print_logs(self): + for l in self.get_logs(): + print ("%s %s %-20s %-8s %s" % tuple(l)) + + def print_devices(self): + for l in self.get_devices(): + print ("%-16s %-32s %-10s %-32s %s" % tuple(l)) + + def print_help(self, input = "<builtins>"): + for l in self.help(input): + print (l) + + #Events + def _sse_event_loop_task(self): + try: + while True: + try: + messages = SSEClient(self.url+"/events") + for msg in messages: + if (self.subscribed_events is None) or (msg.event in self.subscribed_events): + try: + value = json.loads(msg.data) + except: + value = str(msg.data) + self.event_callback(msg.event, value) + except IOError as e: + #print(e) + pass + except: + print("Error:", sys.exc_info()[1]) + #raise + finally: + print ("Exit SSE loop task") + self.sse_event_loop_thread = None + + + def start_sse_event_loop_task(self, subscribed_events = None, event_callback = None): + """ + Initializes server event loop task. + Args: + subscribed_events: list of event names to substribe to. If None subscribes to all. + event_callback: callback function. If None, self.on_event is called instead. + + Usage example: + def on_event(name, value): + if name == "state": + print ("State changed: ", value) + elif name == "record": + print ("Received scan record: ", value) + + pc.start_sse_event_loop_task(["state", "record"], on_event) + + """ + self.event_callback = event_callback if event_callback is not None else self.on_event + self.subscribed_events = subscribed_events + if SSEClient is not None: + if self.sse_event_loop_thread is None: + self.sse_event_loop_thread = threading.Thread(target=self._sse_event_loop_task, \ + args = (), \ + kwargs={}, \ + daemon=True) + self.sse_event_loop_thread.start() + else: + raise Exception ("sseclient library is not instlled: server events are not available") + + def on_event(self, name, value): + pass + \ No newline at end of file diff --git a/script/client/TellClient.py b/script/client/TellClient.py new file mode 100644 index 0000000..256dbdd --- /dev/null +++ b/script/client/TellClient.py @@ -0,0 +1,184 @@ +from PShellClient import PShellClient +import json +import time +import sys + + + +class TellClient(PShellClient): + def __init__(self, url): + PShellClient.__init__(self, url) + self.start_sse_event_loop_task(["state", "shell"]) + self.state = self.get_state() + self.debug=False + + def on_event(self, name, value): + if name == "state": + self.state = value + print ("State: ", value) + elif name == "shell": + if self.debug: + print ("> ", value) + + def get_state(self): + self.state = PShellClient.get_state(self) + return self.state + + def wait_ready(self): + count = 0 + #Monitors event but polls every second just n case an event is missed + while (True): + if self.state != "Busy": + break + time.sleep(0.01) + count = count + 1 + if count>=100: + count=0 + self.get_state() + if self.state != "Ready": + raise Exception("Invalid state: " + str(self.state)) + + def set_in_mount_position(self, value): + self.eval("in_mount_position = " + str(value) +"&") + + def is_in_mount_position(self): + return self.eval("in_mount_position&").lower()=="true" + + def get_samples_info(self): + return json.loads(self.eval("get_samples_info()&")) + + def set_samples_info(self, info): + #c.run("data/set_samples_info", pars= [info,], background=True) + self.eval("set_samples_info(" + json.dumps(info) + ")&") + + def start_cmd(self, cmd, *argv): + cmd = cmd + "(" + for a in argv: + cmd = cmd + (("'" + a + "'") if type(a) is str else str(a) ) + ", " + cmd = cmd + ")" + ret = self.start_eval(cmd) + self.get_state() + return ret + + def wait_cmd(self, cmd): + self.wait_ready() + result = self.get_result(cmd) + #print (result) + if result["exception"] is not None: + raise Exception(result["exception"] ) + return result["return"] + + def mount(self, segment, puck, sample, force=False, read_dm=False, auto_unmount=False): + #return self.run("motion/mount", pars= [segment,puck, sample, force, read_dm], background=True) + return self.start_cmd("mount", segment, puck, sample, force, read_dm, auto_unmount) + + def unmount(self, segment = None, puck = None, sample = None, force=False): + return self.start_cmd("unmount", segment, puck, sample, force) + + def scan_pin(self, segment, puck, sample, force=False): + return self.start_cmd("scan_pin", segment, puck, sample, force) + + def scan_puck(self, segment, puck, force=False): + return self.start_cmd("scan_puck", segment, puck, force) + + def dry(self, heat_time=30.0, speed=0.5, wait_cold = 30.0): + return self.start_cmd("dry", heat_time, speed, wait_cold) + + def move_cold(self): + return self.start_cmd("move_cold") + + def trash(self): + return self.start_cmd("trash") + + def abort_cmd(self): + self.abort() + self.eval("robot.stop_task()&") + + def set_gonio_mount_position(homing = False): + if homing: + self.eval("home_fast_table()") + self.eval("set_mount_position()") + + def get_mounted_sample(self): + ret = self.eval("get_setting('mounted_sample_position')&").strip() + return None if len(ret)==0 else ret + + def get_system_check(self): + try: + ret = self.eval("system_check()&") + except Exception as ex: + return ex + return "Ok" + + def get_robot_state(self): + return self.eval("robot.state&") + + + def get_robot_status(self): + status = self.eval("robot.take()&") + return status + + def get_detected_pucks(self): + return self.eval("get_detected_pucks()&") + + def set_pin_offset(self, value): + self.eval("set_pin_offset(" + str(value)+ ")&") + + def get_pin_offset(self): + return self.eval("get_pin_offset()&") + + def print_info(self): + print ("State: " + str(self.get_state())) + print ("Mounted sample: " + str(self.get_mounted_sample())) + print ("System check: " + str(self.get_system_check())) + print ("Robot state: " + str(self.get_robot_state())) + print ("Robot status: " + str(self.get_robot_status())) + print ("Detected pucks: " + str(self.get_detected_pucks())) + print ("Pin offset: " + str(self.get_pin_offset())) + print ("Mount position: " + str(self.is_in_mount_position())) + print ("") + +if __name__ == "__main__": + tell = TellClient("http://Alexandres-MBP.psi.ch:8080") + tell.print_info() + + info = [ + { + "userName": "User", + "dewarName": "Dewar", + "puckName": "Puck", + "puckBarcode": "XXX0001", + "puckType": "Minispine", + "puckAddress": "", + "sampleName": "Sample", + "sampleBarcode": "YYY0001", + "samplePosition": "1", + "sampleStatus": "Present", + "sampleMountCount": "0" , + }, + ] + print (tell.get_samples_info()) + tell.set_samples_info(info) + print (tell.get_samples_info()) + + tell.abort_cmd() + + cmd = tell.move_cold() + print (tell.wait_cmd(cmd)) + + cmd = tell.trash() + print (tell.wait_cmd(cmd)) + + cmd = tell.scan_pin("A", 1, 1) + print (tell.wait_cmd(cmd)) + + cmd = tell.scan_puck("A", 1, 1) + print (tell.wait_cmd(cmd)) + + cmd = tell.mount("A", 1, 1) + print (tell.wait_cmd(cmd)) + + print ("Mounted sample: " + str(tell.get_mounted_sample())) + cmd = tell.unmount() + print (tell.wait_cmd(cmd)) + print ("Mounted sample: " + str(tell.get_mounted_sample())) diff --git a/script/client/sseclient.py b/script/client/sseclient.py new file mode 100644 index 0000000..3c42858 --- /dev/null +++ b/script/client/sseclient.py @@ -0,0 +1,163 @@ +import codecs +import re +import time +import warnings + +import six + +import requests + + +# Technically, we should support streams that mix line endings. This regex, +# however, assumes that a system will provide consistent line endings. +end_of_field = re.compile(r'\r\n\r\n|\r\r|\n\n') + +class SSEClient(object): + def __init__(self, url, last_id=None, retry=3000, session=None, chunk_size=1024, **kwargs): + self.url = url + self.last_id = last_id + self.retry = retry + self.chunk_size = chunk_size + + # Optional support for passing in a requests.Session() + self.session = session + + # Any extra kwargs will be fed into the requests.get call later. + self.requests_kwargs = kwargs + + # The SSE spec requires making requests with Cache-Control: nocache + if 'headers' not in self.requests_kwargs: + self.requests_kwargs['headers'] = {} + self.requests_kwargs['headers']['Cache-Control'] = 'no-cache' + + # The 'Accept' header is not required, but explicit > implicit + self.requests_kwargs['headers']['Accept'] = 'text/event-stream' + + # Keep data here as it streams in + self.buf = u'' + + self._connect() + + def _connect(self): + if self.last_id: + self.requests_kwargs['headers']['Last-Event-ID'] = self.last_id + + # Use session if set. Otherwise fall back to requests module. + requester = self.session or requests + self.resp = requester.get(self.url, stream=True, **self.requests_kwargs) + self.resp_iterator = self.resp.iter_content(chunk_size=self.chunk_size) + + # TODO: Ensure we're handling redirects. Might also stick the 'origin' + # attribute on Events like the Javascript spec requires. + self.resp.raise_for_status() + + def _event_complete(self): + return re.search(end_of_field, self.buf) is not None + + def __iter__(self): + return self + + def __next__(self): + decoder = codecs.getincrementaldecoder( + self.resp.encoding)(errors='replace') + while not self._event_complete(): + try: + next_chunk = next(self.resp_iterator) + if not next_chunk: + raise EOFError() + self.buf += decoder.decode(next_chunk) + + except (StopIteration, requests.RequestException, EOFError) as e: + time.sleep(self.retry / 1000.0) + self._connect() + + # The SSE spec only supports resuming from a whole message, so + # if we have half a message we should throw it out. + head, sep, tail = self.buf.rpartition('\n') + self.buf = head + sep + continue + + # Split the complete event (up to the end_of_field) into event_string, + # and retain anything after the current complete event in self.buf + # for next time. + (event_string, self.buf) = re.split(end_of_field, self.buf, maxsplit=1) + msg = Event.parse(event_string) + + # If the server requests a specific retry delay, we need to honor it. + if msg.retry: + self.retry = msg.retry + + # last_id should only be set if included in the message. It's not + # forgotten if a message omits it. + if msg.id: + self.last_id = msg.id + + return msg + + if six.PY2: + next = __next__ + + +class Event(object): + + sse_line_pattern = re.compile('(?P<name>[^:]*):?( ?(?P<value>.*))?') + + def __init__(self, data='', event='message', id=None, retry=None): + self.data = data + self.event = event + self.id = id + self.retry = retry + + def dump(self): + lines = [] + if self.id: + lines.append('id: %s' % self.id) + + # Only include an event line if it's not the default already. + if self.event != 'message': + lines.append('event: %s' % self.event) + + if self.retry: + lines.append('retry: %s' % self.retry) + + lines.extend('data: %s' % d for d in self.data.split('\n')) + return '\n'.join(lines) + '\n\n' + + @classmethod + def parse(cls, raw): + """ + Given a possibly-multiline string representing an SSE message, parse it + and return a Event object. + """ + msg = cls() + for line in raw.splitlines(): + m = cls.sse_line_pattern.match(line) + if m is None: + # Malformed line. Discard but warn. + warnings.warn('Invalid SSE line: "%s"' % line, SyntaxWarning) + continue + + name = m.group('name') + if name == '': + # line began with a ":", so is a comment. Ignore + continue + value = m.group('value') + + if name == 'data': + # If we already have some data, then join to it with a newline. + # Else this is it. + if msg.data: + msg.data = '%s\n%s' % (msg.data, value) + else: + msg.data = value + elif name == 'event': + msg.event = value + elif name == 'id': + msg.id = value + elif name == 'retry': + msg.retry = int(value) + + return msg + + def __str__(self): + return self.data diff --git a/script/client/tell.py b/script/client/tell.py new file mode 100644 index 0000000..56c70b4 --- /dev/null +++ b/script/client/tell.py @@ -0,0 +1,79 @@ +import sys +import os +import code +import readline +import rlcompleter +import atexit + +from TellClient import TellClient + +tell = TellClient("http://PC12288:8080") + +def info(): + tell.print_info() + +def help(): + print ("Commands: \n\thelp()\n\tinfo()\n\tmount(segment, puck, sample)\n\tunmount() \n\tdry() " \ + "\n\tscan(segment, puck, sample=None) \n\tmove_cold() \n\ttrash() \n\tabort() " \ + "\n\tset_pin_offset(value)") + +def assert_transfer_allowed(): + if not tell.is_in_mount_position(): + raise Exception("Gonio is not in mount position") + +def mount(segment, puck, sample): + assert_transfer_allowed() + cmd = tell.mount(segment, puck, sample, True, True, True) + print (tell.wait_cmd(cmd)) + +def unmount(): + assert_transfer_allowed() + cmd=tell.unmount(force=True) + print (tell.wait_cmd(cmd)) + +def move_cold(): + cmd=tell.move_cold() + print (tell.wait_cmd(cmd)) + +def trash(): + cmd=tell.trash() + print (tell.wait_cmd(cmd)) + +def dry(): + cmd=tell.dry() + print (tell.wait_cmd(cmd)) + +def scan(segment, puck, sample=None): + if sample is None: + cmd=tell.scan_puck(segment, puck, True) + else: + cmd=tell.scan_pin(segment, puck, sample, True) + print (tell.wait_cmd(cmd)) + +def abort(): + tell.abort_cmd() + +def set_pin_offset(value): + tell.set_pin_offset(value) + +info() +help() + +#for line in sys.stdin: +# tell.print_info() +#print ("", end='\r> ') + +historyPath = os.path.expanduser("./.history") +def save_history(historyPath=historyPath): + readline.write_history_file(historyPath) +if os.path.exists(historyPath): + readline.read_history_file(historyPath) +atexit.register(save_history) + +#vars = globals(); vars.update(locals()) +vars =locals() +readline.set_completer(rlcompleter.Completer(vars).complete) +readline.parse_and_bind("tab: complete") + +code.interact(banner = "", local=vars) + diff --git a/script/data/get_samples_info.py b/script/data/get_samples_info.py new file mode 100644 index 0000000..00a5bc3 --- /dev/null +++ b/script/data/get_samples_info.py @@ -0,0 +1,4 @@ + + + +set_return(get_samples_info(as_json=False)) \ No newline at end of file diff --git a/script/data/pucks.py b/script/data/pucks.py new file mode 100644 index 0000000..3228c34 --- /dev/null +++ b/script/data/pucks.py @@ -0,0 +1,51 @@ +def get_puck_names(): + return [str(a)+str(b) for a in BLOCKS for b in range(1,6)] + + +def get_puck_info(): + ret = [] + #for puck in get_puck_names(): + for puck in BasePlate.pucks: + ret.append({"address" : str(puck.name), "status": str(puck.status), "barcode" : str(puck.id)}) + return ret + + +def get_puck_obj(address): + return BasePlate.getChild(address) + + +def get_puck_obj_by_id(puck_id): + for puck in BasePlate.pucks: + if puck.id == puck_id: + return puck + return None + + +def set_puck_info(puck_info): + #print puck_info + for i in puck_info: + p=get_puck_obj(i["address"]) + if p is not None: + if (p.status == 'Present') and ( i["status"] =='Present'): + if i['barcode'] and (i['barcode'] != str(None)): + #print "Setting ", p, " to ", i['barcode'] + p.id = i['barcode'] + +def clear_puck_info(): + save_puck_info([]) + +def save_puck_info(): + data = get_puck_info() + output_file = open( get_context().setup.expandPath("{context}/pucks_info.json") , "w") + output_file.write(json.dumps(data)) + output_file.close() + +def restore_puck_info(): + try: + inputfile = open(get_context().setup.expandPath("{context}/pucks_info.json"), "r") + info = json.loads(inputfile.read()) + except: + print >> sys.stderr, "Error reading pucks info file: " + str(sys.exc_info()[1]) + info = [] + set_puck_info(info) + \ No newline at end of file diff --git a/script/data/reports.py b/script/data/reports.py new file mode 100644 index 0000000..629b414 --- /dev/null +++ b/script/data/reports.py @@ -0,0 +1,39 @@ +from statsutils import * + + +def report(start, end): + """ + Data format for start and end: "dd/mm/yy" or "dd/mm/yy hh:mm:ss.mmm" + + """ + cmds = ["mount%", "unmount%", "dry%", "recover%", "trash%", "robot_recover%", "scan%", "homing%"] + + conn = get_stats_connection() + try: + print_stats(cmds, start, end) + + for cmd in cmds: + print_cmd_stats (cmd, start, end) + + + finally: + conn.close() + +def print_recs(cmd,start, end, result=("%%")): + """ + Data format for start and end: "dd/mm/yy" or "dd/mm/yy hh:mm:ss.mmm" + Result: "error", "abort, "success". Defaulr for all + + """ + + conn = get_stats_connection() + try: + print_cmd_records(cmd,start, end, result) + finally: + conn.close() + + +#Print all records: +# + +#report("01/03/19","01/04/19") diff --git a/script/data/samples.py b/script/data/samples.py new file mode 100644 index 0000000..7110d57 --- /dev/null +++ b/script/data/samples.py @@ -0,0 +1,350 @@ +import json +import re +import org.python.core.PyDictionary as PyDictionary + +SAMPLE_INFO_KEYS = ["userName", "dewarName", "puckName", "puckBarcode", "puckType", "puckAddress", + "sampleName", "samplePosition", "sampleBarcode", "sampleStatus", "sampleMountCount"] +samples_info = [] + + +def set_samples_info(info): + global samples_info + if (is_string(info)): + info = json.loads(info) + if not is_list(info): + raise Exception("Sample info must be a list (given object type is " + str(type(info)) + ")") + #Sanitize list + remove = [] + for sample in info: + try: + if set(sample.keys()) != set(SAMPLE_INFO_KEYS): + raise Exception() + except: + remove.append(sample) + for el in remove: + info.remove(el) + print "Invalid samples info element: " + str(el) + samples_info = info + save_samples_info() + #Trust beamline on assignments, so update puck info + update_puck_table() + + +def clear_samples_info(): + set_samples_info([]) + +def save_samples_info(): + data = get_samples_info(True) + output_file = open( get_context().setup.expandPath("{context}/samples_info.json") , "w") + output_file.write(data) + output_file.close() + get_context().sendEvent("samples_updated", True) + save_puck_info() + +def restore_samples_info(): + restore_puck_info() + try: + inputfile = open(get_context().setup.expandPath("{context}/samples_info.json"), "r") + info = inputfile.read() + except: + print >> sys.stderr, "Error reading sample info file: " + str(sys.exc_info()[1]) + info = [] + set_samples_info(info) + +def get_samples_info(as_json=True): + global samples_info + return json.dumps(to_list(samples_info)) if as_json else samples_info + +def has_puck_datamatrix(datamatrix): + if samples_info is not None: + for si in samples_info: + if si["puckBarcode"] == datamatrix: + return True + return False + +def add_puck_datamatrix(barcode, address = "", dewar = "Unknown", user = "Unknown", puck = "Unknown", type = "unipuck", sample_prefix = "Sample"): + if has_puck_datamatrix(barcode): + raise Exception("Datamatrix already defined: " + str(barcode)) + for s in range(1,17): + info = \ + { "userName": user, \ + "dewarName": dewar, \ + "puckName": puck, \ + "puckBarcode": address if barcode is None else barcode, \ + "puckType": type, \ + "puckAddress": address,\ + "sampleName": sample_prefix + " " + str(s), \ + "samplePosition": str(s),\ + "sampleStatus": "Unknown", \ + "sampleMountCount": "0", + } + samples_info.append(info) + save_samples_info() + +def remove_puck_datamatrix(barcode): + remove = [] + for si in samples_info: + if si["puckBarcode"] == barcode: + remove.append(si) + for el in remove: samples_info.remove(el) + save_samples_info() + + +barcode_clean_re = re.compile("[^a-zA-Z0-9]") + +def is_same_datamatrix(table, reading): + if table == reading: + return True + table2 = barcode_clean_re.sub("", table.upper()) + reading2 = barcode_clean_re.sub("", reading.upper()) + if table2 == reading2: + log("Assigning aproximative datamatrix " + reading ) + return True + return False + + +def set_puck_datamatrix(puck, datamatrix): + if puck is None: + puck = "" + if datamatrix is None: + datamatrix = "" + if samples_info is not None: + for si in samples_info: + #if si["puckBarcode"] == datamatrix: + if is_same_datamatrix(si["puckBarcode"],datamatrix): + si["puckAddress"] = puck + elif si["puckAddress"] == puck: + si["puckAddress"] = "" + save_samples_info() + +def reset_puck_datamatrix(puck = None): + if samples_info is not None: + for si in samples_info: + if (si["puckAddress"] == puck) or (puck is None): + si["puckAddress"] = "" + save_samples_info() + for p in BasePlate.getChildren(): + if (p.name == puck) or (puck is None): + p.id = None + +def get_puck_datamatrix(): + ret = {} + for si in samples_info: + if si["puckBarcode"] is not None and si["puckBarcode"]!="": + ret[si["puckBarcode"]] = si["puckAddress"] + return ret + +def get_puck_address(barcode): + try: + return get_puck_datamatrix()[barcode] + except: + return None + + +def update_puck_table(): + dms = get_puck_datamatrix() + for barcode in dms.keys(): + address = dms[barcode] + puck = get_puck_obj(address) + if puck is not None: + puck.id = barcode + + +#Sample mount/unmount + +def same_address(puck_add_1, sample_pos_1, puck_add_2, sample_pos_2): + if str(puck_add_1) != str(puck_add_2): + return False + try: + sample_pos_1 = int(sample_pos_1) + except: + return False + try: + sample_pos_2 = int(sample_pos_2) + except: + return False + return sample_pos_1 == sample_pos_2 + + +def update_samples_info_sample_mount(puck_address, sample_position, sample_detected, sample_id): + try: + if (samples_info is not None) and (puck_address is not None): + for si in samples_info: + if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position): + if sample_detected: + if si["sampleStatus"] != "Mounted": + si["sampleStatus"] = "Mounted" + try: + mount_count = int(si["sampleMountCount"]) + except: + mount_count = 0 + si["sampleMountCount"] = mount_count + 1 + else: + si["sampleStatus"] = "Unknown" + + if sample_id is not None: + si["sampleBarcode"] = sample_id + + else: + if si["sampleStatus"] == "Mounted": + si["sampleStatus"] = "HasBeenMounted" + save_samples_info() + except: + pass + + +def update_samples_info_sample_unmount(puck_address, sample_position): + try: + if (samples_info is not None) and (puck_address is not None): + for si in samples_info: + if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position): + si["sampleStatus"] = "HasBeenMounted" + save_samples_info() + return + except: + pass + +def update_samples_info_sample_scan(puck_address, sample_position, sample_detected, sample_id): + try: + if (samples_info is not None) and (puck_address is not None): + for si in samples_info: + if same_address( si["puckAddress"], si["samplePosition"], puck_address, sample_position): + if sample_detected: + if si["sampleStatus"] == "Unknown": + si["sampleStatus"] = "Present" + else: + if si["sampleStatus"] == "Present": + si["sampleStatus"] = "Unknown" + if sample_id is not None: + si["sampleBarcode"] = sample_id + save_samples_info() + return + except: + pass + + + +test_sample_data = [ \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0001", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "MySample 1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0001", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "MySample 2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0001", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "MySample 3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0001", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "MySample 4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0001", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "MySample 5", \ + "sampleBarcode": "", \ + "samplePosition": 5,\ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0002", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "MySample 1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0002", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "MySample 2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0002", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "MySample 3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0002", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "MySample 4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": "Alexandre", \ + "dewarName": "TEST", \ + "puckName": "My puck", \ + "puckBarcode": "AAA0002", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "MySample 5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + ] + \ No newline at end of file diff --git a/script/data/set_samples_info.py b/script/data/set_samples_info.py new file mode 100644 index 0000000..bc7e803 --- /dev/null +++ b/script/data/set_samples_info.py @@ -0,0 +1,4 @@ + + + +set_samples_info(args[0]) \ No newline at end of file diff --git a/script/devices/BarcodeReader.py b/script/devices/BarcodeReader.py new file mode 100644 index 0000000..48b84ca --- /dev/null +++ b/script/devices/BarcodeReader.py @@ -0,0 +1,83 @@ + + +class BarcodeReader(DeviceBase): + + def __init__(self, name, microscan, microscan_cmd): + DeviceBase.__init__(self, name) + self.microscan = microscan + self.microscan_cmd = microscan_cmd + + + def doInitialize(self): + self.disable() + self.readout = None + self.processing = False + self.task_callable=None + + def enable(self): + self.microscan_cmd.write("<H>") + self.setState(State.Ready) + + def disable(self): + self.microscan_cmd.write("<I>") + self.setState(State.Disabled) + + def get(self,timeout=1.0): + self.state.assertReady() + try: + self.setState(State.Busy) + self.microscan.flush() + ret = self.microscan.waitString(int(timeout * 1000)) + if ret is not None: + ret = ret.strip() + self.setCache(ret, None) + return ret + except: + self.setCache(None, None) + return None + finally: + if self.state == State.Busy: + self.setState(State.Ready) + + def doUpdate(self): + self.get() + + + def read(self,timeout=1.0): + if self.processing: + raise Exception("Ongoing read operation") + self.processing = True + try: + initial = self.state + if initial == State.Disabled: + self.enable() + try: + return self.get(timeout) + finally: + if initial == State.Disabled: + self.disable() + finally: + self.processing = False + + def _read_task(self, timeout): + global readout + self.readout = self.read(timeout) + return self.readout + + def start_read(self, timeout=1.0): + self.readout = None + self.task_callable = fork((self._read_task, (timeout,))) + + def get_readout(self): + return self.readout + + def wait_readout(self): + if self.task_callable is not None: + join(self.task_callable) + self.task_callable = None + return self.readout + + +add_device(BarcodeReader("barcode_reader", mscan_pin, mscan_pin_cmd), force = True) +add_device(BarcodeReader("barcode_reader_puck", mscan_puck, mscan_puck_cmd), force = True) + \ No newline at end of file diff --git a/script/devices/Gonio.py b/script/devices/Gonio.py new file mode 100644 index 0000000..0f264f5 --- /dev/null +++ b/script/devices/Gonio.py @@ -0,0 +1,43 @@ + + +def home_fast_table(): + caput ("SAR-EXPMX1:ASYN.AOUT", "enable plc 1") + +def get_fx_pos(): + return caget("SAR-EXPMX:MOT_FX.RBV", 'f') + +def set_fx_pos(pos): + return caput("SAR-EXPMX:MOT_FX.VAL", float(pos)) + + +def get_fy_pos(): + return caget("SAR-EXPMX:MOT_FY.RBV", 'f') + +def set_fy_pos(pos): + return caput("SAR-EXPMX:MOT_FY.VAL", float(pos)) + +def get_ry_pos(): + return caget("SAR-EXPMX:MOT_ROT_Y.RBV", 'f') + +def set_ry_pos(pos): + return caput("SAR-EXPMX:MOT_ROT_Y.VAL", float(pos)) + +def get_cz_pos(): + return caget("SAR-EXPMX:MOT_CZ.RBV", 'f') + +def set_cz_pos(pos): + return caput("SAR-EXPMX:MOT_CZ.VAL", float(pos)) + +def get_cx_pos(): + return caget("SAR-EXPMX:MOT_CX.RBV", 'f') + +def set_cx_pos(pos): + return caput("SAR-EXPMX:MOT_CX.VAL", float(pos)) + + +def set_mount_position(): + set_fx_pos(0.0) + set_fy_pos(0.0) + set_ry_pos(0.0) + set_cz_pos(0.0) + set_cx_pos(0.0) \ No newline at end of file diff --git a/script/devices/Hexiposi.py b/script/devices/Hexiposi.py new file mode 100644 index 0000000..e787e56 --- /dev/null +++ b/script/devices/Hexiposi.py @@ -0,0 +1,175 @@ +import ch.psi.pshell.device.DiscretePositionerBase as DiscretePositionerBase +import requests +import json + +class Hexiposi(DiscretePositionerBase): + def __init__(self, name, url): + DiscretePositionerBase.__init__(self, name, ["A","B","C","D","E","F"]) + self.PORT_SET=8002 + self.PORT_GET=8002 + if not url.startswith("http://"): + url = "http://" + url + if not url.endswith(":"): + url = url + ":" + self.url_set = url + str (self.PORT_SET)+ "/TellWeb/" + self.url_get = url + str (self.PORT_GET)+ "/TellWeb/" + self.moved = True + self.homing_state = State.Disabled + self.rback = self.UNKNOWN_POSITION + self.timeout = 3.0 + self.offline = False + + def doInitialize(self): + super(Hexiposi, self).doInitialize() + self.val = self.doReadReadback() + + def get_response(self, response): + if (response.status_code!=200): + raise Exception (response.text) + return json.loads(response.text) + + def get_status(self): + try: + self.status = self.get_response(requests.get(url=self.url_get+"get", timeout=self.timeout)) + self.estop = self.status["estop"] + self.homed = self.status["homed"] + self.error = self.status["errorCode"] + self.remote = self.status["mode"] == "remote" + self.moving = self.status["errorCode"] + self.pos = self.status["position"] + self.moving = self.status["moving"] + self.offset = self.status["offset"] + self.dpos = self.status["discretePosition"] + if (self.homed==False): rback = self.UNKNOWN_POSITION + elif self.dpos == 1: rback = "B" # "A" + elif self.dpos == 2: rback = "C" # "B" + elif self.dpos == 4: rback = "D" # "C" + elif self.dpos == 8: rback = "E" # "D" + elif self.dpos == 16: rback = "F" # "E" + elif self.dpos == 32: rback = "A" # "F" + else: rback = self.UNKNOWN_POSITION + if (rback == self.UNKNOWN_POSITION) or (rback != self.rback): + self.moved = True + self.rback = rback + self.offline = False + return self.status + except: + self.offline = True + self.updateState() + raise + + def set_deadband(self, value = 0.1): #degrees + ret = self.get_response(requests.get(url=self.url_set+"setDeadband?deadband=" + str(value), timeout=self.timeout)) + if ret["deadbandOutput"] == value: + return value + raise Excepiton("Error setting deadband: " + str(ret)) + + def move_pos(self, pos): + return self.get_response(requests.get(url=self.url_set+"set?pos=" + str(pos), timeout=self.timeout)) + + def move_home(self): + ret = self.get_response(requests.get(url=self.url_set+"set?home=1", timeout=self.timeout)) + try: + self.waitState(self.homing_state,1200) + except: + pass + return ret + + def stop_move(self): + return self.get_response(requests.get(url=self.url_set+"set?stop=1", timeout=self.timeout)) + + def set_offset(self, offset): + return self.get_response(requests.get(url=self.url_set+"setOffset?offset="+str(offset), timeout=self.timeout)) + + def doUpdate(self): + self.get_status() + super(Hexiposi, self).doUpdate() + + + def doStop(self): + self.stop_move() + + def doRead(self): + return str(self.val) + + def doReadReadback(self): + self.get_status() + return self.rback + + def doWrite(self, val): + #val = ord(val) - ord('A') +1 + val = ord(val) - ord('B') +1 + if val==0: val=6 #A + if val<1 or val>6: + raise Exception("Invalid value: " + str(val)) + moving = val != self.val + self.val = val + self.move_pos(self.val) + #Workaround as state does not changes immediatelly + if moving: + #try: + # self.waitState(State.Busy,1200) + #except: + # print sys.exc_info()[1] + start = time.time() + while self.state != State.Busy: + if time.time() - start > 1.5: + print "Timeout waiting Hexiposi busy" + break + self.update() + + def is_in_position(self, pos): + return self.take() == pos + + + def assert_in_position(self, pos): + if not is_in_position(pos): + raise Exception ("Hexiposi is not in position") + + def assert_homed(self): + if self.homed == False: + raise Exception ("Hexiposi is not homed") + + def assert_in_known_position(self): + self.get_status() + if self.rback == 'Unknown': + raise Exception("Hexiposi is in an unknown position, please home.") + + #def isReady(self): + # self.get_status() + # return self.moving == False + + def updateState(self): + if self.isSimulated(): + self.setState(State.Ready) + elif self.offline: + self.setState(State.Offline) + elif self.homed == False: + self.setState(self.homing_state) + elif self.moving: + self.setState(State.Busy) + else: + self.setState(State.Ready) + + +#http://myriox06da:8002/TellWeb/get +dev = Hexiposi("hexiposi", "myriotell6d") + +#If no Rotation Lid is mounted set it to simulated +#dev.setSimulated() + +add_device(dev, True) +hexiposi.polling=1000 +#print dev.url +#print dev.get_status() + +class hexiposi_position(ReadonlyRegisterBase): + def doRead(self): + try: + return float(hexiposi.pos) + except: + return float("nan") + +add_device(hexiposi_position(), True) +hexiposi_position.polling = 1000 +hexiposi.set_deadband(1.0) diff --git a/script/devices/LaserDistance.py b/script/devices/LaserDistance.py new file mode 100644 index 0000000..086a508 --- /dev/null +++ b/script/devices/LaserDistance.py @@ -0,0 +1,27 @@ +class LaserDistance(ReadonlyRegisterBase): + def __init__(self): + ReadonlyRegisterBase.__init__(self, "laser_distance") + + def doRead(self): + ret = ue.readable.read() + ret = None if ret is None else (0.0 if math.isnan(ret) else ret) + return ret + +class ListenerAI (DeviceListener): + def onValueChanged(self, device, value, former): + if laser_distance is not None: + value = None if value is None else (0.0 if math.isnan(value) else value) + laser_distance.setCache(value, None) + + +for l in ue.listeners: + if Nameable.getShortClassName(l.getClass()) == "ListenerAI": + ue.removeListener(l) + + +listenerAI = ListenerAI() +ue.addListener(listenerAI) + +laser_distance=LaserDistance() +add_device(laser_distance, True) +laser_distance.update() diff --git a/script/devices/LedCtrl.py b/script/devices/LedCtrl.py new file mode 100644 index 0000000..da4e51d --- /dev/null +++ b/script/devices/LedCtrl.py @@ -0,0 +1,46 @@ +import ch.psi.pshell.device.DiscretePositionerBase as DiscretePositionerBase + + +class LedPositioner(DiscretePositionerBase): + def __init__(self): + DiscretePositionerBase.__init__(self, "led_ctrl", ["On", "Off"]) + self.setState(State.Ready) + self.val = self.doReadReadback() + + def doRead(self): + return self.val + + def doReadReadback(self): + return "On" if get_led_state() else "Off" + + def doWrite(self, val): + self.val = val + if self.val == "On": + set_led_state(True) + else: + set_led_state(False) + + +add_device(LedPositioner(), True) +led_ctrl.polling = 1000 + + + + +import ch.psi.pshell.device.ProcessVariableConfig as ProcessVariableConfig +class LedLevel(ProcessVariableBase): + def __init__(self, name): + ProcessVariableBase.__init__(self, name, ProcessVariableConfig()) + + def doRead(self): + return get_led_level() + + def doWrite(self, val): + return set_led_level(val) + +led_level = LedLevel("led_level") +led_level.config.minValue = 0.0 +led_level.config.maxValue = 100.0 +led_level.config.unit = "%" +add_device(led_level, True) +led_level.polling = 1000 \ No newline at end of file diff --git a/script/devices/OneWire.py b/script/devices/OneWire.py new file mode 100644 index 0000000..20e590f --- /dev/null +++ b/script/devices/OneWire.py @@ -0,0 +1,134 @@ +import traceback +from datetime import datetime + +class Detector(ReadonlyRegisterBase): + def __init__(self, name): + ReadonlyRegisterBase.__init__(self, name) + self.reset() + + def set_inputs(self, inputs): + self.inputs = inputs + if self.take() != inputs.values(): + self.setCache(inputs.values(), None) + if self.getParent()!=None: + self.getParent().updateCache() + if (len(self.take()) == 0): + self.setState(State.Offline) + else: + self.setState(State.Ready) + + def set_input(self, index, val): + self.inputs[index] = val + self.set_inputs(self.inputs) + + def reset(self): + self.id = None + self.sn = None + self.status = None + self.type = None + self.set_inputs({}) + +class Esera(TcpDevice): + def __init__(self, name, server, timeout = 1000, retries = 1): + TcpDevice.__init__(self, name, server) + self.setMode(self.Mode.FullDuplex) + self.detectors = [] + for i in range(30): + self.detectors.append(Detector("Detector " + str(i+1))) + self.setChildren(self.detectors) + self.completed_initializatiod = False + self.debug = False + + def start(self): + self.getLogger().info("Starting controller") + self.write("set,sys,run,1\n") + + def stop(self): + self.getLogger().info("Stopping controller") + self.write("set,sys,run,0\n") + + def list(self): + self.write("get,owb,listall1\n") + + def req_data(self): + self.write("get,sys,data\n") + + def doInitialize(self): + super(Esera, self).doInitialize() + self.init_timestamp = time.time() + try: + self.setState(State.Ready) #So can communicate + for det in self.detectors: + det.reset() + self.list() + time.sleep(1.0) + self.check_started() + self.req_data() + except: + print >> sys.stderr, traceback.format_exc() + self.getLogger().warning(traceback.format_exc()) + raise + + def doUpdate(self): + self.check_started() + self.req_data() + + def updateCache(self): + #print "Update" + cache = [] + for det in self.detectors: + cache.append(det.take()) + self.setCache(cache, None) + + + def check_started(self): + if not self.completed_initializatiod: + init = True + for det in self.detectors: + if det.id == None: + init = False + break + if init: + self.completed_initializatiod = True + print("Completed initialization") + self.getLogger().info("Completed initialization") + self.start() + + def onString(self, msg): + if self.debug: + print datetime.now() , " - " , msg + tokens = msg.split("|") + if len(tokens)>1: + try: + if msg[:3] == "LST": + #LST|1_OWD1|3AF361270000009E|S_0|DS2413| + if tokens[1] > 1: + index = int(tokens[1].split("_")[1][3:]) - 1 + if index < len(self.detectors): + det = self.detectors[index] + det.id = tokens[1] + det.sn= tokens[2] if len(tokens)>2 else None + det.status = int(tokens[3][2:]) if len(tokens)>3 else None + det.type = tokens[4] if len(tokens)>4 else None + if det.status!= 0: + det.set_inputs({}) + else: + for det in self.detectors: + if det.id is not None and msg.startswith(det.id): + det_id = int(tokens[0][len(det.id)+1:]) + det.set_input(det_id, int(tokens[1])) + except: + print >> sys.stderr, traceback.format_exc() + self.getLogger().log(traceback.format_exc()) + + + + + + + +add_device(Esera("onewire", "129.129.126.83:5000"), force = True) +onewire.setPolling(500) +add_device(onewire.detectors[0], force = True) +add_device(onewire.detectors[1], force = True) +add_device(onewire.detectors[2], force = True) diff --git a/script/devices/RobotModbus.py b/script/devices/RobotModbus.py new file mode 100644 index 0000000..cd8abaf --- /dev/null +++ b/script/devices/RobotModbus.py @@ -0,0 +1,46 @@ +class RobotModbus(DeviceBase): + def __init__(self, name): + DeviceBase.__init__(self, name) + robot_req.write(0) + + def execute(self, command, *argv): + if robot_req.read() != 0: + raise Exception("Ongoing command") + if robot_ack.read() != 0: + raise Exception("Robot is not ready") + robot_cmd.write(command) + args = [0] * robot_args.size + index = 0 + for arg in argv: + args[index] = arg + index = index + 1 + if index == robot_args.size: + raise Exception("Invalid number of arguments") + robot_args.write(to_array(args, 'i')) + try: + self.request() + err = robot_ack.take() + if err == 1: + ret = robot_ret.read() + return ret + if err == 2: + raise Exception("Invalid command: " + str(command)) + raise Exception("Unknown error: " + str(err)) + finally: + self.cancel_request() + + def request(self): + robot_req.write(1) + while robot_ack.read() == 0: + time.sleep(0.001) + + def cancel_request(self): + robot_req.write(0) + while robot_ack.read() != 0: + time.sleep(0.001) + + def mount(self, puck, sample): + return self.execute('1', '1', puck, sample) + +add_device(RobotModbus("robot_mb"), force = True) + diff --git a/script/devices/RobotMotors.py b/script/devices/RobotMotors.py new file mode 100644 index 0000000..07ba862 --- /dev/null +++ b/script/devices/RobotMotors.py @@ -0,0 +1,62 @@ + +import ch.psi.pshell.device.PositionerConfig as PositionerConfig + + + +ROBOT_MOTORS = ["x" , "y", "z", "rx", "ry", "rz"] + + +class RobotCartesianMotor (PositionerBase): + def __init__(self, robot, index): + PositionerBase.__init__(self, robot.name + "_" + ROBOT_MOTORS[index], PositionerConfig()) + self.index = index + self.robot = robot + + #ATTENTION: Always initialize cartesian motors before scanning (or call robot.set_motors_enabled(True)) + def doInitialize(self): + self.setCache(self.doRead(), None) + + def doRead(self): + return float("nan") if self.robot.cartesian_destination is None else float(self.robot.cartesian_destination[self.index]) + + def doWrite(self, value): + if self.robot.cartesian_destination is not None: + #print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value) + self.robot.cartesian_destination[self.index] = float(value) + self.robot.set_pnt(robot.cartesian_destination , "tcp_p") + self.robot.movel("tcp_p", self.robot.tool , DESC_SCAN) + + def doReadReadback(self): + return float("nan") if self.robot.cartesian_pos is None else float(self.robot.cartesian_pos[self.index]) + + + + +ROBOT_JOINT_MOTORS = ["j1" , "j2", "j3", "j4", "j5", "j6"] + + +class RobotJointMotor (PositionerBase): + def __init__(self, robot, index): + PositionerBase.__init__(self, robot.name + "_" + ROBOT_JOINT_MOTORS[index], PositionerConfig()) + self.index = index + self.robot = robot + + def doInitialize(self): + self.setpoint = self.doReadReadback() + self.setCache(self.doRead(), None) + + def doRead(self): + return self.setpoint + + def doWrite(self, value): + #print "Move " + ROBOT_JOINT_MOTORS[self.index] + " to " + str(value) + self.setpoint = value + joint = self.robot.herej() + joint[self.index] = value + self.robot.set_jnt(joint, name="tcp_j") + self.robot.movej("tcp_j", self.robot.tool , DESC_SCAN) + + def doReadReadback(self): + return self.robot.herej()[self.index] if self.robot.joint_pos is None else float(self.robot.joint_pos[self.index]) + + \ No newline at end of file diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py new file mode 100644 index 0000000..3f2b727 --- /dev/null +++ b/script/devices/RobotSC.py @@ -0,0 +1,358 @@ +TOOL_CALIBRATION = "tCalib" +TOOL_SUNA= "tSuna" +TOOL_DEFAULT= TOOL_SUNA + +FRAME_TABLE = "fTable" + +DESC_FAST = "mFast" +DESC_SLOW = "mSlow" +DESC_SCAN = "mScan" +DESC_DEFAULT = DESC_FAST + +AUX_SEGMENT = "X" + + +DEFAULT_ROBOT_POLLING = 500 +TASK_WAIT_ROBOT_POLLING = 50 + + +run("devices/RobotTCP") + + +simulation = False + +joint_forces = False + +class RobotSC(RobotTCP): + def __init__(self, name, server, timeout = 1000, retries = 1): + RobotTCP.__init__(self, name, server, timeout, retries) + self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "recover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome", "moveAux"]) + self.set_known_points(["pPark", "pGonioA", "pDewar", "pGonioG", "pScan", "pHeater", "pHeat", "pHeatB", "pLaser","pHelium", "pHome", "pCold", "pAux"]) + self.setPolling(DEFAULT_ROBOT_POLLING) + self.last_command_timestamp = None + self.last_command_position = None + #self.setSimulated() + + def move_dewar(self): + self.start_task('moveDewar') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_dewar() + self.last_command_position = "dewar" + self.last_command_timestamp = time.time() + + def move_cold(self): + self.start_task('moveCold') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_cold() + self.last_command_position = "cold" + self.last_command_timestamp = time.time() + + def move_home(self): + self.start_task('moveHome') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_home() + self.last_command_position = "home" + self.last_command_timestamp = time.time() + + def get_dewar(self, segment, puck, sample): + segment = self.toSegmentNumber(segment) + self.start_task('getDewar',segment, puck, sample, is_room_temp()) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_dewar() + self.last_command_position = "dewar" + self.last_command_timestamp = time.time() + + def put_dewar(self, segment, puck, sample): + segment = self.toSegmentNumber(segment) + self.assert_dewar() + self.start_task('putDewar',segment, puck, sample, is_room_temp()) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + #self.assert_dewar() + self.assert_cold() + self.last_command_position = "dewar" + self.last_command_timestamp = time.time() + + def put_gonio(self): + assert_detector_safe() + pin_offset = get_pin_offset() + pin_angle_offset = get_pin_angle_offset() + print "Pin offset = " + str(pin_offset) + self.start_task('putGonio', pin_offset) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_gonio() + self.last_command_position = "gonio" + self.last_command_timestamp = time.time() + + def get_gonio(self): + assert_detector_safe() + pin_offset = get_pin_offset() + print "Pin offset = " + str(pin_offset) + self.start_task('getGonio', pin_offset) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_gonio() + self.last_command_position = "gonio" + self.last_command_timestamp = time.time() + + def get_aux(self, sample): + self.assert_aux() + self.start_task('getAuxiliary', sample) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_aux() + self.last_command_position = "aux" + self.last_command_timestamp = time.time() + + def put_aux(self, sample): + self.assert_aux() + self.start_task('putAuxiliary', sample) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_aux() + self.last_command_position = "aux" + self.last_command_timestamp = time.time() + + def move_scanner(self): + self.start_task('moveScanner') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_scanner() + self.last_command_position = "scanner" + self.last_command_timestamp = time.time() + + def move_laser(self): + self.start_task('moveScanner') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_laser() + self.last_command_position = "scanner" + self.last_command_timestamp = time.time() + + #def do_scan(self): + # self.start_task('doScan') + # self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + # self.assert_scan_stop() + + def move_gonio(self): + assert_detector_safe() + self.start_task('moveGonio') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_gonio() + self.last_command_position = "gonio" + self.last_command_timestamp = time.time() + + + def move_park(self): + self.start_task('movePark') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_park() + self.last_command_position = "park" + self.last_command_timestamp = time.time() + + def move_heater(self, speed=-1, to_bottom=True): + self.start_task('moveHeater', speed, to_bottom) + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + if to_bottom: + self.assert_heater_bottom() + else: + self.assert_heater() + self.last_command_position = "heater" + self.last_command_timestamp = time.time() + + + def robot_recover(self): + self.start_task('recover') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_home() + self.last_command_position = "home" + self.last_command_timestamp = time.time() + + def move_aux(self): + self.start_task('moveAux') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_aux() + self.last_command_position = "aux" + self.last_command_timestamp = time.time() + + def get_calibration_tool(self): + self.start_task('getCalTool') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_scanner() + self.last_command_position = "scanner" + self.last_command_timestamp = time.time() + + def put_calibration_tool(self): + self.start_task('putCalTool') + self.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + self.assert_scanner() + self.command_timestamps["scanner"] = time.time() + + + + def toSegmentNumber(self, segment): + if is_string(segment): + segment = ord(segment.upper()) - ord('A') +1 + return segment + + + def on_event(self,ev): + #print "EVT: " + ev + pass + def on_change_working_mode(self, working_mode): + if get_device("hexiposi") is not None: + hexiposi.moved = True #Force image processing on first sample + + def doUpdate(self): + #start = time.time() + RobotTCP.doUpdate(self) + global simulation + if not simulation: + if joint_forces: + if self.state != State.Offline: + self.get_joint_forces() + for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: + dev.update() + #print time.time() -start + + def start_task(self, program, *args, **kwargs): + #TODO: Check safe position + return RobotTCP.start_task(self, program, *args, **kwargs) + + def stop_task(self): + RobotTCP.stop_task(self) + #TODO: Restore safe position + + + def set_remote_mode(self): + robot.set_profile("remote") + + def set_local(self): + robot.set_profile("default") + + def is_park(self): + return self.is_in_point("pPark") + + def is_cold(self): + return self.is_in_point("pCold") + + def is_home(self): + return self.is_in_point("pHome") + + def is_dewar(self): + return self.is_in_point("pDewar") + + def is_heater(self): + return self.is_in_point("pHeat") + + def is_heater_home(self): + return self.is_in_point("pHeater") + + def is_heater_bottom(self): + return self.is_in_point("pHeatB") + + def is_gonio(self): + return self.is_in_point("pGonioA") + + def is_helium(self): + return self.is_in_point("pHelium") + + def is_scanner(self): + return self.is_in_point("pScan") + + def is_aux(self): + return self.is_in_point("pAux") + + def is_laser(self): + return self.is_in_point("pLaser") + + def is_cleared(self): + #return self.is_home() or self.is_park() or self.is_dewar() or self.is_dewar_home() + return self.get_current_point() is not None + + def assert_heater_home(self): + self.assert_in_point("pHeater") + + def assert_cold(self): + self.assert_in_point("pCold") + + def assert_heater(self): + self.assert_in_point("pHeat") + + def assert_heater_bottom(self): + self.assert_in_point("pHeatB") + + def assert_park(self): + self.assert_in_point("pPark") + + def assert_home(self): + self.assert_in_point("pHome") + + def assert_dewar(self): + self.assert_in_point("pDewar") + + def assert_gonio(self): + self.assert_in_point("pGonioA") + + def assert_helium(self): + self.assert_in_point("pHelium") + + def assert_scanner(self): + self.assert_in_point("pScan") + + def assert_aux(self): + self.assert_in_point("pAux") + + def assert_laser(self): + self.assert_in_point("pLaser") + + def assert_cleared(self): + if not self.is_cleared(): + raise Exception("Robot not in cleared position") + + def wait_ready(self): + robot.waitState(State.Ready, 1000) #robot.state.assertReady() + +if simulation: + add_device(RobotSC("robot","localhost:1000"),force = True) +else: + add_device(RobotSC("robot", "TellRobot6D:1000"), force = True) + #add_device(RobotSC("robot", "129.129.110.110:1000"), force = True) + +#robot.latency = 0.005 +robot.set_default_desc(DESC_DEFAULT) +robot.default_speed = 20 +robot.set_frame(FRAME_DEFAULT) +robot.set_tool(TOOL_DEFAULT) +robot.setPolling(DEFAULT_ROBOT_POLLING) + +robot.get_current_point() #TODO: REMOVE WHEN CURRENT POINT REPORTED BY POLLING MESSAGE + +class jf1(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[0] +class jf2(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[1] +class jf3(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[2] +class jf4(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[3] +class jf5(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[4] +class jf6(ReadonlyRegisterBase): + def doRead(self): + return None if robot.joint_forces == None else robot.joint_forces[5] +class jfc(ReadonlyRegisterBase): + def doRead(self): + if robot.joint_forces == None: + return float('NaN') + if robot.powered == False: + return float('NaN') + return (robot.joint_forces[1]+74)/4 + (robot.joint_forces[2]+30)/4 + (robot.joint_forces[4]-0.8)/0.2 + +if joint_forces: + add_device(jf1(), force = True) + add_device(jf2(), force = True) + add_device(jf3(), force = True) + add_device(jf4(), force = True) + add_device(jf5(), force = True) + add_device(jf6(), force = True) + add_device(jfc(), force = True) \ No newline at end of file diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py new file mode 100644 index 0000000..4727d68 --- /dev/null +++ b/script/devices/RobotTCP.py @@ -0,0 +1,919 @@ +import threading + +FRAME_DEFAULT = "world" +FLANGE = "flange" + +MAX_NUMBER_PARAMETERS = 20 + +run("devices/RobotMotors") + +class RobotTCP(TcpDevice, Stoppable): + def __init__(self, name, server, timeout = 1000, retries = 1): + TcpDevice.__init__(self, name, server) + self.timeout = timeout + self.retries = retries + self.header = None + self.trailer = "\n" + self.array_separator = '|' + self.cmd_separator = ' ' + self.msg_id = 0 + self.working_mode = "invalid" + self.status = "invalid" + self.powered = None + self.settled = None + self.empty = None + self.working_mode = None + self.status = None + self.lock = threading.Lock() + self.joint_forces = None + self.current_task = None + self.current_task_ret = None + self.high_level_tasks = [] + self.known_points = [] + self.current_points = [] + self.cartesian_destination = None + #self.flange_pos = [None] * 6 + self.cartesian_pos = [None] * 6 + self.joint_pos = [None] * 6 + self.cartesian_motors_enabled = False + self.cartesian_motors = [] + self.joint_motors_enabled = False + self.joint_motors = [] + self.tool = None + self.default_desc = None + self.tool_open = None + #self.tool_trsf = [0.0] * 6 + self.frame = FRAME_DEFAULT + self.polling_interval = 0.01 + self.reset = True + self.default_tolerance = 5 + self.default_speed = 100 + self.latency = 0 + self.last_msg_timestamp = 0 + + self.task_start_retries = 3 + self.exception_on_task_start_failure = True #Tasks may start and be finished when checked + + + def doInitialize(self): + super(RobotTCP, self).doInitialize() + self.reset = True + + def set_tool(self, tool): + self.tool = tool + #self.tool_trsf = self.get_tool_trsf() + self.evaluate("tcp_curtool=" + tool) + if self.cartesian_motors_enabled: + self.update() + self.set_motors_enabled(True) + self.is_tool_open() + + def get_tool(self): + return self.tool + + def set_frame(self, frame): + self.frame = frame + self.evaluate("tcp_curframe=" + frame) + if self.cartesian_motors_enabled: + self.update() + self.set_motors_enabled(True) + self.waitCacheChange(5000) + + def get_frame(self): + return self.frame + + def set_default_frame(self): + self.set_frame(FRAME_DEFAULT) + + def assert_tool(self, tool=None): + if tool is None: + if self.tool is None: + raise Exception("Tool is undefined") + elif self.tool != tool: + raise Exception("Invalid tool: " + self.tool) + + def set_default_desc(self,default_desc): + self.default_desc=default_desc + + def get_default_desc(self): + return self.default_desc + + def set_tasks(self,tasks): + self.high_level_tasks=tasks + + def get_tasks(self): + return self.high_level_tasks + + def set_known_points(self, points): + self.known_points=points + + def get_known_points(self): + return self.known_points + + def get_current_points(self, tolerance = None): + ret = self.is_in_points(*self.known_points, tolerance = tolerance) + current_points = [] + for i in range(len(ret)): + if ret[i] == True: + current_points.append(self.known_points[i]) + return current_points + + def get_current_point(self, tolerance = None): + current_points = self.get_current_points(tolerance) + if (current_points is not None) and ( len(current_points) >0): + return current_points[0] + return None + + def get_current_points_cached(self): + return self.current_points + + def get_current_point_cached(self): + if (self.current_points is not None) and (len (self.current_points) >0): + return self.current_points[0] + return None + + def assert_in_known_point(self, tolerance = None): + if self.get_current_point(tolerance) is None: + raise Exception ("Robot not in known point") + + def _sendReceive(self, msg_id, msg = "", timeout = None): + if self.latency >0: + timespan = time.time() - self.last_msg_timestamp + if timespan<self.latency: + time.sleep(self.latency-timespan) + tx = self.header if (self.header != None) else "" + tx = tx + msg_id + " " + msg + if (len(tx)>150): + raise Exception("Exceeded maximum message size") + self.getLogger().finer("TX = '" + str(tx)+ "'") + if (self.trailer != None): tx = tx + self.trailer + if self.isSimulated(): + return "" + rx = self.sendReceive(tx, msg_id, self.trailer , 0, self.timeout if timeout is None else timeout, self.retries) + self.last_msg_timestamp = time.time() + rx=rx[:-1] #Remove 0A + self.getLogger().finer("RX = '" + str(rx) + "'") + if rx[:3] != msg_id: + if (time.time()-start) >= timeout: + raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id ) + if len(rx)<4: + raise Exception("Invalid message size: " + str(len(rx)) ) + if rx[3] == "*": + raise Exception(rx[4:]) + return rx[4:] + + def call(self, msg, timeout = None): + self.lock.acquire() + try: + id = "%03d" % self.msg_id + self.msg_id = (self.msg_id+1)%1000 + return self._sendReceive(id, msg, timeout) + finally: + self.lock.release() + + def execute(self, command, *args, **kwargs): + timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"] + msg = str(command) + if len(args)>MAX_NUMBER_PARAMETERS: + raise Exception("Exceeded maximum number of parameters") + for i in range(len(args)): + msg += (self.cmd_separator if (i==0) else self.array_separator) + str(args[i]) + rx = self.call(msg, timeout) + if rx.count(self.array_separator)>0: + return rx.split(self.array_separator) + return rx + + def evaluate(self, cmd, timeout=None): + ret = self.execute('eval', cmd, timeout=timeout) + if is_string(ret): + if ret.strip() != "": raise Exception(ret) + + def get_var(self, name): + return self.execute('get_var', name) + + #Makes app crash + #def get_str(self, name='s'): + # return self.execute('get_str', name) + + def get_arr(self, name, size): + return self.execute('get_arr', name, size) + + def get_bool(self, name = "tcp_b"): + return True if (self.execute('get_bool', name).strip() == '1') else False + + def get_int(self, name ="tcp_n"): + return int(self.get_var(name)) + + def get_float(self, name ="tcp_n"): + return float(self.get_var(name)) + + def get_int_arr(self, size, name="tcp_a"): + # not working. A Jython bug in PyUnicaode? + #return [int(x) for x in self.get_arr("tcp_a", size)] + ret = [] + a=self.get_arr(name, size) + for i in range(size): + ret.append(int(a[i])) + return ret + + def get_float_arr(self, size, name="tcp_a"): + #return [float(x) for x in self.get_arr("tcp_a", size)] + a=self.get_arr(name, size) + ret = []; + for i in range(size): ret.append(float(a[i])); + return ret + + def get_trsf(self, name="tcp_t"): + a = self.execute('get_trf', name) + ret = [] + for i in range(6): ret.append(float(a[i])) + return ret + + def set_trsf(self, l, name="tcp_t"): + self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}") + + def get_jnt(self, name="tcp_j"): + a = self.execute('get_jnt', name) + ret = [] + for i in range(6): ret.append(float(a[i])) + return ret + + def set_jnt(self, l, name="tcp_j"): + self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}") + + def get_pnt(self, name="tcp_p"): + #a = self.execute('get_pnt', name) + #ret = [] + #for i in range(6): ret.append(float(a[i])) + #return ret + return self.get_trsf(name+".trsf") + + #trsf = (x,y,z,rx,ry,rz) + #TODO: config = (shoulder, elbow, wrist) + def set_pnt(self, trsf, name="tcp_p", config=None): + self.set_trsf(trsf, name+".trsf") + + def get_tool_trsf(self, name=None): + if name is None: + self.assert_tool() + name = self.tool + return self.get_trsf(name+".trsf") + + def set_tool_trsf(self, trsf, name=None): + if name is None: + self.assert_tool() + name = self.tool + self.set_trsf(trsf, name+".trsf") + + def eval_int(self, cmd): + if self.isSimulated(): + return 0 + self.evaluate("tcp_n=" + cmd) + return self.get_int() + + def eval_float(self, cmd): + if self.isSimulated(): + return 0.0 + self.evaluate("tcp_n=" + cmd) + return self.get_float() + + def eval_bool(self, cmd): + if self.isSimulated(): + return False + self.evaluate("tcp_b=" + cmd) + return self.get_bool() + + #def eval_str(self, cmd): + # self.evaluate("s=" + cmd) + # return self.get_str() + + def eval_jnt(self, cmd): + self.evaluate("tcp_j=" + cmd) + return self.get_jnt() + + def eval_trf(self, cmd): + self.evaluate("tcp_t=" + cmd) + return self.get_trsf() + + def eval_pnt(self, cmd): + self.evaluate("tcp_p=" + cmd) + return self.get_pnt() + + + #Robot control + def is_powered(self): + self.powered = self.eval_bool("isPowered()") + return self.powered + + def enable(self): + if not self.is_powered(): + self.evaluate("enablePower()") + time.sleep(1.0) + if not self.is_powered(): + raise Exception("Cannot enable power") + + #waits for power to be actually cut off + def disable(self): + self.evaluate("disablePower()", timeout=5000) + + def get_monitor_speed(self): + self.speed = self.eval_int("getMonitorSpeed()") + return self.speed + + def set_monitor_speed(self, speed): + ret = self.eval_int("setMonitorSpeed(" + str(speed) + ")") + if (ret==-1): raise Exception("The robot is not in remote working mode") + if (ret==-2): raise Exception("The monitor speed is under the control of the operator") + if (ret==-3): raise Exception("The specified speed is not supported") + + def set_default_speed(self): + set_monitor_speed(self.default_speed) + + def is_calibrated(self): + return self.eval_bool("isCalibrated()") + + def save_program(self): + ret = self.execute('save', timeout=5000) + if str(ret) != "0": raise Exception("Error saving program: " + str(ret)) + + def _update_working_mode(self, mode, status): + cur_mode = self.working_mode + if mode==1: + self.working_mode = "manual" + self.status = "hold" if status==6 else "move" + elif mode==2: + self.working_mode = "test" + self.status = "hold" if status==3 else "move" + elif mode==3: + self.working_mode = "local" + self.status = "hold" if status==2 else "move" + elif mode==4: + self.working_mode = "remote" + self.status = "hold" if status==2 else "move" + else: + self.working_mode = "invalid" + self.status = "invalid" + if self.working_mode != cur_mode: + try: + self.on_change_working_mode(self.working_mode) + except: + pass + + def read_working_mode(self): + try: + mode = self.eval_int("workingMode(tcp_a)") + status = int(self.get_var("tcp_a[0]")) + self._update_working_mode(mode, status) + self._update_state() + except: + self.working_mode = "invalid" + self.status = "invalid" + return self.working_mode + + def get_emergency_stop_sts(self): + st = self.eval_int("esStatus()") + if (st== 1): return "active" + if (st== 2): return "activated" + return "off" + + def get_safety_fault_signal(self): + fault = self.eval_bool("safetyFault(s)") + #if (fault): + # return get_str() + return fault + + #Motion control + def stop(self): + self.evaluate("stopMove()") + + def resume(self): + self.evaluate("restartMove()") + + 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()") + self._update_state() + return self.empty + + def is_settled(self): + self.settled = self.eval_bool("isSettled()") + self._update_state() + return self.settled + + def get_move_id(self): + return self.eval_int("getMoveId()") + + def set_move_id(self, id): + return self.evaluate("setMoveId(" + str(id) + " )") + + def get_joint_forces(self): + try: + self.evaluate("getJointForce(tcp_a)") + self.joint_forces = self.get_float_arr(6) + return self.joint_forces + except: + self.joint_forces = None + raise + + def movej(self, joint_or_point, tool=None, desc=None, sync=False): + if desc is None: desc = self.default_desc + if tool is None: tool = self.tool + #If joint_or_point is a list assumes ir is a point + if not is_string(joint_or_point): + robot.set_pnt(joint_or_point , "tcp_p") + joint_or_point = "tcp_p" + + #TODO: in new robot movel and movej is freezing controller + #ret = self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")") + ret = int(self.execute('movej',joint_or_point, tool, desc)) + + if sync: + self.wait_end_of_move() + return ret + + def movel(self, point, tool=None, desc=None, sync=False): + if desc is None: desc = self.default_desc + if tool is None: tool = self.tool + if not is_string(point): + robot.set_pnt(point , "tcp_p") + point = "tcp_p" + #TODO: in new robot movel and movej is freezing controller + #ret = self.eval_int("movel(" + point + ", " + tool + ", " + desc +")") + ret = int(self.execute('movel',point, tool, desc)) + + if sync: + self.wait_end_of_move() + return ret + + def movec(self, point_interm, point_target, tool=None, desc=None, sync=False): + if desc is None: desc = self.default_desc + if tool is None: tool = self.tool + + #TODO: in new robot movel and movej is freezing controller + #ret = self.eval_int("movec(" + point_interm + ", " + point_target + ", " + tool + ", " + desc +")") + ret = int(self.execute('movec', point_interm, point_target, tool, desc)) + + if sync: + self.wait_end_of_move() + return ret + + def wait_end_of_move(self): + time.sleep(0.05) + self.update() + #time.sleep(0.01) + #self.waitCacheChange(-1) + self.waitReady(-1) + #self.waitState(State.Ready, -1) + + + #Tool - synchronized as can freeze communication + """ + def open_tool(self, tool=None, timeout=3000): + #This function can timeout since it synchronizes move. Checking state before otherwise it can freeze the communication. + self.waitState(State.Ready, -1) + if tool is None: tool = self.tool + return self.evaluate("open(" + tool + " )", timeout=timeout) + + def close_tool(self, tool=None, timeout=3000): + #This function can timeout since it synchronizes move. Checking state before otherwise it can freeze the communication. + self.waitState(State.Ready, -1) + if tool is None: tool = self.tool + return self.evaluate("close(" + tool + " )", timeout=timeout) + """ + #Tool - Not synchronized calls: atention to open/close only when state is Ready + def open_tool(self, tool=None): + if tool is None: tool = self.tool + self.evaluate(tool + ".gripper=true") + self.tool_open = True + + def close_tool(self, tool=None): + if tool is None: tool = self.tool + self.evaluate(tool + ".gripper=false") + self.tool_open = False + + def is_tool_open(self, tool=None): + if tool is None: tool = self.tool + self.tool_open = robot.eval_bool(tool + ".gripper") + return self.tool_open + + + #Arm position + def herej(self): + return self.eval_jnt("herej()") + + def distance_t(self, trsf1, trsf2): + return self.eval_float("distance(" + trsf1 + ", " + trsf2 + ")") + + def distance_p(self, pnt1, pnt2): + return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")") + + def compose(self, pnt, frame = None, trsf = "tcp_t"): + if frame is None: frame = self.frame + return self.eval_pnt("compose(" + pnt + ", " + frame + ", " + trsf + ")") + + def here(self, tool=None, frame=None): + if tool is None: tool = self.tool + if frame is None: frame = self.frame + return self.eval_pnt("here(" + tool + ", " + frame + ")") + + def joint_to_point(self, tool=None, frame=None, joint="tcp_j"): + if tool is None: tool = self.tool + if frame is None: frame = self.frame + return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")") + + def point_to_joint(self, tool=None, initial_joint="tcp_j", point="tcp_p"): + if tool is None: tool = self.tool + if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)"): + return self.get_jnt() + + def position(self, point, frame=None): + if frame is None: frame = self.frame + return self.eval_trf("position(" + point + ", " + frame + ")") + + #Profile + def get_profile(self): + return self.execute('get_profile', timeout=2000) + + def set_profile(self, name, pwd = ""): + self.execute('set_profile', str(name), str(pwd), timeout=5000) + + + #Task control + def task_create(self, program, *args, **kwargs): + program = str(program) + priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) or (kwargs["priority"] is None) else kwargs["priority"] + name = str(program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"]) + + if self.get_task_status(name)[0] != -1: + raise Exception("Task already exists: " + name) + + if priority<1 or priority > 100: + raise Exception("Invalid priority: " + str(priority)) + + cmd = program + '(' + for i in range(len(args)): + val = args[i] + if type(val) == bool: + if val == True: val = "true" + elif val == False: val = "false" + cmd += str(val) + (',' if (i<(len(args)-1)) else '') + cmd+=')' + + #TODO: in new robot exec taskCreate is freezing controller + #REMOVE if bug is fixed + self.execute('task_create',name, str(priority), program, *args) + #self.evaluate('taskCreate "' + name + '", ' + str(priority) + ', ' + cmd) + + + + def task_suspend(self, name): + self.evaluate('taskSuspend("' + str(name)+ '")') + + #waits until the task is ready for restart + def task_resume(self, name): + self.evaluate('taskResume("' + str(name)+ '",0)', timeout = 2000) + + #waits for the task to be actually killed + def task_kill(self, name): + #self.evaluate('taskKill("' + str(name)+ '")', timeout = 5000) + self.execute('kill', str(name), timeout=5000) + + def get_task_status(self, name): + if self.isSimulated(): + return (-1,"Stopped") + code = self.eval_int('taskStatus("' + str(name)+ '")') + #TODO: String assignments in $exec causes application to freeze + #status = self + if code== -1: status = "Stopped" + elif code== 0: status = "Paused" + elif code== 1: status = "Running" + #else: status = self.execute('get_help', code) + else: status = "Error" + return (code,status) + + def get_tasks_status(self, *pars): + ret = self.execute("task_sts", *pars) + ret = ret[0:len(pars)] + for i in range(len(ret)): + try: + ret[i] = int(ret[i]) + except: + ret[i] = None + return ret + + def _update_state(self): + #self.setState(State.Busy if self.status=="move" else State.Ready) + if self.state==State.Offline: + print "Communication resumed" + if self.reset or (self.state==State.Offline): + self.check_task() + if self.current_task is not None: + print "Ongoing task: " + self.current_task + if (not self.settled) or (self.current_task is not None): self.setState(State.Busy) + elif not self.empty: self.setState(State.Paused) + else: self.setState(State.Ready) + + def doUpdate(self): + try: + start = time.time() + cur_task = self.current_task #Can change in background so cache it + if self.isSimulated(): + sts = [1, 1,"1", 100, "1", "1", 0, 0, \ + 0, 0, 0, 0, 0, 0, \ + 0, 0, 0, 0, 0, 0, \ + ] + else: + sts = self.execute("get_status", cur_task) + self._update_working_mode(int(sts[0]), int(sts[1])) + self.powered = sts[2] == "1" + self.speed = int(sts[3]) + self.empty = sts[4] == "1" + self.settled = sts[5] == "1" + + #TODO: add tool open + if cur_task is not None: + if int(sts[6]) < 0: + log("Task "+ str(cur_task) + " finished with code: " + str(sts[7]), False) + try: + self.current_task, self.current_task_ret = None, int(sts[7]) + except: + self.current_task, self.current_task_ret = None, None + for i in range(6): + self.joint_pos[i] = float(sts[8 + i]) + for i in range(6): + self.cartesian_pos[i] = float(sts[14 + i]) + + ev_index = 20 #7 + ev = sts[ev_index] if len(sts)>ev_index else "" + if len(ev.strip()) >0: + self.getLogger().info(ev) + self.on_event(ev) + + self._update_state() + self.reset = False + self.setCache({"powered": self.powered, + "speed": self.speed, + "empty": self.empty, + "settled": self.settled, + "task": cur_task, + "mode": self.working_mode, + "status": self.status, + "open": self.tool_open, + "pos": self.get_current_point_cached() if self.state==State.Ready else None #TODO: make it calculated in robot by polling funtion + }, None) + + if self.cartesian_motors_enabled: + for m in self.cartesian_motors: + m.readback.update() + + if self.joint_motors_enabled: + for m in self.joint_motors: + m.readback.update() + + except: + if self.state != State.Offline: + print >> sys.stderr, "Update error: " + str(sys.exc_info()[1]) + self.setState(State.Offline) + + #Cartesian space + """ + def get_cartesian_pos(self): + self.assert_tool() + 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 call herej directly) + #We can consider atomic because tcp_j is only accessed in comTcp + def get_cartesian_pos(self, tool=None, frame=None): + if tool is None: + self.assert_tool() + tool = self.tool + if frame is None: + frame = self.frame + #Do not work + #self.evaluate("tcp_j=herej(); tcp_p=jointToPoint(" + tool + ", " + frame + ", tcp_j)") + #return self.get_pnt() + a = self.execute('get_pos', tool, frame) + ret = [] + for i in range(6): ret.append(float(a[i])) + return ret + + + def get_flange_pos(self, frame=None): + return get_cartesian_pos(FLANGE, frame) + + + def get_cartesian_destination(self, tool=None, frame=None): + if tool is None: + self.assert_tool() + tool = self.tool + if frame is None: + frame = self.frame + return self.here(tool, frame) + + def get_distance_to_pnt(self, name): + #self.here(self.tool, self.frame) #??? + self.set_pnt(self.get_cartesian_pos() ) + return self.distance_p("tcp_p", name) + + def is_in_point(self, p, tolerance = None): #Tolerance in mm + if (tolerance is None) and p in self.known_points: + #If checking a known point with default tolerance, updates the position cache + return p in self.get_current_points() + tolerance = self.default_tolerance if tolerance == None else tolerance + d = self.get_distance_to_pnt(p) + if d<0: + raise Exception ("Error calculating distance to " + p + " : " + str(d)) + return d<tolerance + + def get_distance_to_pnts(self, *pars): + ret = self.execute("dist_pnt", *pars) + ret = ret[0:len(pars)] + for i in range(len(ret)): + try: + ret[i] = float(ret[i]) + except: + ret[i] = None + return ret + + def is_in_points(self, *pars, **kwargs): #Tolerance in mm + tolerance = self.default_tolerance if (kwargs is None) or (not kwargs.has_key("tolerance")) or (kwargs["tolerance"] is None) else kwargs["tolerance"] + ret = self.get_distance_to_pnts(*pars) + for i in range(len(ret)): + if ret[i]<0: + ret[i] = None + else: + ret[i] = ret[i]<tolerance + if (tolerance == self.default_tolerance) and (set(self.known_points).issubset(set(pars))): #Only update cache if tolerance is default + current_points = [] + for i in range(len(ret)): + if ret[i] == True: + current_points.append(self.known_points[i]) + self.current_points = current_points + return ret + + def assert_in_point(self, p, tolerance = None): #Tolerance in mm + if not self.is_in_point(p, tolerance): + raise Exception ("Not in position " + p) + + + #Cartesian peudo-motors + def set_motors_enabled(self, value): + if value !=self.cartesian_motors_enabled: + self.cartesian_motors_enabled = value + if value: + for i in range(6): + self.cartesian_motors.append(RobotCartesianMotor(self, i)) + add_device(self.cartesian_motors[i], True) + self.cartesian_destination = self.get_cartesian_destination() + else: + for m in self.cartesian_motors: + remove_device(m) + self.cartesian_motors = [] + self.cartesian_destination = None + else: + if value: + self.cartesian_destination = self.get_cartesian_destination() + for m in self.cartesian_motors: + m.initialize() + + + #Cartesian peudo-motors + def set_joint_motors_enabled(self, value): + if value !=self.joint_motors_enabled: + self.joint_motors_enabled = value + if value: + for i in range(6): + self.joint_motors.append(RobotJointMotor(self, i)) + add_device(self.joint_motors[i], True) + else: + for m in self.joint_motors: + remove_device(m) + self.joint_motors = [] + else: + if value: + for m in self.joint_motors: + m.initialize() + #Alignment + def align(self, point = None, frame = None, desc = None): + if frame is None: frame = self.frame + self.assert_tool() + if desc is None: desc = self.default_desc + if point is None: + self.set_pnt(self.get_cartesian_pos() ) + else: + self.set_pnt(point) + np=self.eval_trf('align(tcp_p.trsf, ' + frame + '.trsf)') + self.set_pnt(np) + self.movej("tcp_p", self.tool, desc) + #TODO: The first command is not executed (but receive a move id) + self.movej("tcp_p", self.tool, desc, sync = True) + return np + + #High-level, exclusive motion task. + def start_task(self, program, *args, **kwargs): + tasks = [t for t in self.high_level_tasks] + if (self.current_task is not None) and (not self.current_task in tasks): + tasks.append(self.current_task) + if not program in tasks: + tasks.append(program) + #for task in tasks: + # if self.get_task_status(task)[0]>=0: + # raise Exception("Ongoing high-level task: " + task) + ts = self.get_tasks_status(*tasks) + for i in range(len(ts)): + if ts[i] > 0: + raise Exception("Ongoing high-level task: " + tasks[i]) + + self.clear_task_ret() + + for i in range(self.task_start_retries): + self.task_create(program, *args, **kwargs) + (code, status) = self.get_task_status(program) + if code>=0: break + if i < self.task_start_retries-1: + ret = self.get_task_ret(False) + if ret == 0: #Did't start + log("Retrying starting : " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False) + print "Retrying starting : " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")" + else : + print "Retrying aborted : " + str(program) + str(args) + " - ret: " + str(ret) + " - status: " + str(status) + " (" + str(code) + ")" + break + else: + log("Failed starting : " + str(program) + str(args), False) + print "Failed starting : " + str(program) + str(args) + if self.exception_on_task_start_failure: + raise Exception("Cannot start task: " + program + str(args)) + + log("Task started: " + str(program) + str(args) + " - status: " + str(status) + " (" + str(code) + ")", False) + self.current_task, self.current_task_ret = program, None + self.update() + #self._update_state() + + #TODO: remove + if self.current_task is None: + log("Task finished in first polling : " + str(program) , False) + print "Task finished in first polling : " + str(program) + + return code + + def stop_task(self): + tasks = [t for t in self.high_level_tasks] + if (self.current_task is not None) and (not self.current_task in tasks): + tasks.append(self.current_task) + for task in tasks: + #if self.get_task_status(task)[0]>=0: + self.task_kill(task) + self.reset_motion() + + def get_task_ret(self, cached = True): + return self.current_task_ret if cached else self.eval_int("tcp_ret") + + def clear_task_ret(self): + return self.evaluate("tcp_ret=0") + + def get_task(self): + return self.current_task + + def check_task(self): + if self.current_task is None: + for task in self.high_level_tasks: + if self.get_task_status(task)[0]>=0: + self.current_task, self.current_task_ret = task, None + log("Task detected: " + str(self.current_task), False) + return self.current_task + + def wait_task_finished (self, polling = None): + cur_polling = self.polling + if polling is not None: + self.polling = polling + try: + while self.get_task() != None: + time.sleep(self.polling_interval) + finally: + if polling is not None: + self.polling = cur_polling + ret = self.get_task_ret() + return ret + + def assert_no_task(self): + task = self.check_task() + if task != None: + raise Exception("Ongoing task: " + task) + + def on_event(self,ev): + pass + + def on_change_working_mode(self, working_mode): + pass + \ No newline at end of file diff --git a/script/devices/SmartMagnet.py b/script/devices/SmartMagnet.py new file mode 100644 index 0000000..0736fdf --- /dev/null +++ b/script/devices/SmartMagnet.py @@ -0,0 +1,129 @@ +class SmartMagnet(DeviceBase): + def __init__(self, name): + #DeviceBase.__init__(self, name, get_context().pluginManager.getDynamicClass("SmartMagnetConfig")()) + DeviceBase.__init__(self, name, DeviceConfig({ + "holdingCurrent":0.0, + "restingCurrent":0.0, + "mountCurrent":0.0, + "unmountCurrent":0.0, + "reverseCurrent":0.0, + "reverseTime":0.0, + })) + + def doInitialize(self): + super(SmartMagnet, self).doInitialize() + self.get_current() + + def set_current(self, current): + self.setCache(current, None) + smc_current.write(current) + + def get_current(self): + cur = smc_current.read() + self.setCache(cur, None) + return cur + + def get_current_rb(self): + self.assert_status() + return smc_current_rb.read() + + def get_status(self): + return smc_magnet_status.read() + + def assert_status(self): + pass + #if self.get_status() == False: + # raise Exception("Smart Magnet is in faulty status.") + + def is_mounted(self): + self.assert_status() + m1 = smc_mounted_1.read() + m2 = smc_mounted_2.read() + if m2==m1: + raise Exception("Smart Magnet has invalid detection.") + return m2 + + def set_supress(self, value): + smc_sup_det.write(value) + + def get_supress(self): + return smc_sup_det.read() + + def check_mounted(self, idle_time =1.0, timeout = -1, interval = 0.01): + self.assert_status() + start = time.time() + last = None + while True: + try: + det = self.is_mounted() + except: + det = None + if det != last: + settling_timestamp = time.time() + last = det + else: + if det is not None: + if (time.time()-settling_timestamp > idle_time): + return det + if timeout >= 0: + if (time.time() - start) > timeout: + raise Exception("Timeout waiting for Smart Magnet detection.") + time.sleep(interval) + + + def doUpdate(self): + try: + if self.get_supress(): + self.setState(State.Paused) + elif self.is_mounted(): + self.setState(State.Busy) + else: + self.setState(State.Ready) + except: + self.setState(State.Fault) + + def set_holding_current(self): + self.set_current(self.config.getFieldValue("holdingCurrent")) + + def set_resting_current(self): + self.set_current(self.config.getFieldValue("restingCurrent")) + + def set_mount_current(self): + self.set_current(self.config.getFieldValue("mountCurrent")) + + def set_unmount_current(self): + self.set_current(self.config.getFieldValue("unmountCurrent")) + + def set_reverse_current(self): + self.set_current(self.config.getFieldValue("reverseCurrent")) + + def set_default_current(self): + if self.is_mounted(): + self.set_holding_current() + else: + self.set_resting_current() + + def is_resting_current(self): + is_resting = 2.0 > abs( float(self.get_current()) - float(self.config.getFieldValue("restingCurrent")) ) + return is_resting + + + def apply_reverse(self): + reverse_wait = float(self.config.getFieldValue("reverseTime")) + if reverse_wait >0: + self.set_reverse_current() + time.sleep(reverse_wait) + + #Setting resting current to better detect sample + def apply_resting(self): + if not self.is_resting_current(): + self.set_resting_current() + + + + +add_device(SmartMagnet("smart_magnet"), force = True) + +smart_magnet.polling = 1000 + +smart_magnet.set_default_current() diff --git a/script/devices/Wago.py b/script/devices/Wago.py new file mode 100644 index 0000000..4aae8be --- /dev/null +++ b/script/devices/Wago.py @@ -0,0 +1,175 @@ +LED_LEVEL_ROOM_TEMPERATURE = 0.4 +LED_LEVEL_LN2 = 1.0 + + +################################################################################################### +# Leds +################################################################################################### + +def set_led_level(level): + level = max(min(float(level),100.0),0.0) + set_setting("led_level", level) + led_ctrl_1.write(led_ctrl_1.config.maxValue * level / 100.0) + led_ctrl_2.write(led_ctrl_2.config.maxValue * level / 100.0) + led_ctrl_3.write(led_ctrl_3.config.maxValue * level / 100.0) + +def get_led_level(): + level = get_setting("led_level") + return float(0 if level is None else level) + +def set_led_state(value): + """ + Turn leds on and off + """ + if value: + set_led_level(100.0) + else: + set_led_level(0.0) + +def get_led_state(): + """ + Returns led state (on/off) + """ + return led_ctrl_1.read() > 0 + +#TODO: The range should be set automatically reading LN2 sensor. +def set_led_range(room_temp = True): + """ + Led range should be limitted in room temperature + """ + max_val = LED_LEVEL_ROOM_TEMPERATURE if room_temp else LED_LEVEL_LN2 + led_ctrl_1.config.maxValue = max_val + led_ctrl_1.config.save() + led_ctrl_2.config.maxValue = max_val + led_ctrl_2.config.save() + led_ctrl_3.config.maxValue = max_val + led_ctrl_3.config.save() + led_ctrl_1.initialize() + led_ctrl_2.initialize() + led_ctrl_3.initialize() + if led_ctrl_1.read() > max_val: + led_ctrl_1.write(max_val) + if led_ctrl_2.read() > max_val: + led_ctrl_2.write(max_val) + if led_ctrl_3.read() > max_val: + led_ctrl_3.write(max_val) + set_led_level(get_led_level()) + + +def is_led_room_temp(): + return led_ctrl_1.config.maxValue <= LED_LEVEL_ROOM_TEMPERATURE + + + + +################################################################################################### +# Safety release +################################################################################################### + +def release_local(): + """ + Release local safety + """ + release_local_safety.write(False) + time.sleep(0.01) + release_local_safety.write(True) + time.sleep(0.01) + release_local_safety.write(False) + +def release_psys(): + """ + Release psys safety + """ + if is_manual_mode(): + raise Exception ("Cannot release PSYS in manual mode") + release_psys_safety.write(False) + time.sleep(0.01) + release_psys_safety.write(True) + time.sleep(0.01) + release_psys_safety.write(False) + + + +################################################################################################### +# Drier +################################################################################################### +MAX_HEATER_TIME = 120000 + +def set_air_stream(state): + """ + """ + valve_1.write(state) + valve_2.write(not state) + + +set_heater_chrono = None + +def monitor_heater_time(): + time.sleep(0.5) + try: + while get_heater(): + if set_heater_chrono.isTimeout(MAX_HEATER_TIME): + set_heater(False) + log("Heater timeout expired: turned off", False) + return + time.sleep(0.1) + except: + print sys.exc_info() + + +def get_heater(): + """ + """ + return gripper_dryer.read() + + +def set_heater(state): + """ + """ + global set_heater_chrono + if get_heater() != state: + gripper_dryer.write(state) + if state: + set_heater_chrono = Chrono() + fork(monitor_heater_time) + + +def get_air_stream(): + """ + """ + return valve_1.read() + + + +def set_pin_cleaner(state): + """ + """ + valve_7.write(state) + valve_8.write(not state) + + + +def get_pin_cleaner(): + """ + """ + return valve_7.read() + + +monitor_pin_cleaner_task = None + +def monitor_pin_cleaner(timeout): + global monitor_pin_cleaner_task + this = monitor_pin_cleaner_task + time.sleep(timeout) + if this == monitor_pin_cleaner_task: + set_pin_cleaner(False) + + +DEFAULT_PIN_CLEANER_TIMEOUT = 5.0 +def start_pin_cleaner(timeout=DEFAULT_PIN_CLEANER_TIMEOUT): + global monitor_pin_cleaner_task + set_pin_cleaner(True) + set_pin_cleaner_chrono = Chrono() + monitor_pin_cleaner_task = fork((monitor_pin_cleaner,(timeout,),))[0] + + diff --git a/script/hexiposi_positon.scd b/script/hexiposi_positon.scd new file mode 100644 index 0000000..471fb41 --- /dev/null +++ b/script/hexiposi_positon.scd @@ -0,0 +1,11 @@ +[ + [ [ true, "hexiposi_position", "Device", 1, 1, null ] ], + [ [ "1", null, null, null, null, null, null, null ], + [ "2", null, null, null, null, null, null, null ], + [ "3", null, null, null, null, null, null, null ], + [ "4", null, null, null, null, null, null, null ], + [ "5", null, null, null, null, null, null, null ] ], + [ [ ] ], + [ [ "", 1000, 100 ], + [ "", "" ] ] +] \ No newline at end of file diff --git a/script/imgproc/CameraCalibration.py b/script/imgproc/CameraCalibration.py new file mode 100644 index 0000000..a89510d --- /dev/null +++ b/script/imgproc/CameraCalibration.py @@ -0,0 +1,156 @@ +import ch.psi.pshell.device.Camera as Camera +import ch.psi.pshell.imaging.RendererMode as RendererMode +import ch.psi.pshell.imaging.Calibration as Calibration +from ch.psi.pshell.imaging.Overlays import * +import ch.psi.pshell.imaging.Pen as Pen +import ch.psi.utils.swing.SwingUtils as SwingUtils +import javax.swing.SwingUtilities as SwingUtilities +#from swingutils.threads.swing import callSwing +#SIMULATION = ch.psi.pshell.imaging.FileSource +""" +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(50.00) +img.camera.setAcquirePeriod(200.00) +img.camera.setGain(0.0) +img.config.rotationCrop=True +""" + +MOVE_HEXIPOSI = not is_manual_mode() +ROTATION_OFFSET = 180.0 + +if MOVE_HEXIPOSI: + release_safety() #enable_motion() + +sensor_width,sensor_height = img.camera.getSensorSize() +img.camera.setROI(0, 0,sensor_width, sensor_height) +img.config.rotation=0 +img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =0,0,-1,-1 +img.config.setCalibration(None) +img.camera.stop() +img.camera.start() + + +p = show_panel(img) +dlg = SwingUtilities.getWindowAncestor(p) +dlg.setSize(800,800) +frm=SwingUtils.getFrame(p) +dlg.setLocationRelativeTo(frm) + +p.setMode(RendererMode.Fit) +ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20)) +ov_text.setFixed(True) +p.addOverlay(ov_text) + + +try: + #Find image center and Prosilica ROI + ov_text.update("Click on the center of the Dewar...") + p.refresh() + dc = p.waitClick(60000) + print dc + width, height = min(dc.x, sensor_width-dc.x)*2, min(dc.y, sensor_height-dc.y)*2 + width, height = width - width%16, height - height%16 + width, height = min(width,1000), min(height,1000) + print width, height + roi_x = int(dc.x- width/2) + roi_y = int(dc.y- height/2) + roi_w = int(width) + roi_h = int(height) + set_setting("roi_x", roi_x) + set_setting("roi_y", roi_y) + set_setting("roi_w", roi_w) + set_setting("roi_h", roi_h) + img.camera.setROI(roi_x, roi_y, width, height) +except: + img.camera.setROI(int(get_setting("roi_x")), int(get_setting("roi_y")), int(get_setting("roi_w")), int(get_setting("roi_h"))) +finally: + img.camera.stop() + img.camera.start() + + +#Configure source +CC4 = (-129.9, -150) +CD5 = (129.9, -150) +CA5 = (-129.9, 150) +CF4 = (129.9, 150) + +DX = 259.8 +DY = 300.0 + +ROI_X = 470.0 +ROI_Y = 470.0 + +def rotate(x,y, degrees): + rotation = math.radians(degrees) + rw, rh = img.getImage().getWidth(), img.getImage().getHeight() + ox, oy = x - (rw / 2), y - (rh / 2) + x = ox * math.cos(rotation) - oy * math.sin(rotation) + rw / 2; + y = oy * math.cos(rotation) + ox * math.sin(rotation) + rh / 2; + return x,y + + +set_led_state(True) +try: + if MOVE_HEXIPOSI: set_hexiposi("C") + ov_text.update("Click on the center of C4 (19) position...") + p.refresh() + pc4 = p.waitClick(60000) + print pc4 + if MOVE_HEXIPOSI: set_hexiposi("D") + ov_text.update("Click on the center of D5 (13) position...") + p.refresh() + pd5 = p.waitClick(60000) + print pd5 + if MOVE_HEXIPOSI: set_hexiposi("F") + ov_text.update("Click on the center of F4 (04) position...") + p.refresh() + pf4 = p.waitClick(60000) + print pf4 + if MOVE_HEXIPOSI: set_hexiposi("A") + ov_text.update("Click on the center of A5 (28) position...") + p.refresh() + pa5 = p.waitClick(60000) + print pa5 + + + vc1x, vc1y, vc2x, vc2y = (pc4.x + pd5.x )/2.0, (pc4.y + pd5.y )/2.0, (pa5.x + pf4.x )/2.0, (pa5.y + pf4.y )/2.0 + hc1x, hc1y, hc2x, hc2y = (pc4.x + pa5.x )/2.0, (pc4.y + pa5.y )/2.0, (pd5.x + pf4.x )/2.0, (pd5.y + pf4.y )/2.0 + cx, cy = (vc1x + vc2x)/2, (hc1y + hc2y)/2 + + a1 = math.degrees(math.atan((cx-vc1x)/(vc1y-cy))) + a2 = math.degrees(math.atan((cx-vc2x)/(vc2y-cy))) + a = (a1+a2)/2 + + + dy = math.hypot(vc2y - vc1y, vc2x - vc1x) + dx = math.hypot(hc2x - hc1x, hc2y - hc1y) + print dy, dx, cx, cy + sx, sy = DX/dx, DY/dy + + + #Rotating center of puck + rcx, rcy = rotate(cx, cy, -a) + + + + roi_w, roi_h = int(ROI_X / sx), int(ROI_Y / sy) + roi_x, roi_y = int(rcx-roi_w/2), int(rcy-roi_h/2) + + print a, sx, sy, roi_w, roi_h + + img.config.rotation=-a + ROTATION_OFFSET + img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = roi_x, roi_y, roi_w, roi_h + img.config.setCalibration(Calibration(sx, sy, -roi_w/2, -roi_h/2)) + img.config.save() + + set_return ("Success calibrating the camera") + +finally: + set_led_state(False) + p.removeOverlay(ov_text) + img.refresh() + + \ No newline at end of file diff --git a/script/imgproc/CoverDetection.py b/script/imgproc/CoverDetection.py new file mode 100644 index 0000000..904837a --- /dev/null +++ b/script/imgproc/CoverDetection.py @@ -0,0 +1,98 @@ +################################################################################################### +# Procedure to detect the cover orientation +################################################################################################### +assert_imaging_enabled() + + +#Parameters +FRAMES_INTEGRATION = 3 +STEP_SIZE = 2 +POSITION_NAMES = [ 'A','B','C','D', 'E', 'F'] + +#POSITION_ANGLES = [ 330, 30, 90, 150, 210, 270 ] +POSITION_ANGLES = [ 0, 60, 120, 180, 240, 300 ] +POSITION_TOLERANCE = 3 +MINIMUM_CONFIDENCE = 3 +DEBUG = cover_detection_debug +#REFERENCE_IMG = "ref2" +REFERENCE_IMG = "ref1" +BORDER = 7 + +#Load reference image +ref = load_image(str("{images}/cover/" + REFERENCE_IMG + ".png") , title="Line") + +#Pre-process camera image +#ip = load_image("{images}/cover/Cover_000" + str(index) + ".png", title="Img") +ip = integrate_frames(FRAMES_INTEGRATION) +ip = grayscale(ip, True) +smooth(ip) +#bandpass_filter(ip, 30, 1000) +edges(ip) +auto_threshold(ip, method = "MaxEntropy") +#binary_erode(ip, True) +#binary_dilate(ip, True) +ip.getProcessor().erode(1, 255) +cx,cy = int(ip.width/2), int(ip.height/2) +ip = sub_image(ip, cx-ref.width/2, cy-ref.height/2, ref.width, ref.height) + +if BORDER>0: + sip = sub_image(ip, BORDER,BORDER, ref.width-2*BORDER, ref.height-2*BORDER) + ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER, fill_color=Color.WHITE) + +#Show ROI of pre-processed image +if DEBUG: + image_panel = show_panel(ip.bufferedImage) + + +#Calculate correlation between image and reference, rotating the reference from 0 to 360 +import ch.psi.pshell.imaging.Utils.integrateVertically as integrateVertically +ydata = [] +xdata = range (0,360,STEP_SIZE) +for i in xdata: + r = ref.duplicate() + r.getProcessor().setBackgroundValue(0.0) + r.getProcessor().rotate(float(i)) + op = op_fft(r, ip, "correlate") + bi = op.getBufferedImage() + p = integrateVertically(bi) + ydata.append(sum(p)) + + +#Calculate angle of the highest correlation, and confidence level +peaks = estimate_peak_indexes(ydata, xdata, (min(ydata) + max(ydata))/2, 25.0) +peaks_x = map(lambda x:xdata[x], peaks) +peaks_y = map(lambda x:ydata[x], peaks) +if len(peaks_x) > 1: + #remoce close peaks between 350 deg and 10 deg + if ((peaks_x[0]<10) and (peaks_x[1]>350)) or ((peaks_x[1]<10) and (peaks_x[0]>350)): + peaks.pop(1) + peaks_x.pop(1) + peaks_y.pop(1) + + +confidence = None if len(peaks_x)<2 else int(((float(peaks_y[0])/peaks_y[1])-1) * 1000) +angle = (None if len(peaks_x)==0 else peaks_x[0]) + +#From angle and confidence level estimate hexiposi position +position = None +if angle is not None: + for i in range(len(POSITION_NAMES)): + if abs(POSITION_ANGLES[i] - angle) <= POSITION_TOLERANCE: + position = POSITION_NAMES[i] + +#Plot the correlations values agains angle +if DEBUG: + plot(ydata, xdata=xdata) + +#Output results +if DEBUG: + print "Peaks", peaks + print "Peak indexes: " + str(peaks_x) + print "Peak values: " + str(peaks_y) + print "Angle: " , angle + print "Position: " , position + print "Confidence: " , confidence + +#Set return value +set_return ([position, angle, confidence]) + diff --git a/script/imgproc/CoverDetectionCalibration.py b/script/imgproc/CoverDetectionCalibration.py new file mode 100644 index 0000000..36f6a54 --- /dev/null +++ b/script/imgproc/CoverDetectionCalibration.py @@ -0,0 +1,40 @@ +#Parameters +FRAMES_INTEGRATION = 3 +MINIMUM_CONFIDENCE = 10 +DEBUG = cover_detection_debug +REFERENCE_IMG = "ref1" +ERODE_ITERATIONS = 2 + +#Load reference image +SIZE = [128,128] +BORDER = 7 + +hexiposi.move("A") +#Pre-process camera image +#ip = load_image("{images}/cover/Cover_000" + str(index) + ".png", title="Img") +ip = integrate_frames(FRAMES_INTEGRATION) +ip = grayscale(ip, True) +smooth(ip) +#bandpass_filter(ip, 30, 1000) +edges(ip) + +auto_threshold(ip, method = "MaxEntropy") +#binary_dilate(ip, True, 2) +for i in range(ERODE_ITERATIONS): + ip.getProcessor().erode(1, 255) + +cx,cy = int(ip.width/2), int(ip.height/2) +ip = sub_image(ip, cx-SIZE[0]/2, cy-SIZE[1]/2, SIZE[0], SIZE[1]) + +invert(ip) +ip = grayscale(ip, True) +#smooth(ip) + +if BORDER > 0: + sip = sub_image(ip, BORDER,BORDER, SIZE[0]-2*BORDER, SIZE[1]-2*BORDER) + ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER) +if DEBUG: + image_panel = show_panel(ip.bufferedImage) + +save_image(ip, str("{images}/cover/" + REFERENCE_IMG + ".png") ,"png") + \ No newline at end of file diff --git a/script/imgproc/CreateMask.py b/script/imgproc/CreateMask.py new file mode 100644 index 0000000..98b3498 --- /dev/null +++ b/script/imgproc/CreateMask.py @@ -0,0 +1,29 @@ + +mask_img = new_image(img.getOutput().getWidth(), img.getOutput().getHeight(), image_type="byte", title = "mask_img", fill_color = Color.BLACK) + +mask_radius = 14 +mask_points = [] + + +def to_img_coords(absolute_coords): + return [img.getCalibration().convertToImageX(absolute_coords[0]), img.getCalibration().convertToImageY(absolute_coords[1])] + +for p in _puck_list: + mask_points.append(to_img_coords(p.led_mini)) + mask_points.append(to_img_coords(p.led_uni)) + + + +i = mask_img.getBufferedImage() +for p in mask_points: + #i.setRGB(p[0], p[1], 0xFFFFFF) + for x in range (p[0]-mask_radius, p[0]+mask_radius): + for y in range (p[1]-mask_radius, p[1]+mask_radius): + if math.hypot(x-p[0], y-p[1]) <= mask_radius: + i.setRGB(x,y, 0xFFFFFF) + + +mask_img = load_image(i) +#show_panel( mask_img.getBufferedImage()) + +set_return(mask_img) \ No newline at end of file diff --git a/script/imgproc/LedDetectionFilter.py b/script/imgproc/LedDetectionFilter.py new file mode 100644 index 0000000..a4818d8 --- /dev/null +++ b/script/imgproc/LedDetectionFilter.py @@ -0,0 +1,102 @@ +################################################################################################### +# Example of using ImageJ functionalities through ijutils. +################################################################################################### + +import datetime +from ijutils import * +import java.awt.Color as Color + +import ch.psi.pshell.imaging.Filter as Filter +from ch.psi.pshell.imaging.Overlays import * +import ch.psi.pshell.imaging.Pen as Pen + + +integration_count = 10 +integration_continuous = False +integration_partial = False +frames = [] +roi = get_roi() + + +color_roi = Color(0, 128, 0) + +renderer = show_panel(img) +renderer.clearOverlays() +ov_roi_shape = Ellipse(Pen(color_roi, 0,), java.awt.Point(roi[0], roi[1]), java.awt.Dimension(roi[2], roi[3])) +ov_roi_bound = Rect(Pen(color_roi, 0, Pen.LineStyle.dotted), java.awt.Point(roi[0], roi[1]), java.awt.Dimension(roi[2], roi[3])) +ov_roi_center = Crosshairs(Pen(color_roi, 0), java.awt.Point(roi_center[0],roi_center[1]), java.awt.Dimension(15,15)) + +renderer.addOverlays([ov_roi_shape, ov_roi_bound,ov_roi_center]) + + + + +last_ret = (None, None) +def detect_led(ip): + roi = get_roi() + global roi_center, roi_radius, integration_count, integration_continuous, integration_partial, frames + global count , last_ret + aux = sub_image(ip, roi[0], roi[1], roi[2], roi[3]) + grayscale(aux) + #gaussian_blur(aux) + if (integration_count>1): + frames.append(aux) + if len(frames) >integration_count: + del frames[0] + if not integration_continuous: + if (len(frames)< integration_count): + if last_ret[1] is not None: invert(last_ret[1]) + return last_ret + if (not integration_partial) and len(frames) <integration_count: + return last_ret + aux = integrate(frames) + + #aux = get_channel(aux, "blue") + invert(aux) + #subtract_background(aux) + #Tested ok: Huang, Mean, MaxEntropy, Percentile, Triangle, Yen + auto_threshold(aux, method = "Percentile") + #binary_open(aux) + (results,output) = analyse_particles(aux, 250,1000, + fill_holes = True, exclude_edges = False, print_table=False, + output_image = "outlines", minCirc = 0.3 + , maxCirc = 1.0) + r=results + + + points = "" + npoints = 0 + for row in range (r.counter): + if in_roi(r.getValue("XM",row), r.getValue("YM",row)): + points = points + " (" + str(int(r.getValue("XM", row))+roi[0]) + ", " + str(int(r.getValue("YM", row))+roi[1]) + ")" + npoints = npoints + 1 + print str(npoints) + " - " + points + + last_ret = (results,output) + if not integration_continuous: + frames = [] + + #if npoints!=12: + # save_image(op_image(aux, output,"xor", in_place=False), "{images}/" + str(datetime.datetime.now().strftime("%Y%m%d_%H%M%S"))+".png", "png") + #return (results,aux) + return (results,output) + + + + +ip = None + +class MyFilter(Filter): + def process(self, image, data): + global roi_center, roi_radius, ip + ip = load_image(image) + (results,output) = detect_led(ip) + if output is not None: + invert(output) + output = pad_image(output, roi[0], 0,roi[1], 0) + op_image(ip, output, "xor") + return ip.getBufferedImage() + +#Setting the filter to a source +img.setFilter(MyFilter()) + diff --git a/script/imgproc/LedDetectionProc.py b/script/imgproc/LedDetectionProc.py new file mode 100644 index 0000000..c01673d --- /dev/null +++ b/script/imgproc/LedDetectionProc.py @@ -0,0 +1,106 @@ +################################################################################################### +# Procedure to detect the puck light spots. +################################################################################################### +assert_imaging_enabled() + + +COVER_PRESENT = True +ROOM_TEMP = is_room_temp() +USE_MASK = True + +if get_exec_pars().source == CommandSource.ui: + PLOT = None + RENDERER = None + TEXT = None + +if COVER_PRESENT: + cover_position = hexiposi.readback.take() + if (cover_position is None) or (cover_position == "Unknown"): + raise Exception("Unknown cover position") + else: + block_id = cover_position.upper()[0] +else: + block_id = None +print "Block id: ", block_id + + + +number_frames = 5 if ROOM_TEMP else 10 +number_backgrounds = 5 if ROOM_TEMP else 5 +minimum_size = 78 # r = 5 # 150 +maximum_size = 750 # r = 15 #1500 +min_circ = 0.2 + +threshold_method = "MaxEntropy" if ROOM_TEMP else "Default" #Apparently good for LN2: Default, Intermodes, IsoData, Otsu +threshold_method,threshold_range = "Manual", (0, 215) + +exclude_edges = True +led_latency = 0.5 #0.1 + + + +set_led_state(False) +time.sleep(led_latency) +img.waitNext(2000) + +background = average_frames(number_backgrounds) +#background = integrate_frames(number_backgrounds) + +set_led_state(True) +time.sleep(led_latency) +img.waitNext(2000) +image = average_frames(number_frames) +#image = integrate_frames(number_frames) + +set_led_state(False) + +op_image(image, background, "subtract", float_result=True, in_place=True) +image=grayscale(image) + +if RENDERER is not None and RENDERER.isShowing(): + RENDERER.setImage(None, image.getBufferedImage(), None) +else: + RENDERER = show_panel(image.getBufferedImage()) +RENDERER.clearOverlays() + +if USE_MASK: + mask_img = run("imgproc/CreateMask") + #mask_img=grayscale(mask_img) + #show_panel( mask_img.getBufferedImage()) + op_image(image, mask_img, "and", float_result=False, in_place=True) + RENDERER.setImage(None, image.getBufferedImage(), None) + +invert(image) +if threshold_method == "Manual": + threshold(image, threshold_range[0], threshold_range[1]) +else: + auto_threshold(image, method = threshold_method) #Tested ok: MaxEntropy, Triangle, Yen +(r,output) = analyse_particles(image, minimum_size,maximum_size, + fill_holes = True, exclude_edges = exclude_edges, print_table=False, + output_image = "outlines", minCirc = min_circ + , maxCirc = 1.0) + +points = [] +for row in range (r.counter): + if in_roi(r.getValue("XM",row), r.getValue("YM",row)): + x, y = int(r.getValue("XM", row)), int(r.getValue("YM", row)) + cx, cy = img.getCalibration().convertToAbsoluteX(x), img.getCalibration().convertToAbsoluteY(y) + points.append([cx,cy]) + if RENDERER is not None: + RENDERER.addOverlay(Crosshairs(Pen(java.awt.Color.MAGENTA), java.awt.Point(x,y), java.awt.Dimension(15,15))) + + +clear_detection(block_id) +detect_pucks(points, block_id) +if PLOT is not None: + plot_base_plate(points, p=PLOT) + +ret = get_puck_detection_dict(block_id) + + +if TEXT is not None: + TEXT.setText(str(ret)) + + +set_return(ret) + diff --git a/script/imgproc/Utils.py b/script/imgproc/Utils.py new file mode 100644 index 0000000..addc508 --- /dev/null +++ b/script/imgproc/Utils.py @@ -0,0 +1,113 @@ + +################################################################################################### +# Image processing utilities +################################################################################################### + + +from ijutils import * +from ch.psi.pshell.imaging.Overlays import * +import ch.psi.pshell.imaging.Pen as Pen +import java.awt.Rectangle as Rectangle + +def get_img_cover_pos(): + [position, angle, confidence] = run("imgproc/CoverDetection") + return position + +def assert_img_in_cover_pos(pos = None): + if pos==None: + pos = hexiposi.take() + elif type(pos) is int: + pos = chr( ord('A') + (pos-1)) + elif is_string(pos): + pos = pos.upper() + img_segment = get_img_cover_pos() + if img_segment != pos: + raise Exception ("Image detection of cover does not match position: " + str(img_segment)) + + +def in_roi(x,y): + global roi_center, roi_radius, roi_border + return math.hypot(x-roi_center[0], y-roi_center[1]) < (roi_radius-roi_border) + + +def integrate(ips): + roi = get_roi() + aux = None + for i in range(len(ips)): + if i==0: + aux = new_image(roi[2], roi[3], image_type="float", title = "sum", fill_color = None) + op_image(aux, ips[i], "add", float_result=True, in_place=True) + return aux + +def average (ips): + aux = integrate(ips) + op_const(aux, "divide", len(ips), in_place=True) + return aux + +def grab_frames(samples): + frames = [] + for i in range(samples): + aux = get_image() + frames.append(aux) + return frames + +def average_frames(samples = 1): + return average(grab_frames(samples)) + +def integrate_frames(samples = 1): + return integrate(grab_frames(samples)) + + +roi_center = (600, 600) #(800, 600) +roi_radius = 600 +roi_border = 30 + +def get_roi(): + #roi_center = (img.output.width/2, img.output.height/2) + #roi_radius = min(roi_center[0], roi_center[1]) + #return (roi_center[0] - roi_radius, roi_center[1] - roi_radius, 2* roi_radius, 2*roi_radius) + global roi_center, roi_radius + roi_center = (img.output.width/2, img.output.height/2) + roi_radius = min(roi_center[0], roi_center[1]) + return (0,0,img.output.width, img.output.height) + +def get_image(): + roi = get_roi() + #ip = load_image(img.output) + #ret = ip if (roi is None) else sub_image(ip, roi[0], roi[1], roi[2], roi[3]) + #grayscale(ret, do_scaling=True) + + ret = load_image(Utils.grayscale(img.output, Rectangle(roi[0], roi[1], roi[2], roi[3]) if (roi is not None) else None)) + return ret + +#def detect_pucks(ip): +# """ +# """ +# aux = grayscale(ip, in_place=False) +# threshold(aux,0,50) +# binary_fill_holes(aux) +# return analyse_particles(aux, 10000,50000, +# fill_holes = False, exclude_edges = True,print_table=True, +# output_image = "outlines", minCirc = 0.4, maxCirc = 1.0) +# +#def detect_samples(ip): +# """ +# """ +# aux = grayscale(ip, in_place=False) +# invert(aux) +# subtract_background(aux) +# auto_threshold(aux) +# binary_open(aux) +# return analyse_particles(aux, 250,1000, +# fill_holes = False, exclude_edges = True,print_table=True, + + +r,g,b = [0]*256,[0]*256,[0]*256 +b[0]=0xFF +b[1]=0xFF ; g[1] = 0x80; r[1] = 0x80 +outline_lut1 = (r,g,b) + +r,g,b = [0]*256,[0]*256,[0]*256 +g[0]=0x80;r[0]=0x80; +g[1]=0xFF ; r[1] = 0x80; b[1] = 0x80 +outline_lut2 = (r,g,b) diff --git a/script/local.groovy b/script/local.groovy new file mode 100644 index 0000000..6cd1527 --- /dev/null +++ b/script/local.groovy @@ -0,0 +1,3 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Deployment specific global definitions - executed after startup.groovy +/////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/script/local.js b/script/local.js new file mode 100644 index 0000000..17db863 --- /dev/null +++ b/script/local.js @@ -0,0 +1,4 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////// +// Deployment specific global definitions - executed after startup.js +/////////////////////////////////////////////////////////////////////////////////////////////////// + diff --git a/script/local.py b/script/local.py new file mode 100644 index 0000000..92e9ba8 --- /dev/null +++ b/script/local.py @@ -0,0 +1,438 @@ +################################################################################################### +# 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) + + +cold_position_timeout = get_setting("cold_position_timeout") +if cold_position_timeout is None: + set_setting("cold_position_timeout", 0) + + +def is_room_temperature_enabled(): + setting = get_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE) + return str(setting).lower() == 'true' + +set_setting(ROOM_TEMPERATURE_ENABLED_PREFERENCE, is_room_temperature_enabled()) + + +def is_beamline_status_enabled(): + setting = get_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE) + return str(setting).lower() == 'true' + +set_setting(BEAMLINE_STATUS_ENABLED_PREFERENCE, is_beamline_status_enabled()) + +################################################################################################### +# Scripted devices and pseudo-devices +################################################################################################### + +for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance", \ + "devices/LedCtrl", "devices/SmartMagnet", "devices/HexiPosi", "devices/Gonio"]: + try: + run(script) + except: + print >> sys.stderr, traceback.format_exc() + +#if is_imaging_enabled(): +if get_device("img") is not None: + add_device(img.getContrast(), force = True) + add_device(img.getCamera(), force = True) + + +################################################################################################### +# Utility modules +################################################################################################### + +run("data/samples") +run("data/pucks") +run("motion/tools") +run("motion/mount") +run("motion/unmount") +run("motion/get_dewar") +run("motion/put_dewar") +run("motion/get_gonio") +run("motion/put_gonio") +run("motion/move_dewar") +run("motion/move_gonio") +run("motion/move_heater") +run("motion/move_home") +run("motion/move_park") +run("motion/move_cold") +run("motion/move_scanner") +run("motion/move_aux") +run("motion/get_aux") +run("motion/put_aux") +run("motion/dry") +run("motion/trash") +run("motion/homing_hexiposi") +run("motion/calibrate_tool") +run("motion/scan_pin") +run("motion/robot_recover") +run("motion/recover") +run("tools/Math") +if is_imaging_enabled(): + run("imgproc/Utils") + +def system_check(robot_move=True): + if not air_pressure_ok.read(): + raise Exception("Air pressure is not ok") + if not n2_pressure_ok.read(): + raise Exception("N2 pressure is not ok") + hexiposi.assert_in_known_position() + + if robot_move: + if not feedback_local_safety.read(): + raise Exception("Local safety not released") + auto = not is_manual_mode() + if auto: + if not feedback_psys_safety.read(): + raise Exception("Psys safety not released") + if not guiding_tool_park.read(): + raise Exception("Guiding tool not parked") + +def system_check_msg(): + try: + system_check(True) + return "Ok" + except: + return sys.exc_info()[1] + +def get_puck_dev(segment, puck): + if type(segment) is int: + segment = chr( ord('A') + (segment-1)) + + return Controller.getInstance().getPuck(str(segment).upper() + str(puck)) + +def get_puck_elect_detection(segment, puck): + return str(get_puck_dev(segment, puck).detection) + +def get_puck_img_detection(segment, puck): + return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection) + +def assert_puck_detected(segment, puck): + if (segment == AUX_SEGMENT) and (puck == 1): + return + if get_puck_elect_detection(segment, puck) != "Present": + raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present") + + +def start_puck_detection(): + run("tools/RestartPuckDetection") + +def check_puck_detection(): + return run("tools/CheckPuckDetection") + +def stop_puck_detection(): + run("tools/StopPuckDetection") + + + +def get_detected_pucks(): + ret = [] + for i in range(30): + p = BasePlate.getPucks()[i] + if (str(p.getDetection()) == "Present"): + ret.append(str(p.getName())) + return ret + +def get_pucks_info(): + ret = [] + for i in range(30): + p = BasePlate.getPucks()[i] + name = p.getName() + det = str(p.getDetection()) + barcode = "" if p.getId() is None else p.getId() + + ret.append({"puckAddress": name, "puckState": det, "puckBarcode":barcode}) + return json.dumps(ret) + + +################################################################################################### +# Device initialization +################################################################################################### + +try: + set_heater(False) + set_air_stream(False) + 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(16.5) + hexiposi.polling=500 +except: + print >> sys.stderr, traceback.format_exc() + +try: + robot.setPolling(DEFAULT_ROBOT_POLLING) + robot.set_tool(TOOL_DEFAULT) + robot.set_frame(FRAME_DEFAULT) + robot.set_motors_enabled(True) + robot.set_joint_motors_enabled(True) +except: + print >> sys.stderr, traceback.format_exc() + +if is_imaging_enabled(): + try: + import ch.psi.pshell.device.Camera as Camera + #img.camera.setColorMode(Camera.ColorMode.Mono) + #img.camera.setDataType(Camera.DataType.UInt8) + img.camera.setGrabMode(Camera.GrabMode.Continuous) + img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate) + img.camera.setExposure(25.00) + img.camera.setAcquirePeriod(200.00) + img.camera.setGain(0.0) + #img.camera.setROI(200, 0,1200,1200) + """ + img.camera.setROI(300, 200,1000,1000) + img.config.rotation=17 + img.config.rotationCrop=True + img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900 + """ + img.camera.setROI(int(get_setting("roi_x")), int(get_setting("roi_y")), int(get_setting("roi_w")), int(get_setting("roi_h"))) + + img.camera.stop() + img.camera.start() + except: + print >> sys.stderr, traceback.format_exc() + +#TODO: The Smart Magnet keeps moving sample if detecting is enabled +# Detection keeps disabled unless during moount/unmount +try: + smart_magnet.set_supress(True) +except: + print >> sys.stderr, traceback.format_exc() + +#gripper_cam.paused = True +################################################################################################### +# Device monitoring +################################################################################################### + +DEWAR_LEVEL_RT = 5.0 +is_room_temperature = False + +def is_room_temp(): + return is_room_temperature + + +class DewarLevelListener (DeviceListener): + def onValueChanged(self, device, value, former): + global is_room_temperature + if value is not None: + is_room_temperature = value <= DEWAR_LEVEL_RT +dewar_level_listener = DewarLevelListener() + +for l in dewar_level.listeners: + #if isinstance(l, DewarLevelListener): #Class changes... + if Nameable.getShortClassName(l.getClass()) == "DewarLevelListener": + dewar_level.removeListener(l) + +dewar_level.addListener(dewar_level_listener) +dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None) + + + + +class HexiposiListener (DeviceListener): + def onValueChanging(self, device, value, former): + robot.assert_cleared() + +hexiposi_listener = HexiposiListener() +hexiposi.addListener(hexiposi_listener) + +################################################################################################### +# Global variables & application state +################################################################################################### + + +context = get_context() + +cover_detection_debug = False + +in_mount_position = False + + +def assert_mount_position(): + print "Source: ", get_exec_pars().source + if not in_mount_position and get_exec_pars().source == CommandSource.server : + raise Exception("Not in mount position") + + +def is_puck_loading(): + return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \ + feedback_psys_safety.take() == False and \ + not guiding_tool_park.read() + +def set_pin_offset(val): + if abs(val) >5: + raise Exception("Invalid pin offset: " + str(val)) + try: + set_setting("pin_offset",float(val)) + except: + log("Error setting pin offset: " + str(sys.exc_info()[1]), False) + +def get_pin_offset(): + try: + ret = float(get_setting("pin_offset")) + if abs(ret) >5: + raise Exception("Invalid configured pin offset: " + str(ret)) + return ret + except: + log("Error getting pin offset: " + str(sys.exc_info()[1]), False) + return 0.0 + + +def set_pin_angle_offset(val): + if (abs(val) > 180.0) or (abs(val) < -180.0): + raise Exception("Invalid pin angle offset: " + str(val)) + try: + set_setting("pin_angle_offset",float(val)) + except: + log("Error setting pin angle offset: " + str(sys.exc_info()[1]), False) + +def get_pin_angle_offset(): + try: + ret = float(get_setting("pin_angle_offset")) + if (abs(ret) > 180.0) or (abs(ret) < -180.0): + raise Exception("Invalid configured pin angle offset: " + str(ret)) + return ret + except: + log("Error getting pin angle offset: " + str(sys.exc_info()[1]), False) + return 0.0 + +def is_force_dry(): + try: + dry_mount_counter = int(get_setting("dry_mount_counter")) + except: + dry_mount_counter = 0 + + try: + dry_timespan = time.time() - float( get_setting("dry_timestamp")) + except: + dry_timespan = 3600 + + try: + force_dry_mount_count = int(get_setting("force_dry_mount_count")) + if force_dry_mount_count>0 and dry_mount_counter>=force_dry_mount_count: + return True + except: + pass + + try: + force_dry_timeout = float(get_setting("force_dry_timeout")) + if force_dry_timeout>0 and dry_timespan>=force_dry_timeout: + return True + except: + pass + return False + +def assert_detector_safe(): + if detector_cleared.read() == False: + raise Exception ("Detector not in safe position: move it back") + + +def onPuckLoadingChange(puck_loading): + set_led_state(puck_loading) + #pass + +update() +add_device(Controller.getInstance().basePlate, True) +restore_samples_info() + + +print "Initialization complete" + \ No newline at end of file diff --git a/script/motion/calibrate_tool.py b/script/motion/calibrate_tool.py new file mode 100644 index 0000000..5357ef0 --- /dev/null +++ b/script/motion/calibrate_tool.py @@ -0,0 +1,32 @@ +def calibrate_tool(): + """ + """ + print "calibrate_tool" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + (detected, dm) = move_scanner() + + if detected: + print "Pin detected, trashing..." + trash() + (detected, dm) = move_scanner() + if detected: + raise Exception("Cannot trash pin") + + robot.open_tool() + robot.get_calibration_tool() + + run("calibration/ToolCalibration3") + + robot.put_calibration_tool() + + robot.save_program() diff --git a/script/motion/dry.py b/script/motion/dry.py new file mode 100644 index 0000000..a34a3ed --- /dev/null +++ b/script/motion/dry.py @@ -0,0 +1,58 @@ +DEFAULT_DRY_HEAT_TIME = 40.0 +DEFAULT_DRY_SPEED = 0.3 +DEFAULT_DRY_WAIT_COLD = 40.0 + +def dry(heat_time=None, speed=None, wait_cold = None): + """ + heat_time (float): in seconds + speed (float): % of nominal speed + wait_cold(float): if negative, move to dewar after drying + Else move to cold and wait (in seconds) before returning. + """ + print "dry" + + if heat_time is None: + heat_time = DEFAULT_DRY_HEAT_TIME + + if speed is None: + speed = DEFAULT_DRY_SPEED + + if wait_cold is None: + wait_cold = DEFAULT_DRY_WAIT_COLD + + if robot.simulated: + time.sleep(10.0) + return + + #Initial chec + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + set_status("Drying") + + #Enabling + enable_motion() + + try: + set_heater(True) + robot.move_heater(speed, False) + time.sleep(heat_time) + robot.move_heater(speed, True) + set_air_stream(True) + robot.move_heater(speed, False) + finally: + set_heater(False) + set_air_stream(False) + + + set_setting("dry_mount_counter", 0) + set_setting("dry_timestamp",time.time()) + + if wait_cold >=0 : + robot.move_cold() + time.sleep(wait_cold) + else: + robot.move_park() \ No newline at end of file diff --git a/script/motion/get_aux.py b/script/motion/get_aux.py new file mode 100644 index 0000000..67bfc7d --- /dev/null +++ b/script/motion/get_aux.py @@ -0,0 +1,21 @@ +def get_aux(sample): + """ + """ + print "get_aux: ",sample + + #Initial checks + assert_valid_sample(sample) + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + hexiposi.assert_homed() + + #Enabling + enable_motion() + + if not robot.is_aux(): + robot.move_aux() + + robot.get_aux(sample) diff --git a/script/motion/get_dewar.py b/script/motion/get_dewar.py new file mode 100644 index 0000000..d0559fc --- /dev/null +++ b/script/motion/get_dewar.py @@ -0,0 +1,30 @@ +def get_dewar(segment, puck, sample, force=False): + """ + """ + print "get_dewar: ", segment, puck, sample, force + + #Initial checks + assert_valid_address(segment, puck, sample) + assert_puck_detected(segment, puck) + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + hexiposi.assert_homed() + #location = robot.get_current_point() + + + #Enabling + enable_motion() + + set_hexiposi(segment) + + if not force: + visual_check_hexiposi(segment) + + if not robot.is_dewar(): + robot.move_dewar() + + robot.get_dewar(segment, puck, sample) diff --git a/script/motion/get_gonio.py b/script/motion/get_gonio.py new file mode 100644 index 0000000..2123e2a --- /dev/null +++ b/script/motion/get_gonio.py @@ -0,0 +1,20 @@ +def get_gonio(force=False): + """ + """ + print "get_gonio: ", force + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_gonio(): + robot.move_gonio() + + robot.get_gonio() diff --git a/script/motion/homing_hexiposi.py b/script/motion/homing_hexiposi.py new file mode 100644 index 0000000..5c99f9e --- /dev/null +++ b/script/motion/homing_hexiposi.py @@ -0,0 +1,18 @@ +def homing_hexiposi(): + """ + """ + print "homing_hexiposi" + + #Initial checks + robot.assert_no_task() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + #location = robot.get_current_point() + + set_status("Homing hexiposi") + hexiposi.move_home() + hexiposi.waitState(State.Ready,-1) + hexiposi.move_pos(1) + + \ No newline at end of file diff --git a/script/motion/mount.py b/script/motion/mount.py new file mode 100644 index 0000000..ab93351 --- /dev/null +++ b/script/motion/mount.py @@ -0,0 +1,153 @@ +mount_sample_id = None +mount_sample_detected = None + +def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False): + """ + """ + global mount_sample_id, mount_sample_detected + print "mount: ", segment, puck, sample, force + + start = time.time() + #time.sleep(2) + is_aux = (segment == AUX_SEGMENT) + + #ZACH + needs_chilling = not is_aux and (not robot.is_cold()) + needs_drying = is_aux and robot.is_cold() + + puck_address = get_puck_address(puck) + if puck_address is None: + puck_obj = get_puck_obj_by_id(puck) + if puck_obj is not None: + puck_address = puck_obj.name + if puck_address is not None: + print "puck address: ", puck_address + segment = puck_address[:1] + puck = int(puck_address[1:]) + #Initial checks + assert_detector_safe() + assert_valid_address(segment, puck, sample) + assert_puck_detected(segment, puck) + + if robot.simulated: + time.sleep(3.0) + mount_sample_detected = True + mount_sample_id = "YYY0001" + update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id) + set_setting("mounted_sample_position", get_sample_name(segment, puck, sample)) + return [mount_sample_detected, mount_sample_id] + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + hexiposi.assert_homed() + assert_mount_position() + do_unmount = False + + try: + #ZACH + if needs_chilling: + robot.move_cold() + time.sleep(30.0) + + if smart_magnet.get_supress() == True: + smart_magnet.set_supress(False) + time.sleep(0.2) + #To better dectect sample + #smart_magnet.apply_reverse() + #smart_magnet.apply_resting() + #time.sleep(0.5) + + sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) + Controller.getInstance().logEvent("Sample Detection", str(sample_det)) + if sample_det == True: + if auto_unmount and (get_setting("mounted_sample_position") is not None): + #auto_unmount set to true so detection remains enabled + sample_det = unmount(force = True, auto_unmount = True) + do_unmount = True + if sample_det == True: + raise Exception("Pin detected on gonio") + + set_status("Mounting: " + str(segment) + str(puck) + str(sample)) + Controller.getInstance().logEvent("Mount Sample", str(segment) + str(puck) + str(sample)) + #location = robot.get_current_point() + + #Enabling. If did unmount then it is already enabled. + if not do_unmount: + enable_motion() + + #ZACH + # a room temp pin is being mounted but the gripper is cold + if needs_drying: + dry(wait_cold=-1) # move to park after dry + + if is_aux: + if not robot.is_aux(): + robot.move_aux() + + robot.get_aux(sample) + + else: + set_hexiposi(segment) + + if not force: + visual_check_hexiposi(segment) + + if not robot.is_dewar(): + robot.move_dewar() + + robot.get_dewar(segment, puck, sample) + + + if read_dm: + barcode_reader.start_read(10.0) + robot.move_scanner() + #time.sleep(1.0) + + robot.move_gonio() + + if read_dm: + mount_sample_id = barcode_reader.get_readout() + print "Datamatrix: " , mount_sample_id + else: + mount_sample_id = None + + + robot.put_gonio() + 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")) + except: + dry_mount_count = 0 + set_setting("dry_mount_counter", dry_mount_count+1) + + if is_aux: + robot.move_home() + else: + robot.move_cold() + + mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) + Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected)) + update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id) + if mount_sample_detected == False: + raise Exception("No pin detected on gonio") + + + if is_force_dry(): + smart_magnet.set_default_current() + print "Auto dry" + log("Starting auto dry", False) + set_exec_pars(then = "dry()") + + set_setting("mounted_sample_position", get_sample_name(segment, puck, sample)) + return [mount_sample_detected, mount_sample_id] + finally: + smart_magnet.set_default_current() + smart_magnet.set_supress(True) + diff --git a/script/motion/move_aux.py b/script/motion/move_aux.py new file mode 100644 index 0000000..94d6468 --- /dev/null +++ b/script/motion/move_aux.py @@ -0,0 +1,18 @@ +def move_aux(): + """ + """ + print "move_aux" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_aux(): + robot.move_aux() \ No newline at end of file diff --git a/script/motion/move_cold.py b/script/motion/move_cold.py new file mode 100644 index 0000000..89c8920 --- /dev/null +++ b/script/motion/move_cold.py @@ -0,0 +1,22 @@ +def move_cold(): + """ + """ + print "move_cold" + + if robot.simulated: + time.sleep(3.0) + return + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_cold(): + robot.move_cold() \ No newline at end of file diff --git a/script/motion/move_dewar.py b/script/motion/move_dewar.py new file mode 100644 index 0000000..3dfcbfe --- /dev/null +++ b/script/motion/move_dewar.py @@ -0,0 +1,18 @@ +def move_dewar(): + """ + """ + print "move_dewar" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_dewar(): + robot.move_dewar() \ No newline at end of file diff --git a/script/motion/move_gonio.py b/script/motion/move_gonio.py new file mode 100644 index 0000000..82397f9 --- /dev/null +++ b/script/motion/move_gonio.py @@ -0,0 +1,18 @@ +def move_gonio(): + """ + """ + print "move_gonio" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_gonio(): + robot.move_gonio() diff --git a/script/motion/move_heater.py b/script/motion/move_heater.py new file mode 100644 index 0000000..000e500 --- /dev/null +++ b/script/motion/move_heater.py @@ -0,0 +1,18 @@ +def move_heater(): + """ + """ + print "move_heater" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_heater(): + robot.move_heater() diff --git a/script/motion/move_home.py b/script/motion/move_home.py new file mode 100644 index 0000000..30592d6 --- /dev/null +++ b/script/motion/move_home.py @@ -0,0 +1,18 @@ +def move_home(): + """ + """ + print "move_home" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_home(): + robot.move_home() diff --git a/script/motion/move_park.py b/script/motion/move_park.py new file mode 100644 index 0000000..e1715c0 --- /dev/null +++ b/script/motion/move_park.py @@ -0,0 +1,18 @@ +def move_park(): + """ + """ + print "move_park" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + + if not robot.is_park(): + robot.move_park() \ No newline at end of file diff --git a/script/motion/move_scanner.py b/script/motion/move_scanner.py new file mode 100644 index 0000000..b8fe41f --- /dev/null +++ b/script/motion/move_scanner.py @@ -0,0 +1,30 @@ + +def move_scanner(): + """ + """ + print "move_scanner" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + barcode_reader.start_read(10.0) + if not robot.is_scanner(): + robot.move_scanner() + + time.sleep(0.25) + dm = barcode_reader.get_readout() + if dm is None: + detected = is_pin_detected_in_scanner() + else: + detected = True + + print ("Detected: " + str( detected) + " - Datamatrix: " + str(dm)) + + return (detected, dm) diff --git a/script/motion/put_aux.py b/script/motion/put_aux.py new file mode 100644 index 0000000..c41ee81 --- /dev/null +++ b/script/motion/put_aux.py @@ -0,0 +1,21 @@ +def put_aux(sample): + """ + """ + print "put_aux: ",sample + + #Initial checks + assert_valid_sample(sample) + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + hexiposi.assert_homed() + + #Enabling + enable_motion() + + if not robot.is_aux(): + robot.move_aux() + + robot.put_aux(sample) diff --git a/script/motion/put_dewar.py b/script/motion/put_dewar.py new file mode 100644 index 0000000..7d5c74d --- /dev/null +++ b/script/motion/put_dewar.py @@ -0,0 +1,30 @@ +def put_dewar(segment, puck, sample, force=False): + """ + """ + print "put_dewar: ", segment, puck, sample, force + + #Initial checks + assert_valid_address(segment, puck, sample) + assert_puck_detected(segment, puck) + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + hexiposi.assert_homed() + + #Enabling + enable_motion() + + set_hexiposi(segment) + + if not force: + visual_check_hexiposi(segment) + + #location = robot.get_current_point() + + if not robot.is_dewar(): + robot.move_dewar() + + robot.put_dewar(segment, puck, sample) diff --git a/script/motion/put_gonio.py b/script/motion/put_gonio.py new file mode 100644 index 0000000..c23463f --- /dev/null +++ b/script/motion/put_gonio.py @@ -0,0 +1,23 @@ +def put_gonio(force=False): + """ + """ + print "put_gonio: ", force + + + if robot.simulated: + time.sleep(3.0) + return + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + if not robot.is_gonio(): + robot.move_gonio() + robot.put_gonio() diff --git a/script/motion/recover.py b/script/motion/recover.py new file mode 100644 index 0000000..f4e61af --- /dev/null +++ b/script/motion/recover.py @@ -0,0 +1,179 @@ +import org.apache.commons.math3.geometry.euclidean.threed.Segment as Segment +import org.apache.commons.math3.geometry.euclidean.threed.Vector3D as Vector3D +import org.apache.commons.math3.geometry.euclidean.threed.Line as Line3D + +RECOVER_DESC = "mRecovery" +RECOVER_TOOL = TOOL_DEFAULT + +known_segments = [ ("pGonioA", "pGonioG", 10), \ + ("pPark", "pScan", 40), \ + ("pHome", "pPark", 60), \ + ("pScan", "pHeater", 50), \ + ("pHome", "pDewar", 10), \ + ("pHeater", "pHeatB", 10), \ + ("pHome", "pAux", 50), \ + ] + + +def get_robot_position(): + return robot.get_cartesian_pos() + + +def get_dist_to_line(segment): + tolerance = segment[2] + p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) + p = get_robot_position() + v = Vector3D(p[0], p[1], p[2]) + v1 = Vector3D(p1[0], p1[1], p1[2]) + v2 = Vector3D(p2[0], p2[1], p2[2]) + l = Line3D(v1, v2, 0.01) + return l.distance(v) + +def get_dist_to_segment(segment): + tolerance = segment[2] + p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) + p = get_robot_position() + v = Vector3D(p[0], p[1], p[2]) + v1 = Vector3D(p1[0], p1[1], p1[2]) + v2 = Vector3D(p2[0], p2[1], p2[2]) + l = Line3D(v1, v2, 0.01) + d = l.distance(v) + + pj = get_projection_at_line(segment) + + d1, d2 = v1.distance(v), v2.distance(v) + dp1, dp2 = v1.distance(pj), v2.distance(pj) + d12 = v1.distance(v2) + + + if (dp1 + dp2) > (d12 + tolerance): + d = max(d,min(d1,d2)) + return d + +def is_on_segment(segment): + tolerance = segment[2] + d = get_dist_to_segment(segment) + + if d > tolerance: + #print "Current robot position " + str(p) + " not on segment " + str(segment) + " - distance=" + str(d) + return False + #print "Current robot position " + str(p) + " on segment " + str(segment) + " - distance=" + str(d) + return True + +def get_projection_at_line(segment): + tolerance = segment[2] + p1, p2 = robot.get_pnt(segment[0]), robot.get_pnt(segment[1]) + p = get_robot_position() + v = Vector3D(p[0], p[1], p[2]) + v1 = Vector3D(p1[0], p1[1], p1[2]) + v2 = Vector3D(p2[0], p2[1], p2[2]) + l = Line3D(v1, v2, 0.01) + a = l.getAbscissa(v) + lv = l.pointAt(a) + return lv + + +def get_current_segment(): + for segment in known_segments: + if is_on_segment(segment): + return segment + return None + +def get_current_distance(): + for segment in known_segments: + if is_on_segment(segment): + return get_dist_to_segment(segment) + return None + + +def move_to_segment(segment): + tolerance = segment[2] + p = get_robot_position() + v = Vector3D(p[0], p[1], p[2]) + lv = get_projection_at_line(segment) + dlv = lv.distance(v) + if dlv> (tolerance + 0.1): + raise Exception( "Error moving from " + str(p) + " to segment - distance=" + str(dlv)) + d = [lv.x, lv.y, lv.z, p[3], p[4], p[5]] + print "Moving from " + str(p) + " to segment " + str(segment) + " - distance=" + str(dlv) + " - dest=" + str(d) + + try: + robot.movel(d, tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) + print "Done" + except: + print sys.exc_info()[1] + +#Moves to first point of the segment ehich is safer, unless in the vicinity of the second +def move_to_safest_point(segment, vicinity_tolerance = 100): + d1, d2 = robot.get_distance_to_pnt(segment[0]), robot.get_distance_to_pnt(segment[1]) + #Always moving to primary point + if False : #(d2<=d1) and (d2 <= vicinity_tolerance): + print "Moving to secondary point " + str(segment[1] + " - d1=" + str(d1) + " d2=" + str(d2) ) + robot.movel(segment[1], tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) + else: + print "Moving to primary point " + str(segment[0] + " - d1=" + str(d1) + " d2=" + str(d2) ) + robot.movel(segment[0], tool=RECOVER_TOOL, desc=RECOVER_DESC, sync=True) + print "Done" + #print "Recovered to point " + str(robot.get_curjoint_or_pointrent_point()) + +def is_in_dewar(): + z_hom = robot.get_pnt('pHome')[2] + z_cur=get_robot_position()[2] + if z_cur < (z_hom + 30): + return False + d_dwr = robot.get_distance_to_pnt('pDewar') + if d_dwr > 300: + return False + return True + + +def recover(move_park = True): + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + + if robot.get_current_point() is not None: + raise Exception("Robot is in known location") + + set_status("Recovering") + + #Enabling + enable_motion() + + + is_on_known_segment = False + for segment in known_segments: + if is_on_segment(segment): + #try: + # robot.set_monitor_speed(5) + is_on_known_segment = True + move_to_segment(segment) + move_to_safest_point(segment) + location = robot.get_current_point() + if location is None: + raise Exception("Robot didn't reach known point") + print "Success recovered to point: " + str(location) + if move_park: + robot.move_park() + return "Success recovering to park position" + else: + return "Success recovering to point: " + str(location) + #finally: + # robot.set_default_speed() + if not is_on_known_segment: + print ("Robot is not in known segment") + if is_in_dewar(): + robot.robot_recover() + if move_park: + robot.move_park() + return "Success recovering from dewar to park position" + else: + return "Success recovering from dewar" + else: + raise Exception("Robot is not in known segment nor inside the dewar") + + + + + \ No newline at end of file diff --git a/script/motion/robot_recover.py b/script/motion/robot_recover.py new file mode 100644 index 0000000..c25d712 --- /dev/null +++ b/script/motion/robot_recover.py @@ -0,0 +1,16 @@ +def robot_recover(): + """ + """ + print "robot_recover" + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + + set_status("Recovering robot") + + #Enabling + enable_motion() + + robot.robot_recover() diff --git a/script/motion/scan_pin.py b/script/motion/scan_pin.py new file mode 100644 index 0000000..77bb83c --- /dev/null +++ b/script/motion/scan_pin.py @@ -0,0 +1,99 @@ +###TODO: REMOVE ME +def system_check(robot_move=True): + pass + + +def scan_pin(segment, puck, sample, force=False): + pin_name = get_sample_name(segment, puck, sample) + + print "scan pin", pin_name + #Initial checks + assert_valid_address(segment, puck, sample) + #assert_puck_detected(segment, puck) + is_aux = (segment == AUX_SEGMENT) + + if robot.simulated: + time.sleep(0.5) + return "Present" + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + ###robot.assert_in_known_point() + + #Enabling + + set_status("Scanning pin: " + str(pin_name)) + + enable_motion() + + if is_aux: + if not robot.is_aux(): + robot.move_aux() + + robot.get_aux(sample) + else: + # set_hexiposi(segment) + # if not force: + # visual_check_hexiposi(segment) + + if not robot.is_dewar(): + robot.move_dewar() + + robot.get_dewar(segment, puck, sample) + + (detected, dm) = move_scanner() + update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm) + + if is_aux: + robot.move_aux() + robot.put_aux( sample) + else: + robot.move_dewar() + robot.put_dewar(segment, puck, sample) + ret = "Empty" + if detected: + if (dm is None) or (len(dm.strip())==0): + ret = "Present" + else: + ret = str(dm) + return ret + + +def scan_puck(segment, puck, force=False): + if segment == AUX_SEGMENT: + raise Exception("Cannot scan auxiliary puck") + ret = [] + for i in range(16): + ret.append(scan_pin (segment, puck, i+1, force)) + return ret + + +def scan_gripper(): + print "scan gripper" + #Initial checks + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + + set_status("Scanning gripper") + + enable_motion() + + (detected, dm) = move_scanner() + + robot.move_home() + + ret = "Empty" + if detected: + if (dm is None) or (len(dm.strip())==0): + ret = "Present" + else: + ret = str(dm) + return ret diff --git a/script/motion/tools.py b/script/motion/tools.py new file mode 100644 index 0000000..58bb7fc --- /dev/null +++ b/script/motion/tools.py @@ -0,0 +1,180 @@ +POSITION_TOLERANCE = 50 + + +def is_manual_mode(): + """ + return if operating in local mode. TODO: should be based on IO, not on robot flag. + """ + return robot.working_mode == "manual" + +def release_safety(): + """ + Release sefety signals acording to working mode + """ + if air_pressure_ok.take() != True: + raise Exception("Cannot release safety: air preassure not ok") + if n2_pressure_ok.take() != True: + raise Exception("Cannot release safety: n2 pressure not ok") + auto = not is_manual_mode() + if auto: + if feedback_psys_safety.read() == False: + release_psys() + time.sleep(0.5) + if feedback_psys_safety.read() == False: + raise Exception("Cannot enable power: check doors") + + if feedback_local_safety.read() == False: + release_local() + time.sleep(0.5) + if feedback_local_safety.read() == False: + raise Exception("Cannot enable power: check sample changer emergency stop button") + +def enable_motion(): + """ + Check safety and enable arm power if in remote mode + """ + release_safety() + system_check(robot_move=True) + auto = not is_manual_mode() + if auto: + if not robot.state.isNormal(): + raise Exception("Cannot enable power: robot state is " + str(robot.state)) + robot.enable() + +def set_hexiposi(pos, force = False): + """ + Set the hexiposi position in remote mode, or wait for it to be set in manual mode + """ + robot.assert_cleared() + if force == False: + if hexiposi.position == pos: + return + + if is_manual_mode(): + set_status("Move Hexiposi to position " + str(pos) + " ...") + try: + hexiposi.waitInPosition(pos, -1) + finally: + set_status(None) + else: + hexiposi.move(pos) + +#Can be used if cover has following error (no checking readback) +def _set_hexiposi(pos): + hexiposi.moveAsync(pos) + time.sleep(1.0) + hexiposi.waitReady(-1) + + +def visual_check_hexiposi(segment): + if is_imaging_enabled(): + #if is_manual_mode(): ? + if hexiposi.moved: + #Clearing for image processing + if not robot.is_park(): + print "Moving robot to park to clear camera view..." + robot.move_park() + assert_img_in_cover_pos(segment) + hexiposi.moved = False + + + +def wait_end_of_move(): + robot.update() + while (not robot.settled) or (not robot.empty) or (not robot.isReady()) : + time.sleep(0.01) + + +def move_to_home(): + #robot.reset_motion("jHome") + robot.movej("pHome", robot.tool , DESC_SCAN) + wait_end_of_move() + +def move_to_laser(from_point = "pHome"): + robot.reset_motion() + tool = robot.tool + d = robot.get_distance_to_pnt("pLaser") + if d<0: + raise Exception ("Error calculating distance to laser: " + str(d)) + if d<POSITION_TOLERANCE: + print "FROM LASER" + robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True) + return + d = robot.get_distance_to_pnt("pLaserHome") + if d<0: + raise Exception ("Error calculating distance to laser appro: " + str(d)) + if d<POSITION_TOLERANCE: + print "FROM APPRO" + robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True) + return + + d = robot.get_distance_to_pnt(from_point) + if d<0: + raise Exception ("Error calculating distance to " + from_point + ": " + str(d)) + if d<POSITION_TOLERANCE: + print "FROM " + from_point + robot.movej("pLaserHome", robot.tool, DESC_DEFAULT) + robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True) + return + raise Exception ("Must be in home position to start move to laser") + + +def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0): + #Updating tool: + t=robot.get_tool_trsf(tool) + t[0]=t[0] - x_offset + t[1]=t[1] - y_offset + t[2]=t[2] - z_offset + robot.set_tool_trsf(t, tool) + print "Updated " + (str(robot.tool) if (tool is None) else tool) + ": " + str(t) + robot.save_program() + + +def assert_valid_address(segment, puck, sample): + if (segment == AUX_SEGMENT) and (puck == 1): + return + if is_string(segment): + segment = ord(segment.upper()) - ord('A') +1 + if (segment<=0) or (segment >6): + raise Exception ("Invalid segment: " + str(segment)) + if (puck<=0) or (puck >5): + raise Exception ("Invalid puck: " + str(puck)) + if (sample<=0) or (sample >16): + raise Exception ("Invalid sample: " + str(sample)) + if get_puck_dev(segment, puck).isDisabled(): + raise Exception ("Puck is disabled") + +def assert_valid_sample(sample): + if (sample<=0) or (sample >16): + raise Exception ("Invalid sample: " + str(sample)) + +def get_puck_name(segment, puck): + try: + assert_valid_address(segment, puck, 1) + if type(segment) is int: + segment = chr( ord('A') + (segment-1)) + elif is_string(segment): + segment = segment.upper() + else: + return None + return segment + str(puck) + except: + return None + +def get_sample_name(segment, puck, sample): + puck_name = get_puck_name(segment, puck) + return None if (puck_name is None) else puck_name + str(sample) + + +def is_pin_detected_in_scanner(): + samples = [] + for i in range(10): + samples.append(laser_distance.read()) + time.sleep(0.05) + av = mean(samples) + for s in samples: + if s<=1: + return False + if abs(s-av) > 0.1: + return False + return True \ No newline at end of file diff --git a/script/motion/trash.py b/script/motion/trash.py new file mode 100644 index 0000000..8b37f2c --- /dev/null +++ b/script/motion/trash.py @@ -0,0 +1,36 @@ +def trash(): + """ + """ + print "trash" + + if robot.simulated: + time.sleep(3.0) + return + + #Initial checks + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + + #Enabling + enable_motion() + + robot.move_heater(to_bottom = False) + robot.move_heater(to_bottom = True) + + try: + for i in range(3): + robot.open_tool() + time.sleep(0.5) + robot.close_tool() + time.sleep(0.5) + finally: + robot.open_tool() + + + robot.move_heater(to_bottom = False) + robot.move_cold() + + \ No newline at end of file diff --git a/script/motion/unmount.py b/script/motion/unmount.py new file mode 100644 index 0000000..6f9ce22 --- /dev/null +++ b/script/motion/unmount.py @@ -0,0 +1,108 @@ +def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False): + """ + Returns if sample is detected in the end + """ + print "unmount: ", segment, puck, sample, force + + #ZACH + is_aux = (segment == AUX_SEGMENT) + needs_chilling = not is_aux and (not robot.is_cold()) + needs_drying = is_aux and robot.is_cold() + + if (segment is None) or (puck is None) or (sample is None): + pos = get_setting("mounted_sample_position") + if pos is None: + raise Exception("Mounted sample position is not defined") + segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:]) + print "Mounted sample position: ", segment, puck , sample + + + #Initial checks + if not auto_unmount: + print "assert detector safe" + assert_detector_safe() + print "assert valid address" + assert_valid_address(segment, puck, sample) + print "asser puck detected" + assert_puck_detected(segment, puck) + + if robot.simulated: + time.sleep(3.0) + update_samples_info_sample_unmount(get_puck_name(segment, puck), sample) + set_setting("mounted_sample_position", None) + return False + + print "assert no task" + robot.assert_no_task() + print "reset motion" + robot.reset_motion() + print "wait ready" + robot.wait_ready() + print "assert cleared" + robot.assert_cleared() + #robot.assert_in_known_point() + print "assert homed" + 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)) + + try: + if smart_magnet.get_supress() == True: + smart_magnet.set_supress(False) + time.sleep(0.2) + + #smart_magnet.apply_reverse() + #smart_magnet.apply_resting() + + if not force: + sample_det = smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) + Controller.getInstance().logEvent("Sample Detection", str(sample_det)) + if sample_det == False: + raise Exception("No pin detected on gonio") + + #Enabling + enable_motion() + + if not is_aux: + set_hexiposi(segment) + + if not force: + visual_check_hexiposi(segment) + if needs_chilling: + robot.move_cold() + time.sleep(30.) + else: + if needs_drying: + dry(wait_cold=-1) + #location = robot.get_current_point() + + if not robot.is_gonio(): + robot.move_gonio() + + #smart_magnet.set_unmount_current() + + robot.get_gonio() + + smart_magnet.apply_reverse() + smart_magnet.apply_resting() + mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) + Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected)) + + if is_aux: + robot.move_aux() + robot.put_aux( sample) + else: + #TODO: Should check if smart magnet detection is off? + 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) + + return mount_sample_detected + finally: + if not auto_unmount: + smart_magnet.set_default_current() + smart_magnet.set_supress(True) diff --git a/script/setup/ExposureScan.py b/script/setup/ExposureScan.py new file mode 100644 index 0000000..7a1d438 --- /dev/null +++ b/script/setup/ExposureScan.py @@ -0,0 +1,33 @@ +import java.awt.Rectangle as Rectangle + +import ch.psi.pshell.imaging.Data as Data +class Exposure(Writable): + def write(self,pos): + #cam.setExposure(pos) + img.camera.setExposure(pos) +exposure=Exposure() + + +class Contrast(Readable): + def read(self): + data = img.getData() + #roi = Data(data.getRectSelection(500,300,700,600), False) + #return data.getGradientVariance(False, Rectangle(480,0,600,670)) + return data.getGradientVariance(False, None) +contrast=Contrast() + + +#a= lscan(exposure,img.getContrast(), 0.5, 1.0, 0.01, 0.5) +#a= lscan(exposure,contrast, 0.2, 0.4, 0.01, 0.7) +ret= lscan(exposure,contrast, 10.0, 150.0, 5.0, 0.5) +y, x = ret.getReadable(0), ret.getPositions(0) + +#(n, m, s) = fit(a.getReadable(0), xdata=a.getPositions(0)) +#if m is None: +# m=max(a.getReadable(0)) +m=x[y.index(max(y))] +p=get_plots()[0] +p.addMarker(m, p.AxisId.X, str(m), Color.RED) + +print "Setting exposure = ", m +exposure.write(m) diff --git a/script/setup/Layout.py b/script/setup/Layout.py new file mode 100644 index 0000000..5c584f4 --- /dev/null +++ b/script/setup/Layout.py @@ -0,0 +1,292 @@ +################################################################################################### +#DEFINITIONS +################################################################################################### + +PLATE_SIZE = 480 +BLOCK_ROI_TOLERANCE = 12 #mm +LED_TOLERANCE = 8 #mm Distance between LEDs = 18mm +PUCK_SIZE = 65 + +DET_UNIPUCK = "unipuck" +DET_MINISPINE = "minispine" +DET_ERROR = "error" +DET_EMPTY = "empty" +DET_UNKNOWN = "unknown" + +BLOCKS = ('A', 'B', 'C', 'D', 'E', 'F') + +#Layout table +puck_layout = ( + #Num Elm A0 Index A1 Uni Mini Center Angle Xuni Yuni Xmini=Xc Ymini==Yc + (1 , 'A', 0 , 1, 0.00 , 57.00 , 75.00 , 66.00 , 0.00 , 0.00 , 57.00 , 0.00 , 75.00 ), + (2 , 'A', 0 , 2, 0.00 , 132.00, 150.00, 141.00, 0.00 , 0.00 , 132.00 , 0.00 , 150.00 ), + (3 , 'F', 0 , 5, 19.11, 180.40, 198.40, 189.40, 19.11 , 59.06 , 170.46 , 64.95 , 187.47 ), + (4 , 'F', 0 , 4, 40.89, 180.40, 198.40, 189.40, 40.89 , 118.09 , 136.38 , 129.87 , 149.98 ), + (5 , 'F', 0 , 3, 30.00, 111.90, 129.90, 120.90, 30.00 , 55.95 , 96.91 , 64.95 , 112.50 ), + (6 , 'F', 60 , 1, 0.00 , 57.00 , 75.00 , 66.00 , 60.00 , 49.36 , 28.50 , 64.95 , 37.50 ), + (7 , 'F', 60 , 2, 0.00 , 132.00, 150.00, 141.00, 60.00 , 114.32 , 66.00 , 129.90 , 75.00 ), + (8 , 'E', 60 , 5, 19.11, 180.40, 198.40, 189.40, 79.11 , 177.15 , 34.08 , 194.83 , 37.48 ), + (9 , 'E', 60 , 4, 40.89, 180.40, 198.40, 189.40, 100.89, 177.15 , -34.08 , 194.83 , -37.48 ), + (10, 'E', 60 , 3, 30.00, 111.90, 129.90, 120.90, 90.00 , 111.90 , 0.00 , 129.90 , 0.00 ), + (11, 'E', 120, 1, 0.00 , 57.00 , 75.00 , 66.00 , 120.00, 49.36 , -28.50 , 64.95 , -37.50 ), + (12, 'E', 120, 2, 0.00 , 132.00, 150.00, 141.00, 120.00, 114.32 , -66.00 , 129.90 , -75.00 ), + (13, 'D', 120, 5, 19.11, 180.40, 198.40, 189.40, 139.11, 118.09 , -136.38, 129.87 , -149.98), + (14, 'D', 120, 4, 40.89, 180.40, 198.40, 189.40, 160.89, 59.06 , -170.46, 64.95 , -187.47), + (15, 'D', 120, 3, 30.00, 111.90, 129.90, 120.90, 150.00, 55.95 , -96.91 , 64.95 , -112.50), + (16, 'D', 180, 1, 0.00 , 57.00 , 75.00 , 66.00 , 180.00, 0.00 , -57.00 , 0.00 , -75.00 ), + (17, 'D', 180, 2, 0.00 , 132.00, 150.00, 141.00, 180.00, 0.00 , -132.00, 0.00 , -150.00), + (18, 'C', 180, 5, 19.11, 180.40, 198.40, 189.40, 199.11, -59.06 , -170.46, -64.95 , -187.47), + (19, 'C', 180, 4, 40.89, 180.40, 198.40, 189.40, 220.89, -118.09, -136.38, -129.87, -149.98), + (20, 'C', 180, 3, 30.00, 111.90, 129.90, 120.90, 210.00, -55.95 , -96.91 , -64.95 , -112.50), + (21, 'C', 240, 1, 0.00 , 57.00 , 75.00 , 66.00 , 240.00, -49.36 , -28.50 , -64.95 , -37.50 ), + (22, 'C', 240, 2, 0.00 , 132.00, 150.00, 141.00, 240.00, -114.32, -66.00 , -129.90, -75.00 ), + (23, 'B', 240, 5, 19.11, 180.40, 198.40, 189.40, 259.11, -177.15, -34.08 , -194.83, -37.48 ), + (24, 'B', 240, 4, 40.89, 180.40, 198.40, 189.40, 280.89, -177.15, 34.08 , -194.83, 37.48 ), + (25, 'B', 240, 3, 30.00, 111.90, 129.90, 120.90, 270.00, -111.90, 0.00 , -129.90, 0.00 ), + (26, 'B', 300, 1, 0.00 , 57.00 , 75.00 , 66.00 , 300.00, -49.36 , 28.50 , -64.95 , 37.50 ), + (27, 'B', 300, 2, 0.00 , 132.00, 150.00, 141.00, 300.00, -114.32, 66.00 , -129.90, 75.00 ), + (28, 'A', 300, 5, 19.11, 180.40, 198.40, 189.40, 319.11, -118.09, 136.38 , -129.87, 149.98 ), + (29, 'A', 300, 4, 40.89, 180.40, 198.40, 189.40, 340.89, -59.06 , 170.46 , -64.95 , 187.47 ), + (30, 'A', 300, 3, 30.00, 111.90, 129.90, 120.90, 330.00, -55.95 , 96.91 , -64.95 , 112.5 ), + ) + +################################################################################################### +#Puck class +################################################################################################### +class Puck: + def __init__(self, id, block, index, angle, center, led_uni, led_mini): + self.id = id + self.block = block + self.index = index + self.angle = angle + self.center = center + self.led_uni = led_uni + self.led_mini = led_mini + self.detect = DET_UNKNOWN + + def __str__(self): + return "Number: " + str(self.id) + "\nBlock: " + str(self.block) + "\nIndex: " + str(self.index) + "\nAngle: " + str(self.angle) + \ + "\nCenter: " + str(self.center) + "\nLed Unipuck: " + str(self.led_uni) + "\nLed Minispine: " + str(self.led_mini) + + def get_name(self): + return str(self.block) + str(self.index) + + def match(self, x, y): + if math.hypot(x-self.led_uni[0], y-self.led_uni[1]) <= LED_TOLERANCE: + return DET_UNIPUCK + if math.hypot(x-self.led_mini[0], y-self.led_mini[1]) <= LED_TOLERANCE: + return DET_MINISPINE + return None + + + +_block_ids = [] +_puck_list = [] +_block_list = [] + +for p in(puck_layout): + puck = Puck(p[0], p[1], p[3], p[8], (p[11],p[12]), (p[9],p[10]), (p[11],p[12])) + _puck_list.append(puck) + if puck.block not in (_block_ids): + _block_ids.append(puck.block) + +def get_puck(id): + for p in _puck_list: + if id==p.id: + return p + return None + +def get_pucks(block = None): + ret = [] + for p in _puck_list: + if (block is None) or (block==p.block): + ret.append(p) + return ret + + +################################################################################################### +#Block class +################################################################################################### + +class Block: + def __init__(self, id, angle_range, x_range, y_range): + self.id = id + self.angle_range = angle_range + self.x_range = x_range + self.y_range = y_range + self.roi = (self.x_range[0] - BLOCK_ROI_TOLERANCE, self.y_range[0] - BLOCK_ROI_TOLERANCE, + self.x_range[1] + BLOCK_ROI_TOLERANCE, self.y_range[1] + BLOCK_ROI_TOLERANCE) + + def __str__(self): + return "Id: " + str(self.id) + "\nAngle: " + str(self.angle_range) + "\nX: " + str(self.x_range) + "\nY: " + str(self.y_range) + + +for id in _block_ids: + pucks = get_pucks(id) + angles, x, y = [], [], [] + for p in pucks: + angles.append(p.angle) + x.append(p.led_uni[0]) + x.append(p.led_mini[0]) + y.append(p.led_uni[1]) + y.append(p.led_mini[1]) + el = Block(id,(min(angles), max(angles)), (min(x), max(x)), (min(y), max(y))) + _block_list.append(el) + +def get_block(id): + for e in _block_list: + if id==e.id: + return e + return None + +def get_blocks(): + return _block_list + + + + +################################################################################################### +#Detection utilities +################################################################################################### + + +def _detect_puck(point_list, puck): + puck.detect = DET_ERROR + for point in point_list: + match = puck.match(point[0], point[1]) + if match is not None: + if match==DET_UNIPUCK: + puck.detect = DET_EMPTY if (puck.detect==DET_MINISPINE) else DET_UNIPUCK + elif match==DET_MINISPINE: + puck.detect = DET_EMPTY if (puck.detect==DET_UNIPUCK) else DET_MINISPINE + +def detect_pucks(point_list, id=None): + if (id is None) or (id in BLOCKS): + for puck in get_pucks(id): + _detect_puck(point_list, puck) + else: + puck = get_puck(int(id)) + print puck + _detect_puck(point_list, puck) + + +def clear_detection(block_id=None): + for puck in get_pucks(block_id): + puck.detect = DET_UNKNOWN + return get_puck_detection_dict(block_id) + + +def get_puck_detection(det_type, block_id=None): + ret = [] + for puck in get_pucks(block_id): + if puck.detect == det_type: + ret.append(puck) + return ret + +def get_unipucks(block_id=None): + return get_puck_detection(DET_UNIPUCK, block_id) + +def get_minispines(block_id=None): + return get_puck_detection(DET_MINISPINE, block_id) + +def get_empties(block_id=None): + return get_puck_detection(DET_EMPTY, block_id) + +def get_unknowns(block_id=None): + return get_puck_detection(DET_UNKNOWN, block_id) + +def get_det_errors(block_id=None): + return get_puck_detection(DET_ERROR, block_id) + +def get_puck_detection_dict(block_id): + ret = {} + pucks = [] + for puck in get_unipucks(block_id): + pucks.append(puck.get_name()) + pucks.sort() + ret["Unipuck"] = pucks + pucks = [] + for puck in get_minispines(block_id): + pucks.append(puck.get_name()) + pucks.sort() + ret["Minispine"] = pucks + pucks = [] + for puck in get_det_errors(block_id): + pucks.append(puck.get_name()) + pucks.sort() + ret["Error"] = pucks + pucks = [] + for puck in get_empties(block_id): + pucks.append(puck.get_name()) + pucks.sort() + ret["Empty"] = pucks + pucks = [] + for puck in get_unknowns(block_id): + pucks.append(puck.get_name()) + pucks.sort() + ret["Unknown"] = pucks + return ret + +################################################################################################### +#Plotting +################################################################################################### + +from plotutils import * + +def plot_base_plate(points = None, show_detect = True, title = None, p = None): + colors = (Color.RED, Color.BLUE, Color.MAGENTA, Color(128,0,128), Color(0,128,0), Color(255,128,0)) + if p is None: p = plot(None, title=title)[0] + p.getAxis(p.AxisId.Y).setInverted(True) + plot_circle(p, 0, 0, PLATE_SIZE/2, width = 0, color = Color.GRAY, name = "Plate") + plot_point(p, 0, 0, size = 10, color = Color.GRAY, name = "Center") + #p.setLegendVisible(True) + for block in get_blocks(): + (xmin, xmax) = block.x_range + (ymin, ymax) = block.y_range + (xmin, ymin, xmax, ymax ) = block.roi + index = get_blocks().index(block) + r = plot_rectangle(p, xmin, ymin, xmax, ymax, width =0, color=colors[index], name = block.id) + #In the first time the plot shows, it takes some time for the color to be assigned + #while r.color is None: + # time.sleep(0.001) + + if block.id in ('A', 'F'): + x, y = (xmin + xmax)/2, ymax + 5 + elif block.id in ('C', 'D'): + x, y = (xmin + xmax)/2, ymin - 5 + elif block.id == 'B': + x, y = xmax + 5, (ymin + ymax)/2 + elif block.id == 'E': + x, y = xmin - 5, (ymin + ymax)/2 + + p.addText(x,y, str(block.id), r.color) + + for puck in get_pucks(block.id): + (xu, yu) = puck.led_uni + (xm, ym) = puck.led_mini + plot_point(p, xu, yu, size = 3, color = r.color, name = str(puck.id)+"u") + plot_point(p, xm, ym, size = 7, color = r.color, name = str(puck.id)+"m") + plot_circle(p, xu, yu, LED_TOLERANCE, width = 0, color = r.color, name = str(puck.id)+"uc") + plot_circle(p, xm, ym, LED_TOLERANCE, width = 0, color = r.color, name = str(puck.id)+"mc") + p.addText((xu+xm)/2, (yu+ym)/2, str(puck.id), r.color) + c,w = Color.GRAY,0 + if show_detect: + if puck.detect == DET_UNIPUCK: + c,w = Color.BLACK,1 + elif puck.detect == DET_MINISPINE: + c,w = Color(150, 100, 50),1 + elif puck.detect == DET_ERROR: + c = Color(128,0,0) + plot_circle(p, xm, ym, PUCK_SIZE/2, width = w, color = c , name = str(puck.id)) + if points is not None: + for point in points: + c, w = Color.GRAY, 1 + for puck in get_pucks(): + match = puck.match(point[0], point[1]) + if match is not None: + w=2 + c = Color.DARK_GRAY if match == "minispine" else Color.BLACK + + + plot_cross(p,point[0], point[1], size = 12, width = w, color = c, name = "P"+ str(points.index(point))) + #plot_point(p,point[0], point[1], size = 5, color = Color.BLACK, name = "Pc"+ str(points.index(point))) diff --git a/script/tasks/ColdPositionTimeout.py b/script/tasks/ColdPositionTimeout.py new file mode 100644 index 0000000..197e829 --- /dev/null +++ b/script/tasks/ColdPositionTimeout.py @@ -0,0 +1,23 @@ +cold_position_timeout = int(get_setting("cold_position_timeout")) +if cold_position_timeout > 0: + if robot.last_command_position == "cold": + if (time.time() - robot.last_command_timestamp) > cold_position_timeout: + if robot.is_cold(): + log("Detected cold position timeout", False) + if get_context().state == State.Ready: + if robot.state == State.Ready: + if feedback_psys_safety.take() == True: + #TODO: Chan + get_context().evalLine("dry(wait_cold = -1)") #Dry and park : use get_context().evalLine to change application state + else: + raise Exception("Cannot clear cold position: feedback_psys_safety = False ") + else: + raise Exception("Cannot clear cold position: robot state: " + str(robot.state)) + else: + raise Exception("Cannot clear cold position: system state: " + str(get_context().state)) + + + + + + \ No newline at end of file diff --git a/script/tasks/LedMonitoring.py b/script/tasks/LedMonitoring.py new file mode 100644 index 0000000..5182a77 --- /dev/null +++ b/script/tasks/LedMonitoring.py @@ -0,0 +1,26 @@ +DEWAR_LEVEL_LED = 25.0 + +try: + _level = dewar_level.read() +except: + log("Cannot read Dewar level", False) + _level = 0.0 + +try: + _led_room_temp = is_led_room_temp() +except: + log("Cannot get LED configuration", False) + _led_room_temp = False + +if _level <= DEWAR_LEVEL_LED: + if not _led_room_temp: + log_str="LED Monitoring: Setting LEDs to room temperature range" + log(log_str, False) + print (log_str) + set_led_range(room_temp = True) +else: + if _led_room_temp: + log_str="LED Monitoring: Setting LEDs to LN2 range" + log(log_str, False) + print (log_str) + set_led_range(room_temp = False) diff --git a/script/tasks/MangnetMonitoring.py b/script/tasks/MangnetMonitoring.py new file mode 100644 index 0000000..8450895 --- /dev/null +++ b/script/tasks/MangnetMonitoring.py @@ -0,0 +1,24 @@ +try: + if feedback_local_safety.take() ==False: + magnet_release_state = magnet_release.read() + if former_magnet_release_state != magnet_release_state: + if magnet_release_state: + print "Pressed release button" + smart_magnet.set_resting_current() + smart_magnet_changed = True + else: + print "Released release button" + smart_magnet.set_default_current() + smart_magnet_changed = False + former_magnet_release_state = magnet_release_state + + else: + if smart_magnet_changed: + smart_magnet.set_default_current() + smart_magnet_changed = False + former_magnet_release_state = False + +except: + former_magnet_release_state = False + smart_magnet_changed = False + \ No newline at end of file diff --git a/script/test/CameraCalibration.py b/script/test/CameraCalibration.py new file mode 100644 index 0000000..02e7d9d --- /dev/null +++ b/script/test/CameraCalibration.py @@ -0,0 +1,71 @@ +import ch.psi.pshell.device.Camera as Camera +import ch.psi.pshell.imaging.RendererMode as RendererMode +from ch.psi.pshell.imaging.Overlays import * + +""" +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(50.00) +img.camera.setAcquirePeriod(200.00) +img.camera.setGain(0.0) +img.config.rotationCrop=True + + +""" +#img.camera.setROI(200, 0,1200,1200) + +img.camera.setROI(0, 0,1600,1200) +img.config.rotation=0 +img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =0,0,-1,-1 +img.config.setCalibration(None) +img.camera.stop() +img.camera.start() + +#img.camera.setROI(300, 200,1000,1000) +#img.config.rotation=17 +#img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = 50,50,900,900 + +p = show_panel(img) +p.setMode(RendererMode.Fit) +ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20)) +ov_text.setFixed(True) + + + +p.addOverlay(ov_text) +try: + ov_text.update("Click on upper reference...") + p1 = p.waitClick(60000) + print p1 + ov_text.update("Click on left reference...") + p2 = p.waitClick(60000) + print p2 + ov_text.update("Click on right reference...") + p3 = p.waitClick(60000) + print p3 + + x, y, z = p1.x+p1.y*1j, p2.x+p2.y*1j, p3.x+p3.y*1j + w = z-x + w /= y-x + c = (x-y)*(w-abs(w)**2)/2j/w.imag-x + cx, cy, r = -c.real, -c.imag, abs(c+x) + a = math.degrees(math.atan((cx-p1.x)/(p1.y-cy))) + + print cx, cy, r, a + + #img.camera.setROI(int((1600-cx)/2),int((1200-cy)/2),1000,1000) + img.camera.setROI(int(cx-r),int(cy-r),int(2*r),int(2*r)) + img.config.rotation=-a + #remove rotation border + d=int(r/11) + img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight =d,d, int(2*r-2*d), int(2*r-2*d) + #img.config.setCalibration(None) + img.camera.stop() + img.camera.start() + +finally: + p.removeOverlay(ov_text) + + \ No newline at end of file diff --git a/script/test/CoverDetection.py b/script/test/CoverDetection.py new file mode 100644 index 0000000..24a228b --- /dev/null +++ b/script/test/CoverDetection.py @@ -0,0 +1,116 @@ +################################################################################################### +# Procedure to detect the cover orientation +################################################################################################### +import ch.psi.pshell.imaging.Utils.integrateVertically as integrateVertically +img.backgroundEnabled=False + +REF = (0,96,125) + +line = load_image("{images}/line.png", title="Line") +#line = load_image("{images}/line360.png", title="Line") + +line.getProcessor().setBackgroundValue(0.0) + + +#ip = get_image() +ip = integrate_frames(10) +ip = grayscale(ip, True) + + +smooth(ip) +#bandpass_filter(ip, 30, 1000) +edges(ip) + +#invert(ip) +#auto_threshold(ip, method = "Default") + + +#auto_threshold(ip, method = "Li") +auto_threshold(ip, method = "MaxEntropy") + +""" +for m in AutoThresholder.getMethods(): + print m + aux = ip.duplicate() + auto_threshold(aux, method = m) + binary_fill_holes(aux, dark_background=False) + renderer = show_panel(aux.bufferedImage) + time.sleep(1.0) +""" +#binary_dilate(ip, dark_background=False) +#binary_fill_holes(ip, dark_background=False) +#binary_open(ip, dark_background=Tr) + +renderer = show_panel(ip.bufferedImage) + + + + + + + + +#line = sub_image(line, 325, 325, 512, 512) +#ip = sub_image(ip, 325, 325, 512, 512) +line = sub_image(line, 453, 453, 256, 256) +ip = sub_image(ip, 453, 453, 256, 256) +#op = op_fft(ip, line, "correlate") + + +renderer = show_panel(ip.bufferedImage) + +#renderer = show_panel(op.bufferedImage) +#line.show() +ydata = [] +xdata = range (0,180,1) +for i in xdata: + l = line.duplicate() + l.getProcessor().setBackgroundValue(0.0) + l.getProcessor().rotate(float(i)) + op = op_fft(ip, l, "correlate") + bi = op.getBufferedImage() + p = integrateVertically(bi) + ydata.append(sum(p)) + + #renderer = show_panel(op.bufferedImage) + #time.sleep(0.001) + +def moving_average(arr, n) : + ret = [] + for i in range(len(arr)): + ret.append(mean(arr[max(i-n,0):min(i+n,len(arr)-1)])) + return ret +av = moving_average(ydata, 1) + +p = plot(ydata, xdata=xdata)[0] + +p.addSeries(LinePlotSeries("Moving Average")) +p.getSeries(1).setData(xdata, av) + +peaks = estimate_peak_indexes(ydata, xdata, (min(ydata) + max(ydata))/2, 25.0) +left, right = min(peaks), max(peaks) +if xdata[left]<5 and xdata[right]>(xdata[-1]-5): + #del peaks[0 if ydata[right] > ydata[left] else -1] + peaks.remove(right if ydata[right] > ydata[left] else left) + +peaks = sorted(peaks[:3]) +peaks_x = map(lambda x:xdata[x], peaks) +peaks_y = map(lambda x:ydata[x], peaks) + +print "Peaks", peaks +print "Peak indexes: " + str(peaks_x) +print "Peak values: " + str(peaks_y) + + +for i in range(len(peaks)): + peak = xdata[peaks[i]] + p.addMarker(peak, None, "N="+str(round(peak,2)), Color(80,0,80)) + if ((peaks[i]>160) and (REF[i]<20)): + peaks[i] = peaks[i] - 180.0 + +print "Peaks x: " + str(peaks_x) + + +d = mean(arrabs(arrsub(REF, peaks_x))) + +print "Angle = ", d \ No newline at end of file diff --git a/script/test/PuckDetection.py b/script/test/PuckDetection.py new file mode 100644 index 0000000..003ef68 --- /dev/null +++ b/script/test/PuckDetection.py @@ -0,0 +1,24 @@ +################################################################################################### +# Example of using ImageJ functionalities through ijutils. +################################################################################################### + +from ijutils import * +import java.awt.Color as Color + + +#Image Loading +ip = load_image("{images}/test2.png", title="Image") + + +#Puck Detection +aux = grayscale(ip, in_place=False) +aux.show() +plot(get_histogram(aux)) + +subtract_background(aux) +threshold(aux,0,50); aux.repaintWindow() +binary_fill_holes(aux); aux.repaintWindow() +(results,output_img)=analyse_particles(aux, 10000,50000, + fill_holes = False, exclude_edges = True,print_table=True, + output_image = "outlines", minCirc = 0.0, maxCirc = 1.0) +output_img.show() \ No newline at end of file diff --git a/script/test/PuckDetectionTest.py b/script/test/PuckDetectionTest.py new file mode 100644 index 0000000..2995f9a --- /dev/null +++ b/script/test/PuckDetectionTest.py @@ -0,0 +1,11 @@ +import datetime +index = 0 +prefix = str(datetime.datetime.now().strftime("%Y%m%d_%H%M%S")) + +while True: + suffix = "%04d - " % index + print (suffix), + run("imgproc/LedDetectionProc.py") + index=index+1 + save_image(image, "{images}/" +prefix + "_" + suffix +".png", "png") + \ No newline at end of file diff --git a/script/test/RobotCartesianScan.py b/script/test/RobotCartesianScan.py new file mode 100644 index 0000000..4a5225e --- /dev/null +++ b/script/test/RobotCartesianScan.py @@ -0,0 +1,28 @@ +import plotutils +from mathutils import fit_gaussian, Gaussian + +robot.enable() +move_to_laser() + +#robot.reset_motion("jLaser") + +#import ch.psi.pshell.device.Timestamp as Timestamp +#sensor = Timestamp() + +#ret = lscan(robot_z, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True) +#ret = lscan(robot_x, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True) + +robot.set_motors_enabled(True) +ret = lscan(robot_x, ue.readable, -1.5, 1.5, 0.1, latency = 0.01, relative = True) + +x,y = ret.getPositions(0), ret.getReadable(0) +y = [100.0-v for v in y] +(norm, mea, sigma) = fit(y, xdata=x) +print "Maximum at " + str(mea) + + + +robot.set_motors_enabled(True) +ret = lscan(robot_rz, ue.readable, 0.0, 40.0, 1.0, latency = 0.01, relative = True, range = "auto") + + diff --git a/script/test/SampleDataInput.py b/script/test/SampleDataInput.py new file mode 100644 index 0000000..1f00cd6 --- /dev/null +++ b/script/test/SampleDataInput.py @@ -0,0 +1,1861 @@ +USER_NAME = "My User" +DEWAR_NAME = "My Dewar" + +test_sample_data = [ \ + +#Puck A1 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "flat_Base_Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "flat_Base_Pin_2", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "regular_Base_Pin_1", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "A1",\ + "sampleName": "regular_Base_Pin_2", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck B1 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + \"sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck B2 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck B3 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck B4 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "u"dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck C1 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck C2 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck D1 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + +# Puck D2 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus""sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "u"dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ +# Puck D3 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ +# Puck D4 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "XXX", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + ] + + +set_samples_info(test_sample_data) \ No newline at end of file diff --git a/script/test/SampleDataInput_Dominik.py b/script/test/SampleDataInput_Dominik.py new file mode 100644 index 0000000..8ff4ae7 --- /dev/null +++ b/script/test/SampleDataInput_Dominik.py @@ -0,0 +1,1862 @@ +USER_NAME = "My User" +DEWAR_NAME = "My Dewar" + +test_sample_data = [ \ + #Puck A1 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "CA00CF1471", \ + "puckType": "unipuck", \ + "puckAddress": "",\ + "sampleName": "flat_Base_Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "CA00CF1471", \ + "puckType": "unipuck", \ + "puckAddress": "",\ + "sampleName": "flat_Base_Pin_2", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "CA00CF1471", \ + "puckType": "unipuck", \ + "puckAddress": "",\ + "sampleName": "regular_Base_Pin_1", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Isabelle Chip", \ + "puckBarcode": "CA00CF1471", \ + "puckType": "unipuck", \ + "puckAddress": "",\ + "sampleName": "regular_Base_Pin_2", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + # Puck B1 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "IDatamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_1", \ + "puckBarcode": "DMBW1", \ + "puckType": "unipuck", \ + "puckAddress": "B1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck B2 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW2", \ + "puckType": "unipuck", \ + "puckAddress": "B2",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck B3 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_2", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_3", \ + "puckBarcode": "DMBW3", \ + "puckType": "unipuck", \ + "puckAddress": "B3",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck B4 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Black_White_4", \ + "puckBarcode": "DMBW4", \ + "puckType": "unipuck", \ + "puckAddress": "B4",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck C1 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_1", \ + "puckBarcode": "DMGA1", \ + "puckType": "unipuck", \ + "puckAddress": "C1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck C2 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "Datamatrix_Grey_Alu_2", \ + "puckBarcode": "DMGA2", \ + "puckType": "unipuck", \ + "puckAddress": "C2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck D1 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_1", \ + "puckBarcode": "NODM1", \ + "puckType": "unipuck", \ + "puckAddress": "D1",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck D2 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_2", \ + "puckBarcode": "NODM2", \ + "puckType": "unipuck", \ + "puckAddress": "D2",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck D3 \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_3", \ + "puckBarcode": "NODM3", \ + "puckType": "unipuck", \ + "puckAddress": "D3",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + \ + # Puck D4 + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_1", \ + "samplePosition": 1,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_2", \ + "samplePosition": 2,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_3", \ + "samplePosition": 3,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_4", \ + "samplePosition": 4,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_5", \ + "samplePosition": 5,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_6", \ + "samplePosition": 6,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_7", \ + "samplePosition": 7,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_8", \ + "samplePosition": 8,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_9", \ + "samplePosition": 9,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_10", \ + "samplePosition": 10,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_11", \ + "samplePosition": 11,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_12", \ + "samplePosition": 12,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_13", \ + "samplePosition": 13,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_14", \ + "samplePosition": 14,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_15", \ + "samplePosition": 15,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + { "userName": USER_NAME, \ + "dewarName": DEWAR_NAME, \ + "puckName": "No_Datamatrix_4", \ + "puckBarcode": "NODM4", \ + "puckType": "unipuck", \ + "puckAddress": "D4",\ + "sampleName": "Pin_16", \ + "samplePosition": 16,\ + "sampleBarcode": "", \ + "sampleStatus": "Present", \ + "sampleMountCount": 0, + } , \ + ] +set_samples_info(test_sample_data) \ No newline at end of file diff --git a/script/test/SampleDetection.py b/script/test/SampleDetection.py new file mode 100644 index 0000000..4638b7a --- /dev/null +++ b/script/test/SampleDetection.py @@ -0,0 +1,23 @@ +################################################################################################### +# Example of using ImageJ functionalities through ijutils. +################################################################################################### + +from ijutils import * +import java.awt.Color as Color + +#Image Loading +ip = load_image("{images}/test2.png", title="Image") + +aux = grayscale(ip, in_place=False) +aux.show() + +invert(aux); aux.repaintWindow() +#gaussian_blur(aux); aux.repaintWindow() +subtract_background(aux); aux.repaintWindow() +auto_threshold(aux); aux.repaintWindow() +binary_open(aux); aux.repaintWindow() +#binary_fill_holes(aux); aux.repaintWindow() +(results,output_img)=analyse_particles(aux, 250,1000, + fill_holes = False, exclude_edges = True,print_table=True, + output_image = "outlines", minCirc = 0.7, maxCirc = 1.0) +output_img.show() diff --git a/script/test/TestAlign.py b/script/test/TestAlign.py new file mode 100644 index 0000000..0cbe1a7 --- /dev/null +++ b/script/test/TestAlign.py @@ -0,0 +1,9 @@ + +v = 2.0 +#while(true): +for i in range(100): + v = v * (-1.0) + robot_j4.initialize() + robot_j4.moveRel(v) + robot.align() + \ No newline at end of file diff --git a/script/test/TestBugPcAPI b/script/test/TestBugPcAPI new file mode 100644 index 0000000..5be0f3e --- /dev/null +++ b/script/test/TestBugPcAPI @@ -0,0 +1,4 @@ +while True: + img.initialize() + img.waitNext(10000) + time.sleep(2.0) \ No newline at end of file diff --git a/script/test/TestBugPcAPI.py b/script/test/TestBugPcAPI.py new file mode 100644 index 0000000..7a3d186 --- /dev/null +++ b/script/test/TestBugPcAPI.py @@ -0,0 +1,30 @@ +import ch.psi.pshell.prosilica.Prosilica as Prosilica +import ch.psi.pshell.device.Camera as Camera + + +add_device(Prosilica("img", 25001, "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000;MulticastEnable=Off"), True) + +img.camera.setGrabMode(Camera.GrabMode.Continuous) +img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate) +img.camera.setExposure(50.00) +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() + + +show_panel(img) +#while True: +# img.initialize() +# img.waitNext(1000) +# time.sleep(0.1) + diff --git a/script/test/TestBugPcAPI2.py b/script/test/TestBugPcAPI2.py new file mode 100644 index 0000000..5e92b37 --- /dev/null +++ b/script/test/TestBugPcAPI2.py @@ -0,0 +1,6 @@ +import ch.psi.pshell.imaging.MjpegSource as MjpegSource +MjpegSource2 = get_context().pluginManager.getDynamicClass("MjpegSource2") +add_device(MjpegSource("gripper_cam", "http://axis-accc8e9cc87b.psi.ch/axis-cgi/mjpg/video.cgi"), True) +#gripper_cam.polling=1000 +gripper_cam.monitored = True +show_panel(gripper_cam) \ No newline at end of file diff --git a/script/test/TestBugPcAPI3.py b/script/test/TestBugPcAPI3.py new file mode 100644 index 0000000..6acb775 --- /dev/null +++ b/script/test/TestBugPcAPI3.py @@ -0,0 +1,4 @@ +while True: + img.initialize() + img.waitNext(1000) + time.sleep(0.1) \ No newline at end of file diff --git a/script/test/TestCalib.py b/script/test/TestCalib.py new file mode 100644 index 0000000..2cc311b --- /dev/null +++ b/script/test/TestCalib.py @@ -0,0 +1,30 @@ + +print "calibrate_tool" + +#Initial checks +robot.assert_no_task() +robot.reset_motion() +robot.wait_ready() +robot.assert_cleared() +#robot.assert_in_known_point() + +#Enabling +enable_motion() + +(detected, dm) = move_scanner() + +if detected: + print "Pin detected, trashing..." + trash() + (detected, dm) = move_scanner() + if detected: + raise Exception("Cannot trash pin") + +robot.open_tool() +robot.get_calibration_tool() + +run("calibration/ToolCalibration3") + +robot.put_calibration_tool() + +robot.save_program() diff --git a/script/test/TestCameraStability1.py b/script/test/TestCameraStability1.py new file mode 100644 index 0000000..e4660e9 --- /dev/null +++ b/script/test/TestCameraStability1.py @@ -0,0 +1,11 @@ +for i in range(10): + time.sleep(2) + move_home() + time.sleep(1) + move_park() + start = time.time() + while get_img_cover_pos() != 'A': + print ".", + time.sleep(0.001) + print "Time = " , ( time.time() - start) + \ No newline at end of file diff --git a/script/test/TestCameraStability2.py b/script/test/TestCameraStability2.py new file mode 100644 index 0000000..c6ef878 --- /dev/null +++ b/script/test/TestCameraStability2.py @@ -0,0 +1,14 @@ +cover_detection_debug=True +while True: + for pos in ['A', 'B', 'C', 'D', 'E', 'F']: + print "Moving to ", pos + hexiposi.move(pos) + move_home() + move_park() + time.sleep(2.0) + ret = run("imgproc/CoverDetection") + det = ret[0] + print "Detected: ", det + if det != pos: + raise Exception("Position error") + diff --git a/script/test/TestCameraStability3.py b/script/test/TestCameraStability3.py new file mode 100644 index 0000000..bcf1327 --- /dev/null +++ b/script/test/TestCameraStability3.py @@ -0,0 +1,9 @@ +for i in range(10): + time.sleep(1) + move_home() + time.sleep(1) + move_park() + start = time.time() + time.sleep(1.0) + print run("imgproc/LedDetectionProc.py") + \ No newline at end of file diff --git a/script/test/TestCmdSynchronization.py b/script/test/TestCmdSynchronization.py new file mode 100644 index 0000000..098998d --- /dev/null +++ b/script/test/TestCmdSynchronization.py @@ -0,0 +1,32 @@ +import java.util.logging.Level + +def get_pos_str(): + return "point: " + str(robot.get_current_point()) + " - here: " + str(robot.here()) + " - herej: " + str(robot.herej()) + +enable_motion() + +get_context().setLogLevel(java.util.logging.Level.FINER) +try: + while True: + #robot.move_dewar() + #robot.move_park() + + log("Moving dewar", False) + flag = robot.start_task('moveDewar') + print "moveDewar: ", flag + log("Waiting", False) + ret = robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + log("Moving dewar finished (" + str(ret) + ") - pos: " + get_pos_str(), False) + robot.assert_dewar() + + + log("Moving park", False) + flag = robot.start_task('movePark') + print "movePark: ", flag + log("Waiting", False) + ret = robot.wait_task_finished(TASK_WAIT_ROBOT_POLLING) + log("Moving park finished (" + str(ret) + ") - pos: " + get_pos_str(), False) + robot.assert_park() + +finally: + get_context().setLogLevel(java.util.logging.Level.INFO) \ No newline at end of file diff --git a/script/test/TestCoverDetection.py b/script/test/TestCoverDetection.py new file mode 100644 index 0000000..e21e2c0 --- /dev/null +++ b/script/test/TestCoverDetection.py @@ -0,0 +1,19 @@ + +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) \ No newline at end of file diff --git a/script/test/TestEuclidean.py b/script/test/TestEuclidean.py new file mode 100644 index 0000000..4376dc7 --- /dev/null +++ b/script/test/TestEuclidean.py @@ -0,0 +1,23 @@ +import org.apache.commons.math3.geometry.euclidean.threed.Segment as Segment +import org.apache.commons.math3.geometry.euclidean.threed.Vector3D as Vector3D +import org.apache.commons.math3.geometry.euclidean.threed.Line as Line + + +p = Vector3D(0, 0, 3) + +p1 = Vector3D(0,0,0) +p2 = Vector3D(0,1,1 ) +tolerance = 0.001 + +l = Line(p1, p2, tolerance) + + +print l.distance(p) +print p1.distance(p) +print p2.distance(p) +print "---" + +print l.getAbscissa(p) +print l.pointAt(l.getAbscissa(p)) + +#print l.closestPoint(Line(p, p, 0.01)) \ No newline at end of file diff --git a/script/test/TestLaserScan.py b/script/test/TestLaserScan.py new file mode 100644 index 0000000..a977ba0 --- /dev/null +++ b/script/test/TestLaserScan.py @@ -0,0 +1,12 @@ +robot.set_motors_enabled(True) +steps_x = 10 +steps_y = 8 +#ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [10,10], latency = 0.01, relative = True , zigzag=True) +ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [steps_y,steps_x], latency = 0.01, relative = True , zigzag=False) +data = Convert.transpose(Convert.toBidimensional(to_array(ret.getReadable(0),'d'),steps_x+1,steps_y+1)) +plot(data, title="data") + +data = ret.getData(0) +plot(data, title="data2") + + diff --git a/script/test/TestLayout.py b/script/test/TestLayout.py new file mode 100644 index 0000000..7404a8e --- /dev/null +++ b/script/test/TestLayout.py @@ -0,0 +1,21 @@ + + + +points = [(100, 140), (130, 77), (120, 130), (110, 100)] +clear_detection() +detect_pucks(points) +#detect_pucks(points, 'A') +#detect_pucks(points, '4') +plot_base_plate(points) + + + +#plot_detected_leds(points) + + + +block_id = None +print get_unipucks(block_id) +print get_minispines(block_id) +print get_empties(block_id) +print get_det_errors(block_id) \ No newline at end of file diff --git a/script/test/TestMicrohawk.py b/script/test/TestMicrohawk.py new file mode 100644 index 0000000..0ea517e --- /dev/null +++ b/script/test/TestMicrohawk.py @@ -0,0 +1,10 @@ +import ch.psi.pshell.serial.TcpDevice as TcpDevice +import ch.psi.pshell.serial.UdpDevice as UdpDevice + + +microscan = TcpDevice("microscan", "MicroHAWK38C528:2001") +#microscan = UdpDevice("microscan", "MicroHAWK38C528:2001") +microscan.initialize() + + + diff --git a/script/test/TestRecover.py b/script/test/TestRecover.py new file mode 100644 index 0000000..340853f --- /dev/null +++ b/script/test/TestRecover.py @@ -0,0 +1,15 @@ +print "Pos=" + str(robot.get_cartesian_pos()) +for p in robot.get_known_points(): + print p + " = " + str(get_pnt(p)) + +print "-------------" + +for segment in known_segments: + is_on_segment(segment) + +print "-------------" +for segment in known_segments: + try: + move_to_segment(segment) + except: + print sys.exc_info()[1] \ No newline at end of file diff --git a/script/test/TestRelays.py b/script/test/TestRelays.py new file mode 100644 index 0000000..adcd828 --- /dev/null +++ b/script/test/TestRelays.py @@ -0,0 +1,12 @@ +for i in range(500): + relay1.write(True) + time.sleep(1.2) + relay1.write(False) + time.sleep(1.2) +""" +for i in range(5): + relays.write(to_array([True,]*16, 'z')) + time.sleep(0.2) + relays.write(to_array([False,]*16, 'z')) + time.sleep(0.2) +""" \ No newline at end of file diff --git a/script/test/TestRemoveBackground.py b/script/test/TestRemoveBackground.py new file mode 100644 index 0000000..7376f07 --- /dev/null +++ b/script/test/TestRemoveBackground.py @@ -0,0 +1,31 @@ +number_frames = 5 +number_backgrounds = 5 +minimum_size = 78 # r = 5 # 150 +maximum_size = 750 # r = 15 #1500 +min_circ = 0.2 + +threshold_method = "MaxEntropy" +threshold_method,threshold_range = "Manual", (0, 215) + +exclude_edges = True +led_latency = 0.5 #0.1 + +set_led_state(False) +time.sleep(led_latency) +img.waitNext(2000) + +background = average_frames(number_backgrounds) +#background = integrate_frames(number_backgrounds) + +set_led_state(True) +time.sleep(led_latency) +img.waitNext(2000) +image = average_frames(number_frames) +#image = integrate_frames(number_frames) + +set_led_state(False) + +op_image(image, background, "subtract", float_result=True, in_place=True) +image=grayscale(image) + +show_panel(image.getBufferedImage()) \ No newline at end of file diff --git a/script/test/TestRobot.py b/script/test/TestRobot.py new file mode 100644 index 0000000..d64599f --- /dev/null +++ b/script/test/TestRobot.py @@ -0,0 +1,41 @@ +robot.task_create("simulateEvents",3, name = "test", priority = 20) +print robot.get_task_status("test") +print robot.get_task_status("tests") + +robot.task_suspend("test") +print robot.get_task_status("test") +robot.task_resume("test") +print robot.get_task_status("test") + +robot.task_kill("test") +print robot.get_task_status("test") + + +print robot.is_powered() +print robot.get_monitor_speed() +#print robot.set_monitor_speed(20) +#print robot.enable() +print robot.disable() +print robot.is_calibrated() +print robot.read_working_mode() +print robot.get_emergency_stop_sts() +print robot.get_safety_fault_signal() +print robot.stop() +print robot.resume() +print robot.reset_motion() +print robot.is_empty() +print robot.is_settled() +print robot.get_move_id() +print robot.set_move_id(10) +print robot.get_joint_forces() +#print robot.open("gripper") +#print robot.close("gripper") +print robot.herej() +print robot.distance_t("t", "t") +print robot.distance_p("p", "p") +print robot.compose( "p", "world", "t") +print robot.here("gripper", "world") +print robot.joint_to_point("gripper", "world", "j") +print robot.point_to_joint("gripper", "j", "p") +print robot.position("p", "world") +print robot.mount(1, 2) diff --git a/script/test/TestRobot2.py b/script/test/TestRobot2.py new file mode 100644 index 0000000..68398b8 --- /dev/null +++ b/script/test/TestRobot2.py @@ -0,0 +1,72 @@ +import traceback + +robot.task_create("simulateEvents",3, name = "test", priority = 20) + +step = 0 +try: + while(True): + start = time.time() + step = 1 + robot.is_powered() + step = 2 + robot.get_task_status("test") + step = 3 + robot.get_monitor_speed() + step = 4 + #robot.set_monitor_speed(20) + #robot.enable() + step = 5 + #robot.disable() + step = 6 + robot.is_calibrated() + step = 7 + robot.read_working_mode() + step = 8 + robot.get_emergency_stop_sts() + step = 9 + robot.get_safety_fault_signal() + step = 10 + robot.stop() + step = 11 + robot.resume() + step = 12 + robot.reset_motion() + step = 13 + robot.is_empty() + step = 14 + robot.is_settled() + step = 15 + robot.get_move_id() + step = 16 + robot.set_move_id(10) + step = 17 + robot.get_joint_forces() + step = 18 + #robot.open_tool("gripper") + #robot.close_tool("gripper") + robot.herej() + step = 19 + robot.distance_t("t", "t") + step = 20 + robot.distance_p("p", "p") + step = 21 + robot.compose( "p", "world", "t") + step = 22 + robot.here("gripper", "world") + step = 23 + robot.joint_to_point("gripper", "world", "j") + step = 24 + robot.point_to_joint("gripper", "j", "p") + step = 25 + robot.position("p", "world") + step = 26 + robot.mount(1, 2) + #print time.time()-start +except: + print >> sys.stderr, traceback.format_exc() +finally: + print "Step: " + str(step) + try: + robot.task_kill("test") + except: + pass \ No newline at end of file diff --git a/script/test/TestRobotCmds.py b/script/test/TestRobotCmds.py new file mode 100644 index 0000000..4225281 --- /dev/null +++ b/script/test/TestRobotCmds.py @@ -0,0 +1,32 @@ + +import java.lang.System as System + +index = 0 +max_time = 0 +while True: + start = System.currentTimeMillis() + robot.execute(1,1,1) + time.sleep(0.01) + robot.execute(2,1,1) + time.sleep(0.01) + robot.execute(1,1,1) + time.sleep(0.01) + robot.execute(2,1,1) + time.sleep(0.01) + robot.execute(1,1,1) + time.sleep(0.01) + robot.execute(2,1,1) + time.sleep(0.01) + robot.execute(1,1,1) + time.sleep(0.01) + robot.execute(2,1,1) + time.sleep(0.01) + robot.execute(1,1,1) + time.sleep(0.01) + robot.execute(2,1,1) + time.sleep(0.01) + cur_time = System.currentTimeMillis() - start + max_time = max(cur_time, max_time) + print index, cur_time, max_time + index = index + 1 + \ No newline at end of file diff --git a/script/test/TestRobotCmds2.py b/script/test/TestRobotCmds2.py new file mode 100644 index 0000000..048e20e --- /dev/null +++ b/script/test/TestRobotCmds2.py @@ -0,0 +1,25 @@ +if robot_req.read() != 0: + raise Exception("Ongoing command") +if robot_ack.read() != 0: + raise Exception("Robot is not ready") +robot_cmd.write(1) +args = [0,0,0,0,0,0] + +robot_args.write(to_array(args, 'i')) + + +robot_req.write(1) +while robot_ack.read() == 0: + time.sleep(0.001) + +err = robot_ack.take() +if err == 1: + ret = robot_ret.read() + print ret +if err == 2: + print ("Invalid command: " + str(command)) +print ("Unknown error: " + str(err)) +robot_req.write(0) +while robot_ack.read() != 0: + time.sleep(0.001) + diff --git a/script/test/cycle_time b/script/test/cycle_time new file mode 100644 index 0000000..79c790e --- /dev/null +++ b/script/test/cycle_time @@ -0,0 +1,4 @@ +start =time.time() +unmount('A',2,5, force=True) +mount('A',2,5, force=True, read_dm=False) +print time.time()-start \ No newline at end of file diff --git a/script/test/imgtest.py b/script/test/imgtest.py new file mode 100644 index 0000000..de442c2 --- /dev/null +++ b/script/test/imgtest.py @@ -0,0 +1,47 @@ +################################################################################################### +# Example of using ImageJ functionalities through ijutils. +################################################################################################### + +from ijutils import * +import java.awt.Color as Color + +import ch.psi.pshell.imaging.Filter as Filter +from ch.psi.pshell.imaging.Overlays import * +import ch.psi.pshell.imaging.Pen as Pen + + + +def detect_pucks(ip): + aux = grayscale(ip, in_place=False) + threshold(aux,0,50) + binary_fill_holes(aux) + return analyse_particles(aux, 10000,50000, + fill_holes = False, exclude_edges = True,print_table=True, + output_image = "outlines", minCirc = 0.4, maxCirc = 1.0) + +def detect_samples(ip): + aux = grayscale(ip, in_place=False) + invert(aux) + subtract_background(aux) + auto_threshold(aux) + binary_open(aux) + return analyse_particles(aux, 300,800, + fill_holes = False, exclude_edges = True,print_table=True, + output_image = "outlines", minCirc = 0.4 + , maxCirc = 1.0) + + +class MyFilter(Filter): + def process(self, image, data): + ip = load_image(image) + (results_puck,output_puck) = detect_pucks(ip) + (results_samples,output_samples) = detect_samples(ip) + set_lut(output_puck, outline_lut1[0], outline_lut1[1], outline_lut1[2]) + set_lut(output_samples, outline_lut2[0], outline_lut2[1], outline_lut2[2]) + op_image(ip, output_samples, "xor") + op_image(ip, output_puck, "xor") + return ip.getBufferedImage() + +#Setting the filter to a source +img.setFilter(MyFilter()) + diff --git a/script/test/ip b/script/test/ip new file mode 100644 index 0000000..e79bb62 --- /dev/null +++ b/script/test/ip @@ -0,0 +1,15 @@ +from ijutils import * +import java.awt.Color as Color + +ip = load_image(img.getImage()) +grayscale(ip) +#ip=binning(ip,2) +gaussian_blur(ip) +#bandpass_filter(ip,20, 100) +auto_threshold(ip) + +#Particle Analysis +(results,output_img)=analyse_particles(ip, 500,2000, print_table=True) +output_img.show() + +ip.show() \ No newline at end of file diff --git a/script/test/mount_profile.py b/script/test/mount_profile.py new file mode 100644 index 0000000..89ebd80 --- /dev/null +++ b/script/test/mount_profile.py @@ -0,0 +1,144 @@ +mount_sample_id = None +mount_sample_detected = None + +def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False): + """ + """ + global mount_sample_id, mount_sample_detected + print "mount: ", segment, puck, sample, force + + start = time.time() + + #time.sleep(2) + is_aux = (segment == AUX_SEGMENT) + + #ZACH + needs_chilling = not is_aux and (not robot.is_cold()) + needs_drying = is_aux and robot.is_cold() + + puck_address = get_puck_address(puck) + if puck_address is None: + puck_obj = get_puck_obj_by_id(puck) + if puck_obj is not None: + puck_address = puck_obj.name + if puck_address is not None: + print "puck address: ", puck_address + segment = puck_address[:1] + puck = int(puck_address[1:]) + #Initial checks + assert_valid_address(segment, puck, sample) + assert_puck_detected(segment, puck) + + if robot.simulated: + time.sleep(3.0) + mount_sample_detected = True + mount_sample_id = "YYY0001" + update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id) + set_setting("mounted_sample_position", get_sample_name(segment, puck, sample)) + return [mount_sample_detected, mount_sample_id] + + robot.assert_no_task() + robot.reset_motion() + robot.wait_ready() + robot.assert_cleared() + #robot.assert_in_known_point() + hexiposi.assert_homed() + assert_mount_position() + + print "Pass 1: ", time.time() - start; start = time.time() + try: + #ZACH + if needs_chilling: + robot.move_cold() + time.sleep(30.0) + + if smart_magnet.get_supress() == True: + smart_magnet.set_supress(False) + time.sleep(0.2) + #To better dectect sample + smart_magnet.apply_resting() + time.sleep(0.5) + if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True: + print "Pass 1b: ", time.time() - start; start = time.time() + if auto_unmount and (get_setting("mounted_sample_position") is not None): + #auto_unmount set to true so detection remains enabled + unmount(force = True, auto_unmount = True) + else: + raise Exception("Pin detected on gonio") + print "Pass 2: ", time.time() - start; start = time.time() + set_status("Mounting: " + str(segment) + str(puck) + str(sample)) + #location = robot.get_current_point() + + #Enabling + enable_motion() + + print "Pass 3: ", time.time() - start; start = time.time() + #ZACH + # a room temp pin is being mounted but the gripper is cold + if needs_drying: + dry(wait_cold=-1) # move to park after dry + + if is_aux: + if not robot.is_aux(): + robot.move_aux() + print "Pass 3b: ", time.time() - start; start = time.time() + robot.get_aux(sample) + + else: + set_hexiposi(segment) + print "Pass 4: ", time.time() - start; start = time.time() + if not force: + visual_check_hexiposi(segment) + + if not robot.is_dewar(): + robot.move_dewar() + print "Pass 4b: ", time.time() - start; start = time.time() + robot.get_dewar(segment, puck, sample) + print "Pass 5: ", time.time() - start; start = time.time() + + if read_dm: + barcode_reader.start_read(10.0) + robot.move_scanner() + #time.sleep(1.0) + + robot.move_gonio() + + if read_dm: + mount_sample_id = barcode_reader.get_readout() + print "Datamatrix: " , mount_sample_id + else: + mount_sample_id = None + print "Pass 6: ", time.time() - start; start = time.time() + + robot.put_gonio() + print "Pass 7: ", time.time() - start; start = time.time() + + try: + dry_mount_count = int(get_setting("dry_mount_counter")) + except: + dry_mount_count = 0 + set_setting("dry_mount_counter", dry_mount_count+1) + + if is_aux: + robot.move_home() + else: + robot.move_cold() + print "Pass 8: ", time.time() - start; start = time.time() + mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) + update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id) + if mount_sample_detected == False: + raise Exception("No pin detected on gonio") + + + if is_force_dry(): + smart_magnet.set_default_current() + print "Auto dry" + log("Starting auto dry", False) + set_exec_pars(then = "dry()") + print "Pass 9: " , time.time() - start; start = time.time() + set_setting("mounted_sample_position", get_sample_name(segment, puck, sample)) + return [mount_sample_detected, mount_sample_id] + finally: + smart_magnet.set_default_current() + smart_magnet.set_supress(True) + diff --git a/script/test/onewire.py b/script/test/onewire.py new file mode 100644 index 0000000..5141067 --- /dev/null +++ b/script/test/onewire.py @@ -0,0 +1,122 @@ +import traceback + +class Detector(ReadonlyRegisterBase): + def __init__(self, name): + ReadonlyRegisterBase.__init__(self, name) + self.id = None + self.sn = None + self.status = None + self.type = None + self.set_inputs({}) + + def set_inputs(self, inputs): + self.inputs = inputs + self.setCache(inputs.values(), None) + if (len(self.take()) == 0): + self.setState(State.Offline) + else: + self.setState(State.Ready) + + def set_input(self, index, val): + self.inputs[index] = val + self.set_inputs(self.inputs) + +class Esera(TcpDevice): + def __init__(self, name, server, timeout = 1000, retries = 1): + TcpDevice.__init__(self, name, server) + self.setMode(self.Mode.FullDuplex) + self.detectors = [] + self.complete = False + + def start(self): + self.write("set,sys,run,1\n") + + def stop(self): + self.write("set,sys,run,0\n") + + def list(self): + self.write("get,owb,listall1\n") + + def req_data(self): + self.write("get,sys,data\n") + + def doInitialize(self): + super(Esera, self).doInitialize() + try: + self.setState(State.Ready) #So can communicate + #self.stop() + #time.sleep(0.1) + #self.flush() + self.detectors = [] + for i in range(30): + self.detectors.append(Detector("Detector " + str(i+1))) + self.list() + time.sleep(0.5) + self.start() + self.req_data() + except: + print >> sys.stderr, traceback.format_exc() + getLogger().log(traceback.format_exc()) + raise + + def doUpdate(self): + if not self.complete: + init = True + for det in self.detectors: + if det.id == None: + init = False + break + if init: + self.complete = True + self.start() + + self.req_data() + #def onByte(self, rx): + # print rx + + def onString(self, msg): + print msg + tokens = msg.split("|") + if len(tokens)>1: + try: + if msg[:3] == "LST": + #LST|1_OWD1|3AF361270000009E|S_0|DS2413| + if tokens[1] > 1: + index = int(tokens[1].split("_")[1][3:]) - 1 + if index < len(self.detectors): + det = self.detectors[index] + det.id = tokens[1] + det.sn= tokens[2] if len(tokens)>2 else None + det.status = int(tokens[3][2:]) if len(tokens)>3 else None + det.type = tokens[4] if len(tokens)>4 else None + if det.status!= 0: + det.set_inputs({}) + else: + for det in self.detectors: + if det.id is not None and msg.startswith(det.id): + det_id = int(tokens[0][len(det.id)+1:]) + det.set_input(det_id, int(tokens[1])) + except: + print >> sys.stderr, traceback.format_exc() + getLogger().log(traceback.format_exc()) + + + + +#count = 1 +#while (True): +# print onewire.waitString("\n", 1000)# +# +# print count +# count = count + 1 + + + + + + +add_device(Esera("onewire", "129.129.126.83:5000"), force = True) +onewire.setPolling(1000) +add_device(onewire.detectors[0], force = True) +add_device(onewire.detectors[1], force = True) +add_device(onewire.detectors[2], force = True) diff --git a/script/test/test.py b/script/test/test.py new file mode 100644 index 0000000..92fcaca --- /dev/null +++ b/script/test/test.py @@ -0,0 +1,24 @@ +from ijutils import * +import java.awt.Color as Color + + +#ip = load_array(img.getData().getMatrix()) +ip = load_image(img.getOutput()) +#ip = load_image("{images}/test3.png", title="Image") + + +aux = grayscale(ip, in_place=False) +aux.show() + +#convolve(aux, KERNEL_SOBEL); aux.repaintWindow() + +invert(aux); aux.repaintWindow() +subtract_background(aux); aux.repaintWindow() +auto_threshold(aux); aux.repaintWindow() +binary_open(aux); aux.repaintWindow() + +(table, image) = analyse_particles(aux, 250,1000, + fill_holes = False, exclude_edges = True,print_table=True, + output_image = "outlines", minCirc = 0.82, maxCirc = 1.0) + +image.show() \ No newline at end of file diff --git a/script/test/test_hexiposi.py b/script/test/test_hexiposi.py new file mode 100644 index 0000000..324a480 --- /dev/null +++ b/script/test/test_hexiposi.py @@ -0,0 +1,8 @@ +index = 1 +while(True): + for pos in ['A', 'B', 'C', 'D', 'E', 'F']: + hexiposi.move(pos) + visual_check_hexiposi(pos) + print "Ok: " + pos + print index + index = index + 1 \ No newline at end of file diff --git a/script/test/test_segments.py b/script/test/test_segments.py new file mode 100644 index 0000000..54a8898 --- /dev/null +++ b/script/test/test_segments.py @@ -0,0 +1,16 @@ +p=robot.get_cartesian_pos() +print "Pos: ", p +print "Cache pos:", robot.cartesian_pos +print "Cache dest: ", robot.cartesian_destination + + +print "Points: ", robot.get_current_points() +for segment in known_segments: + if is_on_segment(segment): + print " On : " + str(segment) + " - Dist:" + str(get_dist_to_segment(segment)) + + + +p2 = robot.get_cartesian_pos() +if arrsub( p2, p) != [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]: + print "Pos: ", p2 \ No newline at end of file diff --git a/script/test/test_swingutils.py b/script/test/test_swingutils.py new file mode 100644 index 0000000..65b354b --- /dev/null +++ b/script/test/test_swingutils.py @@ -0,0 +1,24 @@ +import ch.psi.pshell.imaging.RendererMode as RendererMode +import ch.psi.pshell.imaging.Calibration as Calibration +from ch.psi.pshell.imaging.Overlays import * +import ch.psi.utils.swing.SwingUtils as SwingUtils +import javax.swing.SwingUtilities as SwingUtilities +from swingutils.threads.swing import callSwing + + +p = show_panel(img) +dlg = SwingUtilities.getWindowAncestor(p) +dlg.setSize(800,800) +frm=SwingUtils.getFrame(p) +dlg.setLocationRelativeTo(frm) + +def update_frame(frm): + SwingUtilities.updateComponentTreeUI(frm) + frm.validate() + frm.repaint() +#$callSwing(update_frame, frm) + + +x=0 +for i in range(0,10000000): + x=x+1 \ No newline at end of file diff --git a/script/test/then.py b/script/test/then.py new file mode 100644 index 0000000..fcbe1bb --- /dev/null +++ b/script/test/then.py @@ -0,0 +1,3 @@ +time.sleep(3.0) + +set_exec_pars(then = "time.sleep(5.0)") \ No newline at end of file diff --git a/script/test/transfer_profile.py b/script/test/transfer_profile.py new file mode 100644 index 0000000..00be4cb --- /dev/null +++ b/script/test/transfer_profile.py @@ -0,0 +1,23 @@ + + +measures = [] +#smart_magnet.measures = [] + + +for m in range(1): + print "Step ", m + start = time.time() + #mount('A',3,m+1, force=True, read_dm=False, auto_unmount=True) + #mount('A',5,m+1, force=True, read_dm=False, auto_unmount=True) + + #mount('A',3,1, force=True, read_dm=False, auto_unmount=True) + #unmount('A',3,1, force=True) + #mount('A',3,1, force=True, read_dm=False, auto_unmount=True) + measures.append( time.time()-start) + +print "Total transfer: ", measures +print "Time: ", mean(measures), "+-", stdev(measures) + + +#print "SM cehck: ", smart_magnet.measures +#print "Time: ", mean(smart_magnet.measures), "+-", stdev(smart_magnet.measures) \ No newline at end of file diff --git a/script/test/unmount_profile.py b/script/test/unmount_profile.py new file mode 100644 index 0000000..5adcdb3 --- /dev/null +++ b/script/test/unmount_profile.py @@ -0,0 +1,98 @@ +def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False): + """ + """ + print "unmount: ", segment, puck, sample, force + start = time.time() + #ZACH + is_aux = (segment == AUX_SEGMENT) + needs_chilling = not is_aux and (not robot.is_cold()) + needs_drying = is_aux and robot.is_cold() + + if (segment is None) or (puck is None) or (sample is None): + pos = get_setting("mounted_sample_position") + if pos is None: + raise Exception("Mounted sample position is not defined") + segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:]) + print "Mounted sample position: ", segment, puck , sample + + #Initial checks + print "assert valid address" + assert_valid_address(segment, puck, sample) + print "asser puck detected" + assert_puck_detected(segment, puck) + + if robot.simulated: + time.sleep(3.0) + update_samples_info_sample_unmount(get_puck_name(segment, puck), sample) + set_setting("mounted_sample_position", None) + return + + print "assert no task" + robot.assert_no_task() + print "reset motion" + robot.reset_motion() + print "wait ready" + robot.wait_ready() + print "assert cleared" + robot.assert_cleared() + #robot.assert_in_known_point() + print "assert homed" + hexiposi.assert_homed() + print "assert mount pos" + assert_mount_position() + print "Pass A: " , time.time() - start; start = time.time() + set_status("Umounting: " + str(segment) + str(puck) + str(sample)) + + try: + if smart_magnet.get_supress() == True: + smart_magnet.set_supress(False) + time.sleep(0.2) + + smart_magnet.apply_resting() + + if not force: + if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False: + raise Exception("No pin detected on gonio") + print "Pass B: " , time.time() - start; start = time.time() + #Enabling + enable_motion() + print "Pass C: " , time.time() - start; start = time.time() + + if not is_aux: + set_hexiposi(segment) + print "Pass D: " , time.time() - start; start = time.time() + if not force: + visual_check_hexiposi(segment) + if needs_chilling: + robot.move_cold() + time.sleep(30.) + else: + if needs_drying: + dry(wait_cold=-1) + #location = robot.get_current_point() + print "Pass E: " , time.time() - start; start = time.time() + if not robot.is_gonio(): + robot.move_gonio() + print "Pass F: " , time.time() - start; start = time.time() + #smart_magnet.set_unmount_current() + + robot.get_gonio() + print "Pass G: " , time.time() - start; start = time.time() + #smart_magnet.apply_reverse() + #smart_magnet.apply_resting() + + if is_aux: + robot.move_aux() + robot.put_aux( sample) + else: + #TODO: Shuld check if smart magnet detection is off? + update_samples_info_sample_unmount(get_puck_name(segment, puck), sample) + robot.move_dewar() + print "Pass H: " , time.time() - start; start = time.time() + robot.put_dewar(segment, puck, sample) + print "Pass I: " , time.time() - start; start = time.time() + set_setting("mounted_sample_position", None) + finally: + if not auto_unmount: + smart_magnet.set_default_current() + smart_magnet.set_supress(True) diff --git a/script/tools/CheckGripper.py b/script/tools/CheckGripper.py new file mode 100644 index 0000000..603c756 --- /dev/null +++ b/script/tools/CheckGripper.py @@ -0,0 +1,23 @@ + + + +vector = [1.0,0.0] + + + +class GripperTool(RegisterBase): + def doRead(self): + return 1.0 if robot.is_tool_open() else 0.0 + + def doWrite(self, val): + if val: + robot.open_tool() + else: + robot.close_tool() + + +add_device(GripperTool("gripper_tool"), True) + + +vscan(gripper_tool, [laser_distance,], vector, latency = 3, passes=50) + diff --git a/script/tools/CheckPuckDetection.py b/script/tools/CheckPuckDetection.py new file mode 100644 index 0000000..d9bf425 --- /dev/null +++ b/script/tools/CheckPuckDetection.py @@ -0,0 +1,6 @@ +USR,PWD = "pi", "raspberry" +HOST,PORT = "tell6d-raspberrypi", 22 +CMD= "sudo systemctl status puck_detection.service" + +ret = run("tools/SshExec") +set_return(ret) \ No newline at end of file diff --git a/script/tools/Math.py b/script/tools/Math.py new file mode 100644 index 0000000..c76ce33 --- /dev/null +++ b/script/tools/Math.py @@ -0,0 +1,68 @@ +################################################################################################### +# Math utilities +################################################################################################### + + +from mathutils import estimate_peak_indexes, fit_gaussians, create_fit_point_list, Gaussian +import java.awt.Color as Color + +import mathutils +mathutils.MAX_ITERATIONS = 100000 + +def fit(ydata, xdata = None, draw_plot = True): + if xdata is None: + xdata = frange(0, len(ydata), 1) + max_y= max(ydata) + index_max = ydata.index(max_y) + max_x= xdata[index_max] + #print "Max index:" + str(index_max), + #print " x:" + str(max_x), + #print " y:" + str(max_y) + + if draw_plot: + plots = plot([ydata],["data"],[xdata], title="Fit" ) + p = None if plots is None else plots[0] + + gaussians = fit_gaussians(ydata, xdata, [index_max,]) + if gaussians[0] is None: + if draw_plot and (p is not None): + p.addMarker(max_x, None, "Max="+str(round(max_x,4)), Color.GRAY) + print "Fitting error" + return (None, None, None) + + (norm, mean, sigma) = gaussians[0] + if draw_plot: + fitted_gaussian_function = Gaussian(norm, mean, sigma) + scale_x = [float(min(xdata)), float(max(xdata)) ] + points = max((len(xdata)+1), 100) + resolution = (scale_x[1]-scale_x[0]) / points + fit_y = [] + fit_x = frange(scale_x[0],scale_x[1],resolution, True) + for x in fit_x: + fit_y.append(fitted_gaussian_function.value(x)) + #Server + if p is None: + plot([ydata,fit_y],["data","fit"],[xdata,fit_x], title="Fit") + draw_plot = False + else: + p.addSeries(LinePlotSeries("fit")) + p.getSeries(1).setData(fit_x, fit_y) + + if abs(mean - xdata[index_max]) < abs((scale_x[0] + scale_x[1])/2): + if draw_plot: + p.addMarker(mean, None, "Mean="+str(round(mean,4)), Color.MAGENTA.darker()) + #print "Mean -> " + str(mean) + return (norm, mean, sigma) + else: + if draw_plot: + p.addMarker(max_x, None, "Max="+str(round(max_x,4)), Color.GRAY) + #print "Invalid gaussian fit: " + str(mean) + return (None, None, None) + + +def enforce_monotonic(x): + epsilon = 1e-8 + for i in range(len(x)-1): + if x[i+1]<=x[i]: + x[i+1] = x[i]+ epsilon + return x \ No newline at end of file diff --git a/script/tools/RestartPuckDetection.py b/script/tools/RestartPuckDetection.py new file mode 100644 index 0000000..8f14c00 --- /dev/null +++ b/script/tools/RestartPuckDetection.py @@ -0,0 +1,8 @@ +USR,PWD = "pi", "raspberry" +HOST,PORT = "tell6d-raspberrypi", 22 +CMD= "sudo systemctl stop puck_detection.service;sudo systemctl start puck_detection.service" + +ret = run("tools/SshExec") +set_return(ret) + +puck_detection.initialize() \ No newline at end of file diff --git a/script/tools/SshExec.py b/script/tools/SshExec.py new file mode 100644 index 0000000..c9e4f50 --- /dev/null +++ b/script/tools/SshExec.py @@ -0,0 +1,61 @@ +import com.jcraft.jsch.Channel as Channel +import com.jcraft.jsch.ChannelShell as ChannelShell +import com.jcraft.jsch.JSch as JSch +import com.jcraft.jsch.JSchException as JSchException +import com.jcraft.jsch.Session as Session +import java.lang.System as System +import java.io.PrintStream as PrintStream + + +#Parameters: +#CMD +#USR +#PWD +#HOST +#PORT + +jsch= JSch() +session=jsch.getSession(USR, HOST, PORT) +session.setPassword(PWD) +session.setConfig("StrictHostKeyChecking", "no") +session.connect() + +#channel=session.openChannel("shell") +#input_stream=channel.getInputStream() +#output_stream = channel.getOutputStream() +#print_stream = PrintStream(output_stream, True) +#print_stream.println("ls") + +channel=session.openChannel("exec") +channel.setCommand(CMD) +channel.setInputStream(None) +channel.setOutputStream(System.out) +channel.setErrStream(System.err) +input_stream=channel.getInputStream() + + +def wait_ret(): + global input_stream + rx = "" + while True: + while (input_stream.available() > 0): + i = input_stream.read() + if i < 0: + break + rx=rx+chr(i) + if channel.closed: + break + time.sleep(0.1) + return rx + + +channel.connect() + +try: + ret = wait_ret() +except: + channel.disconnect() + session.disconnect() + raise + +set_return(ret) \ No newline at end of file diff --git a/script/tools/StopPuckDetection.py b/script/tools/StopPuckDetection.py new file mode 100644 index 0000000..9c5b27b --- /dev/null +++ b/script/tools/StopPuckDetection.py @@ -0,0 +1,8 @@ +USR,PWD = "pi", "raspberry" +HOST,PORT = "tell6d-raspberrypi", 22 +CMD= "sudo systemctl stop puck_detection.service" + +ret = run("tools/SshExec") +set_return(ret) + +