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This commit is contained in:
alexgobbo
2025-01-09 14:25:14 +01:00
parent bbd6822754
commit ee4dbe207c
35 changed files with 386 additions and 166 deletions
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config/plugins.properties
+2 -1
View File
@@ -1,4 +1,5 @@
Image_Correlator.java=enabled
MXSC-1.21.0.jar=disabled
Image_Correlator.java=disabled
MXSC-1.14.0.jar=disabled
MXSC-1.15.0.jar=disabled
Commands.java=disabled
config/settings.properties
+6 -4
View File
@@ -1,13 +1,14 @@
#Tue Nov 05 14:53:35 CET 2024
#Thu Jan 09 14:25:02 CET 2025
barcode_reader_scan_pucks=false
beamline_status_enabled=false
cold_position_timeout=3600
dry_mount_counter=0
dry_timestamp=1.69564645367E9
force_dry_mount_count=4
dry_mount_counter=1
dry_timestamp=1.736347752038E9
force_dry_mount_count=15
force_dry_timeout=27000
imaging_enabled=true
led_level=0.0
mounted_sample=A213
pin_cleaner_timer=60
pin_offset=0
puck_types=true
@@ -18,3 +19,4 @@ roi_y=123
room_temperature_enabled=false
service_mode=false
valve_control=true
zac=ohyes
devices/A1.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Wed Jul 14 16:02:00 CEST 2021
detection=Mechanical
#Wed Dec 04 10:49:43 CET 2024
detection=Inductive
disabled=false
devices/A2.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Thu Jun 06 15:47:03 CEST 2019
detection=Mechanical
#Wed Dec 04 10:49:50 CET 2024
detection=Inductive
disabled=false
devices/A3.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Tue Jan 21 09:46:43 CET 2020
detection=Mechanical
#Wed Dec 04 10:49:55 CET 2024
detection=Inductive
disabled=false
devices/A4.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Thu Jun 06 15:40:34 CEST 2019
detection=Mechanical
#Wed Dec 04 10:50:00 CET 2024
detection=Inductive
disabled=false
devices/A5.properties
+2 -2
View File
@@ -1,3 +1,3 @@
#Tue Jan 21 09:46:49 CET 2020
detection=Mechanical
#Wed Dec 04 10:50:04 CET 2024
detection=Inductive
disabled=false
devices/cover_detection.properties
+8 -7
View File
@@ -1,17 +1,17 @@
#Tue Nov 05 14:53:21 CET 2024
#Thu Jan 09 14:25:04 CET 2025
border_dewar=0.56
center_x=1022.0
center_y=1048.0
center_x=1020.0
center_y=1047.0
continuous=false
correlation_threshold=0.0
dewar_wall=0.56
diam_dewar=null
diam_disk=null
diam_target=null
diameter_cover=1787
diameter_cover=1800
diameter_dewar=1798
diameter_disk=670
diameter_target=100
diameter_target=75
diamter_dewar=1800
diamter_disk=670
disc_marker_ov=null
@@ -23,8 +23,9 @@ number_images=1
offset_threshold=null
open_strategy=both
rotation_degrees=0.0
scale_x=0.3969679955081415
scale_y=0.3943112102621305
scale_x=0.3932146829810901
scale_y=0.39234184239733627
size_mask_dewar=0.98
size_mask_disk=0.8
target_time_tolerance=20.0
threshold_method=IsoData
devices/ip_ref_fe.png.properties
+20
View File
@@ -0,0 +1,20 @@
#Tue Nov 05 16:27:22 CET 2024
flipHorizontally=false
flipVertically=false
grayscale=false
invert=false
rescaleFactor=1.0
rescaleOffset=0.0
roiHeight=-1
roiWidth=-1
roiX=0
roiY=0
rotation=0.0
rotationCrop=false
scale=1.0
spatialCalOffsetX=NaN
spatialCalOffsetY=NaN
spatialCalScaleX=NaN
spatialCalScaleY=NaN
spatialCalUnits=mm
transpose=false
devices/led_ctrl_1.properties
+2 -2
View File
@@ -1,6 +1,6 @@
#Thu Aug 15 14:00:10 CEST 2024
#Wed Jan 08 16:13:51 CET 2025
description=null
maxValue=0.4
maxValue=1.0
minValue=0.0
offset=0.0
precision=2
devices/led_ctrl_2.properties
+2 -2
View File
@@ -1,6 +1,6 @@
#Thu Aug 15 14:00:10 CEST 2024
#Wed Jan 08 16:13:51 CET 2025
description=null
maxValue=0.4
maxValue=1.0
minValue=0.0
offset=0.0
precision=2
devices/led_ctrl_3.properties
+2 -2
View File
@@ -1,6 +1,6 @@
#Thu Aug 15 14:00:10 CEST 2024
#Wed Jan 08 16:13:51 CET 2025
description=null
maxValue=0.4
maxValue=1.0
minValue=0.0
offset=0.0
precision=2
plugins/MXSC-1.21.0.jar
BIN
View File
Binary file not shown.
script/data/pucks.py
+16 -7
View File
@@ -2,11 +2,12 @@ def get_puck_names():
return [str(a)+str(b) for a in BLOCKS for b in range(1,6)]
def get_puck_info():
def get_puck_info(status=None):
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)})
if (status is None) or (status==puck.status):
ret.append({"address" : str(puck.name), "status": str(puck.status), "barcode" : str(puck.id)})
return ret
@@ -14,11 +15,19 @@ 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 get_puck_obj_by_id(puck_id, approx=True):
if puck_id:
for puck in BasePlate.pucks:
if puck.id == puck_id:
return puck
if approx:
puck_id = barcode_clean_re.sub("", puck_id.upper())
for puck in BasePlate.pucks:
if puck.id:
if barcode_clean_re.sub("", puck.id.upper()) == puck_id:
return puck
return None
def set_puck_info(puck_info):
script/data/samples.py
+45 -3
View File
@@ -95,13 +95,14 @@ def remove_puck_datamatrix(barcode):
barcode_clean_re = re.compile("[^a-zA-Z0-9]")
def is_same_datamatrix(table, reading):
def is_same_datamatrix(table, reading, do_log=True):
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 )
if do_log:
log("Assigning aproximative datamatrix " + reading )
return True
return False
@@ -138,8 +139,20 @@ def get_puck_datamatrix():
return ret
def get_puck_datamatrix_info():
def get_puck_from_datamatrix(datamatrix):
try:
for dm,puck in get_puck_datamatrix().items():
if is_same_datamatrix(dm,datamatrix):
return puck
except:
pass
return None
def get_puck_datamatrix_info(use_puck_detection=True):
ret = {}
#get_puck_obj_by_id("A-10").getName()
for si in samples_info:
if si["puckBarcode"] is not None and si["puckBarcode"]!="":
info = {}
@@ -149,6 +162,35 @@ def get_puck_datamatrix_info():
info["user"] = si ["userName"]
info["type"] = si ["puckType"]
ret[si["puckBarcode"]] = info
if use_puck_detection:
detected_pucks = get_puck_info("Present") #
for p in detected_pucks:
address = str(p['address'])
barcode = str(p['barcode'])
if barcode and barcode != str(None):
insert = True
for id,info in ret.items():
add = info["address"]
if is_same_datamatrix(barcode, id, False):
insert = False
if str(add).strip() != address:
log("Apdating address from DM info: " + add )
for entry in ret.values():
if str(entry['address']).strip() == address:
entry['address']=""
info["address"] = address
break
#Different address:
if insert:
info = {}
info["address"] = address
info["dewar"] = ""
info["name"] = ""
info["user"] = ""
info["type"] = ""
ret[barcode] = info
return ret
def get_puck_address(barcode):
script/devices/CoverDetection.py
+33 -32
View File
@@ -19,6 +19,7 @@ class CoverDetectionConfig(RegisterConfig):
self.border_dewar=0.56
self.size_mask_disk=0.8
self.size_mask_dewar=0.98
self.target_time_tolerance = 20.0
self.max_detect_offset=10
self.open_strategy = "both"
self.threshold_method = "IsoData"
@@ -53,7 +54,7 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
self.error_overlay=None
self.img_counter, self.proc_counter = 0, 0
self.offset_px = self.offset_um = None
self.correlation = CoverCorrelation("cover_correlation")
#self.correlation = CoverCorrelation("cover_correlation")
self.correlation_error = False
self.disc_marker_ov = None
self.center_marker_ov = None
@@ -70,7 +71,7 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
def doClose(self):
self.disable()
self.correlation.close()
#self.correlation.close()
def set_renderer(self, renderer):
self.clear()
@@ -93,7 +94,7 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
def clear(self):
self.set_marker(None)
self.set_error_overlay(None)
self.set_correlation(None)
#self.set_correlation(None)
def append(self, image):
self.img_counter += 1
@@ -112,11 +113,11 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
self.error = None
center = (self.config.center_x, self.config.center_y)
try:
x,y = detect_covert_position(ip, center, \
x,y = detect_cover_position(ip, center, \
diam_target=self.config.diameter_target, diam_disk= self.config.diameter_disk, diam_dewar=self.config.diameter_dewar, \
mask_disk=self.config.size_mask_disk, mask_dewar=self.config.size_mask_dewar, border_dewar = self.config.border_dewar, \
offset_threshold=self.config.max_detect_offset ,open_strategy= self.config.open_strategy, threshold_method=self.config.threshold_method, \
debug=self.debug)
offset_threshold=self.config.max_detect_offset , target_time_tolerance= self.config.target_time_tolerance, \
open_strategy= self.config.open_strategy, threshold_method=self.config.threshold_method, debug=self.debug)
except Exception as e:
self.error = e
@@ -133,14 +134,14 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
self.processing_time = time.time()-start
self.proc_counter += 1
try:
corr = get_correlation(ip.getBufferedImage())
self.correlation.set(corr)
self.set_correlation(corr)
except Exception as e:
#traceback.print_exc()
if self.error is None:
self.error = e
#try:
# corr = get_correlation(ip.getBufferedImage())
# self.correlation.set(corr)
# self.set_correlation(corr)
#except Exception as e:
# #traceback.print_exc()
# if self.error is None:
# self.error = e
self.set(x, y, self.processing_time * 1000, self.error)
#traceback.print_exc()
@@ -215,26 +216,26 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
images.append(ip)
self.image.waitNext(-1)
ip = integrate(images)
img = ip.getBufferedImage()
image = ip.getBufferedImage()
else:
img = self.image.output
save_ref_img(img)
image = self.image.output
save_ref_img(image)
def set_correlation(self, corr):
self.corr = corr
error = corr is not None and corr < self.config.correlation_threshold
if error != self.correlation_error:
self.correlation_error = error
if error:
print ("Image anomally detected")
else:
print ("Image ok")
if error:
raise Exception ("Image anomally detected")
#def set_correlation(self, corr):
# self.corr = corr
# error = corr is not None and corr < self.config.correlation_threshold
# if error != self.correlation_error:
# self.correlation_error = error
# if error:
# print ("Image anomally detected")
# else:
# print ("Image ok")
# if error:
# raise Exception ("Image anomally detected")
def show_disk_marker(self):
size = int(DISK_SIZE_MM * (self.config.scale_x + self.config.scale_y)/2.0)
pn = show_panel(img)
pn = show_panel(self.image)
ov=Overlays.Ellipse(Pen(Color.RED), Point(0,0), Dimension(661,661))
ov.movable=True
ov.solid=True
@@ -242,8 +243,8 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
self.disc_marker_ov = ov
def show_center_marker(self):
pn = show_panel(img)
ov=Overlays.Crosshairs(Pen(Color.RED), Point(int(cover_detection.config.center_x), int(cover_detection.config.center_y)), Dimension(-1,-1))
pn = show_panel(self.image)
ov=Overlays.Crosshairs(Pen(Color.RED), Point(int(self.config.center_x), int(self.config.center_y)), Dimension(-1,-1))
ov.movable=False
pn.updateOverlays(ov, self.center_marker_ov)
self.center_marker_ov = ov
@@ -251,7 +252,7 @@ class CoverDetection(ReadonlyAsyncRegisterBase, ReadonlyRegisterArray):
add_device(CoverDetection("cover_detection", img), force = True)
add_device(cover_detection.correlation, force = True)
#add_device(cover_detection.correlation, force = True)
#renderer=show_panel(img)
#cover_detection.set_renderer(renderer)
script/devices/RobotSC.py
+10 -7
View File
@@ -17,6 +17,8 @@ RT_SEGMENT = "R"
DEFAULT_ROBOT_POLLING = 500
TASK_WAIT_ROBOT_POLLING = 50
SAME_LOCATION = (1000, 1000)
run("devices/RobotTCP")
@@ -45,19 +47,20 @@ class RobotSC(RobotTCP):
self.last_command_timestamp = time.time()
self.ongoing_task = None
def move_dewar_async(self, off_x, off_y):
self.start_task('moveDewar', off_x,off_y)
self.ongoing_task = ("dewar", self.assert_dewar)
def move_dewar_async(self, off_x, off_y, sts_det, sta_clr):
status = sts_det + sta_clr*10
self.start_task('moveDewar', off_x,off_y, status)
self.ongoing_task = ("dewar", self.assert_dewar)
def move_dewar(self, off_x,off_y):
self.move_dewar_async(off_x,off_y)
def move_dewar(self, off_x, off_y, sts_det, sta_clr):
self.move_dewar_async(off_x, off_y, sts_det, sta_clr)
self.wait_async_motion()
def move_cold_async(self):
self.start_task('moveCold')
self.ongoing_task = ("cold", self.assert_cold)
def move_cold(self):
def move_cold(self):
self.move_cold_async()
self.wait_async_motion()
@@ -73,7 +76,7 @@ class RobotSC(RobotTCP):
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.assert_cold()
self.last_command_position = "dewar"
self.last_command_timestamp = time.time()
script/devices/RobotTCP.py
+7 -1
View File
@@ -50,6 +50,7 @@ class RobotTCP(TcpDevice, Stoppable):
self.default_speed = 100
self.latency = 0
self.last_msg_timestamp = 0
self.debug=False
self.task_start_retries = 3
self.exception_on_task_start_failure = True #Tasks may start and be finished when checked
@@ -167,7 +168,12 @@ class RobotTCP(TcpDevice, Stoppable):
try:
id = "%03d" % self.msg_id
self.msg_id = (self.msg_id+1)%1000
return self._sendReceive(id, msg, timeout)
if self.debug:
print "TX: ", msg
ret = self._sendReceive(id, msg, timeout)
if self.debug:
print "RX: ", ret
return ret
finally:
self.lock.release()
script/imgproc/CoverCorrelation.py
+24 -8
View File
@@ -87,15 +87,19 @@ def get_edge_img(ib):
def save_ref_img(img):
global ip_ref_fe
path = os.path.abspath(expand_path("{images}/ip_ref.png"))
path = os.path.abspath(expand_path("{images}/Correlation/ip_ref.png"))
roi=get_roi_img(img, offset_x=0, offset_y=0)
ImageBuffer.saveImage(roi, path, "png")
path = os.path.abspath(expand_path("{images}/Correlation/ip_ref_f.png"))
ip_ref_f = image_fft(load_image(roi))
ImageBuffer.saveImage(ip_ref_f.getBufferedImage(), path, "png")
path = os.path.abspath(expand_path("{images}/ip_ref_e.png"))
ip_ref_e =get_edge_img(roi)
path = os.path.abspath(expand_path("{images}/Correlation/ip_ref_e.png"))
ip_ref_e = get_edge_img(roi)
ImageBuffer.saveImage(ip_ref_e.getBufferedImage(), path, "png")
path = os.path.abspath(expand_path("{images}/ip_ref_fe.png"))
path = os.path.abspath(expand_path("{images}/Correlation/ip_ref_fe.png"))
ip_ref_fe = image_fft(ip_ref_e)
ImageBuffer.saveImage(ip_ref_fe.getBufferedImage(), path, "png")
@@ -114,10 +118,12 @@ def put_mark(ib):
for y in range(650, 700):
ib.setRGB(x,y, 0)
def get_correlation(img):
def get_correlation(image=None):
if image is None:
image = img.output
global ip_ref_fe
if "ip_ref_fe" not in globals() or ip_ref_fe is None:
path = os.path.abspath(expand_path("{images}/ip_ref.png"))
path = os.path.abspath(expand_path("{images}/Correlation/ip_ref.png"))
roi = ImagingUtils.newImage(path)
#ip_ref_fe=open_imagroie(path+"ip_ref_fe.png" ,"png")
#ip_ref = load_image(roi, title="ip_ref")
@@ -126,7 +132,7 @@ def get_correlation(img):
#ip_ref_fe = clear_dc(ip_ref_fe)
print "Opened reference image"
roi =get_roi_img(img, offset_x=-offset, offset_y=-offset)
roi =get_roi_img(image, offset_x=-offset, offset_y=-offset)
if add_mark:
put_mark(roi)
#ip_cur = load_image(roi, title="Ref")
@@ -136,4 +142,14 @@ def get_correlation(img):
#ip_cur_fe = clear_dc(ip_cur_fe)
return max(correlator.getCorrelation(ip_ref_fe, ip_cur_fe)[0], 0.0)
class CorrFilter(Filter):
def process(self, image, data):
roi=get_roi_img(image, offset_x=0, offset_y=0)
#ip_ref_f = image_fft(load_image(roi))
ip_ref_e = get_edge_img(roi)
ip_ref_fe = image_fft(ip_ref_e)
return ip_ref_fe.getBufferedImage()
corr_filter = CorrFilter()
script/imgproc/CoverDetection.py
+22 -12
View File
@@ -6,7 +6,7 @@ COVER_SIZE_MM = 707.0
DISK_SIZE_MM = 260.0
TARGET_SIZE_MM = 40.0
TARGET_HOLES = True
TARGET_HOLES = False
def set_circle_mask(ip, center_x, center_y, radius, bitwise=False):
w, h = ip.getWidth(), ip.getHeight()
@@ -24,8 +24,13 @@ def set_circle_mask(ip, center_x, center_y, radius, bitwise=False):
ip.copyBits(mask, 0, 0, Blitter.AND) # Apply the mask using a bitwise AND
def detect_covert_position( ip, center=None, diam_target=95, diam_disk=670, diam_dewar=1800, mask_disk=0.8, mask_dewar=0.98, border_dewar=0.7, offset_threshold=10,\
open_strategy = "both", print_table=False, output_image=False, threshold_method="IsoData", debug=False):
last_target_detection = None
use_target_cache = False
def detect_cover_position( ip, center=None, diam_target=95, diam_disk=670, diam_dewar=1800, mask_disk=0.8, mask_dewar=0.98, border_dewar=0.7, offset_threshold=10,\
target_time_tolerance=0.0, open_strategy = "both", print_table=False, output_image=False, threshold_method="IsoData", debug=False):
global last_target_detection, use_target_cache
use_target_cache = False
if output_image==True:
output_image= "outlines"
if ip.getProcessor().isGrayscale():
@@ -89,26 +94,31 @@ def detect_covert_position( ip, center=None, diam_target=95, diam_disk=670, diam
px = int(pow(diam_target/2,2) * math.pi)
(res1,out1)=analyse_particles(it, px/2, px*2, \
fill_holes = True, exclude_edges = True, print_table=print_table, \
output_image = output_image, minCirc = 0.6 if TARGET_HOLES else 0.8 , maxCirc = 1.0)
output_image = output_image, minCirc = 0.8 if TARGET_HOLES else 0.8 , maxCirc = 1.0)
if res1.size() != 1:
msg = "Target detection error: " + ("none" if res1.size()==0 else "")
for i in range( res1.size()):
msg = msg + "(" + str(res1.getValue("XM", 0)) + ", " + str( res2.res1("YM", 0)) + "), "
raise Exception( msg )
x1,y1 = res1.getValue("XM", 0), res1.getValue("YM", 0)
x1, y1, timestamp = last_target_detection if (last_target_detection is not None) else (0,0,0)
#Uses previoes inner position if close to center of outter, for during certain time
if (target_time_tolerance<=0) or (time.time() - timestamp > target_time_tolerance):
msg = "Target detection error: " + ("none" if res1.size()==0 else "")
for i in range( res1.size()):
msg = msg + "(" + str(res1.getValue("XM", 0)) + ", " + str( res2.res1("YM", 0)) + "), "
raise Exception( msg )
use_target_cache = True
else:
x1,y1 = res1.getValue("XM", 0), res1.getValue("YM", 0)
last_target_detection = (x1,y1, time.time())
if abs(x1-x2) > offset_threshold or abs(y1-y2) > offset_threshold:
msg = "Disk/Target offset error: " + "(" + str(int(x1-x2)) + ", " + str(int(y1-y2)) + ")"
raise Exception( msg )
border_dewar = 0.9
distance = math.hypot(x1-center[0], y1-center[1])
distance_threshold = border_dewar * diam_dewar /2
if distance > distance_threshold:
msg = "Cover position outside dewar: " + "(" + str(int(x1)) + ", " + str(int(y1)) + ")"
raise Exception( msg )
raise Exception( msg )
return x1,y1
script/local.py
+104 -20
View File
@@ -149,22 +149,11 @@ def set_laser_pos(pos=None):
url = "http://raspipointer:5000/preset"
if not pos:
pos = "Test2"
requests.post(url, data={"position": pos} )
requests.post(url, data={"position": pos} )
def get_cover_location_mm(raise_ex=True):
if is_service_mode():
return 0.0, 0.0
v = cover_detection.take()
if v == "No cover not detected":
return 0.0, 0.0
if v and not is_string(v):
return v[4], v[5]
if raise_ex:
raise Exception("Cannot detect cover location")
def is_door_closed():
return feedback_psys_safety.take()
###################################################################################################
# Utility modules
@@ -211,10 +200,10 @@ def system_check(robot_move=True):
if auto:
if not feedback_psys_safety.read():
raise Exception("Psys safety not released")
if not guiding_tool_park.read():
raise Exception("Guiding tool 1 not parked")
if not guiding_tool_park_2.read():
raise Exception("Guiding tool 2 not parked")
#if not guiding_tool_park.read():
# raise Exception("Guiding tool 1 not parked")
#if not guiding_tool_park_2.read():
# raise Exception("Guiding tool 2 not parked")
def system_check_msg():
try:
@@ -344,6 +333,99 @@ for l in dewar_level.listeners:
dewar_level.addListener(dewar_level_listener)
dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None)
robot_cleared_cache = False
class FeedbackPsysListener (DeviceListener):
def onValueChanged(self, device, value, former):
global robot_cleared_door
log("Doors state changed: clearing cover detetection cache")
robot_cleared_cache = None
feedback_psys_listener = FeedbackPsysListener()
for l in feedback_psys_safety.listeners:
if Nameable.getShortClassName(l.getClass()) == "FeedbackPsysListener":
feedback_psys_safety.removeListener(l)
feedback_psys_safety.addListener(feedback_psys_listener)
feedback_psys_listener.onValueChanged(feedback_psys_safety, feedback_psys_safety.take(), None)
#Wait cover_detection to be added asynchronously
start = time.time()
while True:
if get_device("cover_detection") is not None:
break
if time.time() - start > 10.0:
raise Exception("Error creating cover detection device")
time.sleep(0.01)
class CoverDetectionListener (DeviceListener):
def onValueChanged(self, device, v, former):
global robot_cleared_door
if v and not is_string(v):
if feedback_psys_safety.take():
robot_cleared_cache = True
cover_detection_listener = CoverDetectionListener()
for l in cover_detection.listeners:
if Nameable.getShortClassName(l.getClass()) == "CoverDetectionListener":
cover_detection.removeListener(l)
cover_detection.addListener(cover_detection_listener)
cover_detection_listener.onValueChanged(cover_detection, cover_detection.take(), None)
###################################################################################################
# Cover detection
###################################################################################################
CLEAR_STATUS_IN_DEWAR = 1
CLEAR_STATUS_DOORS_CLOSED = 2
CLEAR_STATUS_MANUAL_MODE = 3
CLEAR_STATUS_IN_TASK = 4
def get_cover_location_mm(raise_ex=True, print_log=True):
off_x = off_y = off_sts = clr_sts = 0
if robot.is_dewar() or robot.is_cold():
log("Check cover location - in dewar")
clr_sts = CLEAR_STATUS_IN_DEWAR
else:
if is_service_mode():
if print_log: log("Check cover location - service mode")
off_sts = 1
else:
if cover_detection.age > 10000:
if print_log: log("Check cover location - offline")
raise Exception("Cover location detection task is not running")
v = cover_detection.take()
if v == "No cover not detected":
if print_log: log("Check cover location - no cover")
elif v and not is_string(v):
off_x, off_y, off_sts = v[4], v[5], 1
if print_log: log("Check cover location - image: " + str((off_x, off_y)))
else:
if print_log: log("Check cover location - error")
if is_manual_mode():
if print_log: log("Check cover location - Robot cleared in manual mode")
clr_sts = CLEAR_STATUS_MANUAL_MODE
elif robot_cleared_cache:
if print_log: log("Check cover location - Robot cleared with doors closed")
clr_sts = CLEAR_STATUS_DOORS_CLOSED
if (off_sts==0) and (clr_sts==0):
if raise_ex:
raise Exception("Cannot detect cover location and robot is not cleared")
return [off_x, off_y, off_sts, clr_sts]
def invalidate_cover_info(cover_info):
cover_info[2]=0
if cover_info[3]==0:
log("Invalidate cover location - Robot cleared in task continuation")
cover_info[3]=CLEAR_STATUS_IN_TASK
###################################################################################################
# Global variables & application state
###################################################################################################
@@ -361,12 +443,13 @@ def assert_mount_position():
if not in_mount_position and get_exec_pars().source == CommandSource.server :
raise Exception("Not in mount position")
␍
"""
def is_puck_loading():
guiding_tools_parked = guiding_tool_park.read() and guiding_tool_park_2.read()
return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \
feedback_psys_safety.take() == False and \
not guiding_tools_parked
"""
def set_pin_offset(val):
if abs(val) >5:
@@ -438,11 +521,12 @@ def assert_detector_safe():
def onPuckLoadingChange(puck_loading):
set_led_state(puck_loading)
#pass
update()
add_device(Controller.getInstance().basePlate, True)
restore_samples_info()
print "Initialization complete"
script/motion/dry.py
+3 -3
View File
@@ -48,11 +48,11 @@ def dry(heat_time=None, speed=None, wait_cold = None):
set_setting("dry_mount_counter", 0)
set_setting("dry_timestamp",time.time())
set_setting("dry_timestamp", time.time())
if wait_cold >=0 :
off_x,off_y = get_cover_location_mm()
robot.move_dewar(off_x,off_y)
cover_info = get_cover_location_mm()
robot.move_dewar(*cover_info)
robot.move_cold()
time.sleep(wait_cold)
else:
script/motion/get_dewar.py
+3 -4
View File
@@ -2,7 +2,7 @@ def get_dewar(segment, puck, sample, force=False):
"""
"""
print "get_dewar: ", segment, puck, sample, force
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
#Initial checks
assert_valid_address(segment, puck, sample)
@@ -16,8 +16,7 @@ def get_dewar(segment, puck, sample, force=False):
#Enabling
enable_motion()
#added or robot.is_cold in condition
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.get_dewar(segment, puck, sample)
script/motion/mount.py
+14 -8
View File
@@ -9,7 +9,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
print "mount(\"%s\", %d, %d, force=%d, read_dm=%d, auto_unmount=%d)" % (segment, puck, sample, force, read_dm, auto_unmount)
start = time.time()
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
was_cold = robot.is_cold()
is_aux = segment == AUX_SEGMENT
is_rt = segment == RT_SEGMENT
@@ -61,9 +61,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
try:
#ZACH
if needs_chilling and not delayed_chill:
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.move_cold()
time.sleep(30.0)
invalidate_cover_info(cover_info)
if smart_magnet.get_supress() == True:
smart_magnet.set_supress(False)
@@ -94,9 +95,10 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
enable_motion()
if delayed_chill:
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.move_cold()
time.sleep(30.0)
invalidate_cover_info(cover_info)
#ZACH
# a room temp pin is being mounted but the gripper is cold
@@ -111,7 +113,8 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
else:
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
invalidate_cover_info(cover_info)
robot.get_dewar(segment, puck, sample)
@@ -121,9 +124,9 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
robot.move_scanner()
#time.sleep(1.0)
print "moving cryo out to 17"
#print "moving cryo out to 17"
cryostage.moveAsync(17.0)
print "waiting cryo out to 17"
#print "waiting cryo out to 17"
cryostage.waitInPosition(17.0, 3500)
print "move_gonio"
robot.move_gonio()
@@ -156,8 +159,11 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
if is_aux:
robot.move_park_async()
else:
robot.move_dewar(off_x,off_y)
robot.move_cold_async()
robot.move_dewar(*cover_info)
if is_force_dry():
robot.move_park_async()
else:
robot.move_cold_async()
robot.wait_async_motion()
script/motion/move_cold.py
+2 -2
View File
@@ -23,6 +23,6 @@ def move_cold(reset_timestamp=False):
if not robot.is_cold():
off_x,off_y = get_cover_location_mm()
robot.move_dewar(off_x,off_y)
cover_info = get_cover_location_mm()
robot.move_dewar(*cover_info)
robot.move_cold()
script/motion/move_dewar.py
+13 -2
View File
@@ -3,7 +3,7 @@ def move_dewar():
"""
print "move_dewar"
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
#Initial checks
robot.assert_no_task()
robot.reset_motion()
@@ -16,4 +16,15 @@ def move_dewar():
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
"""
class Test:
def move_dewar(self, off_x, off_y, sts_det, sta_clr):
print off_x, off_y, sts_det, sta_clr
test=Test()
cover_info = get_cover_location_mm()
test.move_dewar(*cover_info)
"""
script/motion/move_home.py
+1 -1
View File
@@ -15,4 +15,4 @@ def move_home():
if not robot.is_home():
robot.move_home()
robot.move_home()
script/motion/put_dewar.py
+4 -3
View File
@@ -2,7 +2,8 @@ def put_dewar(segment, puck, sample, force=False):
"""
"""
print "put_dewar: ", segment, puck, sample, force
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
#Initial checks
assert_valid_address(segment, puck, sample)
assert_puck_detected(segment, puck)
@@ -16,6 +17,6 @@ def put_dewar(segment, puck, sample, force=False):
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.put_dewar(segment, puck, sample)
script/motion/recover.py
+9 -7
View File
@@ -11,12 +11,14 @@ known_segments = [ ("pGonioA", "pGonioG", 10), \
("pScan", "pHeater", 50), \
("pHome", "pDewar", 10), \
("pHeater", "pHeatB", 10), \
("pHome", "pAux", 50), \
#("pHome", "pAux", 50), \
]
def get_robot_position():
return robot.get_cartesian_pos()
return robot.get_cartesian_pos(tool=TOOL_DEFAULT, frame=FRAME_DEFAULT)
def get_dist_to_line(segment):
@@ -117,12 +119,12 @@ def move_to_safest_point(segment, vicinity_tolerance = 100):
#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):
in_dewar = robot.get_pnt('pInDewar')
cur=get_robot_position()
if cur[2] > in_dewar[2]:
return False
d_dwr = robot.get_distance_to_pnt('pDewar')
if d_dwr > 300:
d=math.hypot(cur[0]-in_dewar[0], cur[1]-in_dewar[1])
if d > 250:
return False
return True
script/motion/scan_pin.py
+4 -4
View File
@@ -7,7 +7,7 @@ def scan_pin(segment, puck, sample, force=False):
pin_name = get_sample_name(segment, puck, sample)
print "scan pin", pin_name
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
#Initial checks
assert_valid_address(segment, puck, sample)
#assert_puck_detected(segment, puck)
@@ -36,7 +36,7 @@ def scan_pin(segment, puck, sample, force=False):
robot.get_aux(sample)
else:
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.get_dewar(segment, puck, sample)
@@ -47,7 +47,7 @@ def scan_pin(segment, puck, sample, force=False):
robot.move_aux()
robot.put_aux( sample)
else:
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.put_dewar(segment, puck, sample)
ret = "Empty"
if detected:
@@ -121,7 +121,7 @@ def scan_gripper():
(detected, dm) = move_scanner()
robot.move_home()
robot.move_park()
ret = "Empty"
if detected:
script/motion/trash.py
+2 -2
View File
@@ -31,8 +31,8 @@ def trash():
robot.move_heater(to_bottom = False)
off_x,off_y = get_cover_location_mm()
robot.move_dewar(off_x,off_y)
cover_info = get_cover_location_mm()
robot.move_dewar(*cover_info)
robot.move_cold()
script/motion/unmount.py
+5 -3
View File
@@ -9,7 +9,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
"""
evlog = Controller.getInstance().logEvent
print "unmount: ", segment, puck, sample, force
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
if (segment is None) or (puck is None) or (sample is None):
pos = get_setting("mounted_sample_position")
@@ -80,9 +80,11 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
if not is_aux:
if needs_chilling:
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.move_cold()
time.sleep(30.)
invalidate_cover_info(cover_info)
else:
if needs_drying:
dry(wait_cold=-1)
@@ -111,7 +113,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
else:
#TODO: Should check if smart magnet detection is off?
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
robot.put_dewar(segment, puck, sample)
if mount_sample_detected:
script/setup/CoverDetectionExposureScan.py
+10 -6
View File
@@ -1,30 +1,34 @@
from ijutils import *
RANGE = (10, 40)
STEP_SIZE = 2.0
diam_disk = cover_detection.config.diameter_disk
diam_target = cover_detection.config.diameter_target
diam_dewar = cover_detection.config.diameter_dewar
threshold_method = cover_detection.config.threshold_method
center_x, center_y = ( cover_detection.config.center_x, cover_detection.config.center_y)
radius_dewar = diam_dewar /2.0
radius_dewar = diam_dewar/2.0
roi = Rectangle(int(center_x-radius_dewar), int(center_y-radius_dewar), int(diam_dewar), int(diam_dewar))
area_disc = int(pow(diam_disk/2,2) * math.pi)
area_target = int(pow(diam_target/2,2) * math.pi)
area = area_disc - area_target
if TARGET_HOLES:
area -= int(4* pow(12/2,2) * math.pi)
debug=False
settling_time = 0.4
debug=True
settling_time = cam.getAcquirePeriod()/1000.0 + 0.3
class Fitness(Readable):
def read(self):
try:
ip = load_image(ImagingUtils.grayscale(img.output, None))
set_circle_mask(ip.getProcessor(), center_x=center_x, center_y=center_y, radius=radius_dewar, bitwise=False)
it = auto_threshold(ip, dark_background=True, method=threshold_method, in_place=False)
#it = auto_threshold(ip, dark_background=True, method=threshold_method, in_place=False)
it = threshold(ip, 128, 255, in_place=False)
binary_open(it, dark_background=True, iterations=1, count=1);
binary_open(it, dark_background=False, iterations=1, count=1);
if debug:
ImageBuffer.saveImage(it.getBufferedImage(), os.path.abspath(expand_path("{images}/ExposureScan.png")), "png")
ImageBuffer.saveImage(it.getBufferedImage(), os.path.abspath(expand_path("{images}/ExposureScan/" + str( cam.getExposure()) + ".png")), "png")
h = get_histogram(it)
b,w= h[0], h[-1]
@@ -42,7 +46,7 @@ class Exposure(Writable):
fitness=Fitness()
exposure=Exposure()
ret = lscan(exposure,fitness,10, 60, 2.0, settling_time, save=False)
ret = lscan(exposure,fitness,RANGE[0], RANGE[1], STEP_SIZE, settling_time, save=False)
y, x = ret.getReadable(0), ret.getPositions(0)
m=x[y.index(min(y))]
p=get_plots()[0]
script/test/mount_profile.py
+2 -2
View File
@@ -6,7 +6,7 @@ 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
off_x,off_y = get_cover_location_mm()
cover_info = get_cover_location_mm()
start = time.time()
@@ -92,7 +92,7 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
visual_check_hexiposi(segment)
if not robot.is_dewar():
robot.move_dewar(off_x,off_y)
robot.move_dewar(*cover_info)
print "Pass 4b: ", time.time() - start; start = time.time()
robot.get_dewar(segment, puck, sample)
print "Pass 5: ", time.time() - start; start = time.time()
script/test/unmount_profile.py
+1 -1
View File
@@ -87,7 +87,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
else:
#TODO: Shuld check if smart magnet detection is off?
update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
robot.move_dewar()
robot.move_dewar(*cover_info)
print "Pass H: " , time.time() - start; start = time.time()
robot.put_dewar(segment, puck, sample)
print "Pass I: " , time.time() - start; start = time.time()