From 0ad656728d195f80341b86b0b8ad411b0d52bcde Mon Sep 17 00:00:00 2001
From: Cole Deck <cdeck@hawk.iit.edu>
Date: Mon, 29 Jul 2024 13:50:58 -0500
Subject: [PATCH] Add shutdown routine
---
run.py | 13 +++++++++++--
ur5_control.py | 1 +
2 files changed, 12 insertions(+), 2 deletions(-)
diff --git a/run.py b/run.py
index 794e0d4..45d7993 100755
--- a/run.py
+++ b/run.py
@@ -338,6 +338,9 @@ def check_server():
elif call == 'request':
if "position" in data:
mainloop_get.put(("show", data["position"]))
+
+ case "shutdown":
+ mainloop_get.put(("shutdown", 0))
case _:
fprint("Unknown/unimplemented data type: " + decoded["type"])
except Exception as e:
@@ -571,7 +574,7 @@ def mainloop_server(pool, manager):
print(ring_animation, animation_wait, ledsys.mode, arm_position)
- if start_animation:
+ if start_animation and real:
# animation start requested
# may not be immediate
if ring_animation is not None:
@@ -601,7 +604,7 @@ def mainloop_server(pool, manager):
else:
# no new animation
- if ring_animation is not None:
+ if ring_animation is not None and real:
ledsys.mainloop(None, ring_animation, arm_position=arm_position)
else:
@@ -790,6 +793,12 @@ def mainloop_server(pool, manager):
ring_animation = get_cable
start_animation = True
led_set_mode = "Show"
+ fprint("Showing cable at position " + str(get_cable))
+ elif action == "shutdown":
+ fprint("SHUTTING DOWN!!")
+ pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
+ sleep(30)
+ killme.set(1)
else:
fprint("Movement requested. Keep clear of the machine!")
diff --git a/ur5_control.py b/ur5_control.py
index fb32a1d..9380ef2 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -266,6 +266,7 @@ def move_to_home(robot, keep_flip=False, speed=2):
return True
def move_to_packup(robot, speed=0.25):
+ robot = connect(robot)
rob = robot.robot
# known good starting point to reach store position