Jukebox/jukebox-software
10
0
Fork 0
Code Issues 3 Pull Requests Packages Projects Releases 2 Wiki Activity

Update MQTT commands, arm height

Browse Source
This commit is contained in:
Cole Deck 2024-07-31 18:25:10 -05:00
parent b677556ece
commit 534cc23c8d
4 changed files with 29 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
pick_count.pkl
View File

@ -1 +0,0 @@
<EFBFBD>K7.

1
pick_count.txt Normal file
View File

@ -0,0 +1 @@
55

37
run.py
View File

@ -32,6 +32,7 @@ from uptime import uptime
import fileserver import fileserver
import paho.mqtt.client as mqtt import paho.mqtt.client as mqtt
import pickle import pickle
import time
# set to false to run without real hardware for development # set to false to run without real hardware for development
real = False real = False
@ -79,7 +80,8 @@ timecount = 0
secondsclock = 0 secondsclock = 0
unacked_publish = set() unacked_publish = set()
mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2) mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
counter_file = 'pick_count.pkl' counter_file = 'pick_count.txt'
cycle_start_time = time.time()
mqttc.user_data_set(unacked_publish) mqttc.user_data_set(unacked_publish)
@ -134,22 +136,32 @@ def initialize_counter():
global counter global counter
try: try:
with open(counter_file, 'rb') as file: with open(counter_file, 'rb') as file:
counter = pickle.load(file) counter = int(file.readline().decode())
fprint("Read count at " + str(counter))
if not isinstance(counter, int): if not isinstance(counter, int):
raise ValueError("Counter is not an integer") raise ValueError("Counter is not an integer")
except (FileNotFoundError, ValueError, pickle.PickleError):
except (FileNotFoundError, ValueError) as e:
counter = 101 counter = 101
fprint("Error. Resetting count." + str(e))
fprint(counter)
save_counter() save_counter()
fprint(counter)
# Save the counter to the file # Save the counter to the file
def save_counter(): def save_counter():
global counter
fprint(counter)
with open(counter_file, 'wb') as file: with open(counter_file, 'wb') as file:
pickle.dump(counter, file) file.write(str(counter).encode())
# Increment the counter # Increment the counter
def increment_counter(): def increment_counter():
global counter global counter
counter += 1 fprint(counter)
fprint("Setting count to " + str(counter + 1))
counter = counter + 1
save_counter() save_counter()
def check_server(): def check_server():
@ -499,7 +511,7 @@ def setup_server(pool, manager):
mqttc.connect(config["mqtt"]["server"]) mqttc.connect(config["mqtt"]["server"])
mqttc.loop_start() mqttc.loop_start()
initialize_counter()
return True return True
@ -623,6 +635,8 @@ def mainloop_server(pool, manager):
global failcount global failcount
global timecount global timecount
global secondsclock global secondsclock
global cycle_start_time
if mode != oldmode: if mode != oldmode:
print(" ***** Running mode:", mode, "***** ") print(" ***** Running mode:", mode, "***** ")
@ -630,6 +644,7 @@ def mainloop_server(pool, manager):
mqtt_send(mode, "mode") mqtt_send(mode, "mode")
if mode == "Startup": # very first loop if mode == "Startup": # very first loop
pass pass
initialize_counter()
if killme.value > 0: if killme.value > 0:
killall() killall()
@ -752,7 +767,7 @@ def mainloop_server(pool, manager):
global scan_value global scan_value
if scan_value is False: if scan_value is False:
cable_list.append(scan_value) cable_list.append(scan_value)
elif scan_value.find("bldn.app/") > -1: elif scan_value.upper.find("BLDN.APP/") > -1:
scan_value = scan_value[scan_value.find("bldn.app/")+9:] scan_value = scan_value[scan_value.find("bldn.app/")+9:]
else: else:
cable_list.append(scan_value) cable_list.append(scan_value)
@ -889,9 +904,10 @@ def mainloop_server(pool, manager):
killme.set(1) killme.set(1)
else: else:
fprint("Movement requested. Keep clear of the machine!") fprint("Movement requested. Keep clear of the machine!")
mqtt_send("start", "cycle_start") #mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
cycle_start_time = int(time.time() * 1000)
increment_counter() increment_counter()
mqtt_send(counter, "pick_count_total") mqtt_send("{\"value\": " + str(counter) + " }", "pick_count_total")
if get_cable > -1: if get_cable > -1:
global sensors global sensors
if action == "pickup": if action == "pickup":
@ -928,7 +944,8 @@ def mainloop_server(pool, manager):
# complete # complete
if arm_ready == True: if arm_ready == True:
mode = "Idle" mode = "Idle"
mqtt_send("start", "cycle_end") sleep(9)
mqtt_send("{\"value\": " + str(int(time.time() * 1000) - cycle_start_time) + " }", "cycle_time")
else: else:
# getting cable and bringing to tray # getting cable and bringing to tray
# led animation # led animation

2
ur5_control.py
View File

@ -261,7 +261,7 @@ def move_to_home(robot, keep_flip=False, speed=2):
flip(robot) flip(robot)
# Move robot to home position # Move robot to home position
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.35), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.25), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
return True return True