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Update runtime LED modes

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This commit is contained in:
Cole Deck
2024-04-29 12:33:54 -05:00
parent c52fe167bf
commit 62bcb07956
6 changed files with 60 additions and 45 deletions
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39
run.py
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@@ -415,22 +415,34 @@ def mainloop_server(pool):
global cable_list
global mainloop_get
global cable_list_state
global scan_value
print(" ***** Running main system loop ***** ")
if killme.value > 0:
killall()
if True:
# do every loop!
if ring_animation is not None and ledsys.mode != "idle":
ledsys.mainloop(None, ring_animation)
elif ring_animation is not None:
ledsys.mainloop(led_set_mode, ring_animation)
led_set_mode = None
else:
fprint("Not triggering LED loop: no ring animation")
if mode == "Startup":
#counter = 54 # remove for demo
if counter < 54:
# scanning cables
ring_animation = counter
led_set_mode = "GrabA"
if arm_state is None:
#pool.apply_async(arm_start_callback, ("",))
arm_ready = False
pool.apply_async(ur5_control.to_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
pool.apply_async(ur5_control.holder_to_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
fprint("Getting cable index " + str(counter) + " and scanning...")
arm_state = "GET"
ring_animation = counter
led_set_mode = "GrabA"
#ur5_control.to_camera(arm, counter)
#arm_ready = True
@@ -440,6 +452,8 @@ def mainloop_server(pool):
arm_ready = False
elif camera_ready:
ring_animation = counter
led_set_mode = "GrabC"
fprint("Adding cable to list...")
global scan_value
if scan_value is False:
@@ -449,7 +463,7 @@ def mainloop_server(pool):
else:
cable_list.append(scan_value)
fprint(scan_value)
pool.apply_async(ur5_control.return_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
pool.apply_async(ur5_control.camera_to_holder, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
#ur5_control.return_camera(arm, counter)
#arm_ready = True
arm_state = "RETURN"
@@ -571,14 +585,14 @@ def mainloop_server(pool):
spot = get_open_spot(sensors)
if spot is not False:
arm_ready = False
pool.apply_async(ur5_control.pick_up_routine, (arm, get_cable, True, spot), callback=arm_start_callback, error_callback=handle_error)
pool.apply_async(ur5_control.holder_to_tray, (arm, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
mode = "Pickup"
cable_list_state[get_cable] = False # mark as removed
get_sensors(sensors,flag=get_open_spot(sensors))
if action == "return":
arm_ready = False
pool.apply_async(ur5_control.return_routine, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
pool.apply_async(ur5_control.tray_to_camera, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
mode = "ReturnC"
else:
# LED idle anim
@@ -610,7 +624,6 @@ def mainloop_server(pool):
if mode == "Scan":
if camera_ready == True:
global scan_value
if scan_value is False:
# unable to scan ???? not good
fprint("Unable to scan cable. Gonna retry.")
@@ -627,7 +640,7 @@ def mainloop_server(pool):
if cable == scan_value and cable_list_state[idx] == False:
cable_list_state[idx] = True # mark cable as returned
arm_ready = False
pool.apply_async(ur5_control.return_camera, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
mode = "Return"
break
@@ -644,12 +657,7 @@ def mainloop_server(pool):
# led animation
pass
if True:
# do every loop!
if ring_animation is not None and ledsys.mode != "idle":
ledsys.mainloop(None, ring_animation)
elif ring_animation is not None:
ledsys.mainloop(led_set_mode, ring_animation)
@@ -803,6 +811,7 @@ if __name__ == "__main__":
while(keeprunning):
start = uptime()
mainloop_server(pool)
#sleep(0.01)
# limit to certain "framerate"
while start + 1.0/speed < uptime():
pass