Improve simulation mode
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parent
d0083ed33f
commit
72ab357dbf
168
run.py
168
run.py
@ -52,6 +52,7 @@ to_server_queue = Queue()
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from_server_queue = Queue()
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mainloop_get = Queue()
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mode = "Startup"
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oldmode = "Startup"
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counter = 0
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jbs = None
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scan_value = None
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@ -63,6 +64,7 @@ just_placed = -1
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ring_animation = None
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led_set_mode = None
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sensors = [0,0,0,0]
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websocket_process = None
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def arm_start_callback(res):
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fprint("Arm action complete.")
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@ -108,32 +110,15 @@ def send_data(type, call, data, client_id="*"):
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out["type"] = type
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out["call"] = call
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out["data"] = data
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to_server_queue.put((client_id, json.dumps(out)))
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to_server_queue.put((client_id, json.dumps(out)))
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def start_server_socket(cable_list):
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global jbs
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"""app = Flask(__name__)
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@app.route('/report_ip', methods=['POST'])
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def report_ip():
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client_ip = request.json.get('ip')
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fprint(f"Received IP: {client_ip}")
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# You can store or process the IP address as needed
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return "IP Received", 200
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app.run(host='0.0.0.0', port=5000)"""
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def check_server():
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#print("HI")
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global cable_list
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global to_server_queue
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global from_server_queue
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fprint("Starting WebSocket server...")
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websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
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# Example
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#to_server_queue.put("Hello, WebSocket clients!")
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while True:
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#print("HI")
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global jbs
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if True:
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# Handeling Server Requests Loop, will run forever
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if not from_server_queue.empty():
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@ -145,17 +130,17 @@ def start_server_socket(cable_list):
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decoded = json.loads(message)
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except:
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fprint("Non-JSON message recieved")
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continue
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return
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if "type" not in decoded:
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fprint("Missing \"type\" field.")
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continue
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return
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if "call" not in decoded:
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fprint("Missing \"call\" field.")
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continue
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return
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if "data" not in decoded:
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fprint("Missing \"data\" field.")
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continue
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return
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# if we get here, we have a "valid" data packet
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data = decoded["data"]
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call = decoded["call"]
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@ -247,13 +232,18 @@ def start_server_socket(cable_list):
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fprint("cable_get message")
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if call == "send":
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global mainloop_get
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if "part_number" in data:
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for cableidx in range(len(cable_list)):
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cable = cable_list[cableidx]
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if cable == data["part_number"]:
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fprint("Adding cable to dispense queue")
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mainloop_get.put(("pickup", cableidx))
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elif "position" in data:
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fprint("Adding cable to dispense queue")
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mainloop_get.put(("pickup", data["position"]))
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else:
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fprint("Invalid data.")
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case _:
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fprint("Unknown/unimplemented data type: " + decoded["type"])
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@ -311,6 +301,10 @@ def setup_server(pool):
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global camera
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global arm
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global jbs
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global to_server_queue
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global from_server_queue
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global websocket_process
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arm = Rob(config)
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if real:
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@ -318,7 +312,8 @@ def setup_server(pool):
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else:
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arm_ready = True
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global ledsys
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ledsys = LEDSystem()
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if real:
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ledsys = LEDSystem()
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#pool.apply_async(ledsys.init, callback=led_start_callback)
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#pool.apply_async(sensor_control.init, callback=sensor_start_callback)
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jbs = JukeboxSearch()
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@ -327,14 +322,16 @@ def setup_server(pool):
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if led_ready is False:
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fprint("waiting for " + "LED controller initialization" + " to complete...", sendqueue=to_server_queue)
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ledsys.init()
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if real:
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ledsys.init()
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led_ready = True
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fprint("LED controllers initialized.", sendqueue=to_server_queue)
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if sensor_ready is False:
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fprint("waiting for " + "Sensor Initialization" + " to complete...", sendqueue=to_server_queue)
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global mbconn
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mbconn = ModbusClient(host="localhost", port=502, unit_id=1, auto_open=True, auto_close=True)
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mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
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get_sensors()
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fprint("Sensors initialized.", sendqueue=to_server_queue)
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if camera_ready is False:
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@ -353,7 +350,8 @@ def setup_server(pool):
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ur5_control.init_arm(arm)
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fprint("Arm initialized.", sendqueue=to_server_queue)
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fprint("Starting websocket server...", sendqueue=to_server_queue)
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websocket_process = server.start_websocket_server(to_server_queue, from_server_queue)
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return True
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@ -364,6 +362,8 @@ def get_sensors():
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global mbconn
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global sensors
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oldsens = sensors
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#print("Reading sensors")
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#mbconn.open()
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"""
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port 1: 256
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port 2: 272
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@ -377,17 +377,19 @@ def get_sensors():
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"""
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out = list()
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for reg in [352, 288, 304, 368]:
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val = mbconn.read_holding_registers(reg)
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val = mbconn.read_holding_registers(reg)[0]
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if val == 1:
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out.append(1)
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else:
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out.append(0)
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sensors = out
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#fprint("Values: " + str(sensors))
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#mbconn.close()
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for x in range(len(oldsens)):
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if oldsens[x] == 0 and out[x] == 1:
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# cable newly detected on tray
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fprint("Precense detected: slot " + str(x))
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return x
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return -1
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@ -424,25 +426,31 @@ def mainloop_server(pool):
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global mainloop_get
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global cable_list_state
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global scan_value
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#print(" ***** Running main system loop ***** ")
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global oldmode
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if mode != oldmode:
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print(" ***** Running mode:", mode, "***** ")
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oldmode = mode
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if killme.value > 0:
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killall()
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if True:
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# do every loop!
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if ring_animation is not None and ledsys.mode != "idle":
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ledsys.mainloop(None, ring_animation)
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elif ring_animation is not None:
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ledsys.mainloop(led_set_mode, ring_animation)
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led_set_mode = None
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else:
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pass
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#fprint("Not triggering LED loop: no ring animation")
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# check for messages
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check_server()
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# do every loop!
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if ring_animation is not None and ledsys.mode != "idle" and real:
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ledsys.mainloop(None, ring_animation)
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elif ring_animation is not None and real:
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ledsys.mainloop(led_set_mode, ring_animation)
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led_set_mode = None
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else:
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pass
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#fprint("Not triggering LED loop: no ring animation")
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if mode == "Startup":
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real = False
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if not real:
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counter = 54
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if counter < 54:
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# scanning cables
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if arm_state is None:
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@ -524,7 +532,7 @@ def mainloop_server(pool):
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if not real:
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cable_list = tmp # comment out for real demo
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real = True
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for idx in range(len(cable_list)):
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cable_list_state.append(True)
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@ -567,8 +575,7 @@ def mainloop_server(pool):
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fprint("All cables added to database.")
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mode = "Idle"
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serverproc = Process(target=start_server_socket, args=(cable_list,))
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serverproc.start()
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else:
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# TODO: manual input
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pass
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@ -577,13 +584,11 @@ def mainloop_server(pool):
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if mode == "Idle":
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# do nothing
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if arm_ready is False:
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if real:
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pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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pass
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else:
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global mainloop_get
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#print("Checking sensors..")
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newtube = get_sensors()
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if newtube >= 0 and newtube != just_placed:
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# need to return a cable
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@ -591,6 +596,7 @@ def mainloop_server(pool):
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just_placed = -1
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if not mainloop_get.empty():
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fprint("Movement requested. Keep clear of the machine!")
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action, get_cable = mainloop_get.get()
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if get_cable > -1:
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global sensors
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@ -623,7 +629,6 @@ def mainloop_server(pool):
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# complete
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if arm_ready == True:
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mode = "Idle"
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arm_ready = False
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else:
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# getting cable and bringing to tray
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@ -658,26 +663,37 @@ def mainloop_server(pool):
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elif scan_value.find("bldn.app/") > -1:
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scan_value = scan_value[scan_value.find("bldn.app/")+9:]
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fprint("Got cable: " + scan_value)
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for idx in range(len(cable_list)):
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cable = cable_list[idx]
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if cable == scan_value and cable_list_state[idx] == False:
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cable_list_state[idx] = True # mark cable as returned
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arm_ready = False
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if real:
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pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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mode = "Return"
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break
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fprint("Got cable: " + str(scan_value))
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if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
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scan_value = scan_value[2:]
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for idx in range(len(cable_list)):
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cable = cable_list[idx]
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if cable == scan_value and cable_list_state[idx] == False:
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cable_list_state[idx] = True # mark cable as returned
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arm_ready = False
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if real:
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pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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mode = "Return"
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break
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elif cable == scan_value and cable_list_state[idx] == True:
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fprint("WARNING: Holder still marked as occupied!")
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arm_ready = False
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if real:
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pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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mode = "Return"
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break
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if mode == "Return":
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if arm_ready == True:
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mode = "Idle"
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arm_ready = False
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#arm_ready = False
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# movement finished
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else:
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@ -824,24 +840,22 @@ if __name__ == "__main__":
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mainloop_client(pool)
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elif config["core"]["mode"] == "linuxserver":
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fprint("Starting in server mode.")
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if setup_server(pool):
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fprint("Entering main loop...")
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while(keeprunning):
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mainloop_server(pool)
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else:
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fprint("Mode unspecified - assuming server")
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fprint("Starting in server mode.")
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if setup_server(pool):
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fprint("Entering main loop...")
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start = 0
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speed = config["loopspeed"]
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speed = config["core"]["loopspeed"]
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while(keeprunning):
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start = uptime()
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mainloop_server(pool)
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#sleep(0.01)
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# limit to certain "framerate"
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while start + 1.0/speed < uptime():
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pass
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#print(start, start + 1.0/speed, uptime())
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while start + 1.0/speed > uptime():
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sleep(0.001)
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else:
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fprint("Mode unspecified - quitting")
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