Update runtime
This commit is contained in:
Cole Deck
parent
a822ea5184
commit
ad5eb5bbb3
3
.gitignore
vendored
3
.gitignore
vendored
@ -21,4 +21,5 @@ map*.png
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build
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# Generated label images
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labels
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temp
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temp
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pick_count.txt
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@ -6,7 +6,7 @@ core:
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loopspeed: 60 # fps
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mqtt:
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enabled: False
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enabled: True
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server: 172.31.108.4
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arm:
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226
run.py
226
run.py
@ -661,6 +661,7 @@ def mainloop_server(pool, manager):
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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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global sensors
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global oldmode
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global arm_updates
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global animation_wait
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@ -675,6 +676,7 @@ def mainloop_server(pool, manager):
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global arm_distance_old
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global arm_distance_total
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global placed
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global spot
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if mode != oldmode:
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print(" ***** Running mode:", mode, "***** ")
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@ -924,81 +926,7 @@ def mainloop_server(pool, manager):
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pass
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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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pass
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else:
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global mainloop_get
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if not mainloop_get.empty():
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global sensors
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action, get_cable = mainloop_get.get()
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if action == "show":
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animation_wait = False
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ring_animation = get_cable
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start_animation = True
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led_set_mode = "Show"
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fprint("Showing cable at position " + str(get_cable))
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elif action == "shutdown":
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fprint("SHUTTING DOWN!!")
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pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
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sleep(30)
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killme.set(1)
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elif action == "returnCheck":
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print("Checking sensors..")
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if real:
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newtube = get_full_spot(sensors)
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else:
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newtube = -1
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if newtube >= 0:
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# need to return a cable
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mainloop_get.put(("return", newtube))
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mainloop_get.put(("returnCheck", 0))
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else:
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fprint("Movement requested. Keep clear of the machine!")
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placed = 0
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arm_distance_total = 0
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#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
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cycle_start_time = int(time.time() * 1000)
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increment_counter()
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mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
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if get_cable > -1:
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global spot
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if action == "pickup":
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spot = get_open_spot(sensors)
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if spot is not False:
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arm_ready = False
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if real:
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animation_wait = False
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ring_animation = get_cable
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start_animation = True
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led_set_mode = "GrabAA"
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pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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fprint("Getting cable at position " + str(get_cable))
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mode = "Pickup"
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cable_list_state[get_cable] = False # mark as removed
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if action == "return":
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arm_ready = False
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fprint("Returning cable from tray position " + str(get_cable))
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if real:
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failcount = 0
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pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), 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 = "ReturnC"
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else:
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# LED idle anim
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pass
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if mode == "Pickup":
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# complete
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@ -1063,42 +991,52 @@ def mainloop_server(pool, manager):
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pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
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elif scan_value.upper().find("BLDN.APP/") > -1:
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scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:]
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scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:].strip("\r\n\t ")
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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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print(cable_list)
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print(scan_value)
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#print(cable_list)
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fprint("Got cable: " + repr(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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animation_wait = True
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ring_animation = idx
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led_set_mode = "GrabC"
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start_animation = True
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pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
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if cable is not False and cable.find(scan_value) == 0 and len(scan_value) == len(cable):
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if 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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animation_wait = True
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ring_animation = idx
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led_set_mode = "GrabC"
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start_animation = True
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fprint("Returning to spot " + str(idx))
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pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, 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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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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animation_wait = True
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ring_animation = idx
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led_set_mode = "GrabC"
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start_animation = True
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pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, 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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print(cable_list)
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print("Length:", len(cable_list))
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for idx in range(len(cable_list)-1,-1,-1):
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cable = cable_list[idx]
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if cable is False:
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if real:
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animation_wait = True
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ring_animation = idx
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led_set_mode = "GrabC"
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start_animation = True
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cable_list_state[idx] = True
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fprint("Returning to unused spot " + str(idx))
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pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, 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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if mode == "Scan":
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fprint("Unable to match cable.")
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mode = "Idle"
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else: # camera not ready
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timecount += 1
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@ -1121,6 +1059,85 @@ def mainloop_server(pool, manager):
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# led animation
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pass
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if mode == "IdleWait":
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if arm_ready is True:
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mode = "Idle"
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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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mode = "IdleWait"
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else:
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global mainloop_get
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if not mainloop_get.empty():
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action, get_cable = mainloop_get.get()
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if action == "show":
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animation_wait = False
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ring_animation = get_cable
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start_animation = True
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led_set_mode = "Show"
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fprint("Showing cable at position " + str(get_cable))
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elif action == "shutdown":
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fprint("SHUTTING DOWN!!")
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pool.apply_async(ur5_control.move_to_packup, (arm,), callback=arm_start_callback, error_callback=handle_error)
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sleep(30)
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killme.set(1)
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elif action == "returnCheck":
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print("Checking sensors..")
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if real:
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newtube = get_full_spot(sensors)
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else:
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newtube = -1
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if newtube is not False and newtube >= 0:
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# need to return a cable
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mainloop_get.put(("return", newtube))
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mainloop_get.put(("returnCheck", 0))
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else:
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fprint("Movement requested. Keep clear of the machine!")
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placed = 0
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arm_distance_total = 0
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#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
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cycle_start_time = int(time.time() * 1000)
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increment_counter()
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mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
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if get_cable > -1:
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if action == "pickup":
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spot = get_open_spot(sensors)
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if spot is not False:
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arm_ready = False
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if real:
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animation_wait = False
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ring_animation = get_cable
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start_animation = True
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led_set_mode = "GrabAA"
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pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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fprint("Getting cable at position " + str(get_cable))
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mode = "Pickup"
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cable_list_state[get_cable] = False # mark as removed
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if action == "return":
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arm_ready = False
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fprint("Returning cable from tray position " + str(get_cable))
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if real:
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failcount = 0
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pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), 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 = "ReturnC"
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else:
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# LED idle anim
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pass
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def ping(host):
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@ -1162,6 +1179,7 @@ def setup_client(pool):
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sleep(0.25)
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fprint("VM online.")
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sleep(2)
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# Windows client setup
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fprint("Running full jukebox control system...")
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jb = subprocess.Popen("ssh root@192.168.1.25 -t -- /root/jukebox-software/run.sh".split(' '), stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True, encoding='utf-8')
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