Jukebox/jukebox-software
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Update runtime

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This commit is contained in:
Cole Deck 2024-08-20 09:03:00 -05:00
parent a822ea5184
commit ad5eb5bbb3
3 changed files with 125 additions and 106 deletions
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3
.gitignore vendored
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@ -21,4 +21,5 @@ map*.png
build build
# Generated label images # Generated label images
labels labels
temp temp
pick_count.txt

2
config.yml
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@ -6,7 +6,7 @@ core:
loopspeed: 60 # fps loopspeed: 60 # fps
mqtt: mqtt:
enabled: False enabled: True
server: 172.31.108.4 server: 172.31.108.4
arm: arm:

226
run.py
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@ -661,6 +661,7 @@ def mainloop_server(pool, manager):
global mainloop_get global mainloop_get
global cable_list_state global cable_list_state
global scan_value global scan_value
global sensors
global oldmode global oldmode
global arm_updates global arm_updates
global animation_wait global animation_wait
@ -675,6 +676,7 @@ def mainloop_server(pool, manager):
global arm_distance_old global arm_distance_old
global arm_distance_total global arm_distance_total
global placed global placed
global spot
if mode != oldmode: if mode != oldmode:
print(" ***** Running mode:", mode, "***** ") print(" ***** Running mode:", mode, "***** ")
@ -924,81 +926,7 @@ def mainloop_server(pool, manager):
pass pass
if mode == "Idle":
# do nothing
if arm_ready is False:
pass
else:
global mainloop_get
if not mainloop_get.empty():
global sensors
action, get_cable = mainloop_get.get()
if action == "show":
animation_wait = False
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)
elif action == "returnCheck":
print("Checking sensors..")
if real:
newtube = get_full_spot(sensors)
else:
newtube = -1
if newtube >= 0:
# need to return a cable
mainloop_get.put(("return", newtube))
mainloop_get.put(("returnCheck", 0))
else:
fprint("Movement requested. Keep clear of the machine!")
placed = 0
arm_distance_total = 0
#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
cycle_start_time = int(time.time() * 1000)
increment_counter()
mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
if get_cable > -1:
global spot
if action == "pickup":
spot = get_open_spot(sensors)
if spot is not False:
arm_ready = False
if real:
animation_wait = False
ring_animation = get_cable
start_animation = True
led_set_mode = "GrabAA"
pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
else:
arm_ready = True
fprint("Getting cable at position " + str(get_cable))
mode = "Pickup"
cable_list_state[get_cable] = False # mark as removed
if action == "return":
arm_ready = False
fprint("Returning cable from tray position " + str(get_cable))
if real:
failcount = 0
pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
else:
arm_ready = True
mode = "ReturnC"
else:
# LED idle anim
pass
if mode == "Pickup": if mode == "Pickup":
# complete # complete
@ -1063,42 +991,52 @@ def mainloop_server(pool, manager):
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error) pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
elif scan_value.upper().find("BLDN.APP/") > -1: elif scan_value.upper().find("BLDN.APP/") > -1:
scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:] scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:].strip("\r\n\t ")
fprint("Got cable: " + str(scan_value))
if scan_value[0:2] == "BL" or scan_value[0:2] == "AW": if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
scan_value = scan_value[2:] scan_value = scan_value[2:]
print(cable_list) #print(cable_list)
print(scan_value) fprint("Got cable: " + repr(scan_value))
for idx in range(len(cable_list)): for idx in range(len(cable_list)):
cable = cable_list[idx] cable = cable_list[idx]
if cable == scan_value and cable_list_state[idx] == False:
cable_list_state[idx] = True # mark cable as returned if cable is not False and cable.find(scan_value) == 0 and len(scan_value) == len(cable):
arm_ready = False if cable_list_state[idx] == False:
if real: cable_list_state[idx] = True # mark cable as returned
animation_wait = True arm_ready = False
ring_animation = idx if real:
led_set_mode = "GrabC" animation_wait = True
start_animation = True ring_animation = idx
pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error) led_set_mode = "GrabC"
start_animation = True
fprint("Returning to spot " + str(idx))
pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
else:
arm_ready = True
mode = "Return"
break
else: else:
arm_ready = True print(cable_list)
mode = "Return" print("Length:", len(cable_list))
break for idx in range(len(cable_list)-1,-1,-1):
elif cable == scan_value and cable_list_state[idx] == True: cable = cable_list[idx]
fprint("WARNING: Holder still marked as occupied!") if cable is False:
arm_ready = False if real:
if real: animation_wait = True
animation_wait = True ring_animation = idx
ring_animation = idx led_set_mode = "GrabC"
led_set_mode = "GrabC" start_animation = True
start_animation = True cable_list_state[idx] = True
pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error) fprint("Returning to unused spot " + str(idx))
else: pool.apply_async(ur5_control.camera_to_holder, (arm, arm_updates, idx), callback=arm_start_callback, error_callback=handle_error)
arm_ready = True else:
mode = "Return" arm_ready = True
break
if mode == "Scan": if mode == "Scan":
fprint("Unable to match cable.")
mode = "Idle" mode = "Idle"
else: # camera not ready else: # camera not ready
timecount += 1 timecount += 1
@ -1121,6 +1059,85 @@ def mainloop_server(pool, manager):
# led animation # led animation
pass pass
if mode == "IdleWait":
if arm_ready is True:
mode = "Idle"
if mode == "Idle":
# do nothing
if arm_ready is False:
mode = "IdleWait"
else:
global mainloop_get
if not mainloop_get.empty():
action, get_cable = mainloop_get.get()
if action == "show":
animation_wait = False
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)
elif action == "returnCheck":
print("Checking sensors..")
if real:
newtube = get_full_spot(sensors)
else:
newtube = -1
if newtube is not False and newtube >= 0:
# need to return a cable
mainloop_get.put(("return", newtube))
mainloop_get.put(("returnCheck", 0))
else:
fprint("Movement requested. Keep clear of the machine!")
placed = 0
arm_distance_total = 0
#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
cycle_start_time = int(time.time() * 1000)
increment_counter()
mqtt_send("{\"value\": " + str(1) + " }", "pick_count_total")
if get_cable > -1:
if action == "pickup":
spot = get_open_spot(sensors)
if spot is not False:
arm_ready = False
if real:
animation_wait = False
ring_animation = get_cable
start_animation = True
led_set_mode = "GrabAA"
pool.apply_async(ur5_control.holder_to_tray, (arm, arm_updates, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
else:
arm_ready = True
fprint("Getting cable at position " + str(get_cable))
mode = "Pickup"
cable_list_state[get_cable] = False # mark as removed
if action == "return":
arm_ready = False
fprint("Returning cable from tray position " + str(get_cable))
if real:
failcount = 0
pool.apply_async(ur5_control.tray_to_camera, (arm, arm_updates, get_cable), callback=arm_start_callback, error_callback=handle_error)
else:
arm_ready = True
mode = "ReturnC"
else:
# LED idle anim
pass
def ping(host): def ping(host):
@ -1162,6 +1179,7 @@ def setup_client(pool):
sleep(0.25) sleep(0.25)
fprint("VM online.") fprint("VM online.")
sleep(2)
# Windows client setup # Windows client setup
fprint("Running full jukebox control system...") fprint("Running full jukebox control system...")
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') 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')