Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software
This commit is contained in:
BlueOceanWave
commit
c52fe167bf
@ -40,13 +40,16 @@ class DriveImg():
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self.onLine = False
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fprint("Offline")
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def close(self):
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self.trans.close()
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def read_img(self):
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resposta = 'Falha'
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try:
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if not self.onLine:
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#print(f'tentando Conectar camera {self.ip}...')
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gravaLog(ip=self.ip,msg=f'Trying to connect...')
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sleep(2)
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#sleep(2)
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try:
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self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
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self.trans.connect((self.ip,self.PORT))
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@ -63,13 +66,13 @@ class DriveImg():
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if valida.find("TC IMAGE")<0:
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self.onLine = False
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self.trans.close()
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sleep(2)
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#sleep(2)
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gravaLog(ip=self.ip,tipo="Falha",msg=f'Unable to find TC IMAGE bookmark')
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return "Error"
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except Exception as ex:
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self.onLine = False
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self.trans.close()
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sleep(2)
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#sleep(2)
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gravaLog(ip=self.ip,tipo="Falha",msg=f'Error - {str(ex)}')
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return "Error"
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if ret:
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@ -113,7 +116,7 @@ class DriveImg():
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#print(f'erro {str(ex)}')
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self.onLine = False
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self.trans.close()
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sleep(2)
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#sleep(2)
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return resposta
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class DriveData():
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@ -139,7 +142,7 @@ class DriveData():
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if not self.onLine:
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#print(f'tentando Conectar...\n')
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gravaLog(ip=self.ip,msg=f'tentando Conectar...',file="log_data.txt")
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sleep(2)
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#sleep(2)
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try:
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self.trans = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
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self.trans.connect((self.ip,self.PORT))
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@ -154,7 +157,7 @@ class DriveData():
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except Exception as ex:
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self.onLine = False
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gravaLog(ip=self.ip,tipo="Falha Generica",msg=f'erro {str(ex)}',file="log_data.txt")
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sleep(2)
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#sleep(2)
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return resposta
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@ -3,6 +3,7 @@ core:
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serverip: 172.26.178.114
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clientip: 172.26.176.1
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server: Hyper-Vd
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loopspeed: 60 # fps
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arm:
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ip: 192.168.1.145
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@ -221,13 +221,14 @@ class LEDSystem():
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self.data.append((0,0,0))
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self.sendall(self.data)
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#time.sleep(50000)
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fprint("Running start-up test sequence...")
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for y in range(1):
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for x in range(len(self.leds)):
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self.setpixel(0,60,144,x)
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self.sendall(self.data)
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#time.sleep(2)
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self.alloffsmooth()
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# fprint("Running start-up test sequence...")
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# for y in range(1):
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# for x in range(len(self.leds)):
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# self.setpixel(0,60,144,x)
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# self.sendall(self.data)
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# #time.sleep(2)
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# self.alloffsmooth()
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self.startup_animation(show=False)
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def sendall(self, datain):
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# send all LED data to all controllers
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@ -8,13 +8,18 @@ from util import fprint
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class qr_reader():
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camera = None
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def __init__(self, ip, port):
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self.camera = banner_ivu_export.DriveImg(ip, port)
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self.ip = ip
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self.port = port
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#self.camera = banner_ivu_export.DriveImg(ip, port)
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def read_qr(self, tries=1):
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print("Trying " + str(tries) + " frames.")
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self.camera = banner_ivu_export.DriveImg(self.ip, self.port)
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for x in range(tries):
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try:
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imgtype, img = self.camera.read_img()
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print(str(x) + " ", end="", flush=True)
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imgtype, img = self.camera.read_img()
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if True:
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#fprint(imgtype)
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image_array = np.frombuffer(img, np.uint8)
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img = cv2.imdecode(image_array, cv2.IMREAD_COLOR)
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@ -22,9 +27,13 @@ class qr_reader():
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#cv2.waitKey(1)
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detect = cv2.QRCodeDetector()
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value, points, straight_qrcode = detect.detectAndDecode(img)
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return value
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except:
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continue
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if value != "":
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self.camera.close()
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return value
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self.camera.close()
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return False
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@ -41,5 +50,7 @@ class video_streamer():
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if __name__ == "__main__":
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test = qr_reader("192.168.1.125", 32200)
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import time
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while True:
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fprint(test.read_qr(5))
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fprint(test.read_qr(300))
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time.sleep(1)
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@ -4,6 +4,7 @@ opencv-python
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pypdf2==2.12.1
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alive-progress
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requests
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math3d==4.0.0
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git+https://github.com/Byeongdulee/python-urx.git
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meilisearch
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pyyaml
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236
run.py
236
run.py
@ -27,8 +27,11 @@ import process_video
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import search
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from search import JukeboxSearch
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#multiprocessing.set_start_method('spawn', True)
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from pyModbusTCP.client import ModbusClient
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from uptime import uptime
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mbconn = None
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config = None
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keeprunning = True
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arm_ready = False
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@ -45,6 +48,7 @@ ledsys = None
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arm = None
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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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counter = 0
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jbs = None
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@ -52,10 +56,16 @@ scan_value = None
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arm_state = None
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cable_list = list()
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parse_res = None
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cable_list_state = list()
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just_placed = -1
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ring_animation = None
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led_set_mode = None
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def arm_start_callback(res):
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fprint("Arm action complete.")
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global arm_ready
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arm_ready = True
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def led_start_callback(res):
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global led_ready
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@ -229,6 +239,19 @@ def start_server_socket(cable_list):
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pass
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elif call == "request":
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pass
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case "cable_get":
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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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mainloop_get.put(("pickup", cableidx))
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elif "position" in data:
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mainloop_get.put(("pickup", data["position"]))
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case _:
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fprint("Unknown/unimplemented data type: " + decoded["type"])
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except Exception as e:
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@ -285,11 +308,12 @@ 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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arm = Rob(config)
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pool.apply_async(arm.init_arm, callback=arm_start_callback)
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pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
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global ledsys
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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(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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@ -297,38 +321,85 @@ 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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while led_ready is False:
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sleep(0.1)
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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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#to_server_queue.put("[log] LED controllers initialized.")
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sensor_ready = True
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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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while sensor_ready is False:
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sleep(0.1)
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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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fprint("Sensors initialized.", sendqueue=to_server_queue)
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if camera_ready is False:
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fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
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camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
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camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], int(config["cameras"]["banner"]["port"]))
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fprint("Camera initialized.", sendqueue=to_server_queue)
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arm_ready = True
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#arm_ready = True
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if arm_ready is False:
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fprint("waiting for " + "UR5 initilization" + " to complete...", sendqueue=to_server_queue)
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fprint("waiting for " + "UR5 powerup" + " to complete...", sendqueue=to_server_queue)
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while arm_ready is False:
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sleep(0.1)
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ur5_control.init_arm(arm)
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fprint("Arm initialized.", sendqueue=to_server_queue)
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return True
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def handle_error(error):
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print(error, flush=True)
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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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"""
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port 1: 256
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port 2: 272
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port 3: 288
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port 4: 304
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port 5: 320
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port 6: 336
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port 7: 352
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port 8: 368
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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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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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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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return x
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return -1
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def get_open_spot(sensordata):
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for x in range(len(sensordata)):
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sens = sensordata[x]
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if not sens:
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return x
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# if we get here, every spot is full
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return False
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def mainloop_server(pool):
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# NON-blocking loop
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global ring_animation
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global led_set_mode
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global just_placed
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global config
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global counter
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global killme
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@ -342,26 +413,30 @@ def mainloop_server(pool):
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global camera_ready
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global cable_search_ready
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global cable_list
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global mainloop_get
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global cable_list_state
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if killme.value > 0:
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killall()
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if mode == "Startup":
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counter = 54
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#counter = 54 # remove for demo
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if counter < 54:
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# scanning cables
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ring_animation = counter
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led_set_mode = "GrabA"
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if arm_state is None:
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#pool.apply_async(arm.get cable to camera, callback=arm_start_callback)
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#ur5_control.goto_holder_index(arm)
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#ur5 get item
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# ur5 bring to camera
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#pool.apply_async(arm_start_callback, ("",))
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arm_ready = False
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pool.apply_async(ur5_control.to_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
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fprint("Getting cable index " + str(counter) + " and scanning...")
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arm_state = "GET"
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#ur5_control.to_camera(arm, counter)
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#arm_ready = True
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elif arm_ready and arm_state == "GET":
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fprint("Looking for QR code...")
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pool.apply_async(camera.read_qr, (30,), callback=camera_start_callback)
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pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
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arm_ready = False
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elif camera_ready:
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@ -374,7 +449,9 @@ def mainloop_server(pool):
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else:
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cable_list.append(scan_value)
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fprint(scan_value)
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#pool.apply_async(arm.return cable, callback=arm_start_callback)
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pool.apply_async(ur5_control.return_camera, (arm,counter), callback=arm_start_callback, error_callback=handle_error)
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#ur5_control.return_camera(arm, counter)
|
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#arm_ready = True
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arm_state = "RETURN"
|
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camera_ready = False
|
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|
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@ -386,6 +463,8 @@ def mainloop_server(pool):
|
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pass
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else:
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# scanned everything
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ring_animation = None
|
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led_set_mode == "idle"
|
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tmp = [
|
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# Actual cables in Jukebox
|
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"BLTF-1LF-006-RS5",
|
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@ -418,8 +497,13 @@ def mainloop_server(pool):
|
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]
|
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while len(tmp) < 54:
|
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tmp.append(False) # must have 54 entries
|
||||
cable_list = tmp # remove for real demo
|
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pool.apply_async(get_specs.get_multi, (tmp, 0.3), callback=cable_search_callback)
|
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|
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#cable_list = tmp # comment out for real demo
|
||||
|
||||
for idx in range(len(cable_list)):
|
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cable_list_state.append(True)
|
||||
|
||||
pool.apply_async(get_specs.get_multi, (cable_list, 0.3), callback=cable_search_callback, error_callback=handle_error)
|
||||
mode = "Parsing"
|
||||
fprint("All cables scanned. Finding & parsing datasheets...")
|
||||
if mode == "Parsing":
|
||||
@ -458,7 +542,7 @@ def mainloop_server(pool):
|
||||
|
||||
fprint("All cables added to database.")
|
||||
mode = "Idle"
|
||||
serverproc = Process(target=start_server_socket, args=(cable_list,))
|
||||
serverproc = Process(target=start_server_socket, args=(cable_list,), error_callback=handle_error)
|
||||
serverproc.start()
|
||||
else:
|
||||
# TODO: manual input
|
||||
@ -468,14 +552,105 @@ def mainloop_server(pool):
|
||||
if mode == "Idle":
|
||||
# do nothing
|
||||
if arm_ready is False:
|
||||
pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback)
|
||||
arm_ready = True
|
||||
pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
|
||||
#arm_ready = True
|
||||
|
||||
else:
|
||||
# LED idle anim
|
||||
global mainloop_get
|
||||
newtube = get_sensors()
|
||||
if newtube >= 0 and newtube != just_placed:
|
||||
# need to return a cable
|
||||
mainloop_get.put(("return", newtube))
|
||||
just_placed = -1
|
||||
|
||||
if not mainloop_get.empty():
|
||||
action, get_cable = mainloop_get.get()
|
||||
if get_cable > -1:
|
||||
global sensors
|
||||
if action == "pickup":
|
||||
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)
|
||||
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)
|
||||
mode = "ReturnC"
|
||||
else:
|
||||
# LED idle anim
|
||||
pass
|
||||
|
||||
if mode == "Pickup":
|
||||
# complete
|
||||
if arm_ready == True:
|
||||
mode = "Idle"
|
||||
arm_ready = False
|
||||
|
||||
else:
|
||||
# getting cable and bringing to tray
|
||||
# led animation
|
||||
pass
|
||||
|
||||
if mode == "ReturnC":
|
||||
# complete
|
||||
if arm_ready == True:
|
||||
mode = "Scan"
|
||||
arm_ready = False
|
||||
camera_ready = False
|
||||
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
|
||||
|
||||
else:
|
||||
# getting cable from and bringing to camera
|
||||
# led animation
|
||||
pass
|
||||
|
||||
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.")
|
||||
camera_ready = False
|
||||
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
|
||||
pass
|
||||
elif scan_value.find("bldn.app/") > -1:
|
||||
scan_value = scan_value[scan_value.find("bldn.app/")+9:]
|
||||
|
||||
fprint("Got cable: " + scan_value)
|
||||
|
||||
for idx in range(len(cable_list)):
|
||||
cable = cable_list[idx]
|
||||
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)
|
||||
mode = "Return"
|
||||
break
|
||||
|
||||
|
||||
|
||||
if mode == "Return":
|
||||
if arm_ready == True:
|
||||
mode = "Idle"
|
||||
arm_ready = False
|
||||
# movement finished
|
||||
|
||||
else:
|
||||
# cable going from camera to holder
|
||||
# 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)
|
||||
|
||||
|
||||
|
||||
def run_loading_app():
|
||||
@ -584,14 +759,15 @@ class LogExceptions(object):
|
||||
return result
|
||||
|
||||
class LoggingPool(Pool):
|
||||
def apply_async(self, func, args=(), kwds={}, callback=None):
|
||||
return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
|
||||
def apply_async(self, func, args=(), kwds={}, callback=None, error_callback=None):
|
||||
return Pool.apply_async(self, LogExceptions(func), args, kwds, callback, error_callback)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
#sys.stdout = Logger(filename="output.log")
|
||||
#sys.stderr = Logger(filename="output.log")
|
||||
#log_to_stderr(logging.DEBUG)
|
||||
|
||||
fprint("Starting Jukebox control system...")
|
||||
with open('config.yml', 'r') as fileread:
|
||||
#global config
|
||||
@ -622,7 +798,13 @@ if __name__ == "__main__":
|
||||
fprint("Starting in server mode.")
|
||||
if setup_server(pool):
|
||||
fprint("Entering main loop...")
|
||||
start = 0
|
||||
speed = config["loopspeed"]
|
||||
while(keeprunning):
|
||||
start = uptime()
|
||||
mainloop_server(pool)
|
||||
# limit to certain "framerate"
|
||||
while start + 1.0/speed < uptime():
|
||||
pass
|
||||
|
||||
|
||||
|
||||
44
test.py
44
test.py
@ -1,4 +1,46 @@
|
||||
print("\u001b[37m")
|
||||
from pyModbusTCP.client import ModbusClient
|
||||
|
||||
|
||||
|
||||
def get_sensors():
|
||||
mbconn = ModbusClient(host="192.168.1.20", port=502, auto_open=True, auto_close=True)
|
||||
"""
|
||||
port 1: 256
|
||||
port 2: 272
|
||||
port 3: 288
|
||||
port 4: 304
|
||||
port 5: 320
|
||||
port 6: 336
|
||||
port 7: 352
|
||||
port 8: 368
|
||||
"""
|
||||
out = list()
|
||||
for reg in [352, 288, 304, 368]:
|
||||
val = mbconn.read_holding_registers(reg)[0] # read only one register
|
||||
print(val)
|
||||
if val == 1:
|
||||
out.append(True)
|
||||
else:
|
||||
out.append(False)
|
||||
|
||||
return out
|
||||
|
||||
def get_open_spot(sensordata):
|
||||
for x in range(len(sensordata)):
|
||||
sens = sensordata[x]
|
||||
if not sens:
|
||||
return x
|
||||
|
||||
# if we get here, every spot is full
|
||||
|
||||
return False
|
||||
|
||||
|
||||
testmb = get_sensors()
|
||||
print(testmb)
|
||||
print("Spot open", get_open_spot(testmb))
|
||||
|
||||
exit()
|
||||
|
||||
class Ring:
|
||||
def __init__(self) -> None:
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user