Simulation mode

get_specs.py

@@ -30,6 +30,7 @@ def query_search(partnum, source):
     fprint("Searching for " + partnum)
     if source == "Belden":
         token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+        try:
             with requests.get(token_url) as r:
                 out = json.loads(r.content)
             token = out["token"]
@@ -47,7 +48,6 @@ def query_search(partnum, source):
                 'Authorization': f'Bearer {token}',
                 'Content-Type': 'application/json'
             }
-        try:
             with requests.post(search_url, headers=headers, data=search_data) as r:
                 a = r.text
                 a = json.loads(a)

led_control.py

@@ -311,8 +311,6 @@ class LEDSystem():
 
 
     def setring(self, r,g,b,idx):
-        print(self.rings)
-        print(self.rings[idx])
         ring = self.rings[idx]
         for pixel in range(ring[2],ring[3]):
             self.setpixel(r,g,b,pixel)
@@ -442,7 +440,7 @@ class LEDSystem():
         dgs /= sizerem
         dbs /= sizerem
         sum += abs(drs) + abs(dgs) + abs(dbs)
-        print(drs,dgs,dbs)
+        #print(drs,dgs,dbs)
         for x in range(idxa,idxb):
             old = self.exactdata[x]
             new = list(old)

run.py

@@ -30,6 +30,8 @@ from search import JukeboxSearch
 from pyModbusTCP.client import ModbusClient
 from uptime import uptime
 
+# set to false to run without real hardware for development
+real = False
 
 mbconn = None
 config = None
@@ -60,6 +62,7 @@ cable_list_state = list()
 just_placed = -1
 ring_animation = None
 led_set_mode = None
+sensors = [0,0,0,0]
 
 def arm_start_callback(res):
     fprint("Arm action complete.")
@@ -310,7 +313,10 @@ def setup_server(pool):
     global jbs
 
     arm = Rob(config)
+    if real:
         pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
+    else:
+        arm_ready = True
     global ledsys
     ledsys = LEDSystem()
     #pool.apply_async(ledsys.init, callback=led_start_callback)
@@ -343,6 +349,7 @@ def setup_server(pool):
         while arm_ready is False:
             sleep(0.1)
 
+    if real:
         ur5_control.init_arm(arm)
     fprint("Arm initialized.", sendqueue=to_server_queue)
 
@@ -397,6 +404,7 @@ def get_open_spot(sensordata):
 
 def mainloop_server(pool):
     # NON-blocking loop
+    global real
     global ring_animation
     global led_set_mode
     global just_placed
@@ -416,7 +424,7 @@ def mainloop_server(pool):
     global mainloop_get
     global cable_list_state
     global scan_value
-    print(" ***** Running main system loop ***** ")
+    #print(" ***** Running main system loop ***** ")
     if killme.value > 0:
         killall()
 
@@ -429,10 +437,12 @@ def mainloop_server(pool):
             ledsys.mainloop(led_set_mode, ring_animation)
             led_set_mode = None
         else:
-            fprint("Not triggering LED loop: no ring animation")
+            pass
+            #fprint("Not triggering LED loop: no ring animation")
 
     if mode == "Startup":
-        #counter = 54 # remove for demo
+        if not real:
+            counter = 54
         if counter < 54:
             # scanning cables
             if arm_state is None:
@@ -512,7 +522,8 @@ def mainloop_server(pool):
             while len(tmp) < 54:
                 tmp.append(False) # must have 54 entries
 
-            #cable_list = tmp # comment out for real demo
+            if not real:
+                cable_list = tmp # comment out for real demo
                 
             for idx in range(len(cable_list)):
                 cable_list_state.append(True)
@@ -556,7 +567,7 @@ def mainloop_server(pool):
                     
                     fprint("All cables added to database.")
                     mode = "Idle"
-                    serverproc = Process(target=start_server_socket, args=(cable_list,), error_callback=handle_error)
+                    serverproc = Process(target=start_server_socket, args=(cable_list,))
                     serverproc.start()
                 else:
                     # TODO: manual input
@@ -566,8 +577,10 @@ def mainloop_server(pool):
     if mode == "Idle":
         # do nothing
         if arm_ready is False:
+            if real:
                 pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
-            #arm_ready = True
+            else:
+                arm_ready = True
 
         else:
             global mainloop_get
@@ -585,14 +598,22 @@ def mainloop_server(pool):
                         spot = get_open_spot(sensors)
                         if spot is not False:
                             arm_ready = False
+                            if real:
                                 pool.apply_async(ur5_control.holder_to_tray, (arm, 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
-                            get_sensors(sensors,flag=get_open_spot(sensors))
+                            get_sensors()
 
                     if action == "return":
                         arm_ready = False
+                        fprint("Returning cable from tray position " + str(get_cable))
+                        if real:
                             pool.apply_async(ur5_control.tray_to_camera, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
+                        else:
+                            arm_ready = True
                         mode = "ReturnC"
             else:
                 # LED idle anim
@@ -615,7 +636,11 @@ def mainloop_server(pool):
             mode = "Scan"
             arm_ready = False
             camera_ready = False
+            if real:
                 pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
+            else:
+                camera_ready = True
+                scan_value = "10GXS13"
             
         else:
             # getting cable from and bringing to camera
@@ -640,7 +665,10 @@ 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
+                    if real:
                         pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
+                    else:
+                        arm_ready = True
                     mode = "Return"
                     break
 

ur5_control.py

@@ -59,9 +59,11 @@ def powerup_arm(robot):
 
     #
     # wait for power up (this function runs async)
-
+    count = 0
-    while not ping(robot.ip):
+    while not ping(robot.ip) and count == 10:
         time.sleep(0.5)
+        count += 1
+
     # trigger auto-initialize
     fprint("Arm online. Waiting for calibration.")
     # wait for auto-initialize
@@ -72,16 +74,19 @@ def connect(robot):
         ip = robot.ip
         fprint("Connecting to arm at " + ip)
         trying = True
-        while trying:
+        count = 0
+        while trying and count < 10:
+            count += 1
             try:
                 robot.robot = urx.Robot(ip)
-                trying = False
-            except:
-                time.sleep(1)
-        # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
                 robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
                 # Set weight
                 robot.robot.set_payload(2, (0, 0, 0.1))
+                trying = False
+            except:
+                time.sleep(0.5)
+        # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
+        
     return robot
 
 def init_arm(robot):