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Simulation mode

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This commit is contained in:
Cole Deck 2024-04-29 13:30:04 -05:00
parent d92ceafa57
commit d0083ed33f
4 changed files with 72 additions and 41 deletions
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34
get_specs.py
View File

@ -30,24 +30,24 @@ def query_search(partnum, source):
fprint("Searching for " + partnum) fprint("Searching for " + partnum)
if source == "Belden": if source == "Belden":
token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time())) token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
with requests.get(token_url) as r:
out = json.loads(r.content)
token = out["token"]
search_url = "https://www.belden.com/coveo/rest/search"
# Ridiculous search parameters extracted from website. Do not touch
search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": " [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
search_data = search_data.replace(r"{QUERY}", partnum)
#"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
#fprint(search_data)
#fprint(json.loads(search_data))
#search_data = '{ "q": "' + str(partnum) + '" }'
#fprint(search_data)
headers = headers = {
'Authorization': f'Bearer {token}',
'Content-Type': 'application/json'
}
try: try:
with requests.get(token_url) as r:
out = json.loads(r.content)
token = out["token"]
search_url = "https://www.belden.com/coveo/rest/search"
# Ridiculous search parameters extracted from website. Do not touch
search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": " [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
search_data = search_data.replace(r"{QUERY}", partnum)
#"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
#fprint(search_data)
#fprint(json.loads(search_data))
#search_data = '{ "q": "' + str(partnum) + '" }'
#fprint(search_data)
headers = headers = {
'Authorization': f'Bearer {token}',
'Content-Type': 'application/json'
}
with requests.post(search_url, headers=headers, data=search_data) as r: with requests.post(search_url, headers=headers, data=search_data) as r:
a = r.text a = r.text
a = json.loads(a) a = json.loads(a)

4
led_control.py
View File

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

56
run.py
View File

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

19
ur5_control.py
View File

@ -59,9 +59,11 @@ def powerup_arm(robot):
# #
# wait for power up (this function runs async) # 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) time.sleep(0.5)
count += 1
# trigger auto-initialize # trigger auto-initialize
fprint("Arm online. Waiting for calibration.") fprint("Arm online. Waiting for calibration.")
# wait for auto-initialize # wait for auto-initialize
@ -72,16 +74,19 @@ def connect(robot):
ip = robot.ip ip = robot.ip
fprint("Connecting to arm at " + ip) fprint("Connecting to arm at " + ip)
trying = True trying = True
while trying: count = 0
while trying and count < 10:
count += 1
try: try:
robot.robot = urx.Robot(ip) robot.robot = urx.Robot(ip)
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 trying = False
except: except:
time.sleep(1) time.sleep(0.5)
# Sets robot arm endpoint offset (x,y,z,rx,ry,rz) # 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))
return robot return robot
def init_arm(robot): def init_arm(robot):