diff --git a/config.yml b/config.yml
index 4d98384..3a9f9ec 100644
--- a/config.yml
+++ b/config.yml
@@ -6,7 +6,7 @@ core:
loopspeed: 60 # fps
mqtt:
- enabled: True
+ enabled: False
server: 172.31.108.4
arm:
@@ -28,8 +28,8 @@ cables:
cameras:
banner:
- ip: 192.168.1.125
- port: 32200
+ ip: 192.168.1.199
+ port: 80
animation_time: 60
@@ -268,7 +268,7 @@ led:
size: 24
diameter: 63.5
angle: 180
- pos: [197.973, 38.1]
+ pos: [201.973, 34.1]
- type: circle
start: 624
size: 24
@@ -474,7 +474,7 @@ position_map:
- index: 7
pos: [-38.1, 197.973]
- index: 8
- pos: [38.1, 197.973]
+ pos: [34.1, 201.973]
- index: 9
pos: [114.3, 197.973]
- index: 10
@@ -564,4 +564,4 @@ position_map:
- index: 52
pos: [76.2, -263.965]
- index: 53
- pos: [152.4, -263.965]
\ No newline at end of file
+ pos: [152.4, -263.965]
diff --git a/map.png b/map.png
index f0f08f2..6fa53ff 100644
Binary files a/map.png and b/map.png differ
diff --git a/pick_count.txt b/pick_count.txt
index 7c6ba0f..2ebc651 100644
--- a/pick_count.txt
+++ b/pick_count.txt
@@ -1 +1 @@
-55
\ No newline at end of file
+56
\ No newline at end of file
diff --git a/process_video.py b/process_video.py
index 303ab59..13143d6 100755
--- a/process_video.py
+++ b/process_video.py
@@ -43,7 +43,7 @@ class qr_reader():
response = requests.get(self.url, timeout=tries * 15)
response.raise_for_status() # Raise an error for bad status codes
print(response.text) # Or handle the response as needed
- if len(response.text < 8):
+ if len(response.text) < 8:
return False
return response.text
except requests.Timeout:
@@ -69,4 +69,4 @@ if __name__ == "__main__":
import time
while True:
fprint(test.read_qr(300))
- time.sleep(1)
\ No newline at end of file
+ time.sleep(1)
diff --git a/requirements.txt b/requirements.txt
index e5aefa5..5aa5e39 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,6 @@
# Runtime
camelot-py[base]==0.9.0
-opencv-python
+#opencv-python
pypdf2==2.12.1
alive-progress
requests
diff --git a/run.py b/run.py
index 2311388..99887b9 100755
--- a/run.py
+++ b/run.py
@@ -11,6 +11,7 @@ import multiprocessing
from time import sleep
from util import fprint
from util import run_cmd
+from util import win32
import sys
import ur5_control
from ur5_control import Rob
@@ -33,9 +34,10 @@ import fileserver
import paho.mqtt.client as mqtt
import pickle
import time
+import subprocess
# set to false to run without real hardware for development
-real = False
+real = True
skip_scanning = True
mbconn = None
@@ -82,8 +84,10 @@ unacked_publish = set()
mqttc = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
counter_file = 'pick_count.txt'
cycle_start_time = time.time()
-
-
+arm_distance = 0
+arm_distance_old = 0
+arm_distance_total = 0
+kill_ssh = False
mqttc.user_data_set(unacked_publish)
def arm_start_callback(res):
@@ -375,7 +379,8 @@ def check_server():
mainloop_get.put(("pickup", data["position"]))
elif "tray" in data:
fprint("Adding tray return to dispense queue")
- mainloop_get.put(("return", data["tray"]))
+ mainloop_get.put(("returnCheck", 0))
+ #mainloop_get.put(("return", data["tray"]))
else:
fprint("Invalid data.")
elif call == 'request':
@@ -549,7 +554,7 @@ def get_sensors():
"""
if real:
- sens = [352, 288, 304, 368]
+ sens = [320, 336, 352, 368]
for idx in range(len(sens)):
reg = sens[idx]
val = mbconn.read_holding_registers(reg)
@@ -636,10 +641,13 @@ def mainloop_server(pool, manager):
global timecount
global secondsclock
global cycle_start_time
-
+ global arm_distance
+ global arm_distance_old
+ global arm_distance_total
if mode != oldmode:
print(" ***** Running mode:", mode, "***** ")
+ send_data("mode", "send", "{\"mode\": \"" + mode + "\" }")
oldmode = mode
mqtt_send(mode, "mode")
if mode == "Startup": # very first loop
@@ -661,6 +669,12 @@ def mainloop_server(pool, manager):
if isinstance(val, tuple):
arm_position = val
+ if arm_distance_old == 0:
+ arm_distance_old = val[0] + val[1] + val[2]
+ arm_distance = 0
+ else:
+ arm_distance += val[0] + val[1] + val[2] - arm_distance_old
+ arm_distance_old = val[0] + val[1] + val[2]
else:
print("Arm queue message " + str(val))
checkpoint = val
@@ -706,7 +720,13 @@ def mainloop_server(pool, manager):
# every 1 second
if secondsclock >= config["core"]["loopspeed"]:
secondsclock = 1
-
+ arm_distance_total += arm_distance
+ if abs(arm_distance) < 0.001:
+ arm_distance = 0.0
+
+ mqtt_send("{\"value\": " + str(abs(arm_distance)) + " }", "arm_speed")
+ mqtt_send("{\"value\": " + str(abs(arm_distance_total)) + " }", "arm_distance")
+ arm_distance_old = 0 # reset counter
@@ -767,7 +787,7 @@ def mainloop_server(pool, manager):
global scan_value
if scan_value is False:
cable_list.append(scan_value)
- elif scan_value.upper.find("BLDN.APP/") > -1:
+ elif scan_value.upper().find("BLDN.APP/") > -1:
scan_value = scan_value[scan_value.find("bldn.app/")+9:]
else:
cable_list.append(scan_value)
@@ -880,14 +900,7 @@ def mainloop_server(pool, manager):
else:
global mainloop_get
- #print("Checking sensors..")
- if real:
- newtube = get_sensors()
- else:
- newtube = -1
- if newtube >= 0:
- # need to return a cable
- mainloop_get.put(("return", newtube))
+
if not mainloop_get.empty():
action, get_cable = mainloop_get.get()
@@ -902,8 +915,19 @@ def mainloop_server(pool, manager):
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_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!")
+ arm_distance_total = 0
#mqtt_send("{\"value\": " + str(time.time() * 1000) + " }", "cycle_start")
cycle_start_time = int(time.time() * 1000)
increment_counter()
@@ -995,8 +1019,8 @@ def mainloop_server(pool, manager):
timecount = 0
pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
- elif scan_value.find("bldn.app/") > -1:
- scan_value = scan_value[scan_value.find("bldn.app/")+9:]
+ elif scan_value.upper().find("BLDN.APP/") > -1:
+ scan_value = scan_value[scan_value.upper().find("BLDN.APP/")+9:]
fprint("Got cable: " + str(scan_value))
if scan_value[0:2] == "BL" or scan_value[0:2] == "AW":
@@ -1054,7 +1078,23 @@ def mainloop_server(pool, manager):
+def ping(host):
+ #Returns True if host (str) responds to a ping request.
+ # Option for the number of packets as a function of
+ if win32:
+ param1 = '-n'
+ param2 = '-w'
+ param3 = '250'
+ else:
+ param1 = '-c'
+ param2 = '-W'
+ param3 = '0.25'
+
+ # Building the command. Ex: "ping -c 1 google.com"
+ command = ['ping', param1, '1', param2, param3, host]
+
+ return subprocess.call(command, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT) == 0
def run_loading_app():
@@ -1071,25 +1111,44 @@ def setup_client(pool):
global serverproc
if config["core"]["server"] == "Hyper-V":
run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
+
+ fprint("Waiting for VM to start...")
+ while not ping("192.168.1.25"):
+ sleep(0.25)
+
+ fprint("VM online.")
# Windows client setup
+ from subprocess import PIPE
+ fprint("Running full jukebox control system...")
+ jb = subprocess.Popen("ssh root@192.168.1.25 -- /root/jukebox-software/run.sh".split(' '), stdout=PIPE, stderr=PIPE)
+ for line in jb.stdout:
+ print(line, end='')
+ if line.find("Running mode: Idle") > 0:
+ # Jukebox started
+ break # continue with program
+
fprint("Opening browser...")
firefox = webdriver.Firefox()
firefox.fullscreen_window()
-
- # Open loading wepage
- p = Process(target=run_loading_app)
- p.start()
- firefox.get('http://localhost:7000')
-
- # start Linux server VM
+ # firefox.get('http://localhost:7000')
- sleep(35)
- p.terminate()
firefox.get('http://192.168.1.25:3000')
+ global kill_ssh
+ while kill_ssh is False:
+ sleep(0.1)
+
+ firefox.close()
+ jb.terminate()
+ run_cmd("Stop-VM -Name Jukebox*")
+ killall()
+
+ #firefox.execute_script('document.body.style.MozTransform = "scale(0.80)";')
+ #firefox.execute_script('document.body.style.MozTransformOrigin = "0 0";')
+ #firefox.execute_script("document.body.style.zoom='80%'")
# import time
# while True:
# time.sleep(2) # Wait for a given interval
@@ -1101,12 +1160,12 @@ def setup_client(pool):
# # else:
# # break # Exit the loop or continue depending on your logic
- return True
+ #return True
def mainloop_client(pool):
sleep(0.1)
-
+ killall()
# listen for & act on commands from VM, if needed
# mainly just shut down, possibly connect to wifi or something
@@ -1139,7 +1198,11 @@ def killall_signal(a, b):
global config
if config["core"]["server"] == "Hyper-V":
run_cmd("Stop-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"
- killall()
+ if config["core"]["mode"] == "winclient":
+ global kill_ssh
+ kill_ssh = True
+ else:
+ killall()
def error(msg, *args):
return multiprocessing.get_logger().error(msg, *args)
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..90cd12d
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,5 @@
+#!/bin/sh
+
+pkill -9 python # kill any old processes
+cd /root/jukebox-software
+python run.py
\ No newline at end of file
diff --git a/ur5_control.py b/ur5_control.py
index 21c3c97..0269453 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -581,7 +581,7 @@ def tray_routine(robot, slot=0, pick_up=True):
# Positions for each slot
slot_distance = .052
- slot_height = -.015-.0095
+ slot_height = -.015-.0095+0.007 # add 7mm for shim
first_slot = -0.3084+0.01
slot_position = [
[first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
@@ -745,27 +745,28 @@ def close_gripper():
def get_position_thread(robot, pos_updates):
- robot = connect(robot)
- rob = robot.robot
- oldvals = rob.getl()
- deltavals = [0,0,0]
- import uptime
- t = 0.01
- count = 0
- while True:
- start = uptime.uptime()
- if pos_updates.qsize() < 2:
- vals = rob.getl()
- if vals != oldvals:
- if pos_updates is not None:
- pos_updates.put(tuple(oldvals))
+ try:
+ robot = connect(robot)
+ rob = robot.robot
+ oldvals = rob.getl()
+ deltavals = [0,0,0]
+ import uptime
+ t = 0.01
+ count = 0
+ while True:
+ start = uptime.uptime()
+ if pos_updates.qsize() < 2:
+ vals = rob.getl()
+ if vals != oldvals:
+ if pos_updates is not None:
+ pos_updates.put(tuple(oldvals))
#time.sleep(0.01)
# deltavals = list()
# deltavals.append(vals[0]-oldvals[0])
# deltavals.append(vals[1]-oldvals[1])
# deltavals.append(vals[2]-oldvals[2])
# count = 0
- oldvals = vals
+ oldvals = vals
# else:
# count += 0.2
@@ -775,9 +776,10 @@ def get_position_thread(robot, pos_updates):
# tmpvals[1] = oldvals[1] + deltavals[1]*count
# tmpvals[2] = oldvals[2] + deltavals[2]*count
# pos_updates.put(tuple(tmpvals))
- while start + t > uptime.uptime():
- time.sleep(0.0001)
-
+ while start + t > uptime.uptime():
+ time.sleep(0.0001)
+ except:
+ pass
if __name__ == "__main__":
@@ -795,9 +797,9 @@ if __name__ == "__main__":
rob = robot.robot # rob is robot.robot is the urx robot class, what we've been using previously
- move_to_packup(robot)
-
- # pick_up_holder(robot, 2)
+ #move_to_packup(robot)
+ move_to_home(robot)
+ pick_up_holder(robot, None, 8)
#drop_off_tray(robot, 0)
# drop_off_tray(robot, 1)
# drop_off_tray(robot, 2)