Add LED animations to runtime
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302d275c64
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fb31ab0d73
@ -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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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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@ -52,11 +56,17 @@ 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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led_ready = True
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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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@ -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
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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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#cable_list = tmp # comment out for real demo
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for idx in range(len(cable_list)):
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cable_list_state.append(True)
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pool.apply_async(get_specs.get_multi, (cable_list, 0.3), callback=cable_search_callback, error_callback=handle_error)
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mode = "Parsing"
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fprint("All cables scanned. Finding & parsing datasheets...")
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if mode == "Parsing":
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@ -458,7 +542,7 @@ def mainloop_server(pool):
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fprint("All cables added to database.")
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mode = "Idle"
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serverproc = Process(target=start_server_socket, args=(cable_list,))
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serverproc = Process(target=start_server_socket, args=(cable_list,), error_callback=handle_error)
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serverproc.start()
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else:
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# TODO: manual input
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@ -468,13 +552,104 @@ def mainloop_server(pool):
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if mode == "Idle":
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# do nothing
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if arm_ready is False:
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pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback)
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arm_ready = True
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pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
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#arm_ready = True
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else:
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# LED idle anim
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global mainloop_get
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newtube = get_sensors()
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if newtube >= 0 and newtube != just_placed:
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# need to return a cable
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mainloop_get.put(("return", newtube))
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just_placed = -1
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if not mainloop_get.empty():
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action, get_cable = mainloop_get.get()
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if get_cable > -1:
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global sensors
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if action == "pickup":
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spot = get_open_spot(sensors)
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if spot is not False:
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arm_ready = False
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pool.apply_async(ur5_control.pick_up_routine, (arm, get_cable, True, spot), callback=arm_start_callback, error_callback=handle_error)
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mode = "Pickup"
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cable_list_state[get_cable] = False # mark as removed
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get_sensors(sensors,flag=get_open_spot(sensors))
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if action == "return":
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arm_ready = False
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pool.apply_async(ur5_control.return_routine, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
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mode = "ReturnC"
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else:
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# LED idle anim
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pass
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if mode == "Pickup":
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# complete
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if arm_ready == True:
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mode = "Idle"
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arm_ready = False
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else:
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# getting cable and bringing to tray
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# led animation
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pass
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if mode == "ReturnC":
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# complete
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if arm_ready == True:
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mode = "Scan"
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arm_ready = False
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camera_ready = False
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pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
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else:
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# getting cable from and bringing to camera
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# led animation
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pass
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if mode == "Scan":
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if camera_ready == True:
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global scan_value
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if scan_value is False:
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# unable to scan ???? not good
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fprint("Unable to scan cable. Gonna retry.")
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camera_ready = False
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pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
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pass
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elif scan_value.find("bldn.app/") > -1:
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scan_value = scan_value[scan_value.find("bldn.app/")+9:]
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fprint("Got cable: " + scan_value)
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for idx in range(len(cable_list)):
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cable = cable_list[idx]
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if cable == scan_value and cable_list_state[idx] == False:
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cable_list_state[idx] = True # mark cable as returned
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arm_ready = False
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pool.apply_async(ur5_control.return_camera, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
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mode = "Return"
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break
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if mode == "Return":
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if arm_ready == True:
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mode = "Idle"
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arm_ready = False
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# movement finished
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else:
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# cable going from camera to holder
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# led animation
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pass
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if True:
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# do every loop!
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if ring_animation is not None and ledsys.mode != "idle":
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ledsys.mainloop(None, ring_animation)
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elif ring_animation is not None:
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ledsys.mainloop(led_set_mode, ring_animation)
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@ -584,14 +759,15 @@ class LogExceptions(object):
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return result
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class LoggingPool(Pool):
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def apply_async(self, func, args=(), kwds={}, callback=None):
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return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)
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def apply_async(self, func, args=(), kwds={}, callback=None, error_callback=None):
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return Pool.apply_async(self, LogExceptions(func), args, kwds, callback, error_callback)
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if __name__ == "__main__":
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#sys.stdout = Logger(filename="output.log")
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#sys.stderr = Logger(filename="output.log")
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#log_to_stderr(logging.DEBUG)
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fprint("Starting Jukebox control system...")
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with open('config.yml', 'r') as fileread:
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#global config
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@ -622,7 +798,13 @@ if __name__ == "__main__":
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fprint("Starting in server mode.")
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if setup_server(pool):
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fprint("Entering main loop...")
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start = 0
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speed = config["loopspeed"]
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while(keeprunning):
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start = uptime()
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mainloop_server(pool)
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# limit to certain "framerate"
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while start + 1.0/speed < uptime():
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pass
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