def doNextStepInFlowChart(self): if self.waitingForHandshake == False: self.flowConditionOutcome = self.determineFlowConditionTypeAndOutcome() print "self.flowConditionOutcome: " + str(self.flowConditionOutcome) self.flowOperationOutcome = self.performFlowOperation(self.flowConditionOutcome) print "self.flowOperationOutcome: " + str(self.flowOperationOutcome) if self.flowOperationOutcome == "Complete": if self.flowConditionOutcome == "Yes": self.nextStepInThisFlowChart = self.flowDictionary[self.flowChartStep]["YesNextStepInThisFlowChart"] if self.nextStepInThisFlowChart != "Finished": self.flowChartStep = self.nextStepInThisFlowChart try: print "EskySincePreviousYes before reset: " + str(globalvars.timers["EskySincePreviousYes"]) except: a = 1 globalvars.timers["EskySincePreviousYes"] = globalfxns.millis() print "EskySincePreviousYes after reset: " + str(globalvars.timers["EskySincePreviousYes"]) return "Not finished" else: self.flowChartStep = "1" return "Finished" if self.flowConditionOutcome == "No": self.nextStepInThisFlowChart = self.flowDictionary[self.flowChartStep]["NoNextStepInThisFlowChart"] if self.nextStepInThisFlowChart != "Finished": self.flowChartStep = self.nextStepInThisFlowChart try: print "EskySincePreviousNo before reset: " + str(globalvars.timers["EskySincePreviousNo"]) except: a = 1 globalvars.timers["EskySincePreviousNo"] = globalfxns.millis() print "EskySincePreviousNo after reset: " + str(globalvars.timers["EskySincePreviousNo"]) return "Not finished" else: self.flowChartStep = "1" return "Finished" else: return "Repeating"
def doNextStepInFlowChart(self): if self.turnUpdateHandshakesFromComsFlagOn == True: globalvars.updateHandshakesFromComs = True self.turnUpdateHandshakesFromComsFlagOn = False if self.justStarted == True: globalvars.timers["EskyLastStartup"] = globalfxns.millis() self.justStarted = False if self.waitingForHandshake == False: self.flowConditionOutcome = self.determineFlowConditionTypeAndOutcome() print "self.flowConditionOutcome: " + str(self.flowConditionOutcome) self.flowOperationOutcome = self.performFlowOperation(self.flowConditionOutcome) print "self.flowOperationOutcome: " + str(self.flowOperationOutcome) if self.flowOperationOutcome == "Complete": self.turnUpdateHandshakesFromComsFlagOn = True if self.flowConditionOutcome == "Yes": self.nextStepInThisFlowChart = self.flowDictionary[self.flowChartStep]["YesNextStepInThisFlowChart"] if self.nextStepInThisFlowChart != "Finished": self.flowChartStep = self.nextStepInThisFlowChart globalvars.timers["EskySincePreviousYes"] = globalfxns.millis() return "Not finished" else: self.flowChartStep = "1" globalvars.timers["EskyLastFinish"] = globalfxns.millis() self.justStarted = True return "Finished" if self.flowConditionOutcome == "No": self.nextStepInThisFlowChart = self.flowDictionary[self.flowChartStep]["NoNextStepInThisFlowChart"] if self.nextStepInThisFlowChart != "Finished": self.flowChartStep = self.nextStepInThisFlowChart globalvars.timers["EskySincePreviousNo"] = globalfxns.millis() return "Not finished" else: self.flowChartStep = "1" globalvars.timers["EskyLastFinish"] = globalfxns.millis() self.justStarted = True return "Finished" else: return "Repeating"
def __init__(self):
# Create GUI object and assign to its own thread
self.GUI = GUIModule.GUIClass("ARBI GUI")
self.GUIThread = threading.Thread(target = self.GUI.createGUI)
self.GUIThread.start()
# Create data logger object and clear previous file
self.DataLogger = DataLoggerModule.DataLoggerClass("textfile.txt")
self.DataLogger.clearFile()
# Create Coms object
self.Coms = ComsModule.ComsClass()
# Create CSV Reader objects for as many csv files as there is to read
self.StepReader = CsvReaderModule.CsvReaderClass("tasksEsky.csv", "Step")
globalvars.taskDictionary = self.StepReader.csvReturnDict()
self.EskyReader = CsvReaderModule.CsvReaderClass("flowEsky.csv", "Flow")
self.eskyDictionary = self.EskyReader.csvReturnDict()
# Create Task Controller objects for as many flow chart dictionaries as there is to implement
self.EskyController = ProcessControllerModule.ProcessControllerClass(self.eskyDictionary)
# Intialise starting time references in milliseconds
globalvars.timers["EskyLastStartup"] = globalfxns.millis()
def main():
time.sleep(2)
HATstarttime = globalfxns.millis()
globalvars.timers = {"HAT" : HATstarttime}
globalvars.machineState = {"FCV301" : "0", "V201a" : "0", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : 30}
globalvars.handshakes = {"FCV301" : "", "V201a" : "", "V201b" :"", "V301" : "", "V302" : "", "heya" : ""}
print globalvars.timers
print globalvars.machineState
print globalvars.handshakes
ArbiAI = AI.AIclass()
times = 0
while True:
time.sleep(1)
times = times + 1
if times == 2:
globalvars.machineState = {"FCV301" : "0", "V201a" : "0", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "30"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "0"}
if times == 6:
globalvars.machineState = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "1", "FL301" : "30"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "1"}
if times == 9:
globalvars.machineState = {"FCV301" : "1", "V201a" : "0", "V201b" :"1", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "200"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "0", "V201b" :"1", "V301" : "1", "V302" : "0", "heya" : "1"} #make handshake wrong
if times == 10:
globalvars.machineState = {"FCV301" : "1", "V201a" : "0", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "200"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "1"}
if times == 12:
globalvars.machineState = {"FCV301" : "1", "V201a" : "1", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "30"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "1"}
if times == 15:
globalvars.machineState = {"FCV301" : "1", "V201a" : "1", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "10000"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "0", "V302" : "1", "heya" : ""} # make handshake wrong
if times == 17:
globalvars.machineState = {"FCV301" : "1", "V201a" : "0", "V201b" :"0", "V301" : "0", "V302" : "0", "heya" : "1", "FL301" : "10000"}
globalvars.handshakes = {"FCV301" : "1", "V201a" : "1", "V201b" :"1", "V301" : "1", "V302" : "1", "heya" : "1"}
outcome = ArbiAI.ArbiFeedAlgaeInterpreter.doNextStepInFlowChart()
print outcome + str(times)
ArbiAI.status()
ArbiAI.decide()
ArbiAI.ArbiDataLogger.logData(str(globalvars.machineState))
ArbiAI.ArbiUART.serialWrite("1_hi0_ACM0\r\n")
ArbiAI.ArbiUART.serialWrite("1_hi1_ACM1\r\n")
ArbiAI.ArbiUART.serialReceive()
print globalvars.UARTvar
time.sleep(4)
def hasTimePassed(self): self.timerID = self.flowDictionary[self.flowChartStep]["ConditionDescription"] self.timeToWaitSinceReferenceTime = self.flowDictionary[self.flowChartStep]["ConditionValue"] self.referenceTime = globalvars.timers[self.timerID] self.timeElapsedSinceReferenceTime = (globalfxns.millis() - self.referenceTime)/1000 print "ConditionType: hasTimePassed" print "referenceTime: " + str(globalvars.timers[self.timerID]) print "timeElapsedSinceReferenceTime: " + str(self.timeElapsedSinceReferenceTime) if int(self.timeElapsedSinceReferenceTime) > int(self.timeToWaitSinceReferenceTime): return "Yes" else: return "No"
def __init__(self):
self.ArbiGUI = GUI.GUIclass("ARBI GUI")
self.guiThread = threading.Thread(target = self.ArbiGUI.createGUI)
self.guiThread.start()
self.ArbiDataLogger = DataLogger.DataLoggerclass("textfile.txt")
self.ArbiDataLogger.clearFile()
self.ArbiUART = UART.UARTclass()
self.ArbiTaskReader = csvReader.csvReaderclass("CSVTask.csv", "Step")
globalvars.taskDictionary = self.ArbiTaskReader.csvReturnDict()
self.ArbiFeedAlgaeReader = csvReader.csvReaderclass("CSVFlow.csv", "Flow")
self.feedAlgaeDictionary = self.ArbiFeedAlgaeReader.csvReturnDict()
self.ArbiFeedAlgaeInterpreter = csvInterpreter.csvInterpreterclass(self.feedAlgaeDictionary)
# Intialise start-time reference in milliseconds
globalvars.timers["startTime"] = globalfxns.millis()
