class BridgeAdapter:
def __init__(self):
self._adapter = Adapter(('0.0.0.0', 7878))
self._pose = ThreeDSample('pose')
self._adapter.add_data_item(self._pose)
avail = Event('avail')
self._adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
def start(self):
def handle_turtle_pose(msg, turtlename):
self._adapter.begin_gather()
self._pose.set_value((msg.x, msg.y, 0.0))
self._adapter.complete_gather()
self._adapter.start()
rospy.Subscriber('/turtle1/pose', turtlesim.msg.Pose,
handle_turtle_pose, 'turtle1')
class BridgeAdapter:
def __init__(self):
self._adapter = Adapter(('0.0.0.0', 7878))
self._pose = ThreeDSample('pose')
self._adapter.add_data_item(self._pose)
avail = Event('avail')
self._adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
def start(self):
def handle_turtle_pose(msg, turtlename):
self._adapter.begin_gather()
self._pose.set_value((msg.x, msg.y, 0.0))
self._adapter.complete_gather()
self._adapter.start()
rospy.Subscriber('/turtle1/pose',
turtlesim.msg.Pose,
handle_turtle_pose,
'turtle1')
if __name__ == "__main__":
adapter = Adapter(('localhost', 7878))
e1 = Event('e1')
adapter.add_data_item(e1)
c1 = SimpleCondition('c1')
adapter.add_data_item(c1)
s1 = Sample('s1')
adapter.add_data_item(s1)
adapter.start()
while True:
adapter.begin_gather()
e1.set_value(1)
s1.set_value(200.1)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
c1.add('fault', 'A fault', '123')
e1.set_value(2)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
c1.add('fault', 'Another fault', '124')
e1.set_value(3)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
class pocketNCAdapter(object):
def __init__(self, host, port):
self.host = host
self.port = port
self.adapter = Adapter((host, port))
self.auto_time = Sample('auto_time')
self.adapter.add_data_item(self.auto_time)
self.cut_time = Sample('cut_time')
self.adapter.add_data_item(self.cut_time)
self.total_time = Sample('total_time')
self.adapter.add_data_item(self.total_time)
self.Xabs = Sample('Xabs')
self.adapter.add_data_item(self.Xabs)
self.Yabs = Sample('Yabs')
self.adapter.add_data_item(self.Yabs)
self.Zabs = Sample('Zabs')
self.adapter.add_data_item(self.Zabs)
self.Aabs = Sample('Aabs')
self.adapter.add_data_item(self.Aabs)
self.Babs = Sample('Babs')
self.adapter.add_data_item(self.Babs)
self.Srpm = Sample('Srpm')
self.adapter.add_data_item(self.Srpm)
self.estop = Event('estop')
self.adapter.add_data_item(self.estop)
self.power = Event('power')
self.adapter.add_data_item(self.power)
self._exec = Event('exec')
self.adapter.add_data_item(self._exec)
self.line = Event('line')
self.adapter.add_data_item(self.line)
self.program = Event('program')
self.adapter.add_data_item(self.program)
self.Fovr = Event('Fovr')
self.adapter.add_data_item(self.Fovr)
self.Sovr = Event('Sovr')
self.adapter.add_data_item(self.Sovr)
self.Tool_number = Event('Tool_number')
self.adapter.add_data_item(self.Tool_number)
self.mode = Event('mode')
self.adapter.add_data_item(self.mode)
self.avail = Event('avail')
self.adapter.add_data_item(self.avail)
self.adapter.start()
self.adapter.begin_gather()
self.avail.set_value("AVAILABLE")
self.adapter.complete_gather()
self.adapter_stream()
def data_pull(self):
data = linuxcnc.stat()
data.poll()
return data
def adapter_stream(self):
at2 = 'initialize'
ct2 = 'initialize'
ylt2 = 'initialize'
ylt1 = datetime.datetime.now() #initialized
at1 = datetime.datetime.now() #initialized
ct1 = datetime.datetime.now() #initialized
ylt = float(0) #initialized
at = float(0) #initialized
ct = float(0) #initialized
while True:
try:
data = self.data_pull()
#time initialization: accumulated time: cut - auto - total
if self.power.value() == 'ON':
ylt2 = datetime.datetime.now()
if ex == 'ACTIVE' and self.Srpm.value() != None and float(
self.Srpm.value()) > 0 and estop == 'ARMED':
ct2 = datetime.datetime.now()
else:
ct1 = datetime.datetime.now()
if (ex == 'ACTIVE' or ex == 'STOPPED'
or ex == 'INTERRUPTED' or
float(self.Srpm.value()) > 0) and estop == 'ARMED':
at2 = datetime.datetime.now()
else:
at1 = datetime.datetime.now()
else:
ylt1 = datetime.datetime.now()
if data.state == 1:
ex = 'READY'
elif data.state == 2:
ex = 'ACTIVE'
else:
ex = ''
self.adapter.begin_gather()
self._exec.set_value(ex)
self.adapter.complete_gather()
if data.estop != 1:
estp = 'ARMED'
else:
estp = 'TRIGGERED'
self.adapter.begin_gather()
self.estop.set_value(estp)
self.adapter.complete_gather()
self.adapter.begin_gather()
self.power.set_value(pwr)
self.adapter.complete_gather()
self.adapter.begin_gather()
xps = str(format(data.actual_position[0], '.4f'))
self.Xabs.set_value(xps)
yps = str(format(data.actual_position[1], '.4f'))
self.Yabs.set_value(yps)
zps = str(format(data.actual_position[2], '.4f'))
self.Zabs.set_value(zps)
abs = str(format(data.actual_position[3], '.4f'))
self.Aabs.set_value(abs)
bbs = str(format(data.actual_position[4], '.4f'))
self.Babs.set_value(bbs)
self.adapter.complete_gather()
ssp = str(data.spindle_speed)
self.adapter.begin_gather()
self.Srpm.set_value(ssp)
ln = str(data.motion_line)
self.adapter.begin_gather()
self.line.set_value(ln)
pgm = str(data.file)
self.adapter.begin_gather()
self.program.set_value(pgm)
pfo = str(data.feedrate * 100)
self.adapter.begin_gather()
self.Fovr.set_value(pfo)
so = str(data.spindlerate * 100)
self.adapter.begin_gather()
self.Sovr.set_value(so)
tooln = str(data.tool_in_spindle)
self.adapter.begin_gather()
self.Tool_number.set_value(tooln)
self.adapter.complete_gather()
if data.task_mode == 1:
md = 'MDI'
elif data.task_mode == 2:
md = 'AUTOMATIC'
elif data.task_mode == 3:
md = 'MANUAL'
else:
md = ''
self.adapter.begin_gather()
self.mode.set_value(md)
self.adapter.complete_gather()
#time finalization: accumulated time, cut vs auto vs total
if ylt2 != 'initialize' and self.power.value(
) == 'ON' and ylt1 != ylt2:
#accumulated time:total time
if (ylt2 - ylt1).total_seconds() >= 0:
ylt += (ylt2 - ylt1).total_seconds()
ylt1 = ylt2
if ylt >= 0 and self.total_time.value() != str(int(ylt)):
self.adapter.begin_gather()
self.total_time.set_value(str(int(ylt)))
self.adapter.complete_gather()
if ylt < 0:
ylt = float(0)
#accumulated time:cut time
if ct2 != 'initialize' and ex == 'ACTIVE' and self.Srpm.value(
) != None and float(self.Srpm.value(
)) > 0 and self.estop.value() == 'ARMED':
if (ct2 - ct1).total_seconds() >= 0:
ct += (ct2 - ct1).total_seconds()
ct1 = ct2
if ct >= 0 and self.cut_time.value() != str(int(ct)):
self.adapter.begin_gather()
self.cut_time.set_value(str(int(ct)))
self.adapter.complete_gather()
if ct < 0:
ct = float(0)
#accumulated time:auto time
if (at2 != 'initialize' and ex == 'ACTIVE'
or ex == 'INTERRUPTED' or ex == 'STOPPED'
or float(self.Srpm.value()) > 0
) and self.estop.value() == 'ARMED':
if (at2 - at1).total_seconds() >= 0:
at += (at2 - at1).total_seconds()
at1 = at2
if at >= 0 and self.auto_time.value() != str(int(at)):
self.adapter.begin_gather()
self.auto_time.set_value(str(int(at)))
self.adapter.complete_gather()
if at < 0:
at = float(0)
except:
if self.power.value() and self.power.value() != 'OFF':
self.adapter.begin_gather()
self.power.set_value('OFF')
self.adapter.complete_gather()
ylt2 = 'initialize'
ct2 = 'initialize'
at2 = 'initialize'
ylt1 = datetime.datetime.now() #initialized
at1 = datetime.datetime.now() #initialized
ct1 = datetime.datetime.now() #initialized
if __name__ == "__main__":
adapter = Adapter(('localhost', 7878))
e1 = Event('e1')
adapter.add_data_item(e1)
c1 = SimpleCondition('c1')
adapter.add_data_item(c1)
s1 = Sample('s1')
adapter.add_data_item(s1)
adapter.start()
while True:
adapter.begin_gather()
e1.set_value(1)
s1.set_value(200.1)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
c1.add('fault', 'A fault', '123')
e1.set_value(2)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
c1.add('fault', 'Another fault', '124')
e1.set_value(3)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
