def dbconnect(self):
self.AprsDB = MySQLdbConn()
if not self.AprsDB.connect(DB_SERVER, DB_USER, DB_PASSWD, DB_NAME):
return False
return True
class App(object):
global WS_PORT, EMOVE_PORT, HOST, DB_SERVER, DB_USER, DB_PASSWD, DB_NAME
MSG_LEN = 1000
PERIOD = 5
def __init__(self, master):
#
self.wsSock = -1
self.emoveSock = -1
self.nameVar = StringVar()
self.wsPortVar = StringVar()
self.emovePortVar = StringVar()
self.kitVar = StringVar()
self.cmdVar = StringVar()
self.statusVar = StringVar()
self.hbVar = StringVar()
self.emoveVar = StringVar()
self.diagsVar = StringVar()
#
self.nameVar.set(HOST)
self.wsPortVar.set(str(WS_PORT))
self.emovePortVar.set(str(EMOVE_PORT))
self.kitVar.set("kit_design_GearBox")
self.cmdVar.set("")
self.statusVar.set("")
self.hbVar.set("")
self.emoveVar.set("")
self.diagsVar.set("")
#
self.AprsDB = None
#
Label(master, text="Host").grid(row=0,column=0,columnspan=2)
# #
Label(master, text="Name:").grid(row=1,column=0)
self.nameEntry = Entry(master, textvariable=self.nameVar, state=NORMAL)
self.nameEntry.grid(row=1,column=1)
# #
Label(master, text="WS Port:").grid(row=2,column=0)
self.wsPortEntry = Entry(master, textvariable=self.wsPortVar, state=NORMAL)
self.wsPortEntry.grid(row=2,column=1)
# #
Label(master, text="Emove Port:").grid(row=3,column=0)
self.emovePortEntry = Entry(master, textvariable=self.emovePortVar, state=NORMAL)
self.emovePortEntry.grid(row=3,column=1)
# #
self.connectButton = Button(master, text="Connect", command=self.connect, state=NORMAL)
self.connectButton.grid(row=4,column=0)
self.disconnectButton = Button(master, text="Disconnect", command=self.disconnect, state=DISABLED)
self.disconnectButton.grid(row=4,column=1)
#
Label(master, text="Kit").grid(row=0, column=2, columnspan=2)
# #
Label(master, text="Name:").grid(row=1, column=2)
Entry(master, textvariable=self.kitVar).grid(row=1, column=3)
# #
Button(master, text="Browse...", command=self.browse).grid(row=3,column=2)
self.makeButton = Button(master, text="Make", command=self.make, state=DISABLED)
self.makeButton.grid(row=3,column=3)
createToolTip(self.makeButton, "Send a 'make kit' request")
#
Label(master, text="Status").grid(row=0, column=4, columnspan=2)
# #
Label(master, text="Command:").grid(row=1, column=4)
self.cmdEntry = Entry(master, textvariable=self.cmdVar)
self.cmdEntry.grid(row=1, column=5)
# #
Label(master, text="Status:").grid(row=2, column=4)
self.statusEntry = Entry(master, textvariable=self.statusVar)
self.statusEntry.grid(row=2, column=5)
# #
Label(master, text="Heartbeat:").grid(row=3, column=4)
self.hbEntry = Entry(master, textvariable=self.hbVar)
self.hbEntry.grid(row=3, column=5)
# #
Label(master, text="Emove:").grid(row=4, column=4)
self.emoveEntry = Entry(master, textvariable=self.emoveVar)
self.emoveEntry.grid(row=4, column=5)
#
Entry(master, textvariable=self.diagsVar).grid(row=5, column=0, columnspan=6, sticky=W+E)
#
Button(master, text="Quit", command=self.quit).grid(row=6,columnspan=6)
#
self.wsRecvThread = threading.Thread(target=self.wsRecvFunc)
self.wsRecvThread.daemon = True
self.wsRecvThread.start()
#
self.emoveRecvThread = threading.Thread(target=self.emoveRecvFunc)
self.emoveRecvThread.daemon = True
self.emoveRecvThread.start()
def sockconnect(self):
self.sockdisconnect()
try:
self.wsSock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.wsSock.connect((self.nameVar.get(), int(self.wsPortVar.get())))
self.emoveSock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.emoveSock.connect((self.nameVar.get(), int(self.emovePortVar.get())))
except IOError as err:
self.wsSock = -1
self.emoveSock = -1
self.diagsVar.set(str(err))
print "kitting_hmi: connect:", str(err)
return False
self.makeConnected()
self.diagsVar.set("")
return True
def sockdisconnect(self):
if self.wsSock != -1:
try:
self.wsSock.shutdown(socket.SHUT_RDWR)
self.wsSock.close()
self.diagsVar.set("")
except IOError as err:
self.diagsVar.set(str(err))
print "kitting_hmi: disconnect:", str(err), self.wsSock
if self.emoveSock != -1:
try:
self.emoveSock.shutdown(socket.SHUT_RDWR)
self.emoveSock.close()
self.diagsVar.set("")
except IOError as err:
self.diagsVar.set(str(err))
print "kitting_hmi: disconnect:", str(err), self.emoveSock
self.makeDisconnected()
return True
def dbconnect(self):
self.AprsDB = MySQLdbConn()
if not self.AprsDB.connect(DB_SERVER, DB_USER, DB_PASSWD, DB_NAME):
return False
return True
def dbdisconnect(self):
if self.AprsDB != None:
self.AprsDB.disconnect()
return True
def connect(self):
if self.sockconnect() and self.dbconnect():
return True
return False
def disconnect(self):
self.sockdisconnect()
self.dbdisconnect()
return True
def wsRecvFunc(self):
while True:
if self.wsSock < 0:
time.sleep(self.PERIOD)
else:
try:
msg = self.wsSock.recv(self.MSG_LEN)
msglist = msg.split()
if len(msglist) >= 5:
self.cmdVar.set(msglist[0])
self.statusVar.set(msglist[3])
self.hbVar.set(msglist[4])
except IOError as err:
self.diagsVar.set(str(err))
print "kitting_hmi: recv:", str(err)
def emoveRecvFunc(self):
while True:
if self.emoveSock < 0:
time.sleep(self.PERIOD)
else:
try:
msg = self.emoveSock.recv(self.MSG_LEN)
# Should be something like this:
# EmoveRun 21 S0 Done 82 /usr/local/iora/PDDLplans/plan.txt place-kit MoveTo
msglist = msg.split()
if len(msglist) >= 6:
stuff = msglist[3] + " " + os.path.basename(msglist[5]) + " " + msglist[6] + " " + msglist[7]
self.emoveVar.set(stuff)
except IOError as err:
self.diagsVar.set(str(err))
print "kitting_hmi: recv:", str(err)
def browse(self):
try:
ret = self.AprsDB.read("select _NAME from KitDesign")
except:
return False
d = BrowseDialog(root, ret)
root.wait_window(d.top)
if d.get() != None:
self.kitVar.set(d.get())
return True
def make(self):
if self.wsSock < 0: return
msg = self.kitVar.get()
try:
self.wsSock.send(msg)
self.diagsVar.set("")
except IOError as err:
self.diagsVar.set(str(err))
print "kitting_hmi: make:", str(err)
def makeConnected(self):
self.nameEntry.config(state=DISABLED)
self.wsPortEntry.config(state=DISABLED)
self.emovePortEntry.config(state=DISABLED)
self.connectButton.config(state=DISABLED)
self.disconnectButton.config(state=NORMAL)
self.makeButton.config(state=NORMAL)
self.cmdEntry.config(state=NORMAL)
self.statusEntry.config(state=NORMAL)
self.hbEntry.config(state=NORMAL)
def makeDisconnected(self):
self.wsSock = -1
self.emoveSock = -1
self.nameEntry.config(state=NORMAL)
self.wsPortEntry.config(state=NORMAL)
self.emovePortEntry.config(state=NORMAL)
self.connectButton.config(state=NORMAL)
self.disconnectButton.config(state=DISABLED)
self.makeButton.config(state=DISABLED)
self.cmdEntry.config(state=DISABLED)
self.statusEntry.config(state=DISABLED)
self.hbEntry.config(state=DISABLED)
def quit(self):
self.disconnect()
sys.exit(0)
#!/usr/bin/python
import sys
from MySQLdbConn import *
DB_SERVER = "aprs-dev"
DB_USER = "******"
DB_PASSWD = "ElsaIsdDb!"
DB_NAME = "aprs-dev"
AprsDB = MySQLdbConn()
if not AprsDB.connect(DB_SERVER, DB_USER, DB_PASSWD, DB_NAME):
print "can't connect to database"
sys.exit(1)
slots = AprsDB.read("select _NAME from Slot")
print len(slots), "slots:"
for slot in slots:
if len(slot) > 0:
name = slot[0]
try:
ret = AprsDB.read(
'select hasPoint_X, hasPoint_Y, hasPoint_Z from Point where _NAME = (select hasPartRefAndPose_Point from PartRefAndPose where _NAME = (select hasSlot_PartRefAndPose from Slot where _NAME = "'
+ name
+ '"))'
)
if len(ret) > 0:
xyz = ret[0]
if len(xyz) > 2:
RobotCommandID = 0
RobotStatusID = 0
RobotCommandState = CommandStateType.READY
RobotPose = PoseLocationType()
GripperCommandID = 0
GripperStatusID = 0
GripperCommandState = CommandStateType.READY
def except_info():
exc_type, exc_value = sys.exc_info()[:2]
return str(exc_type.__name__) + ": " + str(exc_value)
AprsDB = MySQLdbConn()
def robot_reader(conn):
global DEBUG, RobotCommandID, RobotStatusID, RobotCommandState, RobotPose
size = 1024
while True:
try:
data = conn.recv(size)
except:
break
if not data: break
try:
tree = ET.parse(StringIO.StringIO(data.rstrip(' \t\n\r\0')))
root = tree.getroot()
if root.tag == "CRCLStatus":
ZAXIS = VectorType(0, 0, 1)
RobotCommandID = 0
RobotStatusID = 0
RobotCommandState = CommandStateType.READY
RobotPose = PoseLocationType()
GripperCommandID = 0
GripperStatusID = 0
GripperCommandState = CommandStateType.READY
def except_info():
exc_type, exc_value = sys.exc_info()[:2]
return str(exc_type.__name__) + ": " + str(exc_value)
AprsDB = MySQLdbConn()
def robot_reader(conn):
global DEBUG, RobotCommandID, RobotStatusID, RobotCommandState, RobotPose
size = 1024
while True:
try: data = conn.recv(size)
except: break
if not data: break
try:
tree = ET.parse(StringIO.StringIO(data.rstrip(' \t\n\r\0')))
root = tree.getroot()
if root.tag == "CRCLStatus":
for child in root:
if child.tag == "CommandStatus":
t = child.findtext("CommandID")
#!/usr/bin/python
import sys
from MySQLdbConn import *
DB_SERVER = "aprs-dev"
DB_USER = "******"
DB_PASSWD = "ElsaIsdDb!"
DB_NAME = "aprs-dev"
AprsDB = MySQLdbConn()
if not AprsDB.connect(DB_SERVER, DB_USER, DB_PASSWD, DB_NAME):
print "can't connect to database"
sys.exit(1)
slots = AprsDB.read("select _NAME from Slot")
print len(slots), "slots:"
for slot in slots:
if len(slot) > 0:
name = slot[0]
try:
ret = AprsDB.read(
"select hasPoint_X, hasPoint_Y, hasPoint_Z from Point where _NAME = (select hasPartRefAndPose_Point from PartRefAndPose where _NAME = (select hasSlot_PartRefAndPose from Slot where _NAME = \""
+ name + "\"))")
if len(ret) > 0:
xyz = ret[0]
if len(xyz) > 2:
x = xyz[0]
y = xyz[1]
