def __init__(self):
super(VacuumShaker, self).__init__(self.wait_init)
print "[VacuumShaker.__init__]"
self.vacuum_servo = VacuumShakerPiston(**config.devices[self.VACUUM_SERVO_ID])
config.devices[self.LOAD_TANK_SWITCH]["detect_edges"] = GPIO.BOTH
self.load_tank_switch = Switch(**config.devices[self.LOAD_TANK_SWITCH])
self.last_button_push = time.time()
self.is_init = False
class VacuumShaker(Component):
SERVO_DELAY = 0.25
PULL_UP_DELAY = 0.15
WAIT_TIMEOUT = 30.0 #IN production: 30s (specs)
SHAKE_COUNT = 4
VACUUM_SERVO_ID = "vacuum_servo"
LOAD_TANK_SWITCH = "load_tank_switch"
SWITCH_TIMEOUT = 1
def __init__(self):
super(VacuumShaker, self).__init__(self.wait_init)
print "[VacuumShaker.__init__]"
self.vacuum_servo = VacuumShakerPiston(**config.devices[self.VACUUM_SERVO_ID])
config.devices[self.LOAD_TANK_SWITCH]["detect_edges"] = GPIO.BOTH
self.load_tank_switch = Switch(**config.devices[self.LOAD_TANK_SWITCH])
self.last_button_push = time.time()
self.is_init = False
def stop(self):
print "[VacuumShaker.stop] Stoping"
self.vacuum_servo.stop()
def wait_init(self):
self.vacuum_servo.complete_standby()
while not self.is_init:
yield
self.last_button_push = time.time() #Ne pas descendre la premiere fois.
yield partial(self.state_push, 0)
def wait_balls(self):
self.set_state(self.state_wait_ball);
def state_wait_ball(self):
print "[VacuumShaker.state_wait_ball]"
self.vacuum_servo.complete_standby()
start_time = time.time()
while not self.load_tank_switch.was_pressed() \
and time.time() < start_time + self.WAIT_TIMEOUT:
yield
self.last_button_push = time.time()
Logger().start_new_cycle()
print "[VacuumShaker.state_push]"
yield partial(self.state_push, 0)
def state_pull_up(self):
if self.load_tank_switch.was_pressed() and time.time() > self.last_button_push + self.SWITCH_TIMEOUT:
yield self.state_wait_ball
self.vacuum_servo.standby()
yield self.wait(self.PULL_UP_DELAY, partial(self.state_push, 0))
def state_push(self, n):
if self.load_tank_switch.was_pressed() and time.time() > self.last_button_push + self.SWITCH_TIMEOUT:
yield self.state_wait_ball
self.vacuum_servo.push()
if n < self.SHAKE_COUNT:
yield self.wait(self.SERVO_DELAY, partial(self.state_pull, n))
else:
yield self.wait(self.SERVO_DELAY, self.state_pull_up)
def state_pull(self, n):
if self.load_tank_switch.was_pressed() and time.time() > self.last_button_push + self.SWITCH_TIMEOUT:
yield self.state_wait_ball
self.vacuum_servo.pull()
yield self.wait(self.SERVO_DELAY, partial(self.state_push, n+1))
