def __UpdateReagentRobotPosition(self):
"""Updates the reagent robot position in response to system changes"""
# Get the set and actual positions
nReagentRobotSetPositionRawX, nReagentRobotSetPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getSetPositionRaw()
nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getCurrentPositionRaw()
# Compare the positions. Add leeway to account for motor positioning errors
if ((nReagentRobotSetPositionRawX + 5) < nReagentRobotActualPositionRawX) or ((nReagentRobotSetPositionRawX - 5) > nReagentRobotActualPositionRawX) or \
((nReagentRobotSetPositionRawZ + 5) < nReagentRobotActualPositionRawZ) or ((nReagentRobotSetPositionRawZ - 5) > nReagentRobotActualPositionRawZ):
# Check if either of the reagent robot movement threads are running
if ((self.__pMoveReagentRobotThread == None) or not self.__pMoveReagentRobotThread.is_alive()) and \
((self.__pHomeReagentRobotThread == None) or not self.__pHomeReagentRobotThread.is_alive()):
# No, so kick off the movement thread
self.__pMoveReagentRobotThread = MoveReagentRobotThread()
self.__pMoveReagentRobotThread.SetParameters(self.__pHardwareComm, nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ, \
nReagentRobotSetPositionRawX, nReagentRobotSetPositionRawZ)
self.__pMoveReagentRobotThread.setDaemon(True)
self.__pMoveReagentRobotThread.start()
class FakePLC():
def __init__(self):
"""Fake PLC class constructor"""
log.debug("Initialize FakePLC")
# Initialize variables
self.__pCoolingThread = None
self.__pPressureRegulator1Thread = None
self.__pPressureRegulator2Thread = None
self.__pHomeReagentRobotThread = None
self.__pMoveReagentRobotThread = None
self.__pReactor1HomeThread = None
self.__pReactor2HomeThread = None
self.__pReactor3HomeThread = None
self.__pReactor1LinearMovementThread = None
self.__pReactor2LinearMovementThread = None
self.__pReactor3LinearMovementThread = None
self.__pReactor1VerticalMovementThread = None
self.__pReactor2VerticalMovementThread = None
self.__pReactor3VerticalMovementThread = None
self.__pReactor1HeatingThread = None
self.__pReactor2HeatingThread = None
self.__pReactor3HeatingThread = None
def StartUp(self):
"""Starts up the fake PLC"""
log.debug("Start up the FakePLC")
# Create the hardware layer
self.__pHardwareComm = HardwareComm()
# Determine the memory range we need to emulate
self.__nMemoryLower, self.__nMemoryUpper = self.__pHardwareComm.CalculateMemoryRange()
# Create and fill the memory buffer with zeros
self.__pMemory = []
for x in range(self.__nMemoryLower, self.__nMemoryUpper + 1):
self.__pMemory.append(0)
# Fill the memory buffer from the PLC memory dump
self.__FillMemoryBuffer("/opt/elixys/hardware/fakeplc/PLC.MEM")
# Pass a reference to the memory buffer to the HardwareComm
# so we can read from it and write to it at a higher level
self.__pHardwareComm.FakePLC_SetMemory(self.__pMemory,
self.__nMemoryLower, self.__nMemoryUpper)
# Create the system model
self.__pSystemModel = SystemModel(self.__pHardwareComm, None)
self.__pSystemModel.StartUp()
# Create the socket
self.__pSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.__pSocket.setblocking(False)
self.__pSocket.bind(("", 9600))
def Run(self):
"""Runs the fake PLC"""
# Packet processing loop
log.info("Fake PLC running, type 'q' and press enter to quit...")
while True:
# Check if the user pressed 'q' to quit
if Utilities.CheckForQuit():
return
# Check socket availability
pRead, pWrite, pError = select.select([self.__pSocket], [], [], 0.25)
#log.info("Spinning")
for pReadable in pRead:
#log.info("It is readable")
if pReadable == self.__pSocket:
# Data is available for receiving
pBinaryPacket = self.__pSocket.recv(1024)
sPacket = pBinaryPacket.encode("hex")
#log.debug("Received Packet of length %d" % len(sPacket))
# Check the message length
if len(sPacket) >= 36:
# Handle read and write messages
if sPacket[20:24] == "0101":
self.__HandleRead(sPacket)
elif sPacket[20:24] == "0102":
self.__HandleWrite(sPacket)
else:
log.error("FakePLC: Unknown command, ignoring")
else:
log.error("FakePLC: Packet too short, discarding")
# Update the state of the PLC
try:
self.__UpdatePLC()
except Exception as ex:
log.error("Traceback:\r\n%s\r\n" % traceback.format_exc())
log.error("UpdatePLC error %s" % str(ex))
def ShutDown(self):
"""Shuts down the fake PLC"""
# Clean up
self.__pSocket.close()
self.__pSocket = None
self.__pSystemModel.ShutDown()
def __FillMemoryBuffer(self, sFilename):
"""Fill the buffer from the file containing a dump of the actual PLC memory"""
log.debug("FakePLC: Fille the memory buffer")
# Open the PLC memory file
pMemoryFile = open(sFilename, "r")
pMemoryFileLines = pMemoryFile.readlines()
# Search for the CIO memory
sCIO = None
for sLine in pMemoryFileLines:
if sLine.startswith("CIO="):
sCIO = sLine
break
# Handle error
if sCIO == None:
raise Exception("Failed to find CIO memory")
# Trim off the "CIO=" string and split into components
sCIO = sCIO[4:]
pCIO = sCIO.split(",")
# Fill the memory
for pComponent in pCIO:
# Extract the memory range
sRange = pComponent.split(":")[0]
pRangeComponents = sRange.split("-")
nRangeStart = int(pRangeComponents[0])
if len(pRangeComponents) > 1:
nRangeEnd = int(pRangeComponents[1])
else:
nRangeEnd = nRangeStart
# Extract the value
nValue = int(pComponent.split(":")[1], 16)
# Fill in the memory array
for nOffset in range(nRangeStart, nRangeEnd + 1):
if (nOffset >= self.__nMemoryLower) and (nOffset <= self.__nMemoryUpper):
self.__pMemory[nOffset - self.__nMemoryLower] = nValue
# Clean up
pMemoryFile.close()
def __HandleRead(self, sPacket):
"""Handle the read command"""
#log.debug("FakePLC: HandleRead")
# We only read words
if sPacket[24:26] != "b0":
log.error("Invalid I/O memory area code")
return
# Determine the read offset and length
nReadOffsetWord = int(sPacket[26:30], 16)
nReadLength = int(sPacket[32:36], 16)
# Read the memory
sMemory = self.__pHardwareComm.FakePLC_ReadMemory(nReadOffsetWord, nReadLength)
# Create and send the response
sResponse = "0000000000000000000001010000" + sMemory
pBinaryResponse = sResponse.decode("hex")
self.__pSocket.sendto(pBinaryResponse, ("127.0.0.1", 9601))
def __HandleWrite(self, sPacket):
"""Handle the write command"""
log.debug("FakePLC:HandleWrite")
# Determine the write offsets and length
nWriteOffsetWord = int(sPacket[26:30], 16)
nWriteOffsetBit = int(sPacket[30:32], 16)
nWriteLength = int(sPacket[32:36], 16)
# Are we writing bits or bytes?
if sPacket[24:26] == "30":
# Bits. We're only writing this for a single bit at this time
if nWriteLength != 1:
log.error("Implement multibit writing if needed")
return
# Verify the packet length
if len(sPacket) != 38:
log.error("Invalid packet length")
return
# Extract the boolean value
bValue = (sPacket[37] == "1")
# Set the target bit
self.__pHardwareComm.FakePLC_SetBinaryValue(nWriteOffsetWord, nWriteOffsetBit, bValue)
elif sPacket[24:26] == "b0":
# Bytes. We're only writing this for a single byte at this time
if nWriteLength != 1:
log.error("Implement multibyte writing if needed")
return
# Verify the packet length
if len(sPacket) != 40:
log.error("Invalid packet length")
return
# Extract the integer value
nValue = int(sPacket[36:40], 0x10)
# Set the target word
self.__pHardwareComm.FakePLC_SetWordValue(nWriteOffsetWord, nValue)
else:
log.error("Invalid I/O memory area code")
return
# Send a success packet
sResponse = "0000000000000000000001020000"
pBinaryResponse = sResponse.decode("hex")
self.__pSocket.sendto(pBinaryResponse, ("127.0.0.1", 9601))
def __UpdatePLC(self):
"""Updates the PLC in response to any changes to system changes"""
# Check for errors
#log.info("FakePLC: UpdatePLC")
self.__pSystemModel.CheckForError()
#log.info("Done with CheckForError")
# Update the various system components
self.__UpdateVacuumPressure()
self.__UpdateCoolingSystem()
self.__UpdatePressureRegulator(1)
self.__UpdatePressureRegulator(2)
self.__UpdateCoolingSystem()
self.__UpdateReagentRobotStatus()
self.__UpdateReagentRobotPosition()
#log.info("After components")
self.__UpdateReagentRobotGripper()
self.__UpdateReactorRobotStatus(1)
self.__UpdateReactorRobotStatus(2)
self.__UpdateReactorRobotStatus(3)
self.__UpdateReactorPosition(1)
self.__UpdateReactorPosition(2)
self.__UpdateReactorPosition(3)
self.__UpdateReactorHeating(1)
self.__UpdateReactorHeating(2)
self.__UpdateReactorHeating(3)
def __UpdateVacuumPressure(self):
"""Updates the vacuum pressure in response to system changes"""
# Check if the vacuum is on and determine the target pressure
if self.__pSystemModel.model["VacuumSystem"].getVacuumSystemOn():
nTargetPressure = -12.4
else:
nTargetPressure = -71.9
# Compare the pressures. Add leeway to account for rounding errors
nActualPressure = self.__pSystemModel.model["VacuumSystem"].getVacuumSystemPressure()
if ((nActualPressure + 1) < nTargetPressure) or ((nActualPressure - 1) > nTargetPressure):
# Update the actual pressure to the target pressure
self.__pHardwareComm.FakePLC_SetVacuumPressure(nTargetPressure)
def __UpdateCoolingSystem(self):
"""Updates the cooling system in response to system changes"""
# Check if the cooling system is on
bCoolingSystemOn = self.__pSystemModel.model["CoolingSystem"].getCoolingSystemOn()
if bCoolingSystemOn:
# Yes. Check if the cooling thread is running
if (self.__pCoolingThread == None) or not self.__pCoolingThread.is_alive():
# No, so kill any running heating threads
if (self.__pReactor1HeatingThread != None) and self.__pReactor1HeatingThread.is_alive():
self.__pReactor1HeatingThread.Stop()
self.__pReactor1HeatingThread.join()
if (self.__pReactor2HeatingThread != None) and self.__pReactor2HeatingThread.is_alive():
self.__pReactor2HeatingThread.Stop()
self.__pReactor2HeatingThread.join()
if (self.__pReactor3HeatingThread != None) and self.__pReactor3HeatingThread.is_alive():
self.__pReactor3HeatingThread.Stop()
self.__pReactor3HeatingThread.join()
# Kick off the cooling thread
self.__pCoolingThread = CoolingThread()
self.__pCoolingThread.SetParameters(self.__pHardwareComm, self.__pSystemModel.model["Reactor1"]["Thermocouple"].getHeater1CurrentTemperature(),
self.__pSystemModel.model["Reactor1"]["Thermocouple"].getHeater2CurrentTemperature(),
self.__pSystemModel.model["Reactor1"]["Thermocouple"].getHeater3CurrentTemperature(),
self.__pSystemModel.model["Reactor2"]["Thermocouple"].getHeater1CurrentTemperature(),
self.__pSystemModel.model["Reactor2"]["Thermocouple"].getHeater2CurrentTemperature(),
self.__pSystemModel.model["Reactor2"]["Thermocouple"].getHeater3CurrentTemperature(),
self.__pSystemModel.model["Reactor3"]["Thermocouple"].getHeater1CurrentTemperature(),
self.__pSystemModel.model["Reactor3"]["Thermocouple"].getHeater2CurrentTemperature(),
self.__pSystemModel.model["Reactor3"]["Thermocouple"].getHeater3CurrentTemperature())
self.__pCoolingThread.setDaemon(True)
self.__pCoolingThread.start()
else:
# No, so kill the cooling thread if it is running
if (self.__pCoolingThread != None) and self.__pCoolingThread.is_alive():
self.__pCoolingThread.Stop()
self.__pCoolingThread.join()
def __UpdatePressureRegulator(self, nPressureRegulator):
"""Updates the pressure regulator in response to system changes"""
# Get the set and actual pressures
nSetPressure = self.__pSystemModel.model["PressureRegulator" + str(nPressureRegulator)].getSetPressure()
nActualPressure = self.__pSystemModel.model["PressureRegulator" + str(nPressureRegulator)].getCurrentPressure()
# Compare the pressures. Add leeway to account for rounding errors
if ((nActualPressure + 1) < nSetPressure) or ((nActualPressure - 1) > nSetPressure):
# Get a reference to the pressure regulator thread
log.debug("Actual: %f,Setpt: %f" % (nActualPressure,nSetPressure))
if nPressureRegulator == 1:
pThread = self.__pPressureRegulator1Thread
else:
pThread = self.__pPressureRegulator2Thread
# Check if the pressure regulator thread is running
if (pThread == None) or not pThread.is_alive():
# No, so kick off the thread
pThread = PressureRegulatorThread()
pThread.SetParameters(self.__pHardwareComm, nPressureRegulator, nActualPressure, nSetPressure)
pThread.setDaemon(True)
pThread.start()
# Save the new reference
if nPressureRegulator == 1:
self.__pPressureRegulator1Thread = pThread
else:
self.__pPressureRegulator2Thread = pThread
def __UpdateReagentRobotStatus(self):
"""Updates the reagent robot status in response to system changes"""
# Get the reagent robot control and check words
nControlWordX, nCheckWordX = self.__pSystemModel.model["ReagentDelivery"].getRobotXControlWords()
nControlWordY, nCheckWordY = self.__pSystemModel.model["ReagentDelivery"].getRobotYControlWords()
# Enable or disable the robots
if (nControlWordX == 0x10) and not ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_EnableReagentRobotX()
elif (nControlWordX == 0x08) and ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_DisableReagentRobotX()
if (nControlWordY == 0x10) and not ((nCheckWordY >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_EnableReagentRobotY()
elif (nControlWordY == 0x08) and ((nCheckWordX >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_DisableReagentRobotY()
# Home the robots
if self.__pHardwareComm.FakePLC_CheckForHomingReagentRobotX() and self.__pHardwareComm.FakePLC_CheckForHomingReagentRobotY():
# Check either of the reagent robots movement threads are running
if ((self.__pHomeReagentRobotThread == None) or not self.__pHomeReagentRobotThread.is_alive()) and \
((self.__pMoveReagentRobotThread == None) or not self.__pMoveReagentRobotThread.is_alive()):
# No, so kick off the homing thread
nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getCurrentPositionRaw()
self.__pHomeReagentRobotThread = HomeReagentRobotThread()
self.__pHomeReagentRobotThread.SetParameters(self.__pHardwareComm, nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ)
self.__pHomeReagentRobotThread.setDaemon(True)
self.__pHomeReagentRobotThread.start()
# Clear the homing flags
self.__pHardwareComm.FakePLC_ResetReagentRobotHoming()
def __UpdateReagentRobotPosition(self):
"""Updates the reagent robot position in response to system changes"""
# Get the set and actual positions
nReagentRobotSetPositionRawX, nReagentRobotSetPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getSetPositionRaw()
nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ = self.__pSystemModel.model["ReagentDelivery"].getCurrentPositionRaw()
# Compare the positions. Add leeway to account for motor positioning errors
if ((nReagentRobotSetPositionRawX + 5) < nReagentRobotActualPositionRawX) or ((nReagentRobotSetPositionRawX - 5) > nReagentRobotActualPositionRawX) or \
((nReagentRobotSetPositionRawZ + 5) < nReagentRobotActualPositionRawZ) or ((nReagentRobotSetPositionRawZ - 5) > nReagentRobotActualPositionRawZ):
# Check if either of the reagent robot movement threads are running
if ((self.__pMoveReagentRobotThread == None) or not self.__pMoveReagentRobotThread.is_alive()) and \
((self.__pHomeReagentRobotThread == None) or not self.__pHomeReagentRobotThread.is_alive()):
# No, so kick off the movement thread
self.__pMoveReagentRobotThread = MoveReagentRobotThread()
self.__pMoveReagentRobotThread.SetParameters(self.__pHardwareComm, nReagentRobotActualPositionRawX, nReagentRobotActualPositionRawZ, \
nReagentRobotSetPositionRawX, nReagentRobotSetPositionRawZ)
self.__pMoveReagentRobotThread.setDaemon(True)
self.__pMoveReagentRobotThread.start()
def __UpdateReagentRobotGripper(self):
"""Updates the reagent robot gripper in response to system changes"""
# Get the gripper set values
bGripperSetUp = self.__pSystemModel.model["ReagentDelivery"].getSetGripperUp()
bGripperSetDown = self.__pSystemModel.model["ReagentDelivery"].getSetGripperDown()
bGripperSetOpen = self.__pSystemModel.model["ReagentDelivery"].getSetGripperOpen()
bGripperSetClose = self.__pSystemModel.model["ReagentDelivery"].getSetGripperClose()
bSetGasTransferUp = self.__pSystemModel.model["ReagentDelivery"].getSetGasTransferUp()
bSetGasTransferDown = self.__pSystemModel.model["ReagentDelivery"].getSetGasTransferDown()
# Set the current gripper values
self.__pHardwareComm.FakePLC_SetReagentRobotGripper(bGripperSetUp, bGripperSetDown, bGripperSetOpen, bGripperSetClose, bSetGasTransferUp, bSetGasTransferDown)
def __UpdateReactorRobotStatus(self, nReactor):
"""Updates the reactor robot status in response to system changes"""
# Get the reactor robot control and check words
nControlWord, nCheckWord = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getCurrentRobotControlWords()
# Enable or disable the robot
if (nControlWord == 0x10) and not ((nCheckWord >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_EnableReactorRobot(nReactor)
elif (nControlWord == 0x08) and ((nCheckWord >> ROBONET_STATUS_READY) & 1):
self.__pHardwareComm.FakePLC_DisableReactorRobot(nReactor)
# Home the robots
for nReactor in range(1, 4):
# Set reactor-specific parameters
if nReactor == 1:
pReactorHomeThread = self.__pReactor1HomeThread
pReactorLinearMovementThread = self.__pReactor1LinearMovementThread
elif nReactor == 2:
pReactorHomeThread = self.__pReactor2HomeThread
pReactorLinearMovementThread = self.__pReactor2LinearMovementThread
else:
pReactorHomeThread = self.__pReactor3HomeThread
pReactorLinearMovementThread = self.__pReactor3LinearMovementThread
# Check if we need to home
if self.__pHardwareComm.FakePLC_CheckForHomingReactorRobot(nReactor):
# Check either of the reactor robots movement threads are running
if ((pReactorHomeThread == None) or not pReactorHomeThread.is_alive()) and \
((pReactorLinearMovementThread == None) or not pReactorLinearMovementThread.is_alive()):
# No, so kick off the homing thread
nReactorActualPositionY = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getCurrentPositionRaw()
pReactorHomeThread = HomeReactorRobotThread()
pReactorHomeThread.SetParameters(self.__pHardwareComm, nReactor, nReactorActualPositionY)
pReactorHomeThread.setDaemon(True)
pReactorHomeThread.start()
# Remember the thread
if nReactor == 1:
self.__pReactor1HomeThread = pReactorHomeThread
elif nReactor == 2:
self.__pReactor2HomeThread = pReactorHomeThread
else:
self.__pReactor3HomeThread = pReactorHomeThread
# Clear the homing flags
self.__pHardwareComm.FakePLC_ResetReactorRobotHoming(nReactor)
def __UpdateReactorPosition(self, nReactor):
"""Updates the reactor position in response to system changes"""
# Get the set and actual linear positions
nReactorSetPositionZ = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getSetPositionRaw()
nReactorActualPositionZ = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getCurrentPositionRaw()
# Compare the linear positions. Add leeway to account for motor positioning errors
if ((nReactorSetPositionZ + 5) < nReactorActualPositionZ) or ((nReactorSetPositionZ - 5) > nReactorActualPositionZ):
# Get a reference to the reactor linear movement thread
if nReactor == 1:
pThread = self.__pReactor1LinearMovementThread
elif nReactor == 2:
pThread = self.__pReactor2LinearMovementThread
else:
pThread = self.__pReactor3LinearMovementThread
# Check if the reactor linear movement thread is running
if (pThread == None) or not pThread.is_alive():
# No, so kick off the thread
pThread = MoveReactorLinearThread()
pThread.SetParameters(self.__pHardwareComm, nReactor, nReactorActualPositionZ, nReactorSetPositionZ)
pThread.setDaemon(True)
pThread.start()
# Save the new reference
if nReactor == 1:
self.__pReactor1LinearMovementThread = pThread
elif nReactor == 2:
self.__pReactor2LinearMovementThread = pThread
else:
self.__pReactor3LinearMovementThread = pThread
# Get the set and actual vertical positions
bReactorSetUp = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getSetReactorUp()
bReactorSetDown = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getSetReactorDown()
bReactorActualUp = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getCurrentReactorUp()
bReactorActualDown = self.__pSystemModel.model["Reactor" + str(nReactor)]["Motion"].getCurrentReactorDown()
# Compare the vertical positions
if (bReactorSetUp != bReactorActualUp) or (bReactorSetDown != bReactorActualDown):
# Get a reference to the reactor vertical movement thread
if nReactor == 1:
pThread = self.__pReactor1VerticalMovementThread
elif nReactor == 2:
pThread = self.__pReactor2VerticalMovementThread
else:
pThread = self.__pReactor3VerticalMovementThread
# Check if the reactor linear movement thread is running
if (pThread == None) or not pThread.is_alive():
# No, so kick off the thread
pThread = MoveReactorVerticalThread()
pThread.SetParameters(self.__pHardwareComm, nReactor, bReactorSetUp)
pThread.setDaemon(True)
pThread.start()
# Save the new reference
if nReactor == 1:
self.__pReactor1VerticalMovementThread = pThread
elif nReactor == 2:
self.__pReactor2VerticalMovementThread = pThread
else:
self.__pReactor3VerticalMovementThread = pThread
def __UpdateReactorHeating(self, nReactor):
"""Updates the reactor heating in response to system changes"""
# Check if the heater is on
bHeaterOn = self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeaterOn()
if bHeaterOn:
# Yes. Check if the cooling system is on and return if it is
bCoolingSystemOn = self.__pSystemModel.model["CoolingSystem"].getCoolingSystemOn()
if bCoolingSystemOn:
return
# Get the set and actual temperatures
nReactorSetTemperature = self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getSetTemperature()
nReactorActualTemperature = self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getCurrentTemperature()
# Compare the temperatures to see if we need to turn on the heater. Add leeway to account for small variations
if (nReactorSetTemperature + 2) > nReactorActualTemperature:
# Get a reference to the heating thread
if nReactor == 1:
pThread = self.__pReactor1HeatingThread
elif nReactor == 2:
pThread = self.__pReactor2HeatingThread
else:
pThread = self.__pReactor3HeatingThread
# Check if the heating thread is running
if (pThread == None) or not pThread.is_alive():
# No, so kick off the thread
pThread = HeatingThread()
pThread.SetParameters(self.__pHardwareComm, nReactor, self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater1On(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater2On(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater3On(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater1CurrentTemperature(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater2CurrentTemperature(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater3CurrentTemperature(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater1SetTemperature(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater2SetTemperature(),
self.__pSystemModel.model["Reactor" + str(nReactor)]["Thermocouple"].getHeater3SetTemperature())
pThread.setDaemon(True)
pThread.start()
# Save the new reference
if nReactor == 1:
self.__pReactor1HeatingThread = pThread
elif nReactor == 2:
self.__pReactor2HeatingThread = pThread
else:
self.__pReactor3HeatingThread = pThread
else:
# No, so kill the heating thread if it is running
if nReactor == 1:
pThread = self.__pReactor1HeatingThread
elif nReactor == 2:
pThread = self.__pReactor2HeatingThread
else:
pThread = self.__pReactor3HeatingThread
if (pThread != None) and pThread.is_alive():
pThread.Stop()
pThread.join()
