print "FAIL"
print "-------------------------------------------------------"
xpos=10
ypos=10
print "-------------------------------------------------------"
value=DataReadWrite.updatePosition(xpos,ypos)
print "updatePosition(",xpos,",",ypos,") result ->",value
test += 1
if value==True:
print "PASS"
passed += 1
else:
print "FAIL"
print "-------------------------------------------------------"
DataReadWrite.zeroBalance()
print "zeroBalance() result ->",value
xpos=20
ypos=20
test += 1
if value==True:
print "PASS"
passed += 1
else:
print "FAIL"
print "-------------------------------------------------------"
DataReadWrite.setPosition(xpos,ypos)
print "setPosition(",xpos,",",ypos,") result ->",value
test += 1
if value==True:
print "PASS"
def weighAllCrucibles(initials,numberOfSamples,loggerInterval,
duration,startPosition,tempCorrection,rhCorrection,robotStatus,
POSITION,MCOUNT,CURRENTSTEP,STATUS,
DURATION,LOGGERINTERVAL,RUNID,NUMBEROFSAMPLES,TIMEREMAINING):
# Find elapsed time
#first put robot back to zero
logger.info("weightAllCrucibles: %s, %d, %d, %d, %d" % (initials,numberOfSamples,loggerInterval,duration,startPosition))
position=int(startPosition)
#HomePosition()
listOfValues=()
LOGGERINTERVAL.set(loggerInterval)
DURATION.set(duration)
POSITION.set(position)
STATUS.set("Initializing")
now = datetime.today()
today = now.strftime("%m-%d-%y %H:%M:%S")
### set up gui #########
robotStatus.deiconify()
Label(robotStatus,text="Run ID:").grid(row=0,column=0,sticky=W)
Label(robotStatus,textvariable=RUNID).grid(row=0,column=1, sticky=W)
Label(robotStatus,text="Current sample number:").grid(row=1,column=0,sticky=W)
Label(robotStatus,textvariable=POSITION).grid(row=1,column=1, sticky=W)
Label(robotStatus,textvariable=MCOUNT).grid(row=2,column=1,sticky=W)
Label(robotStatus,text="Current measurement count:").grid(row=2,column=0,sticky=W)
Label(robotStatus,text="Logging interval:").grid(row=3,column=0, sticky=W)
Label(robotStatus,textvariable=LOGGERINTERVAL).grid(row=3,column=1,sticky=W)
Label(robotStatus,text="Duration of Measurements:").grid(row=4,column=0, sticky=W)
Label(robotStatus,textvariable=DURATION).grid(row=4,column=1,sticky=W)
Label(robotStatus,text="Number of Samples:").grid(row=5,column=0,sticky=W)
Label(robotStatus,textvariable=NUMBEROFSAMPLES).grid(row=5,column=1,sticky=W)
Label(robotStatus,text="Time remaining for this sample:").grid(row=6,column=0,sticky=W)
Label(robotStatus,textvariable=TIMEREMAINING).grid(row=6,column=1,sticky=W)
Label(robotStatus,text="Status").grid(row=7,column=0, sticky=W)
Label(robotStatus,textvariable=STATUS).grid(row=7,column=1,sticky=W)
NUMBEROFSAMPLES.set(numberOfSamples)
sleep(5)
#first create a new run so we have an ID.
logger.debug("DataReadWrite.insertRun( %s,%s,%d )" %(initials,today,numberOfSamples))
runID=DataReadWrite.insertRun(initials,today,numberOfSamples)
statustext = "Run ID is %d" % int(runID)
logger.info( statustext)
RUNID.set(int(runID))
while position < numberOfSamples+1:
POSITION.set(position)
#statustext="Going to position: %d"% int(position)
#logger.info( statustext)
#set this crucible for this run
logger.debug("DataReadWrite.insertInitialCrucible(%d,%d,%s)" % (runID,position,today))
DataReadWrite.insertInitialCrucible(runID,position,today)
# assume we start in position 1 -- which is the 0,0 point for the grid
#logger.info( "going to sample position: %d ", position)
STATUS.set(statustext)
#goToSamplePosition(position)
#statustext="Picking up sample %d" % int(position)
#STATUS.set(statustext)
#logger.info( "picking up sample.")
#val = samplePickUp()
#if val == False:
# return False;
## zero the balance for each sample
logger.debug("going to zero balance...")
DataReadWrite.zeroBalance()
logger.debug( "opening balance door.")
#DataReadWrite.openBalanceDoor()
#statustext="Going to outside of balance x: %d y: %d" %( BALANCE_OUTSIDE[X], BALANCE_OUTSIDE[Y])
#STATUS.set(statustext)
logger.debug( "go to outside of balance.")
#goToOutsideBalanceFromOutside()
logger.debug( "go to inside balance")
#statustext="Going to inside balance x: %d y: %d" %( BALANCE_INSIDE[X], BALANCE_INSIDE[Y])
#STATUS.set(statustext)
#goToInsideBalanceFromOutside()
logger.debug( "put sample on balance")
STATUS.set("Putting sample on balance")
#val = putSampleOnBalance()
#if val==False:
# STATUS.set("ERROR")
# robotStatus.quit()
# return False;
STATUS.set("Moving to outside balance.")
logger.info( "Move to outside balance.")
#goToOutsideBalanceFromInside()
## may need to check to see if arm is clear of door.
#DataReadWrite.closeBalanceDoor()
durationOfLogging=int(duration)
startTime=datetime.today()
endPoint=timedelta(minutes=durationOfLogging)
endTime=startTime+endPoint
listOfValues=[]
weight=float(0.0)
count=0
kcount=0
tempHumidityArray=[]
statustext="Weighing sample # %d"% position
STATUS.set(statustext)
a = array([])
tempArray=array([])
humidityArray=array([])
averageTemp=0.0
stdevTemp=0.0
averageHumidity=0.0
stdevHumidity=0.0
while datetime.today() < endTime:
timeLeft=endTime-datetime.today()
TIMEREMAINING.set(int(timeLeft.seconds/60))
result=[]
(weight,status)=DataReadWrite.readWeightFromBalance()
temp=xyzRobot.getTemperature()
humidity=xyzRobot.getHumidity()
if weight>0.0:
#print "NOW GOING TO UPDATE PLOT"
#plotGraph.add_data_point(1, 23.2323)
listOfValues.append(weight)
a=append(a,float(weight))
averageWeight=mean(a)
stdevWeight=std(a)
averageTemp=0.0
averageHumidity=0.0
stdevTemp=0.0
stdevHumidity=0.0
logger.debug( "temp: %f humidity: %f " % (temp, humidity))
temp=xyzRobot.getTemperature()
humidity=xyzRobot.getHumidity()
if (temp==""):
temp=0.0
if temp>0:
tempArray=append(tempArray,temp)
if (tempArray.size > 2):
averageTemp=mean(tempArray)
stdevTemp=std(tempArray)
else:
averageTemp=temp
stdevTemp=0.0
if humidity>0:
humidityArray=append(humidityArray,humidity)
if humidityArray.size > 2:
averageHumidity=mean(humidityArray)
stdevHumidity=std(humidityArray)
else:
averageHumidity=humidity
stdevHumidity=0.0
print "position:",position,"averageWeight:",averageWeight,"stdevWeight:",stdevWeight,"averageTemp:",averageTemp,"stdevTemp:",stdevTemp,"averageHumidity:",averageHumidity,"stdevHumidity:",stdevHumidity,"today:",today,"run:",runID,"count:",count
print "position=%d,averageWeight=%s,stdevWeight=%s,averageTemp=%s,stdevTemp=%s,averageHumidity=%s,stdevHumidity=%s,today=%s,runID=%d,count=%d" % (position,averageWeight,stdevWeight,averageTemp,stdevTemp,averageHumidity,stdevHumidity,today,runID,count)
logger.debug( "Count: %d the average weight of crucible # %i is: %f with stdev of: %f" %(count, position,averageWeight,stdevWeight))
## now update crucible position record
now = datetime.today()
today = now.strftime("%m-%d-%y %H:%M:%S")
count += 1
MCOUNT.set(count)
## kludge
averageWeight=16
DataReadWrite.updateCrucible(position,averageWeight,stdevWeight,averageTemp,stdevTemp,averageHumidity,stdevHumidity,today,runID,count)
sleep(loggerInterval)
statustext="Weight recorded #%d %f %f" %(count,averageWeight,stdevWeight)
STATUS.set(statustext)
if count==0:
## check to see if balance is giving anything
(value,status)=DataReadWrite.readInstantWeightFromBalance()
logger.info( "Balance current reads: %f ",float(value))
if (value>0):
logger.info( "Since this is >0 the balance is reading but not stable")
logger.info( "resetting clock. Waiting for a valid entry before storing data...")
startTime=datetime.today()
endPoint=timedelta(minutes=durationOfLogging)
endTime=startTime+endPoint
else:
STATUS.set("Error: nothing from balance. Checking to see if this resolves itself")
logger.info( "There is a problem: no output from balance at all: Count: %d",int(kcount))
kcount += 1
if kcount==500:
logger.error( "There is a problem: no output for 500 counts -- quitting ")
xyzRobot.KillMotors()
exit(1)
logger.info("Open the balance door")
#DataReadWrite.openBalanceDoor()
STATUS.set("Go back into balance to get sample.")
logger.info( "enter balance")
#goToInsideBalanceFromOutside()
logger.info( "pick up sample")
STATUS.set("Pick up sample from balance")
#val = pickUpSampleFromBalance()
#if val == False:
# STATUS.set("Error: missing sample")
# robotStatus.quit()
# return False
logger.info( "leave balance . . . ")
STATUS.set("Leave balance.")
#goToOutsideBalanceFromInside()
statustext="Return to position %d", int(position)
STATUS.set(statustext)
logger.info( "now return to position: %d ", int(position))
STATUS.set("Put sample down.")
#goToSamplePosition(position)
logger.info( "put the sample down. . . ")
#val=samplePutDown()
#if val == False:
# STATUS.set("Error sample held when there shouldn't be one")
# robotStatus.quit()
# return False;
logger.info( "close the balance door . . ")
#DataReadWrite.closeBalanceDoor()
STATUS.set("Now go to home position")
#response=goHome()
#if response==False:
# logger.error( "Home point not reached. Stopping.")
# return False;
position += 1
POSITION.set(position)
statustext="Now starting next sample: %d",position
STATUS.set(statustext)
statustext="go on to the next position: %d", int(position)
logger.info(statustext)
STATUS.set("Done!")
robotStatus.withdraw()
return (runID)
