def run(self):
log.debug('WaitForStartStep started')
self.event = Event()
self.context.ui_interface.register_start_once(self.set_event)
log.info('Waiting for start callback')
self.event.wait()
if not self.is_canceled:
log.info('Start callback received')
def _unload_plain_interrupt(self, x_centroid, y_centroid):
log.debug('_unload_plain_interrupt called')
self.context.abs_x_offset = self.context.position_calculation\
.calc_abs_x_offset_from_centroid(self.context.x_position_abs, x_centroid)
self.context.target_recognition.unregister_callback(
self._unload_plain_interrupt)
self.event.set()
log.debug('_unload_plain_interrupt event set')
self.context.target_recognition.stop()
def run(self):
log.debug('WaitForBackToOriginStep started')
self.event = Event()
self.context.ui_interface.register_back_to_origin_once(self.event.set)
log.info('Waiting for BackToOriginStep callback')
self.event.wait()
if not self.is_canceled:
log.info('BackToOriginStep callback received')
self.context.ic_interface.drive_jog(50, Direction.Backward)
def run(self):
log.debug('UpdatePositionStep started')
self.context.register_position_callback(
self.__position_update_received)
#prevent step from end
self.event = Event()
self.event.wait()
log.debug('UpdatePositionStep done')
def run(self):
log.debug('DriveXToLoadPickup run called')
self.event = Event()
self.context.ic_interface.drive_distance_async(
Config().x_distance_to_load_pickup,
Config().x_speed_to_load_pickup, Direction.Forward,
lambda: self.event.set())
self.event.wait()
log.debug('DriveXToLoadPickup done')
def run(self):
log.debug('DriveZToEndPosition run called')
# drive tele
self.event = Event()
self.context.ic_interface.move_tele_async(self.context.z_position_rel,
DirectionTele.Retract,
lambda: self.event.set())
self.event.wait()
log.debug('DriveZToEndPosition done')
def run(self):
self.lock.acquire(True)
self.steps_done += 1
log.debug('SyncStep run called: steps_done ' + str(self.steps_done))
if self.steps_done < self.step_count_to_wait_for:
self.lock.release()
return StepResult.SYNC
self.steps_done = 0
self.lock.release()
log.debug('SyncStep done')
def run(self):
log.debug('EnforceMagnetStep run called')
# wait until magnet is near enough
self.event = Event()
self.context.register_position_callback(
self.__position_update_received)
self.event.wait()
log.debug('EnforceMagnetStep start enforce magnet')
#enable magnet
self.context.ic_interface.enable_magnet(MagnetDirection.Enforce)
log.debug('EnforceMagnetStep done')
def run(self):
log.debug('DriveToEnd run called')
# wait until tele is high enough
self.event = Event()
self.context.register_position_callback(self._position_update_received)
self.event.wait()
log.debug('DriveToEnd start drive')
# drive to end
self.event = Event()
remaining_distance = self.context.position_calculation.calc_x_rel(
self.context.x_position_abs,
Config().x_end_position_abs - self.context.x_position_abs)
log.debug('remaining distance: {}'.format(str(remaining_distance)))
self.context.ic_interface.drive_to_end_async(
remaining_distance,
Config().drive_to_end_speed, Direction.Forward,
lambda: self.event.set())
self.event.wait()
self.context.ic_interface.disable_magnet()
self.context.ui_interface.send_end()
log.debug('DriveToEnd done')
def run(self):
log.debug('DriveZToLoadPickup run called')
#wait to start of move tele
self.event = Event()
self.context.register_position_callback(
self.__position_update_received)
self.event.wait()
log.debug('DriveZToLoadPickup start move tele')
#drive tele
self.event = Event()
self.context.ic_interface.move_tele_async(
Config().z_distance_to_load_pickup, DirectionTele.Extend,
lambda: self.event.set())
self.event.wait()
self.context.load_present = True
log.debug('DriveZToLoadPickup done')
def run(self):
log.debug('DriveZToUnloadPosition run called')
# register image recognition callback and wait until plain is near enough
#self.event = Event()
#self.context.target_recognition.register_callback(self._unload_plain_interrupt)
#self.event.wait()
log.debug(
'DriveZToUnloadPosition move tele started: z_position_on_target {}'
.format(self.context.z_position_on_target))
#drive tele
self.event = Event()
self.context.ic_interface.move_tele_async(
self.context.z_position_on_target, DirectionTele.Extend,
lambda: self.event.set())
self.event.wait()
log.debug('DriveZToUnloadPosition done')
def run(self):
log.debug('DriveToUnloadPlainInterrupt run called')
#wait until tele is high enough
self.event = Event()
self.context.register_position_callback(self._position_update_received)
self.event.wait()
log.debug('DriveToUnloadPlainInterrupt start drive')
#drive jog
self.context.ic_interface.drive_jog(Config().travel_speed,
Direction.Forward)
# register image recognition callback and wait
self.event = Event()
self.context.target_recognition.register_callback(
self._unload_plain_interrupt)
self.context.target_recognition.start()
self.event.wait()
log.debug('DriveToUnloadPlainInterrupt done')
def run(self):
log.debug('AdjustXPosition run called')
# register image recognition callback
#self.context.target_recognition.register_callback(self._unload_plain_interrupt)
#while abs(self.context.abs_x_offset) > Config().max_adjust_offset:
log.debug(
'AdjustXPosition offset procedure started with offset adjustment of '
'abs_x_offset: {} and rel_x_offset: {}'.format(
self.context.abs_x_offset, self.context.rel_x_offset))
self.event = Event()
direction = Direction.Forward if self.context.rel_x_offset > 0 else Direction.Backward
self.context.ic_interface.drive_distance_async(
abs(self.context.rel_x_offset),
Config().adjust_speed, direction, lambda: self.event.set())
self.event.wait()
#self.context.target_recognition.unregister_callback(self._unload_plain_interrupt)
#self.context.target_recognition.stop()
log.debug('AdjustXPosition done')
def run(self):
log.debug('ReleaseMagnet run called')
self.context.ic_interface.enable_magnet(MagnetDirection.Release)
self.context.load_present = False
log.debug('ReleaseMagnet done')
def run(self):
log.debug('Init Tele started')
self.context.ic_interface.init_tele()
self.context.ui_interface.send_end_init()
self.context.reset_position()
log.debug('Init Tele end')
def run(self):
log.debug('DisableMagnet run called')
self.context.ic_interface.disable_magnet()
log.debug('DisableMagnet done')
def run(self):
log.debug('CancelStep run called: step_to_cancel_count ' +
str(len(self.steps_to_cancel)))
for step in self.steps_to_cancel:
step.cancel()
