def __init__(self):
self._adapter = Adapter(('0.0.0.0', 7878))
self._pose = ThreeDSample('pose')
self._adapter.add_data_item(self._pose)
avail = Event('avail')
self._adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
def __init__(self):
self._adapter = Adapter(('0.0.0.0', 7878))
self._pose = ThreeDSample('pose')
self._adapter.add_data_item(self._pose)
avail = Event('avail')
self._adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
def init_test():
event = Event("foo")
eq_(event.changed(), False)
eq_(event._name, "foo")
event.set_value("blat")
eq_(event.changed(), True)
eq_(event.value(), "blat")
lines = event.values()
eq_(lines[0], "|foo|blat")
event.sweep()
eq_(event.changed(), False)
def single_event_communications_test():
fname, adapter = create_server()
event = Event('foo')
adapter.add_data_item(event)
event.set_value('hello')
adapter.start()
adapter.format_time = MagicMock(return_value="TIME")
client = connect_client(fname)
line = client.recv(256)
eq_(line, 'TIME|foo|hello\n')
adapter.stop()
os.remove(fname)
def single_event_communications_test():
fname, adapter = create_server()
event = Event('foo')
adapter.add_data_item(event)
event.set_value('hello')
adapter.start()
adapter.format_time = MagicMock(return_value="TIME")
client = connect_client(fname)
line = client.recv(256)
eq_(line, 'TIME|foo|hello\n')
adapter.stop()
os.remove(fname)
def add_event(data):
# Unpack function arguments
adapter, tag_list, di_dict, init = data
for tag in tag_list:
# Change tag to XML [name] attribute format if necessary
if not tag.islower():
data_item = split_event(tag)
else:
data_item = tag
# Add Event to the MTConnect adapter
di_dict[data_item] = Event(data_item)
adapter.add_data_item(di_dict[data_item])
# Output success
rospy.loginfo('Added XML data_item --> %s' % data_item)
if init == True:
# Set initial states for robot actions
adapter.begin_gather()
for data_item, event in di_dict.items():
event.set_value('READY')
adapter.complete_gather()
return
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License."""
import sys, os, time
path, file = os.path.split(__file__)
sys.path.append(os.path.realpath(path) + '/../src')
from data_item import Event, SimpleCondition, Sample
from mtconnect_adapter import Adapter
if __name__ == "__main__":
adapter = Adapter(('localhost', 7878))
e1 = Event('e1')
adapter.add_data_item(e1)
c1 = SimpleCondition('c1')
adapter.add_data_item(c1)
s1 = Sample('s1')
adapter.add_data_item(s1)
adapter.start()
while True:
adapter.begin_gather()
e1.set_value(1)
s1.set_value(200.1)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
sys.path.append(os.path.realpath(path) + '/../src')
from data_item import Event, SimpleCondition, Sample, ThreeDSample
from mtconnect_adapter import Adapter
import roslib
roslib.load_manifest('turtlesim')
import rospy
import turtlesim.msg
adapter = Adapter(('0.0.0.0', 7878))
pose = ThreeDSample('pose')
adapter.add_data_item(pose)
def handle_turtle_pose(msg, turtlename):
adapter.begin_gather()
pose.set_value((msg.x, msg.y, 0.0))
adapter.complete_gather()
if __name__ == "__main__":
avail = Event('avail')
adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
adapter.start()
rospy.init_node('mtconnect_adapter')
rospy.Subscriber('/turtle1/pose', turtlesim.msg.Pose, handle_turtle_pose,
'turtle1')
rospy.spin()
from data_item import Event, SimpleCondition, Sample, ThreeDSample
from mtconnect_adapter import Adapter
import roslib
roslib.load_manifest('turtlesim')
import rospy
import turtlesim.msg
adapter = Adapter(('0.0.0.0', 7878))
pose = ThreeDSample('pose')
adapter.add_data_item(pose)
def handle_turtle_pose(msg, turtlename):
adapter.begin_gather()
pose.set_value((msg.x, msg.y, 0.0))
adapter.complete_gather()
if __name__ == "__main__":
avail = Event('avail')
adapter.add_data_item(avail)
avail.set_value('AVAILABLE')
adapter.start()
rospy.init_node('mtconnect_adapter')
rospy.Subscriber('/turtle1/pose',
turtlesim.msg.Pose,
handle_turtle_pose,
'turtle1')
rospy.spin()
def __init__(self, host, port):
self.host = host
self.port = port
self.adapter = Adapter((host, port))
self.auto_time = Sample('auto_time')
self.adapter.add_data_item(self.auto_time)
self.cut_time = Sample('cut_time')
self.adapter.add_data_item(self.cut_time)
self.total_time = Sample('total_time')
self.adapter.add_data_item(self.total_time)
self.Xabs = Sample('Xabs')
self.adapter.add_data_item(self.Xabs)
self.Yabs = Sample('Yabs')
self.adapter.add_data_item(self.Yabs)
self.Zabs = Sample('Zabs')
self.adapter.add_data_item(self.Zabs)
self.Aabs = Sample('Aabs')
self.adapter.add_data_item(self.Aabs)
self.Babs = Sample('Babs')
self.adapter.add_data_item(self.Babs)
self.Srpm = Sample('Srpm')
self.adapter.add_data_item(self.Srpm)
self.estop = Event('estop')
self.adapter.add_data_item(self.estop)
self.power = Event('power')
self.adapter.add_data_item(self.power)
self._exec = Event('exec')
self.adapter.add_data_item(self._exec)
self.line = Event('line')
self.adapter.add_data_item(self.line)
self.program = Event('program')
self.adapter.add_data_item(self.program)
self.Fovr = Event('Fovr')
self.adapter.add_data_item(self.Fovr)
self.Sovr = Event('Sovr')
self.adapter.add_data_item(self.Sovr)
self.Tool_number = Event('Tool_number')
self.adapter.add_data_item(self.Tool_number)
self.mode = Event('mode')
self.adapter.add_data_item(self.mode)
self.avail = Event('avail')
self.adapter.add_data_item(self.avail)
self.adapter.start()
self.adapter.begin_gather()
self.avail.set_value("AVAILABLE")
self.adapter.complete_gather()
self.adapter_stream()
class pocketNCAdapter(object):
def __init__(self, host, port):
self.host = host
self.port = port
self.adapter = Adapter((host, port))
self.auto_time = Sample('auto_time')
self.adapter.add_data_item(self.auto_time)
self.cut_time = Sample('cut_time')
self.adapter.add_data_item(self.cut_time)
self.total_time = Sample('total_time')
self.adapter.add_data_item(self.total_time)
self.Xabs = Sample('Xabs')
self.adapter.add_data_item(self.Xabs)
self.Yabs = Sample('Yabs')
self.adapter.add_data_item(self.Yabs)
self.Zabs = Sample('Zabs')
self.adapter.add_data_item(self.Zabs)
self.Aabs = Sample('Aabs')
self.adapter.add_data_item(self.Aabs)
self.Babs = Sample('Babs')
self.adapter.add_data_item(self.Babs)
self.Srpm = Sample('Srpm')
self.adapter.add_data_item(self.Srpm)
self.estop = Event('estop')
self.adapter.add_data_item(self.estop)
self.power = Event('power')
self.adapter.add_data_item(self.power)
self._exec = Event('exec')
self.adapter.add_data_item(self._exec)
self.line = Event('line')
self.adapter.add_data_item(self.line)
self.program = Event('program')
self.adapter.add_data_item(self.program)
self.Fovr = Event('Fovr')
self.adapter.add_data_item(self.Fovr)
self.Sovr = Event('Sovr')
self.adapter.add_data_item(self.Sovr)
self.Tool_number = Event('Tool_number')
self.adapter.add_data_item(self.Tool_number)
self.mode = Event('mode')
self.adapter.add_data_item(self.mode)
self.avail = Event('avail')
self.adapter.add_data_item(self.avail)
self.adapter.start()
self.adapter.begin_gather()
self.avail.set_value("AVAILABLE")
self.adapter.complete_gather()
self.adapter_stream()
def data_pull(self):
data = linuxcnc.stat()
data.poll()
return data
def adapter_stream(self):
at2 = 'initialize'
ct2 = 'initialize'
ylt2 = 'initialize'
ylt1 = datetime.datetime.now() #initialized
at1 = datetime.datetime.now() #initialized
ct1 = datetime.datetime.now() #initialized
ylt = float(0) #initialized
at = float(0) #initialized
ct = float(0) #initialized
while True:
try:
data = self.data_pull()
#time initialization: accumulated time: cut - auto - total
if self.power.value() == 'ON':
ylt2 = datetime.datetime.now()
if ex == 'ACTIVE' and self.Srpm.value() != None and float(
self.Srpm.value()) > 0 and estop == 'ARMED':
ct2 = datetime.datetime.now()
else:
ct1 = datetime.datetime.now()
if (ex == 'ACTIVE' or ex == 'STOPPED'
or ex == 'INTERRUPTED' or
float(self.Srpm.value()) > 0) and estop == 'ARMED':
at2 = datetime.datetime.now()
else:
at1 = datetime.datetime.now()
else:
ylt1 = datetime.datetime.now()
if data.state == 1:
ex = 'READY'
elif data.state == 2:
ex = 'ACTIVE'
else:
ex = ''
self.adapter.begin_gather()
self._exec.set_value(ex)
self.adapter.complete_gather()
if data.estop != 1:
estp = 'ARMED'
else:
estp = 'TRIGGERED'
self.adapter.begin_gather()
self.estop.set_value(estp)
self.adapter.complete_gather()
self.adapter.begin_gather()
self.power.set_value(pwr)
self.adapter.complete_gather()
self.adapter.begin_gather()
xps = str(format(data.actual_position[0], '.4f'))
self.Xabs.set_value(xps)
yps = str(format(data.actual_position[1], '.4f'))
self.Yabs.set_value(yps)
zps = str(format(data.actual_position[2], '.4f'))
self.Zabs.set_value(zps)
abs = str(format(data.actual_position[3], '.4f'))
self.Aabs.set_value(abs)
bbs = str(format(data.actual_position[4], '.4f'))
self.Babs.set_value(bbs)
self.adapter.complete_gather()
ssp = str(data.spindle_speed)
self.adapter.begin_gather()
self.Srpm.set_value(ssp)
ln = str(data.motion_line)
self.adapter.begin_gather()
self.line.set_value(ln)
pgm = str(data.file)
self.adapter.begin_gather()
self.program.set_value(pgm)
pfo = str(data.feedrate * 100)
self.adapter.begin_gather()
self.Fovr.set_value(pfo)
so = str(data.spindlerate * 100)
self.adapter.begin_gather()
self.Sovr.set_value(so)
tooln = str(data.tool_in_spindle)
self.adapter.begin_gather()
self.Tool_number.set_value(tooln)
self.adapter.complete_gather()
if data.task_mode == 1:
md = 'MDI'
elif data.task_mode == 2:
md = 'AUTOMATIC'
elif data.task_mode == 3:
md = 'MANUAL'
else:
md = ''
self.adapter.begin_gather()
self.mode.set_value(md)
self.adapter.complete_gather()
#time finalization: accumulated time, cut vs auto vs total
if ylt2 != 'initialize' and self.power.value(
) == 'ON' and ylt1 != ylt2:
#accumulated time:total time
if (ylt2 - ylt1).total_seconds() >= 0:
ylt += (ylt2 - ylt1).total_seconds()
ylt1 = ylt2
if ylt >= 0 and self.total_time.value() != str(int(ylt)):
self.adapter.begin_gather()
self.total_time.set_value(str(int(ylt)))
self.adapter.complete_gather()
if ylt < 0:
ylt = float(0)
#accumulated time:cut time
if ct2 != 'initialize' and ex == 'ACTIVE' and self.Srpm.value(
) != None and float(self.Srpm.value(
)) > 0 and self.estop.value() == 'ARMED':
if (ct2 - ct1).total_seconds() >= 0:
ct += (ct2 - ct1).total_seconds()
ct1 = ct2
if ct >= 0 and self.cut_time.value() != str(int(ct)):
self.adapter.begin_gather()
self.cut_time.set_value(str(int(ct)))
self.adapter.complete_gather()
if ct < 0:
ct = float(0)
#accumulated time:auto time
if (at2 != 'initialize' and ex == 'ACTIVE'
or ex == 'INTERRUPTED' or ex == 'STOPPED'
or float(self.Srpm.value()) > 0
) and self.estop.value() == 'ARMED':
if (at2 - at1).total_seconds() >= 0:
at += (at2 - at1).total_seconds()
at1 = at2
if at >= 0 and self.auto_time.value() != str(int(at)):
self.adapter.begin_gather()
self.auto_time.set_value(str(int(at)))
self.adapter.complete_gather()
if at < 0:
at = float(0)
except:
if self.power.value() and self.power.value() != 'OFF':
self.adapter.begin_gather()
self.power.set_value('OFF')
self.adapter.complete_gather()
ylt2 = 'initialize'
ct2 = 'initialize'
at2 = 'initialize'
ylt1 = datetime.datetime.now() #initialized
at1 = datetime.datetime.now() #initialized
ct1 = datetime.datetime.now() #initialized
def change_test():
event = Event("foo")
eq_(event.changed(), False)
event.set_value("blat")
eq_(event.changed(), True)
eq_(event.value(), "blat")
event.sweep()
eq_(event.changed(), False)
event.set_value("blat")
eq_(event.changed(), False)
eq_(event.value(), "blat")
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License."""
import sys, os, time
path, file = os.path.split(__file__)
sys.path.append(os.path.realpath(path) + '/../src')
from data_item import Event, SimpleCondition, Sample
from mtconnect_adapter import Adapter
if __name__ == "__main__":
adapter = Adapter(('localhost', 7878))
e1 = Event('e1')
adapter.add_data_item(e1)
c1 = SimpleCondition('c1')
adapter.add_data_item(c1)
s1 = Sample('s1')
adapter.add_data_item(s1)
adapter.start()
while True:
adapter.begin_gather()
e1.set_value(1)
s1.set_value(200.1)
adapter.complete_gather()
time.sleep(1.0)
adapter.begin_gather()
