def set_duty_cycle(self, value):
log.debug("Set Mixer %d duty cycle -> %f" % (self.id_, value))
if value >= 0.0 and value <= 100.0:
self.duty_ = value
cmd = self.cmd_lookup['Mixers']['set_duty_cycle'][self.id_](value)
self.comproc.run_cmd(cmd)
else:
# Raise Exception, value out of range!
log.error("Mixer %d duty cycle -> %f out of range" % (self.id_, value))
def set_duty_cycle(self, value):
log.debug("Set Mixer %d duty cycle -> %f" % (self.id_, value))
if value >= 0.0 and value <= 100.0:
self.duty_ = value
cmd = self.cmd_lookup['Mixers']['set_duty_cycle'][self.id_](value)
self.comproc.run_cmd(cmd)
else:
# Raise Exception, value out of range!
log.error("Mixer %d duty cycle -> %f out of range" %
(self.id_, value))
def set_analog_out(self, value):
if not(value >= 0.0 and value <= 10.0):
# Should raise exception in future!!!!
log.error("SMC Analog setpoint (%f) out of range" % value)
return
self.comproc.run_cmd(self.cmd_lookup['SMCInterfaces']['set_analog_out'][self.id_](value))
log.debug("Set SMC Analog out %d on -> %s"
% (self.id_, value))
self.analog_out_ = value
def set_analog_out(self, value):
if not (value >= 0.0 and value <= 10.0):
# Should raise exception in future!!!!
log.error("SMC Analog setpoint (%f) out of range" % value)
return
self.comproc.run_cmd(self.cmd_lookup['SMCInterfaces']['set_analog_out']
[self.id_](value))
log.debug("Set SMC Analog out %d on -> %s" % (self.id_, value))
self.analog_out_ = value
def lower(self):
""" Lower actuator and unsure it gets there """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lower_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_down:
log.debug("Lower actuator %s success", repr(self))
return
log.info("Failed to raise actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to lower actuator %s after retrys", repr(self))
def close(self):
""" Close the gripper and make sure it closes """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.close_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_closed:
log.debug("Close actuator %s success", repr(self))
return
log.info("Failed to close actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to close actuator %s after retrys", repr(self))
def close(self):
""" Close the gripper and make sure it closes """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.close_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_closed:
log.debug("Close actuator %s success", repr(self))
return
log.info("Failed to close actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to close actuator %s after retrys", repr(self))
def open(self):
""" Open the gripper and make sure it opens """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.open_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_open:
log.debug("Open actuator %s success", repr(self))
return
log.info("Failed to open actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to open actuator %s after retrys", repr(self))
def wait(self, timeout=None):
""" Wait for the motion to be complete """
if timeout is None:
timeout = self.conf['MOVETIMEOUT']
dtimeout = timedelta(0, timeout)
move_start_time = datetime.now()
while datetime.now() - move_start_time < dtimeout:
if self.isMoveComplete():
return True
log.info("Waiting for complete actuator %d", self.id_)
log.error("Motion Timeout actuator %d", self.id_ )
raise ElixysLinactError("%s unable to complete move before timeout")
def lift(self):
""" Move the actuator up and ensure it gets there """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lift_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_up:
log.debug("Lift actuator %s success", repr(self))
return
log.info("Failed to raise actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to raise actuator %s after retrys", repr(self))
def open(self):
""" Open the gripper and make sure it opens """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.open_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_open:
log.debug("Open actuator %s success", repr(self))
return
log.info("Failed to open actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to open actuator %s after retrys", repr(self))
def read(self, retry=2):
""" This will replace the serial read.
Make sure comport is avialable. If so
read! Else try to open. If can't open
raise exception.
"""
for idx in range(retry):
try:
resp = self.serial.readline()
return resp
except SerialException:
log.error("CBox Com error, retry %d", idx)
self.reconnect()
raise ElixysComportError("Failed to read from CBox, %d retries" % retry)
def write(self, msg, retry=2):
""" This will replace the serial write.
This should make sure the comport is open
and available. It NOT retry to open!
If we can't open raise exception.
"""
for idx in range(retry):
try:
self.serial.write(msg)
return
except SerialException:
log.error("CBox Com error, retry %d", idx)
self.reconnect()
raise ElixysComportError("Failed to write to CBox, %d retries" % retry)
def write(self, msg, retry=2):
""" This will replace the serial write.
This should make sure the comport is open
and available. It NOT retry to open!
If we can't open raise exception.
"""
for idx in range(retry):
try:
self.serial.write(msg)
return
except SerialException:
log.error("CBox Com error, retry %d", idx)
self.reconnect()
raise ElixysComportError("Failed to write to CBox, %d retries" % retry)
def lower(self):
""" Lower actuator and ensure it gets there """
self.prepare_air()
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lower_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_down:
log.debug("Lower actuator %s success", repr(self))
return
log.info("Failed to raise actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to lower actuator %s after retrys", repr(self))
raise ElixysPneumaticError("Failed to lower %s"
" check digital sensors and pressure source"% repr(self))
def read(self, retry=2):
""" This will replace the serial read.
Make sure comport is avialable. If so
read! Else try to open. If can't open
raise exception.
"""
for idx in range(retry):
try:
resp = self.serial.readline()
return resp
except SerialException:
log.error("CBox Com error, retry %d", idx)
self.reconnect()
raise ElixysComportError("Failed to read from CBox, %d retries" %
retry)
def move_and_wait(self, posmm, timeout=None):
""" Move, and wait for it to complete
make sure to do this within and alotted timeout.
"""
if timeout is None:
timeout = self.conf['MOVETIMEOUT']
dtimeout = timedelta(0, timeout)
move_start_time = datetime.now()
self.move(posmm)
while datetime.now() - move_start_time < dtimeout:
if self.isMoveComplete():
return True
log.info("Waiting for complete actuator %d", self.id_)
log.error("Motion Timeout actuator %d", self.id_ )
raise ElixysLinactError("%s unable to complete move before timeout")
def __init__(self):
super(ControlBoxSystem, self).__init__()
self.conf = self.sysconf['ControlBox']
if os.name == 'nt':
self._port = self.conf['win_port']
elif os.name == 'posix':
self._port = self.conf['posix_port']
else:
raise ElixysComportError("Could not "
"determine platform for port")
self._baud = self.conf['baud']
if self.sysconf['Simulator']['controlbox']:
log.debug("Loading the control box simulator")
from pyelixys.hal.tests.testcontrolbox import CBoxSim
self.serial = CBoxSim()
return
try:
self.serial = serial.Serial(port=self._port,
baudrate=self._baud,
timeout=0.2)
if os.name == 'posix':
self.serial.close()
self.serial.baudrate = 115200
self.serial.baudrate = self._baud
self.serial.open()
self.serial.baudrate = 115200
self.serial.baudrate = self._baud
except SerialException:
log.error("Failed to open comport %s", self._port)
raise ElixysComportError("Serial COM port not available at %s."
"Ensure CBox Board is connected and "
"user has permission to"
"access device" % self._port)
self._leds = 0
def __init__(self):
super(ControlBoxSystem, self).__init__()
self.conf = self.sysconf['ControlBox']
if os.name == 'nt':
self._port = self.conf['win_port']
elif os.name == 'posix':
self._port = self.conf['posix_port']
else:
raise ElixysComportError("Could not "
"determine platform for port")
self._baud = self.conf['baud']
if self.sysconf['Simulator']['controlbox']:
log.debug("Loading the control box simulator")
from pyelixys.hal.tests.testcontrolbox import CBoxSim
self.serial = CBoxSim()
return
try:
self.serial = serial.Serial(port=self._port,
baudrate=self._baud,
timeout=0.2)
if os.name == 'posix':
self.serial.close()
self.serial.baudrate = 115200
self.serial.baudrate = self._baud
self.serial.open()
self.serial.baudrate = 115200
self.serial.baudrate = self._baud
except SerialException:
log.error("Failed to open comport %s", self._port)
raise ElixysComportError("Serial COM port not available at %s."
"Ensure CBox Board is connected and "
"user has permission to"
"access device" % self._port)
self._leds = 0
