def test_write_real():
print("Testing acsc.writeReal")
hc = acsc.openCommDirect()
varname = "SLLIMIT1"
val = 3.14
acsc.writeReal(hc, varname, val)
valread = acsc.readReal(hc, None, varname)
acsc.closeComm(hc)
print("Input value:", val)
print("Value read:", valread)
assert valread == val
print("PASS")
def test_upload_prg():
"""Test that a program can be uploaded and run in the simulator."""
hc = acsc.openCommDirect()
txt = "enable 0\nVEL(0) = 1333\nptp 0, 1.33\nSTOP"
acsc.loadBuffer(hc, 19, txt, 64)
acsc.runBuffer(hc, 19)
time.sleep(0.2)
vel = acsc.getVelocity(hc, 0)
pos = acsc.getRPosition(hc, 0)
print("Position:", pos)
print("Velocity:", vel)
assert vel == 1333.0
assert pos == 1.33
acsc.closeComm(hc)
import numpy as np
import time
import matplotlib.pyplot as plt
plt.close("all")
dblen = 100
sr = 200.0
sleeptime = dblen/sr/2*1.05
t = np.array([])
data = np.array([])
# Connect to controller
hc = acsc.openCommDirect()
# Create an ACSPL+ program to load into the controller
prg = prgs.ACSPLplusPrg()
prg.declare_2darray("global", "real", "data", 2, dblen)
prg.addline("global real foo")
prg.addline("foo = 6.5")
prg.addline("ENABLE 0")
prg.add_dc("data", dblen, sr, "TIME, FVEL(0)", "/c")
for n in xrange(3):
prg.addptp(0, 10000, "/e")
prg.addptp(0, 0, "/e")
prg.addline("WAIT 10000")
prg.addline("STOPDC")
prg.addstopline()
def connect(self, address=None):
if self.contype == "simulator":
self.hc = acsc.openCommDirect()
elif self.contype == "ethernet":
self.hc = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
then uploading it to the controller and running it.
"""
from __future__ import division, print_function
from acspy import acsc
import time
#file = open("test/test.prg", "w+")
acs_prg = """
ENABLE 1""" + \
"""
VEL(1) = 1000
PTP/r 1, -900
STOP
"""
#file.write(acs_prg)
#file.close()
print(acs_prg)
hc = acsc.openCommDirect()
acsc.loadBuffer(hc, 0, acs_prg, 512)
acsc.enable(hc, 0)
#acsc.LoadBuffersFromFile(hc, "test/test.prg")
acsc.runBuffer(hc, 0)
time.sleep(1)
print(acsc.getRPosition(hc, 1))
print(acsc.getMotorState(hc, 1))
acsc.closeComm(hc)
def connect(self, address="10.0.0.100", port=701):
if self.contype == "simulator":
self.hc = acsc.openCommDirect()
elif self.contype == "ethernet":
self.hc = acsc.openCommEthernetTCP(address=address, port=port)
def __init__(self, parent=None):
QtGui.QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# Set up some parameters
self.axis = 5
self.homecounter = 0
self.jogmode = False
self.leftlimit = 24.9
self.platform = 9.0
self.override = False
self.axis_enabled = False
# Set maximum velocities to 2 m/s
self.ui.velSpinBox.setMaximum(2.0)
self.ui.velSpinBox_baf1.setMaximum(2.0)
self.ui.velSpinBox_baf2.setMaximum(2.0)
# Set initial states of all buttons
self.ui.rbAbsolute.setEnabled(False)
self.ui.rbAbsolute_baf.setEnabled(False)
self.ui.enableAxis.setEnabled(False)
self.ui.actionRunHoming.setEnabled(False)
self.ui.dock_jog.setEnabled(False)
self.ui.groupBox_shortcuts.setEnabled(False)
self.ui.tabWidgetMode.setEnabled(False)
self.ui.toolBar_Jog.setEnabled(False)
self.ui.enableAxis.setIcon(QIcon())
self.ui.posSpinBox.setMinimum(-self.leftlimit)
self.ui.posSpinBox.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf1.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf1.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf2.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setDisabled(True)
# Add some labels to the status bar
self.hlabel = QLabel()
self.hlabel.setText("Not homed ")
self.ui.statusBar.addWidget(self.hlabel)
self.poslabel = QLabel()
self.poslabel.setText("Pos. (m): ")
self.ui.statusBar.addWidget(self.poslabel)
self.vellabel = QLabel()
self.vellabel.setText("Vel. (m/s): ")
self.ui.statusBar.addWidget(self.vellabel)
# Add a button to the toolbar
self.ui.toolBar_Jog.addWidget(self.ui.pbJogPlus)
self.ui.toolBar_Jog.addWidget(self.ui.pbJogMinus)
self.ui.pbJogMinus.setFixedHeight(27)
self.ui.pbJogPlus.setFixedHeight(27)
self.ui.pbJogMinus.setFixedWidth(32)
self.ui.pbJogPlus.setFixedWidth(32)
self.ui.dock_jog.close()
# Set up timers
self.timer_slow = QTimer()
self.timer_slow.timeout.connect(self.on_timer_slow)
self.timer_fast = QTimer()
self.timer_fast.timeout.connect(self.on_timer_fast)
# Connect to the controller
self.simulator = False
self.retry = True
if self.simulator:
self.hcomm = acsc.openCommDirect()
else:
self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
# If connection fails, bring up error message box
while self.hcomm == acsc.INVALID and self.retry:
msgtxt = "Unable to connect to controller.\n\n"
msgtxt += "Check that controller is powered-on and "
msgtxt += "SPiiPlus User Mode Driver is running."
c_err_box = QMessageBox()
c_err_box.setIcon(QMessageBox.Critical)
c_err_box.setWindowIcon(QIcon(':/icons/tow_icon.svg'))
c_err_box.setWindowTitle("Connection Error")
c_err_box.setText(msgtxt)
c_err_box.setStandardButtons(QMessageBox.Retry | QMessageBox.Abort)
c_err_box.setDefaultButton(QMessageBox.Retry)
c_err_box.addButton("Use &Simulator",
QMessageBox.AcceptRole)
ret = c_err_box.exec_()
if ret == QMessageBox.Retry:
if self.simulator: self.hcomm = acsc.openCommDirect()
else: self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
elif ret == QMessageBox.Abort:
self.connectfail = True
self.retry = False
self.timer_fast.start(10)
elif ret == QMessageBox.AcceptRole:
self.simulator = True
self.hcomm = acsc.openCommDirect()
if self.hcomm != acsc.INVALID:
self.timer_slow.start(150)
self.timer_fast.start(50)
self.ui.enableAxis.setEnabled(True)
self.ui.actionRunHoming.setEnabled(True)
# Register the emergency stop button
acsc.registerEmergencyStop()
# Make sure jog program is not running
acsc.stopBuffer(self.hcomm, 5)
# Create the jog group action group
self.offset_group = QActionGroup(self)
self.ui.traverseOff.setActionGroup(self.offset_group)
self.ui.traverse1m.setActionGroup(self.offset_group)
self.ui.traverse2m.setActionGroup(self.offset_group)
self.ui.traverse3m.setActionGroup(self.offset_group)
self.ui.traverse4m.setActionGroup(self.offset_group)
self.traverse_offset_actions = {"off": self.ui.traverseOff,
"1m": self.ui.traverse1m,
"2m": self.ui.traverse2m,
"3m": self.ui.traverse3m,
"4m": self.ui.traverse4m}
# Create TCP server for remote control
remoteserver = QtNetwork.QTcpServer()
print(str(remoteserver.serverAddress().toString()))
# Connect signals and slots
self.connectslots()
# Load settings
self.load_settings()