def onEnter(self):
self.__durationSeconds = self.configuration['pedestrianTimer']
self.logger.info('Pedestrian crossing initialized')
sendNotification(NotificationLevel.INFO, 'Pedestrians can now cross',
{'pedestriansCrossing': True})
self.__nextLightState = self.engine.nextLightDirection + '_green'
self.__startTimeSeconds = time.time()
def __tryExecuteStateTransition(self):
'''
(Internal, for engine use only)
This internal method will actually transition the state machine
into the state that was requested by 'gotoState'.
If we are in 'state stepper mode', we will first pause the machine.
'''
if self.__nextRequestedState == None:
return False
if self.__inStateStepperMode and not self.__hasPausedForStepper:
self.pause()
self.__hasPausedForStepper = True
return True # Return True so that we can get a clean update loop
self.__hasPausedForStepper = False # We have paused for the stepper at this point, so let's reset it
if not self.__currentState == None:
prevState = self.getCurrentState()
if prevState != None:
prevState.onLeave()
prevState.freeCallbacks()
sendNotification(NotificationLevel.APP_STATE_CHANGE, 'Entered MachineApp state: {}'.format(self.__nextRequestedState))
self.__currentState = self.__nextRequestedState
self.__nextRequestedState = None
nextState = self.getCurrentState()
if nextState != None:
nextState.onEnter()
return True
def __mqttEventCallback(self, topic, msg):
topicParts = topic.split('/')
deviceType = topicParts[1]
if deviceType != 'io-expander':
return
if (topicParts[3] == 'available'):
return
isInput = False
if topicParts[3] == 'digital-output':
isInput = False
elif topicParts[3] == 'digital-input':
isInput = True
device = int(topicParts[2])
pin = int(topicParts[4])
value = msg
for monitorItem in self.__monitorList:
if monitorItem.isEqual(isInput, device, pin):
monitorItem.state = value
sendNotification(NotificationLevel.IO_STATE, '',
monitorItem.toJson())
break
def onEnter(self):
self.logger.info('{} direction entered the RED light state'.format(
self.__direction))
sendNotification(
NotificationLevel.INFO,
'Set light to RED for {} conveyor'.format(self.__direction), {
"direction": self.__direction,
"color": 'red',
"speed": 0
})
self.__startTimeSeconds = time.time()
def onEnter(self):
self.__startTimeSeconds = time.time()
self.logger.info('{} direction entered the YELLOW light state'.format(
self.__direction))
sendNotification(
NotificationLevel.INFO,
'Set light to YELLOW for {} conveyor'.format(self.__direction), {
"direction": self.__direction,
"color": 'yellow',
"speed": self.__speed
})
def __onPedestrianButtonClicked(topic, msg):
if msg == 'true':
self.engine.isPedestrianButtonTriggered = True
self.engine.nextLightDirection = 'vertical' if self.__direction == 'horizontal' else 'horizontal'
self.registerCallback(self.engine.primaryMachineMotion,
'push_button_1', __onPedestrianButtonClicked)
self.__machineMotion.setContinuousMove(self.__axis, self.__speed)
def onEnter(self):
self.logger.info('{} direction entered the GREEN light state'.format(
self.__direction))
# Record the time that we entered this state
self.__startTimeSeconds = time.time()
# Inform the frontend's console that we've entered this state. See Notifier::sendMessage for more information
# on the parameters defined here.
sendNotification(
NotificationLevel.INFO,
'Set light to GREEN for {} conveyor'.format(self.__direction), {
"direction": self.__direction,
"color": 'green',
"speed": self.__speed
})
# Register a callback that gets set when the push button is clicked
def __onPedestrianButtonClicked(topic, msg):
if msg == 'true':
self.engine.isPedestrianButtonTriggered = True
self.engine.nextLightDirection = 'vertical' if self.__direction == 'horizontal' else 'horizontal'
self.gotoState(self.__direction + '_yellow')
# Register to listen to the hardware IO (like a push button)...
self.registerCallback(self.engine.primaryMachineMotion,
'push_button_1', __onPedestrianButtonClicked)
# Or register to listern to the software IO (like a button in your web page)!
self.registerCallbackOnTopic(self.engine.primaryMachineMotion,
'software_button',
__onPedestrianButtonClicked)
# Set the axis moving
self.__machineMotion.setContinuousMove(self.__axis, self.__speed)
sendNotification(
NotificationLevel.INFO,
'Green light with axis={}, speed={}'.format(
self.__axis, self.__speed))
def loop(self, inStateStepperMode, configuration):
'''
Main loop of your MachineApp.
'''
if self.__isRunning:
return False
sendNotification(NotificationLevel.APP_START, 'MachineApp started')
self.logger.info('Starting the main MachineApp loop')
# Configure run time variables
self.__inStateStepperMode = inStateStepperMode
self.configuration = configuration
self.__isRunning = True
# Run initialization sequence
self.initialize()
self.__stateDictionary = self.buildStateDictionary()
# Begin the Application by moving to the default state
self.gotoState(self.getDefaultState())
# Inner Loop running the actual MachineApp program
while self.__isRunning:
if self.__shouldStop: # Running stop behavior
self.__shouldStop = False
self.__isRunning = False
self.onStop()
currentState = self.getCurrentState()
if currentState != None:
currentState.onStop()
break
if self.__shouldPause: # Running pause behavior
if self.__hasPausedForStepper:
sendNotification(
NotificationLevel.APP_PAUSE,
'Paused for stepper mode: Moving from {} state to {} state'
.format(self.__currentState,
self.__nextRequestedState))
else:
sendNotification(NotificationLevel.APP_PAUSE,
'MachineApp paused')
self.__shouldPause = False
self.__isPaused = True
if not self.__hasPausedForStepper: # Only do pause behavior if we're not doing the stepper-mandated pause
self.onPause()
currentState = self.getCurrentState()
if currentState != None:
currentState.onPause()
if self.__shouldResume: # Running resume behavior
sendNotification(NotificationLevel.APP_RESUME,
'MachineApp resumed')
self.__shouldResume = False
self.__isPaused = False
if not self.__hasPausedForStepper: # Only do resume behavior if we're not doing the stepper-mandated pause
self.onResume()
currentState = self.getCurrentState()
if currentState != None:
currentState.onResume()
if self.__isPaused: # While paused, don't do anything
time.sleep(BaseMachineAppEngine.UPDATE_INTERVAL_SECONDS)
continue
if self.__nextRequestedState != None: # Running state transition behavior
if self.__tryExecuteStateTransition():
continue # If the transition is executed successfully, let's get a clean update loop
currentState = self.getCurrentState()
if currentState == None:
self.logger.error('Currently in an invalid state')
continue
currentState.updateCallbacks()
currentState.update()
time.sleep(BaseMachineAppEngine.UPDATE_INTERVAL_SECONDS)
self.logger.info('Exiting MachineApp loop')
sendNotification(NotificationLevel.APP_COMPLETE,
'MachineApp completed')
self.afterRun()
return True
def onLeave(self):
sendNotification(NotificationLevel.INFO,
'Pedestrians can NOT cross anymore',
{'pedestriansCrossing': False})
self.engine.isPedestrianButtonTriggered = False
def onEnter(self):
self.engine.primaryMachineMotion.emitSpeed(25)
self.engine.primaryMachineMotion.emitCombinedAxisRelativeMove(
[1, 2], ['positive', 'positive'], [250, 250])
sendNotification(NotificationLevel.INFO,
'Moving to the start position')
def onEnter(self):
self.engine.primaryMachineMotion.emitHomeAll()
sendNotification(NotificationLevel.INFO, 'Moving to home')
self.gotoState('horizontal_green')
