class ROSAdapter:
def __init__(self):
# Get all of the ROS Params
self.address = rospy.get_param('~address')
self.port = rospy.get_param('~port')
self.joint_topic = rospy.get_param('~joint_topic')
self.joint_names = rospy.get_param('~joint_data_items')
self.gripper_topic = rospy.get_param('~gripper_topic')
self.gripper_names = rospy.get_param('~gripper_data_items')
# Start the adapter
self.adapter = Adapter((self.address, self.port))
self.adapter.start()
# Start ROS Subscribers
rospy.Subscriber(self.joint_topic, JointState, self.joint_callback)
# Create Gripper
self.gripper = self.create_event_item('gripper_state', self.adapter)
self.gripper.set_value("INITIALIZED")
# Create Joint data items
self.joint_data_items = []
for name in self.joint_names:
self.joint_data_items.append(self.create_sample_item(name, self.adapter))
# Creates a "Sample" type data item
def create_sample_item(self, name, adapt):
tmp = Sample(name)
self.adapter.add_data_item(tmp)
return tmp
# Creates an Event type data item
def create_event_item(self, name, adapt):
tmp = Event(name)
self.adapter.add_data_item(tmp)
return tmp
# Update joint values
def joint_callback(self, msg):
# check if the lengths are correct
if len(self.joint_names) != len(msg.position):
rospy.logwarn('Mismatched number of joint names and joint values check mtconnect publisher yaml file')
return
self.adapter.begin_gather()
ind = 0
#Assign joint values to the associated data item
for name in self.joint_names:
self.joint_data_items[ind].set_value((msg.position[ind]))
ind = ind + 1
self.adapter.complete_gather()
# Update gripper status
def gripper_callback(self, msg):
self.gripper.set_value('IDLE') #Input update here
def initiate_adapter(self, host, port):
self.adapter = Adapter((host,port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.robot_binding = Event('robot_binding')
self.adapter.add_data_item(self.robot_binding)
self.open_chuck = Event('open_chuck')
self.adapter.add_data_item(self.open_chuck)
self.close_chuck = Event('close_chuck')
self.adapter.add_data_item(self.close_chuck)
self.open_door = Event('open_door')
self.adapter.add_data_item(self.open_door)
self.close_door = Event('close_door')
self.adapter.add_data_item(self.close_door)
self.change_tool = Event('change_tool')
self.adapter.add_data_item(self.change_tool)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
self.material_state = Event('material_state')
self.adapter.add_data_item(self.material_state)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.cnc_binding = Event('cnc_binding')
self.adapter.add_data_item(self.cnc_binding)
self.tool_state = Event('tool_state')
self.adapter.add_data_item(self.tool_state)
self.chuck_state = Event('chuck_state')
self.adapter.add_data_item(self.chuck_state)
self.door_state = Event('door_state')
self.adapter.add_data_item(self.door_state)
self.door_lock_state = Event('door_lock_state')
self.adapter.add_data_item(self.door_lock_state)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.cmm_binding = Event('cmm_binding')
self.adapter.add_data_item(self.cmm_binding)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def __init__(self):
# Get all of the ROS Params
self.address = rospy.get_param('~address')
self.port = rospy.get_param('~port')
self.joint_topic = rospy.get_param('~joint_topic')
self.joint_names = rospy.get_param('~joint_data_items')
self.gripper_topic = rospy.get_param('~gripper_topic')
self.gripper_names = rospy.get_param('~gripper_data_items')
# Start the adapter
self.adapter = Adapter((self.address, self.port))
self.adapter.start()
# Start ROS Subscribers
rospy.Subscriber(self.joint_topic, JointState, self.joint_callback)
# Create Gripper
self.gripper = self.create_event_item('gripper_state', self.adapter)
self.gripper.set_value("INITIALIZED")
# Create Joint data items
self.joint_data_items = []
for name in self.joint_names:
self.joint_data_items.append(self.create_sample_item(name, self.adapter))
class StateMachineModel:
def __init__(self, host, port, sim):
self.initiate_adapter(host, port)
self.adapter.start()
self.sim = sim
self.initiate_dataitems()
self.initiate_interfaces()
self.system = []
self.cycle_time = 10
self.load_time_limit(20)
self.unload_time_limit(20)
self.load_failed_time_limit(2)
self.unload_failed_time_limit(2)
self.next_sequence = str(1)
self.events = []
self.master_tasks = {}
self.device_uuid = "cnc1"
self.master_uuid = str()
self.is_coordinator = False
self.is_collaborator = False
self.system_normal = True
self.has_material = False
self.fail_next = False
#long pull dict for maintaining agent threads for other devices
self.lp = {}
self.mock_value = None
self.wait_for_completion = False
self.initial_execution_state()
self.set_priority()
self.initiate_pull_thread()
def set_priority(self):
self.priority = None
self.priority = priority(self, self.cnc_binding)
def initial_execution_state(self):
self.execution = {}
self.execution['cnc1'] = None
self.execution['conv1'] = None
self.execution['r1'] = None
def initiate_cnc_client(self):
if self.sim == False:
configFile = open('configFiles/clients.cfg', 'r')
device = json.loads(
configFile.read())['devices'][self.device_uuid]
self.cnc_client = pocketNCAdapter(str(device['host']),
int(device['port']))
elif self.sim == 'Mock':
self.cnc_client = Mock()
self.cnc_client._exec.value = MagicMock(
side_effect=self.side_effect)
def side_effect(self, val=None):
if val is not None:
self.mock_value = val
return val
else:
return self.mock_value
def initiate_interfaces(self):
self.material_load_interface = MaterialLoad(self)
self.material_unload_interface = MaterialUnload(self)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.cnc_binding = Event('cnc_binding')
self.adapter.add_data_item(self.cnc_binding)
self.tool_state = Event('tool_state')
self.adapter.add_data_item(self.tool_state)
self.chuck_state = Event('chuck_state')
self.adapter.add_data_item(self.chuck_state)
self.door_state = Event('door_state')
self.adapter.add_data_item(self.door_state)
self.door_lock_state = Event('door_lock_state')
self.adapter.add_data_item(self.door_lock_state)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def initiate_dataitems(self):
self.adapter.begin_gather()
self.door_lock_state.set_value("UNLOCKED")
self.door_state.set_value("CLOSED")
self.chuck_state.set_value("OPEN")
self.tool_state.set_value("AVAILABLE")
self.avail1.set_value("AVAILABLE")
self.e1.set_value("READY")
self.mode1.set_value("AUTOMATIC")
self.binding_state_material.set_value("INACTIVE")
self.material_load.set_value("NOT_READY")
self.material_unload.set_value("NOT_READY")
self.adapter.complete_gather()
def initiate_pull_thread(self):
#Pull MTconnect data from other devices
self.thread = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread.start()
self.thread2 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread2.start()
self.thread3 = Thread(target=self.initiate_cnc_client)
self.thread3.start()
def start_pull(self, addr, request, func, stream=True):
response = requests.get(addr + request + "&from=" +
self.next_sequence,
stream=stream)
self.lp[request.split('/')[1]] = None
self.lp[request.split('/')[1]] = LongPull(response, addr, self)
self.lp[request.split('/')[1]].long_pull(func)
def start_pull_asset(self, addr, request, assetId, stream_root):
response = urllib2.urlopen(addr + request).read()
from_long_pull_asset(self, response, stream_root)
def CNC_NOT_READY(self):
self.material_load_interface.superstate.DEACTIVATE()
self.material_unload_interface.superstate.DEACTIVATE()
def ACTIVATE(self):
if self.mode1.value() == "AUTOMATIC" and self.avail1.value(
) == "AVAILABLE":
self.make_operational()
elif self.system_normal:
self.still_not_ready()
else:
self.faulted()
def OPERATIONAL(self):
if self.has_material:
self.unloading()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.cnc_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.coordinator_task = "MoveMaterial_2"
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCnc"
self.coordinator.superstate.unavailable()
elif self.has_material == False:
self.loading()
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadCnc"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
else:
self.start()
def IDLE(self):
if self.has_material:
self.material_unload_interface.superstate.IDLE()
else:
self.material_load_interface.superstate.IDLE()
def CYCLING(self):
if self.fail_next:
self.system.append([
'cnc', 'Device', 'SYSTEM', 'FAULT',
'Cycle failed to start', 'CYCLE'
])
self.cnc_fault()
self.fail_next = False
elif self.door_state.value() != "CLOSED" or self.chuck_state.value(
) != "CLOSED":
self.system.append([
'cnc', 'Device', 'SYSTEM', 'FAULT',
'Door or Chuck in invalid state', 'CYCLE'
])
self.cnc_fault()
else:
def func(self=self):
if self.is_coordinator:
return
self.cnc_execution_ready()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(
uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.coordinator_task = "MoveMaterial_2"
self.adapter.begin_gather()
self.cnc_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCnc"
self.coordinator.superstate.unavailable()
self.adapter.begin_gather()
self.e1.set_value("READY")
self.adapter.complete_gather()
if self.sim == True:
self.adapter.begin_gather()
self.e1.set_value("ACTIVE")
self.adapter.complete_gather()
if not self.cycle_time:
return func()
timer_cycling = Timer(self.cycle_time, func)
timer_cycling.daemon = True
timer_cycling.start()
else:
while self.cnc_client._exec.value() != 'ACTIVE':
time.sleep(2)
pass
time.sleep(1)
self.adapter.begin_gather()
self.e1.set_value("ACTIVE")
self.adapter.complete_gather()
while self.cnc_client._exec.value() == 'ACTIVE':
time.sleep(2)
pass
time.sleep(1)
func()
def LOADING(self):
if not self.has_material:
self.material_load_interface.superstate.idle()
def UNLOADING(self):
if self.has_material:
self.material_unload_interface.superstate.idle()
def load_time_limit(self, limit):
self.material_load_interface.superstate.processing_time_limit = limit
def load_failed_time_limit(self, limit):
self.material_load_interface.superstate.fail_time_limit = limit
def unload_time_limit(self, limit):
self.material_unload_interface.superstate.processing_time_limit = limit
def unload_failed_time_limit(self, limit):
self.material_unload_interface.superstate.fail_time_limit = limit
def interface_type(self, value=None, subtype=None):
self.interfaceType = value
def COMPLETED(self):
if self.interfaceType == "Request":
self.complete()
elif "Response" in self.interfaceType:
pass
def EXITING_IDLE(self):
if self.has_material:
self.unloading()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.cnc_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.coordinator_task = "MoveMaterial_2"
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCnc"
self.coordinator.superstate.unavailable()
else:
self.loading()
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name='cnc1')
self.collaborator.superstate.task_name = "LoadCnc"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
def LOADED(self):
self.has_material = True
self.material_load_interface.superstate.DEACTIVATE()
self.adapter.begin_gather()
self.chuck_state.set_value("CLOSED")
self.door_state.set_value("CLOSED")
self.door_lock_state.set_value("LOCKED")
self.adapter.complete_gather()
if self.sim is not True:
while self.cnc_client._exec.value() != 'ACTIVE':
time.sleep(2)
pass
def IN_TRANSITION(self):
pass
def EXIT_TRANSITION(self):
if self.has_material == False:
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadCnc"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
def UNLOADED(self):
self.has_material = False
self.material_unload_interface.superstate.DEACTIVATE()
self.adapter.begin_gather()
self.chuck_state.set_value("CLOSED")
self.door_state.set_value("CLOSED")
self.door_lock_state.set_value("LOCKED")
self.adapter.complete_gather()
def FAILED(self):
if "Request" in self.interfaceType:
self.failed()
elif "Response" in self.interfaceType:
self.fault()
def void(self):
pass
def event(self, source, comp, name, value, code=None, text=None):
self.events.append([source, comp, name, value, code, text])
action = value.lower()
if action == "fail":
action = "failure"
if comp == "Coordinator" and value.lower() == 'preparing':
self.priority.event_list(
[source, comp, name, value, code, text])
if comp == "Task_Collaborator" and action != 'unavailable':
self.coordinator.superstate.event(source, comp, name, value,
code, text)
elif comp == "Coordinator" and action != 'unavailable':
if value.lower() == 'committed':
self.collaborator.superstate.event(source, comp, name,
value, code, text)
if 'ToolChange' in str(
self.master_tasks[self.master_uuid]):
self.event('robot', 'ToolInterface',
'SubTask_ToolChange', 'ACTIVE',
self.master_uuid, 'r1')
elif value.lower() != 'preparing':
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif 'SubTask' in name and action != 'unavailable':
if self.is_coordinator == True:
self.coordinator.superstate.event(source, comp, name,
value, code, text)
elif self.is_collaborator == True:
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif "Open" in name and action != 'unavailable':
if 'door' in name.lower():
eval('self.open_door_interface.superstate.' + action +
'()')
if not self.sim and action == 'active':
openDoor_completion = self.cnc_client.load_run_pgm(
tasks.openDoor)
if openDoor_completion == True:
time.sleep(2)
eval(
'self.open_door_interface.superstate.complete()'
)
elif openDoor_completion == False:
time.sleep(2)
eval(
'self.open_door_interface.superstate.DEFAULT()'
)
if 'chuck' in name.lower():
eval('self.open_chuck_interface.superstate.' + action +
'()')
if not self.sim and action == 'active':
openChuck_completion = self.cnc_client.load_run_pgm(
tasks.openChuck)
if openChuck_completion == True:
time.sleep(2)
eval(
'self.open_chuck_interface.superstate.complete()'
)
elif openChuck_completion == False:
time.sleep(2)
eval(
'self.open_chuck_interface.superstate.DEFAULT()'
)
elif "Close" in name and action != 'unavailable':
if 'door' in name.lower():
eval('self.close_door_interface.superstate.' + action +
'()')
if not self.sim and action == 'active':
closeDoor_completion = self.cnc_client.load_run_pgm(
tasks.closeDoor)
if closeDoor_completion == True:
time.sleep(1)
eval(
'self.close_door_interface.superstate.complete()'
)
elif closeDoor_completion == False:
time.sleep(1)
eval(
'self.close_door_interface.superstate.DEFAULT()'
)
if 'chuck' in name.lower():
eval('self.close_chuck_interface.superstate.' + action +
'()')
if not self.sim and action == 'active':
closeChuck_completion = self.cnc_client.load_run_pgm(
tasks.closeChuck)
if closeChuck_completion == True:
time.sleep(1)
eval(
'self.close_chuck_interface.superstate.complete()'
)
elif closeChuck_completion == False:
time.sleep(1)
eval(
'self.close_chuck_interface.superstate.DEFAULT()'
)
elif name == "MaterialLoad" and action != 'unavailable':
try:
if action == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_load_ready()')
eval('self.material_load_interface.superstate.' + action +
'()')
except Exception as e:
print("Incorrect event")
print(e)
elif name == "MaterialUnload" and action != 'unavailable':
try:
if action == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_unload_ready()')
eval('self.material_unload_interface.superstate.' +
action + '()')
except Exception as e:
print("incorrect event")
print(e)
elif name == "ChangeTool" and action != 'unavailable':
eval('self.change_tool_interface.superstate.' + action + '()')
if not self.sim and action == 'active':
toolChange_completion = self.cnc_client.load_run_pgm(
tasks.toolChange)
if toolChange_completion == True:
time.sleep(2)
eval(
'self.change_tool_interface.superstate.complete()')
elif toolChange_completion == False:
time.sleep(2)
eval('self.change_tool_interface.superstate.DEFAULT()')
elif comp == "Controller":
if name == "ControllerMode":
if source.lower() == 'cnc':
self.adapter.begin_gather()
self.mode1.set_value(value.upper())
self.adapter.complete_gather()
elif name == "Execution":
if source.lower() == 'cnc':
self.adapter.begin_gather()
self.e1.set_value(value.upper())
self.adapter.complete_gather()
elif text in self.execution:
self.execution[text] = value.lower()
elif comp == "Device":
if name == "SYSTEM" and action != 'unavailable':
try:
eval('self.' + source.lower() + '_system_' +
value.lower() + '()')
except Exception as e:
print("Not a valid Device trigger", e)
elif name == "Availability":
if source.lower() == 'cnc':
self.adapter.begin_gather()
self.avail1.set_value(value.upper())
self.adapter.complete_gather()
class StateMachineModel:
def __init__(self, host, port, sim, cell_part):
self.initiate_adapter(host, port)
self.adapter.start()
self.sim = sim
self.cell_part = cell_part
self.initiate_dataitems()
self.initiate_interfaces()
self.system = []
self.cycle_time = 10
self.load_time_limit(20)
self.unload_time_limit(20)
self.next_sequence = str(1)
self.load_failed_time_limit(2)
self.unload_failed_time_limit(2)
self.events = []
self.master_tasks = {}
self.device_uuid = "cmm1"
self.master_uuid = str()
self.is_coordinator = False
self.is_collaborator = False
self.system_normal = True
self.has_material = False
self.fail_next = False
self.part_quality = None
#List for part's expected quality sequence; IMTS
self.pt_ql_seq = []
#long pull dict for maintaining agent threads for other devices
self.lp = {}
self.part_quality_sequence()
self.initial_execution_state()
self.set_priority()
self.initiate_cmm_client()
self.initiate_pull_thread()
def set_priority(self):
self.priority = None
self.priority = priority(self, self.cmm_binding)
def part_quality_sequence(self):
self.pt_ql_seq = []
self.pt_ql_seq.append(['good', False])
self.pt_ql_seq.append(['bad', False])
self.pt_ql_seq.append(['rework', False])
self.pt_ql_seq.append(['good', False])
self.pt_ql_seq.append(['reworked', False])
def part_quality_next(self, index=None):
if index != None:
self.pt_ql_seq[index][1] = True
else:
output = None
for i, x in enumerate(self.pt_ql_seq):
if not x[1]:
output = [i, x[0]]
self.pt_ql_seq[i][1] = True
break
if output:
return output
else:
self.part_quality_sequence()
return self.part_quality_next()
def initial_execution_state(self):
self.execution = {}
self.execution['cnc1'] = None
self.execution['cmm1'] = None
self.execution['b1'] = None
self.execution['conv1'] = None
self.execution['r1'] = None
def initiate_cmm_client(self):
if not self.sim:
configFile = open('configFiles/clients.cfg', 'r')
device = json.loads(
configFile.read())['devices'][self.device_uuid]
self.cmm_client = hexagonClient(str(device['host']),
int(device['port']),
int(device['port']))
self.cmm_client.connect()
def initiate_interfaces(self):
self.material_load_interface = MaterialLoad(self)
self.material_unload_interface = MaterialUnload(self)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.cmm_binding = Event('cmm_binding')
self.adapter.add_data_item(self.cmm_binding)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def initiate_dataitems(self):
self.adapter.begin_gather()
self.avail1.set_value("AVAILABLE")
self.e1.set_value("READY")
self.mode1.set_value("AUTOMATIC")
self.binding_state_material.set_value("INACTIVE")
self.material_load.set_value("NOT_READY")
self.material_unload.set_value("NOT_READY")
self.adapter.complete_gather()
def initiate_pull_thread(self):
#Pull MTConnect data from other devices
self.thread = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread.start()
self.thread2 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread2.start()
self.thread3 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread3.start()
self.thread4 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread4.start()
def start_pull(self, addr, request, func, stream=True):
response = requests.get(addr + request + "&from=" +
self.next_sequence,
stream=stream)
self.lp[request.split('/')[1]] = None
self.lp[request.split('/')[1]] = LongPull(response, addr, self)
self.lp[request.split('/')[1]].long_pull(func)
def start_pull_asset(self, addr, request, assetId, stream_root):
response = urllib2.urlopen(addr + request).read()
from_long_pull_asset(self, response, stream_root)
def CMM_NOT_READY(self):
self.material_load_interface.superstate.DEACTIVATE()
self.material_unload_interface.superstate.DEACTIVATE()
def ACTIVATE(self):
if self.mode1.value() == "AUTOMATIC" and self.avail1.value(
) == "AVAILABLE":
self.make_operational()
elif self.system_normal:
self.still_not_ready()
else:
self.faulted()
def OPERATIONAL(self):
if self.has_material:
self.unloading()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.cmm_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.part_quality = self.part_quality_next()[1]
if self.part_quality:
if self.part_quality == 'rework':
self.coordinator_task = "MoveMaterial_5"
else:
self.coordinator_task = "MoveMaterial_4" + "_" + self.part_quality
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCmm"
self.coordinator.superstate.unavailable()
elif self.has_material == False:
self.loading()
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadCmm"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
else:
self.start()
def IDLE(self):
if self.has_material:
self.material_unload_interface.superstate.IDLE()
else:
self.material_load_interface.superstate.IDLE()
def CYCLING(self):
if self.fail_next:
self.system.append([
'cmm', 'Device', 'SYSTEM', 'FAULT',
'Cycle failed to start', 'CYCLE'
])
self.cmm_fault()
self.fail_next = False
else:
self.adapter.begin_gather()
self.e1.set_value("ACTIVE")
self.adapter.complete_gather()
def func(self=self):
self.cmm_execution_ready()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(
uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.cmm_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.part_quality = self.part_quality_next()[1]
if self.part_quality:
if self.part_quality == 'rework':
self.coordinator_task = "MoveMaterial_5"
else:
self.coordinator_task = "MoveMaterial_4" + "_" + self.part_quality
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCmm"
self.coordinator.superstate.unavailable()
self.adapter.begin_gather()
self.e1.set_value("READY")
self.adapter.complete_gather()
if self.sim:
if not self.cycle_time:
func()
else:
timer_cycling = Timer(self.cycle_time, func)
timer_cycling.daemon = True
timer_cycling.start()
else:
if self.part_quality in [None, 'good', 'reworked']:
cycle = self.cmm_client.load_run_pgm(
taskcmm.startProgramA)
elif self.part_quality == 'bad':
cycle = self.cmm_client.load_run_pgm(
taskcmm.startProgramB)
elif self.part_quality == 'rework':
cycle = self.cmm_client.load_run_pgm(
taskcmm.startProgramC)
time.sleep(30)
status = (self.cmm_client.load_run_pgm(
taskcmm.getStatus)).lower()
print("State before Completion", status)
while ('good' or 'bad' or 'rework') not in status:
status = (self.cmm_client.load_run_pgm(
taskcmm.getStatus)).lower()
time.sleep(3)
print("State after completion", status)
func()
def LOADING(self):
if not self.has_material:
self.material_load_interface.superstate.idle()
def UNLOADING(self):
if self.has_material:
self.material_unload_interface.superstate.idle()
def load_time_limit(self, limit):
self.material_load_interface.superstate.processing_time_limit = limit
def load_failed_time_limit(self, limit):
self.material_load_interface.superstate.fail_time_limit = limit
def unload_time_limit(self, limit):
self.material_unload_interface.superstate.processing_time_limit = limit
def unload_failed_time_limit(self, limit):
self.material_unload_interface.superstate.fail_time_limit = limit
def interface_type(self, value=None, subtype=None):
self.interfaceType = value
def COMPLETED(self):
if self.interfaceType == "Request":
self.complete()
def EXITING_IDLE(self):
if self.has_material:
self.unloading()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.cmm_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.part_quality = self.part_quality_next()[1]
if self.part_quality:
if self.part_quality == 'rework':
self.coordinator_task = "MoveMaterial_5"
else:
self.coordinator_task = "MoveMaterial_4" + "_" + self.part_quality
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadCmm"
self.coordinator.superstate.unavailable()
else:
self.loading()
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadCmm"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
def LOADED(self):
self.has_material = True
self.material_load_interface.superstate.DEACTIVATE()
def UNLOADED(self):
self.has_material = False
self.material_unload_interface.superstate.DEACTIVATE()
def IN_TRANSITION(self):
pass
def EXIT_TRANSITION(self):
if self.has_material == False:
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadCmm"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
def FAILED(self):
if "Request" in self.interfaceType:
self.failed()
def void(self):
pass
def event(self, source, comp, name, value, code=None, text=None):
self.events.append([source, comp, name, value, code, text])
action = value.lower()
if action == "fail":
action = "failure"
if comp == "Coordinator" and value.lower() == 'preparing':
self.priority.event_list(
[source, comp, name, value, code, text])
#tool_change: to be updated
elif self.is_coordinator and self.binding_state_material.value(
).lower() == "committed" and text == 'r1':
if value.lower() == 'inactive' and 'ToolChange' in str(
self.master_tasks[self.master_uuid]):
self.master_tasks[self.master_uuid]['coordinator'][
self.device_uuid]['SubTask']['cnc1'][1] = 'COMPLETE'
self.coordinator.superstate.task.superstate.success()
self.complete()
if comp == "Task_Collaborator" and action != 'unavailable':
self.coordinator.superstate.event(source, comp, name, value,
code, text)
elif comp == "Coordinator" and action != 'unavailable':
if value.lower() != 'preparing':
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif 'SubTask' in name and action != 'unavailable':
if self.is_coordinator == True:
self.coordinator.superstate.event(source, comp, name,
value, code, text)
elif self.is_collaborator == True:
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif name == "MaterialLoad" and action != 'unavailable':
try:
if value.lower(
) == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_load_ready()')
eval('self.material_load_interface.superstate.' + action +
'()')
except Exception as e:
print("Incorrect event")
print(e)
elif name == "MaterialUnload" and action != 'unavailable':
try:
if action == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_unload_ready()')
eval('self.material_unload_interface.superstate.' +
action + '()')
except Exception as e:
print("incorrect event")
print(e)
elif comp == "Controller":
if name == "ControllerMode":
if source.lower() == 'cmm':
self.adapter.begin_gather()
self.mode1.set_value(value.upper())
self.adapter.complete_gather()
elif name == "Execution":
if source.lower() == 'cmm':
self.adapter.begin_gather()
self.e1.set_value(value.upper())
self.adapter.complete_gather()
elif text in self.execution:
self.execution[text] = value.lower()
elif comp == "Device":
if name == "SYSTEM" and action != 'unavailable':
try:
eval('self.' + source.lower() + '_system_' +
value.lower() + '()')
except Exception as e:
print("Not a valid Device trigger", e)
elif name == "Availability":
if source.lower() == 'cmm':
self.adapter.begin_gather()
self.avail1.set_value(value.upper())
self.adapter.complete_gather()
class StateMachineModel:
def __init__(self, host, port):
self.initiate_adapter(host, port)
self.adapter.start()
self.initiate_dataitems()
self.initiate_interfaces()
self.system = []
self.load_time_limit(15)
self.unload_time_limit(15)
self.next_sequence = str(1)
self.load_failed_time_limit(2)
self.unload_failed_time_limit(2)
self.events = []
self.master_tasks = {}
self.device_uuid = "b1"
self.buffer = []
#long pull dict for maintaining agent threads for other devices
self.lp = {}
self.buffer_size = 100
self.master_uuid = str()
self.is_coordinator = False
self.is_collaborator = False
self.system_normal = True
self.has_material = False
self.fail_next = False
self.timer_check = str()
self.initial_execution_state()
self.set_priority()
self.initiate_pull_thread()
def set_priority(self):
self.priority = None
self.priority = priority(self, self.buffer_binding)
def initial_execution_state(self):
self.execution = {}
self.execution['cnc1'] = None
self.execution['cmm1'] = None
self.execution['b1'] = None
self.execution['conv1'] = None
self.execution['r1'] = None
def initiate_interfaces(self):
self.material_load_interface = MaterialLoad(self)
self.material_unload_interface = MaterialUnload(self)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.buffer_binding = Event('buffer_binding')
self.adapter.add_data_item(self.buffer_binding)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def initiate_dataitems(self):
self.adapter.begin_gather()
self.avail1.set_value("AVAILABLE")
self.e1.set_value("READY")
self.mode1.set_value("AUTOMATIC")
self.binding_state_material.set_value("INACTIVE")
self.material_load.set_value("NOT_READY")
self.material_unload.set_value("NOT_READY")
self.adapter.complete_gather()
def initiate_pull_thread(self):
#Pull MTConnect data from other devices
self.thread = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread.start()
self.thread2 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread2.start()
self.thread3 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread3.start()
def start_pull(self, addr, request, func, stream=True):
response = requests.get(addr + request + "&from=" +
self.next_sequence,
stream=stream)
self.lp[request.split('/')[1]] = None
self.lp[request.split('/')[1]] = LongPull(response, addr, self)
self.lp[request.split('/')[1]].long_pull(func)
def start_pull_asset(self, addr, request, assetId, stream_root):
response = urllib2.urlopen(addr + request).read()
from_long_pull_asset(self, response, stream_root)
def BUFFER_NOT_READY(self):
self.material_load_interface.superstate.DEACTIVATE()
self.material_unload_interface.superstate.DEACTIVATE()
def ACTIVATE(self):
if self.mode1.value() == "AUTOMATIC":
self.make_operational()
elif self.system_normal:
self.still_not_ready()
else:
self.faulted()
def buffer_append(self):
if len(self.buffer) < 100:
self.buffer.append([len(self.buffer) + 1])
def buffer_pop(self):
if len(self.buffer) > 0:
self.buffer.pop(0)
def OPERATIONAL(self):
self.make_idle()
def IDLE(self):
if len(self.buffer) > 0: self.has_material = True
else: self.has_material = False
if self.binding_state_material.value() != "COMMITTED":
if self.has_material:
self.is_coordinator = True
self.is_collaborator = False
self.material_load_interface.superstate.DEACTIVATE()
else:
self.is_coordinator = False
self.is_collaborator = True
self.material_unload_interface.superstate.DEACTIVATE()
if not self.has_material:
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadBuffer"
self.collaborator.superstate.unavailable()
self.material_load_interface.superstate.IDLE()
self.priority.collab_check()
if self.has_material:
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(
uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.coordinator_task = "MoveMaterial_3"
self.adapter.begin_gather()
self.buffer_binding.set_value(master_task_uuid)
self.adapter.complete_gather()
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadBuffer"
self.coordinator.superstate.unavailable()
self.material_unload_interface.superstate.IDLE()
def load_time_limit(self, limit):
self.material_load_interface.superstate.processing_time_limit = limit
def load_failed_time_limit(self, limit):
self.material_load_interface.superstate.fail_time_limit = limit
def unload_time_limit(self, limit):
self.material_unload_interface.superstate.processing_time_limit = limit
def unload_failed_time_limit(self, limit):
self.material_unload_interface.superstate.fail_time_limit = limit
def status(self):
pass
def interface_type(self, value=None, subtype=None):
self.interfaceType = value
def COMPLETED(self):
if self.interfaceType == "Request":
self.complete()
def LOADED(self):
self.buffer_append()
self.material_load_interface.superstate.DEACTIVATE()
def UNLOADED(self):
self.buffer_pop()
self.material_unload_interface.superstate.DEACTIVATE()
def IN_TRANSITION(self):
if self.buffer:
self.complete()
def EXIT_TRANSITION(self):
pass
def FAILED(self):
if "Request" in self.interfaceType:
self.failed()
def void(self):
pass
def event(self, source, comp, name, value, code=None, text=None):
self.events.append([source, comp, name, value, code, text])
action = value.lower()
if action == "fail":
action = "failure"
if comp == "Coordinator" and value.lower() == 'preparing':
self.priority.event_list(
[source, comp, name, value, code, text])
if comp == "Task_Collaborator" and self.is_coordinator == True:
self.coordinator.superstate.event(source, comp, name, value,
code, text)
elif comp == "Coordinator" and self.is_collaborator == True:
if value.lower() != 'preparing':
self.collaborator.superstate.event(source, comp, name,
value, code, text)
if value.lower() == 'inactive':
self.IDLE()
elif 'SubTask' in name:
if self.is_coordinator == True:
self.coordinator.superstate.event(source, comp, name,
value, code, text)
elif self.is_collaborator == True:
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif name == "MaterialLoad":
try:
if value.lower(
) == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_load_ready()')
eval('self.material_load_interface.superstate.' + action +
'()')
except Exception as e:
print("Incorrect Event")
print(e)
elif name == "MaterialUnload":
try:
if value.lower(
) == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_unload_ready()')
eval('self.material_unload_interface.superstate.' +
action + '()')
except Exception as e:
print("Incorrect Event")
print(e)
elif comp == "Controller":
if name == "ControllerMode":
if source == 'Buffer':
self.adapter.begin_gather()
self.mode1.set_value(value.upper())
self.adapter.complete_gather()
elif name == "Execution":
if source == 'Buffer':
self.adapter.begin_gather()
self.e1.set_value(value.upper())
self.adapter.complete_gather()
elif text in self.execution:
self.execution[text] = value.lower()
elif comp == "Device":
if name == "SYSTEM":
eval('self.' + source + '_system_' + value.lower() + '()')
elif name == "Availability":
if source == 'Buffer':
self.adapter.begin_gather()
self.avail1.set_value(value.upper())
self.adapter.complete_gather()
class StateMachineModel:
"""The model for MTConnect behavior in the robot."""
def __init__(self,host,port,parent,sim):
self.parent = parent
self.sim = sim
self.initiate_adapter(host,port)
self.adapter.start()
self.initiate_dataitems()
self.initiate_interfaces()
self.events = []
#long pull dict for maintaining agent threads for other devices
self.lp = {}
self.master_tasks = {}
self.next_sequence = str(1)
self.device_uuid = "r1"
# Maximum amount of time for material handling to complete before marking it complete regardless
self.material_load_interface.superstate.simulated_duration = 900
self.material_unload_interface.superstate.simulated_duration = 900
self.master_uuid = str()
self.is_coordinator = False
self.is_collaborator = True
self.fail_next = False
self.reset_required = False
self.initial_execution_state()
self.set_priority()
self.initiate_pull_thread()
def set_priority(self):
self.priority = None
self.priority = priority(self, self.robot_binding)
def initial_execution_state(self):
self.execution = {}
self.execution['cnc1'] = None
self.execution['cmm1'] = None
self.execution['b1'] = None
self.execution['conv1'] = None
self.execution['r1'] = None
def initiate_interfaces(self):
self.material_load_interface = MaterialLoadResponse(self, self.sim)
self.material_unload_interface = MaterialUnloadResponse(self, self.sim)
self.open_chuck_interface = OpenChuckRequest(self)
self.close_chuck_interface = CloseChuckRequest(self)
self.open_door_interface = OpenDoorRequest(self)
self.close_door_interface = CloseDoorRequest(self)
self.change_tool_interface = ChangeToolRequest(self)
def initiate_adapter(self, host, port):
self.adapter = Adapter((host,port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.robot_binding = Event('robot_binding')
self.adapter.add_data_item(self.robot_binding)
self.open_chuck = Event('open_chuck')
self.adapter.add_data_item(self.open_chuck)
self.close_chuck = Event('close_chuck')
self.adapter.add_data_item(self.close_chuck)
self.open_door = Event('open_door')
self.adapter.add_data_item(self.open_door)
self.close_door = Event('close_door')
self.adapter.add_data_item(self.close_door)
self.change_tool = Event('change_tool')
self.adapter.add_data_item(self.change_tool)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
self.material_state = Event('material_state')
self.adapter.add_data_item(self.material_state)
def initiate_dataitems(self):
self.adapter.begin_gather()
self.avail1.set_value("AVAILABLE")
self.e1.set_value("READY")
self.mode1.set_value("AUTOMATIC")
self.binding_state_material.set_value("INACTIVE")
self.open_chuck.set_value("NOT_READY")
self.close_chuck.set_value("NOT_READY")
self.open_door.set_value("NOT_READY")
self.close_door.set_value("NOT_READY")
self.change_tool.set_value("NOT_READY")
self.material_load.set_value("NOT_READY")
self.material_unload.set_value("NOT_READY")
self.material_state.set_value("UNLOADED")
self.adapter.complete_gather()
def initiate_pull_thread(self):
#Pull MTConnect data from other devices
self.thread= Thread(
target = self.start_pull,
args=(
"http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull
)
)
self.thread.start()
self.thread2= Thread(
target = self.start_pull,
args=(
"http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull
)
)
self.thread2.start()
def interface_type(self, value = None, subtype = None):
self.interfaceType = value
def start_pull(self,addr,request, func, stream = True):
response = requests.get(addr+request+"&from="+self.next_sequence, stream=stream)
self.lp[request.split('/')[1]] = None
self.lp[request.split('/')[1]] = LongPull(response, addr, self)
self.lp[request.split('/')[1]].long_pull(func)
def start_pull_asset(self, addr, request, assetId, stream_root):
response = urllib2.urlopen(addr+request).read()
from_long_pull_asset(self, response, stream_root)
def ACTIVATE(self):
self.make_operational()
self.open_chuck_interface.superstate.start()
self.close_chuck_interface.superstate.start()
self.open_door_interface.superstate.start()
self.close_door_interface.superstate.start()
self.change_tool_interface.superstate.start()
def FAULT(self):
self.collaborator.superstate.unavailable()
self.open_chuck_interface.superstate.DEACTIVATE()
self.close_chuck_interface.superstate.DEACTIVATE()
self.open_door_interface.superstate.DEACTIVATE()
self.close_door_interface.superstate.DEACTIVATE()
self.material_load_interface.superstate.DEACTIVATE()
self.material_unload_interface.superstate.DEACTIVATE()
self.change_tool_interface.superstate.DEACTIVATE()
def OPERATIONAL(self):
self.make_idle()
def IDLE(self):
if self.binding_state_material.value() == 'COMMITTED':
self.TRANSITION()
self.LOADING()
return
if not self.check_tool_change_req():
self.adapter.begin_gather()
self.e1.set_value("READY")
self.adapter.complete_gather()
if self.reset_required:
time.sleep(2)
self.reset_statemachine()
self.reset_required = False
if not self.check_tool_change_req() or getattr(self,'collaborator',None) == None:
self.material_unload_interface.superstate.not_ready()
self.material_load_interface.superstate.not_ready()
self.collaborator = collaborator(
parent = self,
interface = self.binding_state_material,
collaborator_name = self.device_uuid
)
self.collaborator.superstate.unavailable()
self.priority.collab_check()
def check_tool_change_req(self):
if self.master_uuid in self.master_tasks and 'ToolChange' in str(self.master_tasks[self.master_uuid]):
return True
else:
return
def LOADING(self):
if self.state == 'base:operational:loading':
if self.collaborator.superstate.currentSubTaskType == "MaterialLoad":
self.material_load_interface.superstate.ready()
def UNLOADING(self):
self.material_unload_interface.superstate.ready()
self.adapter.begin_gather()
self.e1.set_value("ACTIVE")
self.adapter.complete_gather()
def LOADING_COMPLETE(self):
coordinator = self.master_tasks[self.master_uuid]['coordinator'].keys()[0]
for k,v in self.master_tasks[self.master_uuid]['coordinator'][coordinator]['SubTask'].iteritems():
if 'MaterialLoad' in v:
self.priority.binding_state(k,has_material = True)
break
self.material_load_interface.superstate.not_ready()
def IN_TRANSITION(self):
if 'ToolChange' not in str(self.master_tasks[self.master_uuid]):
self.complete()
def TRANSITION(self):
if self.collaborator.superstate.currentSubTask == 'ToolChange':
self.event('robot','ToolInterface','SubTask_ToolChange','ACTIVE',self.master_uuid,'r1')
def EXIT_TRANSITION(self):
coordinator = self.master_tasks[self.master_uuid]['coordinator'].keys()[0]
#imts_demo part rotation: reset after every cycle: good->bad->rework part cycle
if coordinator == 'cmm1' and self.master_tasks[self.master_uuid]['part_quality'] == 'rework':
self.reset_required = True
#imts_demo part rotation: method to reset statemachine after a 3-part cycle is completed
def reset_statemachine(self):
coordinator = self.master_tasks[self.master_uuid]['coordinator'].keys()[0]
uuid = copy.deepcopy(self.master_uuid)
if coordinator == 'cmm1' and self.master_tasks[uuid]['part_quality'] == 'rework':
print ("Resetting Robot")
self.events = []
for k,v in self.master_tasks.iteritems():
if k != uuid:
self.master_tasks[k] = None
for k,v in self.lp.iteritems():
self.lp[k]._response = None
nextsequence_string = urllib2.urlopen("http://localhost:5000/current").read()
nextsequence_root = ET.fromstring(nextsequence_string)
nextsequence = nextsequence_root[0].attrib['nextSequence']
self.next_sequence = nextsequence
self.priority = None
self.set_priority()
try:
self.FAULT()
except Exception as e:
print ("Error resetting interfaces",e)
self.adapter.removeAllAsset('Task')
self.initiate_pull_thread()
print ("robot reset")
def UNLOADING_COMPLETE(self):
self.priority.binding_state(self.master_tasks[self.master_uuid]['coordinator'].keys()[0],has_material = False)
self.material_unload_interface.superstate.not_ready()
def COMPLETED(self):
if "request" in self.interfaceType.lower():
pass
elif "response" in self.interfaceType.lower() and "material" in self.interfaceType.lower():
if "unloaded" not in self.interfaceType.lower():
self.event(self.device_uuid, 'material_interface', 'SubTask_'+'MaterialUnload','COMPLETE')
elif "unloaded" in self.interfaceType.lower():
self.event(self.device_uuid, 'material_interface', 'SubTask_'+'MaterialLoad','COMPLETE')
def FAILED(self):
pass
def event(self, source, comp, name, value, code = None, text = None):
ev = RobotEvent(source, comp, name, value, code, text)
self.events.append(ev)
action = value.lower()
if comp == "Coordinator" and value.lower() == 'preparing':
self.priority.event_list([source, comp, name, value, code, text])
if action == "fail":
action = "failure"
if "Collaborator" in comp and action!='unavailable':
try:
self.coordinator.superstate.event(source, comp, name, value, code, text)
except Exception as e:
print ("Error in Coordinator event: sending back to the event method for a retry")
print(e)
time.sleep(0.2)
self.event(source, comp, name, value, code, text)
elif "Coordinator" in comp and action!='unavailable':
try:
if value.lower() != 'preparing':
self.collaborator.superstate.event(source, comp, name, value, code, text)
if 'binding_state' in name and value.lower() == 'committed':
if self.material_state.value() == "LOADED":
self.material_load_ready()
else:
self.material_unload_ready()
except Exception as e:
print ("Error in Collaborator event: sending back to the event method for a retry in 0.2 s.")
print (e)
time.sleep(0.2)
self.event(source, comp, name, value, code, text)
elif 'SubTask' in name and action!='unavailable':
try:
if comp == 'interface_initialization' and source == self.device_uuid:
if 'CloseChuck' in name:
print ("CloseChuck Request to cnc1")
elif 'CloseDoor' in name:
print ("CloseDoor Request to cnc1")
elif 'OpenChuck' in name:
print ("OpenChuck Request to cnc1")
elif 'OpenDoor' in name:
print ("OpenDoor Request to cnc1")
elif 'ChangeTool' in name:
print ("ChangeTool Request to cnc1")
if self.is_coordinator:
self.coordinator.superstate.event(source, comp, name, value, code, text)
elif self.is_collaborator:
self.collaborator.superstate.event(source, comp, name, value, code, text)
except Exception as e:
print ("Error in SubTask event: sending back to the event method for a retry in 0.5 s.")
time.sleep(0.5)
self.event(source, comp, name, value, code, text)
elif ev.name.startswith('Material') and action!='unavailable':
self.material_event(ev)
elif ev.name.startswith('ToolChange') and action!='unavailable':
if comp == 'interface_completion':
self.complete()
elif comp == 'internal_event':
self.internal_event(ev)
elif ('Chuck' in name or 'Door' in name or 'ChangeTool' in name) and action!='unavailable':
time.sleep(2)
elif ev.component.startswith('Controller'):
self.controller_event(ev)
else:
pass
def internal_event(self, ev):
status = None
action = ev.value.lower()
if ev.name == "MoveIn":
print ("Moving In " + ev.text)
status = self.parent.move_in(ev.text, self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Moved in")
elif "MoveInCT" in ev.name:
print ("Moving In cnc1_t1")
status = self.parent.move_in('cnc1_t1', self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Moved in")
elif ev.name == "MoveOut":
print ("Moving Out From " + ev.text)
status = self.parent.move_out(ev.text, self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Moved out")
elif "MoveOutCT" in ev.name:
print ("Moving Out From cnc1_t1")
status = self.parent.move_out('cnc1_t1', self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Moved out")
elif ev.name == "PickUpTool":
print ("Picking Up Tool")
status = self.internal_event(RobotEvent('ToolHolder', ev.component, 'MoveIn', ev.value, ev.code, 't1'))
if status != True:
self.fault()
if status == True:
status = self.internal_event(RobotEvent('ToolHolder', ev.component, 'GrabPart', ev.value, ev.code, 't1'))
if status != True:
self.fault()
if status == True:
status = self.internal_event(RobotEvent('ToolHolder', ev.component, 'MoveOut', ev.value, ev.code, 't1'))
if status != True:
self.fault()
elif ev.name == "DropOffTool":
print ("Droping Off Tool")
status = self.internal_event(RobotEvent('ToolHolder', ev.component, 'MoveIn', ev.value, ev.code, 't1'))
if status != True:
self.fault()
if status == True:
self.internal_event(RobotEvent('ToolHolder', ev.component, 'ReleasePart', ev.value, ev.code, 't1'))
if status != True:
self.fault()
if status == True:
self.internal_event(RobotEvent('ToolHolder', ev.component, 'MoveOut', ev.value, ev.code, 't1'))
if status != True:
self.fault()
if status == True:
self.collaborator.superstate.subTask['ToolChange'].superstate.success()
self.adapter.begin_gather()
self.e1.set_value("READY")
self.adapter.complete_gather()
else:
self.fault()
elif ev.name == "ReleasePart":
print ("Releasing the Part onto " + ev.text)
status = self.parent.release(ev.text, self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Released")
elif ev.name == "GrabPart":
print ("Grabbing Part from " + ev.text)
status = self.parent.grab(ev.text, self.master_tasks[self.master_uuid]['part_quality'])
if status != True:
self.fault()
print ("Grabbed")
else:
print (ev.name)
time.sleep(2)
status = True
return status
def material_event(self, ev):
action = ev.value.lower()
timeout = 2.0
if action == "fail":
action = "failure"
if ev.name == "MaterialLoad":
eval('self.material_load_interface.superstate.'+action+'()')
if ev.value.lower() == 'complete' and ev.component != "interface_completion":
self.complete()
elif ev.name == "MaterialUnload":
eval('self.material_unload_interface.superstate.'+action+'()')
if ev.value.lower() == 'complete' and ev.component != "interface_completion":
self.complete()
else:
pass
def controller_event(self, ev):
if ev.name == "ControllerMode":
if ev.source.lower() == 'robot':
self.adapter.begin_gather()
self.mode1.set_value(ev.value.upper())
self.adapter.complete_gather()
elif ev.name == "Execution":
if ev.source.lower() == 'robot':
self.adapter.begin_gather()
self.e1.set_value(ev.value.upper())
self.adapter.complete_gather()
elif ev.text in self.execution:
self.execution[ev.text] = ev.value.lower()
else:
pass
def device_event(self, ev):
if ev.name == 'Availability':
if ev.source.lower() == 'robot':
self.adapter.begin_gather()
self.avail1.set_value(ev.value.upper())
self.adapter.complete_gather()
else:
raise(Exception('Unknown Device event: ' + str(ev)))
class StateMachineModel:
def __init__(self, host, port, cell_part):
self.initiate_adapter(host, port)
self.adapter.start()
self.initiate_dataitems()
self.cell_part = cell_part
self.initiate_interfaces()
self.system = []
self.load_time_limit(15)
self.unload_time_limit(15)
self.next_sequence = str(1)
self.load_failed_time_limit(2)
self.unload_failed_time_limit(2)
self.events = []
#long pull dict for maintaining agent threads for other devices
self.lp = {}
self.master_tasks = {}
self.device_uuid = "conv1"
self.master_uuid = str()
self.is_coordinator = False
self.is_collaborator = False
self.system_normal = True
self.has_material = False
self.fail_next = False
self.internal_buffer = {}
self.current_part = None
self.cycle_count = 0
self.initial_execution_state()
self.set_priority()
self.initiate_internal_buffer()
self.initiate_pull_thread()
def set_priority(self):
self.priority = None
self.priority = priority(self, self.conv1_binding)
def initial_execution_state(self):
self.execution = {}
self.execution['cnc1'] = None
self.execution['cmm1'] = None
self.execution['b1'] = None
self.execution['conv1'] = None
self.execution['r1'] = None
def initiate_interfaces(self):
self.material_load_interface = MaterialLoad(self)
self.material_unload_interface = MaterialUnload(self)
def initiate_internal_buffer(self):
self.internal_buffer['good'] = True
self.internal_buffer['bad'] = True
self.internal_buffer['rework'] = True
def initiate_adapter(self, host, port):
self.adapter = Adapter((host, port))
self.mode1 = Event('mode')
self.adapter.add_data_item(self.mode1)
self.e1 = Event('exec')
self.adapter.add_data_item(self.e1)
self.avail1 = Event('avail')
self.adapter.add_data_item(self.avail1)
self.binding_state_material = Event('binding_state_material')
self.adapter.add_data_item(self.binding_state_material)
self.conv1_binding = Event('conv1_binding')
self.adapter.add_data_item(self.conv1_binding)
self.material_load = Event('material_load')
self.adapter.add_data_item(self.material_load)
self.material_unload = Event('material_unload')
self.adapter.add_data_item(self.material_unload)
def initiate_dataitems(self):
self.adapter.begin_gather()
self.avail1.set_value("AVAILABLE")
self.e1.set_value("READY")
self.mode1.set_value("AUTOMATIC")
self.binding_state_material.set_value("INACTIVE")
self.material_load.set_value("NOT_READY")
self.material_unload.set_value("NOT_READY")
self.adapter.complete_gather()
def initiate_pull_thread(self):
#Pull MTConnect data from other devices
self.thread = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread.start()
self.thread2 = Thread(
target=self.start_pull,
args=
("http://*****:*****@category="EVENT"]&interval=10&count=1000""",
from_long_pull))
self.thread2.start()
def start_pull(self, addr, request, func, stream=True):
response = requests.get(addr + request + "&from=" +
self.next_sequence,
stream=stream)
self.lp[request.split('/')[1]] = None
self.lp[request.split('/')[1]] = LongPull(response, addr, self)
self.lp[request.split('/')[1]].long_pull(func)
def start_pull_asset(self, addr, request, assetId, stream_root):
response = urllib2.urlopen(addr + request).read()
from_long_pull_asset(self, response, stream_root)
def InputConveyor_NOT_READY(self):
self.material_load_interface.superstate.DEACTIVATE()
self.material_unload_interface.superstate.DEACTIVATE()
def ACTIVATE(self):
if self.mode1.value() == "AUTOMATIC" and self.avail1.value(
) == "AVAILABLE":
self.make_operational()
elif self.system_normal:
self.still_not_ready()
else:
self.faulted()
def part_order(self):
#scripted sequence of part order tasks
part_quality_list = [
self.internal_buffer['good'], self.internal_buffer['bad'],
self.internal_buffer['rework']
]
if self.cycle_count == 1:
self.current_part = "reset"
time.sleep(1)
if part_quality_list == [True, True, True
] and self.current_part == None:
self.current_part = 'good'
return "coordinator"
elif part_quality_list == [False, True, True
] and self.current_part == 'good':
self.current_part = 'good'
return "collaborator"
elif part_quality_list == [True, True, True
] and self.current_part == 'good':
self.current_part = 'good'
time.sleep(2)
print("Cycle completed!")
return "coordinator"
else:
return None
def OPERATIONAL(self):
part_order = self.part_order()
if part_order == "coordinator":
self.unloading()
self.is_coordinator = True
self.is_collaborator = False
if self.master_uuid in self.master_tasks:
del self.master_tasks[self.master_uuid]
self.master_uuid = self.device_uuid + '_' + str(uuid.uuid4())
master_task_uuid = copy.deepcopy(self.master_uuid)
self.adapter.begin_gather()
self.conv1_binding.set_value(self.master_uuid)
self.adapter.complete_gather()
self.coordinator_task = "MoveMaterial_1"
self.coordinator = coordinator(
parent=self,
master_task_uuid=master_task_uuid,
interface=self.binding_state_material,
coordinator_name=self.device_uuid)
self.coordinator.superstate.task_name = "UnloadConv"
self.coordinator.superstate.unavailable()
elif part_order == "collaborator":
self.loading()
self.is_coordinator = False
self.is_collaborator = True
self.collaborator = collaborator(
parent=self,
interface=self.binding_state_material,
collaborator_name=self.device_uuid)
self.collaborator.superstate.task_name = "LoadConv"
self.collaborator.superstate.unavailable()
self.priority.collab_check()
else:
if part_order == None:
self.cell_part(current_part="reset")
else:
self.cell_part(current_part=self.current_part)
def IDLE(self):
if False not in self.internal_buffer.values():
self.material_load_interface.superstate.DEACTIVATE()
elif False in self.internal_buffer.values(
) and True in self.internal_buffer.values():
self.material_unload_interface.superstate.DEACTIVATE()
def LOADING(self):
self.material_load_interface.superstate.IDLE()
def UNLOADING(self):
self.material_unload_interface.superstate.IDLE()
def EXIT_LOADING(self):
self.has_material = True
self.internal_buffer[self.current_part] = True
if self.current_part == 'rework':
self.cycle_count = self.cycle_count + 1
self.cell_part(cycle_count=True)
self.material_load_interface.superstate.DEACTIVATE()
def EXIT_UNLOADING(self):
self.has_material = False
self.material_unload_interface.superstate.DEACTIVATE()
self.internal_buffer[self.current_part] = False
def load_time_limit(self, limit):
self.material_load_interface.superstate.processing_time_limit = limit
def load_failed_time_limit(self, limit):
self.material_load_interface.superstate.fail_time_limit = limit
def unload_time_limit(self, limit):
self.material_unload_interface.superstate.processing_time_limit = limit
def unload_failed_time_limit(self, limit):
self.material_unload_interface.superstate.fail_time_limit = limit
def interface_type(self, value=None, subtype=None):
self.interfaceType = value
def COMPLETED(self):
if self.interfaceType == "Request":
self.complete()
def EXITING_IDLE(self):
if self.has_material:
self.has_material = False
def LOADED(self):
self.has_material = True
def UNLOADED(self):
self.has_material = False
def IN_TRANSITION(self):
if self.is_collaborator and 'ToolChange' not in str(
self.master_tasks[self.master_uuid]):
self.complete()
def EXIT_TRANSITION(self):
pass
def FAILED(self):
if "Request" in self.interfaceType:
self.failed()
def void(self):
pass
def event(self, source, comp, name, value, code=None, text=None):
self.events.append([source, comp, name, value, code, text])
action = value.lower()
if action == "fail":
action = "failure"
if comp == "Coordinator" and value.lower() == 'preparing':
self.priority.event_list(
[source, comp, name, value, code, text])
if comp == "Task_Collaborator" and action != 'unavailable':
self.coordinator.superstate.event(source, comp, name, value,
code, text)
if value == 'INACTIVE' and self.state == 'base:operational:in_transition':
self.COMPLETED()
elif comp == "Coordinator" and action != 'unavailable':
if value.lower() != 'preparing':
self.collaborator.superstate.event(source, comp, name,
value, code, text)
if value.lower() == 'inactive' and 'ToolChange' in str(
self.master_tasks[self.master_uuid]):
if self.state == "base:operational:in_transition":
self.COMPLETED()
elif 'SubTask' in name and action != 'unavailable':
if self.is_coordinator == True:
self.coordinator.superstate.event(source, comp, name,
value, code, text)
elif self.is_collaborator == True:
self.collaborator.superstate.event(source, comp, name,
value, code, text)
elif name == "MaterialLoad" and action != 'unavailable':
if value.lower(
) == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_load_ready()')
eval('self.material_load_interface.superstate.' + action +
'()')
elif name == "MaterialUnload" and action != 'unavailable':
if value.lower(
) == 'ready' and self.state == 'base:operational:idle':
eval('self.robot_material_unload_ready()')
eval('self.material_unload_interface.superstate.' + action +
'()')
elif comp == "Controller":
if name == "ControllerMode":
if source.lower() == 'conv':
self.adapter.begin_gather()
self.mode1.set_value(value.upper())
self.adapter.complete_gather()
elif name == "Execution":
if source.lower() == 'conv':
self.adapter.begin_gather()
self.e1.set_value(value.upper())
self.adapter.complete_gather()
elif text in self.execution:
self.execution[text] = value.lower()
elif comp == "Device":
if name == "SYSTEM" and action != 'unavailable':
try:
eval('self.' + source.lower() + '_system_' +
value.lower() + '()')
except Exception as e:
print("Not a valid Device trigger", e)
elif name == "Availability":
if source.lower() == 'conv':
self.adapter.begin_gather()
self.avail1.set_value(value.upper())
self.adapter.complete_gather()
