Пример #1
0
 def __init__(self, collector):
     super(CollectorController, self).__init__(self.state_wait_init)
     print "[CollectorController.__init__]"
     self.sorter = collector.sorter
     self.rail = collector.rail
     self.vacuum_shaker = collector.vacuum_shaker
     self.start_collect_switch = Switch(**config.devices[self.START_COLLECT])
     self.foot_up_switch = MagneticSwitch(**config.devices[self.FOOT_UP])
     self.foot_down_switch = MagneticSwitch(**config.devices[self.FOOT_DOWN])
     self.gate = Piston(**config.devices[self.GATE])
Пример #2
0
class CollectorController(Component):

    WAIT_TIME_GATE = 1.5
    WAIT_TIME_FOOT = 2.0
    WAIT_TIME_DUMP_BALLS = 1.5
    MAX_BALLS_PER_ROUND = 20
    MAX_DELAY_BETWEEN_BALLS = 2.0
    MAX_DELAY_CYCLE = 30.0
    START_COLLECT = "start_collect_switch"
    GATE = "gate_servo"
    FOOT_UP = "collector_foot_up"
    FOOT_DOWN = "collector_foot_down"

    def __init__(self, collector):
        super(CollectorController, self).__init__(self.state_wait_init)
        print "[CollectorController.__init__]"
        self.sorter = collector.sorter
        self.rail = collector.rail
        self.vacuum_shaker = collector.vacuum_shaker
        self.start_collect_switch = Switch(**config.devices[self.START_COLLECT])
        self.foot_up_switch = MagneticSwitch(**config.devices[self.FOOT_UP])
        self.foot_down_switch = MagneticSwitch(**config.devices[self.FOOT_DOWN])
        self.gate = Piston(**config.devices[self.GATE])

    def stop(self):
        print "[CollectorController.stop] Stop controller"
        self.gate.stop()

    def state_wait_init(self):
        print "[CollectorController.state_wait_init]"

        # Initialiser la position du collecteur,
        self.rail.slide_to_home()

        while self.rail.is_moving():
            yield

        self.rail.slide_to_wait_for_sorting_position()

        while self.rail.is_moving():
            yield

        # Wait for start switch from collector
        if not self.vacuum_shaker.load_tank_switch.is_pressed():
            self.vacuum_shaker.load_tank_switch.wait_pressed()
        print "[CollectorController.state_wait_init] load_tank_switch pressed"

        # Wait for start switch from truck
        if not self.start_collect_switch.is_pressed():
            self.start_collect_switch.wait_pressed()
        print "[CollectorController.state_wait_init] start_collect_switch pressed"

        self.vacuum_shaker.is_init = True

        Logger().start_new_cycle()  # Start first cycle here

        self.gate.push()

        yield self.state_push_truck_home

    def state_push_truck_home(self):
        print "[CollectorController.state_push_truck_home]"
        self.rail.slide_to_home()

        while self.rail.is_moving():
            yield

        yield self.state_wait_sorter

    def state_push_truck_away(self):
        print "[CollectorController.state_push_truck_away]"
        self.rail.slide_to_away()

        while self.rail.is_moving():
            yield

        Logger().end_current_cycle()
        self.vacuum_shaker.wait_balls()

        yield self.wait(self.WAIT_TIME_DUMP_BALLS, self.state_push_truck_home)

    def state_push_truck_standby(self):
        print "[CollectorController.state_push_truck_standby]"
        self.rail.slide_to_wait_for_sorting_position()

        while self.rail.is_moving():
            yield

        yield self.state_wait_truck_foot

    def ready_to_drop_balls(self):
        balls = self.sorter.get_ball_count()
        last_ball_time = self.sorter.get_last_ball_time()
        cycle_time = self.vacuum_shaker.last_button_push

        done = balls >= self.MAX_BALLS_PER_ROUND
        halfway_done = balls >= self.MAX_BALLS_PER_ROUND / 2
        timed_out_ball = int(time.time() - last_ball_time) > self.MAX_DELAY_BETWEEN_BALLS
        timed_out_cycle = int(time.time() - cycle_time) > self.MAX_DELAY_CYCLE

        foot_down = self.foot_down_switch.is_pressed()
        is_home = self.rail.is_home()

        return is_home and foot_down and (done or (halfway_done and timed_out_ball) or (timed_out_cycle and balls > 0))

    def state_wait_sorter(self):
        print "[CollectorController.state_wait_sorter]"

        self.sorter.last_ball_time = time.time()
        self.vacuum_shaker.last_button_push = time.time()

        while not self.ready_to_drop_balls():
            yield

        if self.sorter.get_ball_count() < self.MAX_BALLS_PER_ROUND:
            print "[CollectorController.state_wait_sorter] Timed out. Dumping " + str(
                self.sorter.get_ball_count()
            ) + " balls!"

        Logger().set_current_cycle_ball_count(self.sorter.get_ball_count())

        self.sorter.reset_ball_count()

        yield self.state_open_gate

    def state_open_gate(self):
        print "[CollectorController.state_open_gate]"

        self.gate.pull()

        yield self.wait(self.WAIT_TIME_GATE, self.state_close_gate)

    def state_close_gate(self):
        print "[CollectorController.state_close_gate]"

        self.gate.push()

        yield self.state_push_truck_standby

    def state_wait_truck_foot(self):
        print "[CollectorController.state_wait_truck_foot]"

        while not self.foot_up_switch.is_pressed():
            yield

        yield self.state_push_truck_away