def stop_arm(self):
arm = ArmStages(self.sg)
if self.active_state == 'stopped' or \
self.active_state == 'initialized':
return
arm.stage_stop()
self.active_state = 'stopped'
log.info("[stop_arm] active_state:{0}".format(self.active_state))
def home(self):
log.debug("[act.home] [begin]")
arm = ArmStages(self.sg)
mqttc.publish(self.stage_topic, _stage_message("home", "begin"), 0)
stage_result = arm.stage_home()
mqttc.publish(self.stage_topic,
_stage_message("home", "end", stage_result), 0)
log.debug("[act.home] [end]")
return stage_result
def sort(self):
log.debug("[act.sort] [begin]")
arm = ArmStages(self.sg)
mqttc.publish(self.stage_topic, _stage_message("sort", "begin"), 0)
stage_result = arm.stage_sort()
mqttc.publish(self.stage_topic,
_stage_message("sort", "end", stage_result), 0)
log.debug("[act.sort] [end]")
return stage_result
def stop_arm(self):
arm = ArmStages(self.sg)
if self.active_state == 'stopped' or \
self.active_state == 'initialized':
return
arm.stage_stop()
self.active_state = 'stopped'
log.info("[stop_arm] active_state:{0}".format(
self.active_state))
def sort(self):
log.debug("[act.sort] [begin]")
arm = ArmStages(self.sg)
self.mqtt_client.publish(
self.stage_topic, _stage_message("sort", "begin"), 0
)
stage_result = arm.stage_sort()
self.mqtt_client.publish(
self.stage_topic, _stage_message("sort", "end", stage_result), 0
)
log.debug("[act.sort] [end]")
return stage_result
def pick(self):
log.debug("[act.pick] [begin]")
arm = ArmStages(self.sg)
mqttc.publish(self.stage_topic, _stage_message("pick", "begin"), 0)
pick_box = self.found_box
self.found_box = NO_BOX_FOUND
log.info("[act.pick] pick_box:{0}".format(pick_box))
log.info("[act.pick] self.found_box:{0}".format(self.found_box))
stage_result = arm.stage_pick(previous_results=pick_box,
cartesian=False)
mqttc.publish(self.stage_topic,
_stage_message("pick", "end", stage_result), 0)
log.debug("[act.pick] [end]")
return stage_result
def find(self):
log.debug("[act.find] [begin]")
arm = ArmStages(self.sg)
loop = True
self.found_box = NO_BOX_FOUND
stage_result = NO_BOX_FOUND
self.mqtt_client.publish(
self.stage_topic, _stage_message("find", "begin"), 0
)
while self.cmd_event.is_set() and loop is True:
stage_result = arm.stage_find()
if stage_result['x'] and stage_result['y']: # X & Y start as none
log.info("[act.find] found box:{0}".format(stage_result))
self.found_box = stage_result
log.info("[act.find] self.found_box:{0}".format(
self.found_box))
loop = False
else:
log.info("[act.find] self.found_box:{0}".format(
self.found_box
))
log.info("[act.find] no box:{0}".format(stage_result))
time.sleep(1)
# TODO get image upload working with discovery based interaction
# # upload the image file just before stage complete
# if 'filename' in stage_result:
# filename = stage_result['filename']
#
# url = 'http://' + ggd_config.master_core_ip + ":"
# url = url + str(ggd_config.master_core_port) + "/upload"
# files = {'file': open(filename, 'rb')}
# try:
# log.info('[act.find] POST to URL:{0} file:{1}'.format(
# url, filename))
# r = requests.post(url, files=files)
# log.info("[act.find] POST image file response:{0}".format(
# r.status_code))
# except ConnectionError as ce:
# log.error("[act.find] Upload Image connection error:{0}".format(
# ce
# ))
self.mqtt_client.publish(
self.stage_topic, _stage_message("find", "end", stage_result), 0
)
log.info("[act.find] outside self.found_box:{0}".format(self.found_box))
log.debug("[act.find] [end]")
return stage_result
def pick(self):
log.debug("[act.pick] [begin]")
arm = ArmStages(self.sg)
self.mqtt_client.publish(
self.stage_topic, _stage_message("pick", "begin"), 0
)
pick_box = self.found_box
self.found_box = NO_BOX_FOUND
log.info("[act.pick] pick_box:{0}".format(pick_box))
log.info("[act.pick] self.found_box:{0}".format(self.found_box))
stage_result = arm.stage_pick(previous_results=pick_box,
cartesian=False)
self.mqtt_client.publish(
self.stage_topic, _stage_message("pick", "end", stage_result), 0
)
log.debug("[act.pick] [end]")
return stage_result