def __init__(self):
""" Construct the System Object """
# Initialize the hw api
synthesizer = SynthesizerHAL()
# Should we start the simulator?
# Call the constructor
super(System, self).__init__(synthesizer)
# Read Reactor configs and create reactors
reactors_conf = self.sysconf['Reactors']
self.reactors = []
for reactor_section in reactors_conf.sections:
reactor_id = reactors_conf[reactor_section]['id']
self.reactors.append(Reactor(reactor_id, synthesizer))
# Create a reagent delivery robot
self.reagent_robot = ReagentRobot(synthesizer)
# Give top level system object access to F18 valve
self.f18 = F18(synthesizer)
pressreg_config = self.sysconf['PressureRegulators']
self.pressure_regulators = []
for pressreg_sec in pressreg_config.sections:
pressreg_id = pressreg_config[pressreg_sec]['id']
self.pressure_regulators.append(
PressureRegulator(pressreg_id, synthesizer))
self.coolant_pump = CoolantPump(synthesizer)
if self.sysconf['Simulator']['synthesizer']:
log.info("Starting the HW Simulator")
self.start_simulator()
def close(self):
""" Close the gripper and make sure it closes """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.close_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_closed:
log.debug("Close actuator %s success", repr(self))
return
log.info("Failed to close actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to close actuator %s after retrys", repr(self))
def close(self):
""" Close the gripper and make sure it closes """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.close_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_closed:
log.debug("Close actuator %s success", repr(self))
return
log.info("Failed to close actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to close actuator %s after retrys", repr(self))
def lower(self):
""" Lower actuator and unsure it gets there """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lower_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_down:
log.debug("Lower actuator %s success", repr(self))
return
log.info("Failed to raise actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to lower actuator %s after retrys", repr(self))
def open(self):
""" Open the gripper and make sure it opens """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.open_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_open:
log.debug("Open actuator %s success", repr(self))
return
log.info("Failed to open actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to open actuator %s after retrys", repr(self))
def open(self):
""" Open the gripper and make sure it opens """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.open_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_open:
log.debug("Open actuator %s success", repr(self))
return
log.info("Failed to open actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to open actuator %s after retrys", repr(self))
def lift(self):
""" Move the actuator up and ensure it gets there """
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lift_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_up:
log.debug("Lift actuator %s success", repr(self))
return
log.info("Failed to raise actautor %s before timeout, retry %d",
repr(self), i)
log.error("Failed to raise actuator %s after retrys", repr(self))
def wait(self, timeout=None):
""" Wait for the motion to be complete """
if timeout is None:
timeout = self.conf['MOVETIMEOUT']
dtimeout = timedelta(0, timeout)
move_start_time = datetime.now()
while datetime.now() - move_start_time < dtimeout:
if self.isMoveComplete():
return True
log.info("Waiting for complete actuator %d", self.id_)
log.error("Motion Timeout actuator %d", self.id_ )
raise ElixysLinactError("%s unable to complete move before timeout")
def lower(self):
""" Lower actuator and ensure it gets there """
self.prepare_air()
for i in xrange(self.conf['retry_count']):
begintime = datetime.now()
self.lower_no_check()
while self.timeout > datetime.now() - begintime:
time.sleep(0.1)
if self.is_down:
log.debug("Lower actuator %s success", repr(self))
return
log.info("Failed to raise actuator %s before timeout, retry %d",
repr(self), i)
log.error("Failed to lower actuator %s after retrys", repr(self))
raise ElixysPneumaticError("Failed to lower %s"
" check digital sensors and pressure source"% repr(self))
def move_and_wait(self, posmm, timeout=None):
""" Move, and wait for it to complete
make sure to do this within and alotted timeout.
"""
if timeout is None:
timeout = self.conf['MOVETIMEOUT']
dtimeout = timedelta(0, timeout)
move_start_time = datetime.now()
self.move(posmm)
while datetime.now() - move_start_time < dtimeout:
if self.isMoveComplete():
return True
log.info("Waiting for complete actuator %d", self.id_)
log.error("Motion Timeout actuator %d", self.id_ )
raise ElixysLinactError("%s unable to complete move before timeout")
def __init__(self):
# Initialize the hw api
synthesizer = SynthesizerHAL()
# Should we start the simulator?
if self.sysconf['Simulator']['synthesizer']:
log.info("Starting the HW Simulator")
from pyelixys.hal.tests.testelixyshw import \
start_simulator_thread
self.simulator, self.wsclient, self.simthread = \
start_simulator_thread()
# Call the constructor
super(System, self).__init__(synthesizer)
# Read Reactor configs and create reactors
reactors_conf = self.sysconf['Reactors']
self.reactors = []
for reactor_section in reactors_conf.sections:
reactor_id = reactors_conf[reactor_section]['id']
self.reactors.append(Reactor(reactor_id, synthesizer))
# Create a reagent delivery robot
self.reagent_robot = ReagentRobot(synthesizer)
# Give top level system object access to F18 valve
self.f18 = F18(synthesizer)
pressreg_config = self.sysconf['PressureRegulators']
self.pressure_regulators = []
for pressreg_sec in pressreg_config.sections:
pressreg_id = pressreg_config[pressreg_sec]['id']
self.pressure_regulators.append(
PressureRegulator(pressreg_id, synthesizer))
self.coolant_pump = CoolantPump(synthesizer)
