#!/usr/bin/env python # coding: utf-8 # In[12]: import requests as rq import sys import time import binascii import numpy as np rq.packages.urllib3.connection.HTTPConnection.default_socket_options = [(6,3,1)] # In[24]: global position address=32 #path = "/golem/database/www/plot_app/plot_app/" path = "/tmp/" #Prozatim pro Vojtu 1222 position = int(np.loadtxt(f'rad_position')) # -1 mm homing_position = 134 # mm was 125 DISTANCE_TO_CENTER = 315 #mm MAXIMUM_DISTANCE_FROM_CENTER = 181 # mm # RP was 190 mm (vzdalenost od priruby k sonde) max_moves = 3 def post(index,subindex,value): rq.post(f'http://192.168.2.{address}/od/{index}/{subindex}',data=f'{value}', headers={'Content-Type': 'application/x-www-form-urlencoded'}) time.sleep(0.001) def get(index,subindex,show): output = rq.get(f'http://192.168.2.{address}/od/{index}/{subindex}').text if(show==True): print(f'object: {index}:{subindex}-------------') print('hexadec: '+ str(output)) print('decimal:' + str(int(output[1:-1],16))) print('binary: '+ str(bin(int(output[1:-1], 16))[2:])) time.sleep(0.001) return output def inic(): post("2030","00",'"000000C8"') # radialni ma 000000C8 time.sleep(0.01) post("2031","00",'"000003E8"') time.sleep(0.01) post("6075","00",'"000001F4"') time.sleep(0.01) post("3202","00",'"00000008"') time.sleep(0.01) def homing_rad(): global position position = -1 inic() time.sleep(0.1) post("60FE","01",'"00000000"') # brake off time.sleep(0.1) post("6060","00",'"03"') time.sleep(0.1) post("6042","00",'"00F0"') #target speed time.sleep(0.1) post("606D","00",'"0010"') # velocity window time.sleep(0.1) post("606E","00",'"0010"') # time window time.sleep(0.1) post("60FF","00",'"00000010"') # this speed is OK for radial one for profile velocity mode time.sleep(0.1) post("607E","00",'"00"') #polarity time.sleep(0.1) post("6040","00",'"0006"') time.sleep(0.1) post("6040","00",'"0007"') time.sleep(0.1) post("6040","00",'"000F"') time.sleep(0.5) while(True): time.sleep(0.01) if(get('60FD','00',False) == '"00040000"'): #print('ON') post("6040","00",'"0000"') # turn everything off time.sleep(0.01) post("60FE","01",'"00000001"') # brake on time.sleep(0.01) post("6040","00",'"0080"') # remove error break return position def shut_down(): inic() post("6040","00",'"0000"') # turn everything off post("60FE","01",'"00000001"') # brake on post("6040","00",'"0080"') # remove error def get_time(r): return (r-2.002)/2.137 def set_r(t,v,pol): inic() time.sleep(0.1) post("60FE","01",'"00000000"') # brake off time.sleep(0.1) post("6060","00",'"03"') time.sleep(0.1) post("6042","00",'"00F0"') #target speed time.sleep(0.1) post("606D","00",'"0010"') # velocity window time.sleep(0.1) post("606E","00",'"0010"') # time window time.sleep(0.1) post("60FF","00",v) # '"00000010"' this speed is OK for radial one for profile velocity mode time.sleep(0.1) if(pol=='in'): post("607E","00",'"40"') if(pol=='out'): post("607E","00",'"00"') #polarity time.sleep(0.1) post("6040","00",'"0006"') time.sleep(0.1) get("6041","00",False) post("6040","00",'"0007"') time.sleep(0.1) post("6040","00",'"000F"') time.sleep(0.5) time.sleep(t) #print('ON') post("6040","00",'"0000"') # turn everything off time.sleep(0.01) post("60FE","01",'"00000001"') # brake on time.sleep(0.01) post("6040","00",'"0080"') # remove error def shift_1mm(direction): inic() set_r(6.5,'"00000001"',direction) # was 6 global position if(direction == 'in'): position +=1 if(direction == 'out'): position -=1 return position def shift_2mm(direction): inic() set_r(6.7,'"00000002"',direction) # was 6.25 global position if(direction == 'in'): position +=2 if(direction == 'out'): position -=2 return position def shift_5mm(direction): inic() set_r(3.95,'"00000008"',direction) # was 3.5 global position if(direction == 'in'): position +=5 if(direction == 'out'): position -=5 return position def major_shift(r, direction, estm): inic() set_r(get_time(r),'"00000010"',direction) global position position = estm return position def shut_down(): inic() post("6040","00",'"0000"') # turn everything off post("60FE","01",'"00000001"') # brake on post("6040","00",'"0080"') # remove error def shift_to(desired_loc): global position if not type(desired_loc) is int: raise TypeError("Only integers are allowed") if(25 > desired_loc or desired_loc > 125): raise Exception('desired location out of bounds') estm = DISTANCE_TO_CENTER - (MAXIMUM_DISTANCE_FROM_CENTER + desired_loc) shift = abs((DISTANCE_TO_CENTER - (MAXIMUM_DISTANCE_FROM_CENTER + desired_loc)) - position) direction = '' if estm - position > 0: direction = 'in' elif estm - position < 0: direction = 'out' else: print('desired location is the same as current estimated location') if shift >= 10 and shift <= 100: return major_shift(shift, direction, estm) elif shift == 9: shift_5mm(direction) shift_2mm(direction) return shift_2mm(direction) elif shift == 8: shift_5mm(direction) shift_2mm(direction) return shift_1mm(direction) elif shift == 7: shift_5mm(direction) return shift_2mm(direction) elif shift == 6: shift_5mm(direction) return shift_1mm(direction) elif shift == 5: return shift_5mm(direction) elif shift == 4: shift_2mm(direction) return shift_2mm(direction) elif shift == 3: shift_2mm(direction) return shift_1mm(direction) elif shift == 2: return shift_2mm(direction) elif shift == 1: return shift_1mm(direction) elif shift == 0: return position # In[26]: if(np.size(sys.argv) == 2): if(sys.argv[1] == 'wake'): try: inic() homing_rad() shut_down() except Exception as e: print(e) elif(sys.argv[1] == 'sleep'): try: inic() homing_rad() shut_down() f = open(f'rad_position', 'w+') f.write(f'{position}') f.close except Exception as e: print(e) elif(sys.argv[1] == 'home'): try: inic() homing_rad() shut_down() f = open('rad_position', 'w+') f.write(f'{position}') f.close() moves_file = open('number_of_moves', 'w+') moves_file.write(str(0)) moves_file.close() except Exception as e: print(e) else: try: requestedPosition = int(sys.argv[1]) if( homing_position-120 < requestedPosition < homing_position+20 ): # was 25 < requestedPosition < 125, 100 is range of the manipulator try: inic() moves_file = open('number_of_moves', 'r') number_of_moves = int(moves_file.readline().strip('\n')) moves_file.close() if(number_of_moves >= max_moves): homing_rad() moves_file = open('number_of_moves','w+') moves_file.write('0') moves_file.close() else: moves_file = open('number_of_moves','w+') moves_file.write(str(number_of_moves+1)) moves_file.close() shut_down() position = shift_to(int(sys.argv[1])) f = open(f'rad_position', 'w+') f.write(f'{position}') f.close shut_down() except Exception as e: print(e) else: print('requested probe position out of bounds') except Exception as e: print('not integer, ', e) #print("something were wrong with manipulator") else: print('wrong number of inputs')