BM05 bliss axis manager for robot.

bliss/controllers/motors/BM05Robot.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the bliss project
+#
+# Copyright (c) 2016 Beamline Control Unit, ESRF
+# Distributed under the GNU LGPLv3. See LICENSE for more info.
+
+import time
+import serial
+
+from bliss.controllers.motor import Controller
+from bliss.common import log as elog
+from bliss.common.axis import AxisState
+from bliss.common.utils import object_attribute_get, object_attribute_set, object_method
+
+from StaubPy import bm05Controller
+
+
+"""
+Bliss controller for ID31Robot.
+"""
+
+
+class BM05Robot(Controller):
+
+    Cache = {}
+    
+    def initialize(self):
+        """
+        """
+        # opens communication
+        print("Initialisation of BM05 robot.")
+
+        host = self.config.get('host')
+        try:
+            self.bm05 = BM05Robot.Cache[host]
+        except KeyError:
+            BM05Robot.Cache[host] = bm05Controller.BM05Controller(controllerAssociated=self.config.get('host'))
+            self.bm05 = BM05Robot.Cache[host]
+
+            # Change for True if you want a lot of debugs on the controller and in the console.
+            self.bm05.printDebug=False
+            
+            print("Creating robot 'firmware' and shipping to controller. (fast)")        
+            self.bm05.makeOnly()
+
+            print("Starting new robot controller 'firmware' (takes time (5seconds to 2 minutes) ) PLEASE WAIT FOR IT")
+            self.bm05.loadOnly()
+        
+            print("Initialising values in controller. (fast)")        
+            self.bm05.initValues()
+            self.movingStatus="initialised"
+            
+            print("Post Init Actions in controller. (fast)")     
+            self.bm05.postInit()
+
+            self.bm05.speed = self.config.get('speed')
+
+            
+    def finalize(self):
+        """
+        """
+        # Closes communication
+
+    def initialize_axis(self, axis):
+        """
+        Reads specific config
+        Adds specific methods
+        """
+        axis.role = axis.config.get('role')
+        
+
+    def read_position(self, axis):
+        """
+        Returns position's setpoint or measured position.
+
+        Args:
+            - <axis> : bliss axis.
+            - [<measured>] : boolean : if True, function returns
+              measured position in ???
+        Returns:
+            - <position> : float : axis setpoint in ???.
+        """
+        #must have axis name : filmx filmy filmz
+
+        return getattr(self.bm05, axis.role)
+        
+    def read_encoder(self, encoder):
+        raise NotImplementedError
+
+    @object_attribute_get(type_info="float")
+    def get_speed(self, axis):
+        return self.bm05.speed
+
+    @object_attribute_set(type_info="float")
+    def set_speed(self, axis, new_speed):
+        self.bm05.speed = new_speed
+
+
+
+        
+    def state(self, axis):
+        if self.bm05.hasMovesProgrammed:            
+            return AxisState("MOVING")
+        else:
+            return AxisState("READY")
+
+    def prepare_move(self, motion): 
+        setattr(self.bm05, motion.axis.role, motion.target_pos)
+
+    def start_one(self, motion):
+        """
+        """
+        print("START one", motion)
+        self.bm05.moveToFilmPosition()
+
+    def start_all(self, *motion_list):
+        print("START ALL", motion_list)
+        self.bm05.moveToFilmPosition()
+        
+    def stop(self, axis):
+        i = 0
+        while self.bm05.hasMovesProgrammed and i < 5:
+            self.bm05.resetMotion()
+            i += 1
+        if  self.bm05.hasMovesProgrammed:
+            logging.error('robot still has programmed moves after 5 attempts to stop')
+
+    # topo Force gripper
+        
+    @object_method(types_info=("None", "None"))
+    def openGripper(self,axis):
+       self.bm05.openGripper()
+       
+    @object_method(types_info=("None", "None"))
+    def closeGripper(self,axis):
+        self.bm05.closeGripper()
+
+    # Topo lead door
+
+    @object_method(types_info=("None", "None"))
+    def openTopoDoor(self,axis):
+       self.bm05.openTopoDoor()
+       
+    @object_method(types_info=("None", "None"))
+    def closeTopoDoor(self,axis):
+        self.bm05.closeTopoDoor()
+
+    # Change Films
+    @object_method(types_info=("int", "None"))
+    def loadFilm(self,axis,film):
+       self.bm05.loadFilm(film)
+
+    @object_method(types_info=("None", "None"))
+    def unloadFilm(self,axis):
+       self.bm05.unLoadFilm()
+       
+
+    @object_method(types_info=("None", "None"))
+    def parkRobotNoMatterWhatDANGEROUS(self,axis):
+       self.bm05.parkRobotNoMatterWhatDANGEROUS()
+