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Der Autopilot läuft soweit stop pause resume noch zu testen

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This commit is contained in:
jens 2022-11-10 21:42:49 +01:00
parent d57c712016
commit 0d9bb5a0a1
5 changed files with 403 additions and 20 deletions
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48
gui2.py
View File

@ -14,7 +14,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1071, 869)
MainWindow.resize(1071, 868)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
@ -837,6 +837,45 @@ class Ui_MainWindow(object):
spacerItem4 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
self.horizontalLayout_19.addItem(spacerItem4)
self.gridLayout_4.addLayout(self.horizontalLayout_19, 2, 0, 1, 1)
self.horizontalLayout_20 = QtWidgets.QHBoxLayout()
self.horizontalLayout_20.setObjectName("horizontalLayout_20")
self.label_28 = QtWidgets.QLabel(self.rheo)
self.label_28.setMaximumSize(QtCore.QSize(80, 16777215))
self.label_28.setObjectName("label_28")
self.horizontalLayout_20.addWidget(self.label_28)
self.start_flow_EDIT = QtWidgets.QLineEdit(self.rheo)
self.start_flow_EDIT.setMaximumSize(QtCore.QSize(50, 16777215))
self.start_flow_EDIT.setObjectName("start_flow_EDIT")
self.horizontalLayout_20.addWidget(self.start_flow_EDIT)
self.label_29 = QtWidgets.QLabel(self.rheo)
self.label_29.setObjectName("label_29")
self.horizontalLayout_20.addWidget(self.label_29)
self.init_BOX = QtWidgets.QCheckBox(self.rheo)
self.init_BOX.setText("")
self.init_BOX.setObjectName("init_BOX")
self.horizontalLayout_20.addWidget(self.init_BOX)
self.label_30 = QtWidgets.QLabel(self.rheo)
self.label_30.setObjectName("label_30")
self.horizontalLayout_20.addWidget(self.label_30)
self.time_wait_EDIT = QtWidgets.QLineEdit(self.rheo)
self.time_wait_EDIT.setMaximumSize(QtCore.QSize(50, 16777215))
self.time_wait_EDIT.setObjectName("time_wait_EDIT")
self.horizontalLayout_20.addWidget(self.time_wait_EDIT)
self.start_auto_BTN = QtWidgets.QPushButton(self.rheo)
self.start_auto_BTN.setObjectName("start_auto_BTN")
self.horizontalLayout_20.addWidget(self.start_auto_BTN)
self.stop_auto_BTN = QtWidgets.QPushButton(self.rheo)
self.stop_auto_BTN.setObjectName("stop_auto_BTN")
self.horizontalLayout_20.addWidget(self.stop_auto_BTN)
self.pause_auto_BTN = QtWidgets.QPushButton(self.rheo)
self.pause_auto_BTN.setObjectName("pause_auto_BTN")
self.horizontalLayout_20.addWidget(self.pause_auto_BTN)
self.resume_auto_BTN = QtWidgets.QPushButton(self.rheo)
self.resume_auto_BTN.setObjectName("resume_auto_BTN")
self.horizontalLayout_20.addWidget(self.resume_auto_BTN)
spacerItem5 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
self.horizontalLayout_20.addItem(spacerItem5)
self.gridLayout_4.addLayout(self.horizontalLayout_20, 3, 0, 1, 1)
self.tabWidget.addTab(self.rheo, "")
self.tab = QtWidgets.QWidget()
self.tab.setObjectName("tab")
@ -962,6 +1001,13 @@ class Ui_MainWindow(object):
self.pushButton_3.setText(_translate("MainWindow", "Home"))
self.label_26.setText(_translate("MainWindow", "left"))
self.pushButton_4.setText(_translate("MainWindow", "inject.."))
self.label_28.setText(_translate("MainWindow", "level for start flow"))
self.label_29.setText(_translate("MainWindow", "init System"))
self.label_30.setText(_translate("MainWindow", "sec between Messurement"))
self.start_auto_BTN.setText(_translate("MainWindow", "Auto Start"))
self.stop_auto_BTN.setText(_translate("MainWindow", "Stop"))
self.pause_auto_BTN.setText(_translate("MainWindow", "Pause"))
self.resume_auto_BTN.setText(_translate("MainWindow", "Resume"))
self.tabWidget.setTabText(self.tabWidget.indexOf(self.rheo), _translate("MainWindow", "Counter"))
self.tabWidget.setTabText(self.tabWidget.indexOf(self.tab), _translate("MainWindow", "Doku"))
self.menuFile.setTitle(_translate("MainWindow", "File"))

101
gui2.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1071</width>
<height>869</height>
<height>868</height>
</rect>
</property>
<property name="windowTitle">
@ -1562,6 +1562,105 @@
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_20">
<item>
<widget class="QLabel" name="label_28">
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>level for start flow</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="start_flow_EDIT">
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_29">
<property name="text">
<string>init System</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="init_BOX">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_30">
<property name="text">
<string>sec between Messurement</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="time_wait_EDIT">
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="start_auto_BTN">
<property name="text">
<string>Auto Start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="stop_auto_BTN">
<property name="text">
<string>Stop</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pause_auto_BTN">
<property name="text">
<string>Pause</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="resume_auto_BTN">
<property name="text">
<string>Resume</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab">

263
jfs_main01.py
View File

@ -4,6 +4,7 @@ import sys, time, os
import serial
from PyQt5 import QtCore, QtWidgets
import pyqtgraph as pg
from enum import Enum
class MainWindow2( MainWindow):
@ -71,6 +72,26 @@ class MainWindow2( MainWindow):
self.ui.pushButton_3.setEnabled(False)
self.ui.pushButton_4.setEnabled(False)
### Autopilot
self.ui.init_BOX.stateChanged.connect(self.init)
self.startflow = 0
self.timewait = 0
#self.startauto = False
self.ui.start_auto_BTN.clicked.connect(self.start_auto)
self.ui.stop_auto_BTN.clicked.connect(self.stop_auto)
self.ui.pause_auto_BTN.clicked.connect(self.pause_auto)
self.ui.resume_auto_BTN.clicked.connect(self.resume_auto)
self.ui.stop_auto_BTN.setEnabled(False)
self.ui.pause_auto_BTN.setEnabled(False)
self.ui.resume_auto_BTN.setEnabled(False)
self.auto_signals = AutoAff_Signals()
self.auto_signals.rheoleft.connect(self.setwhatsleft)
self.ui.start_flow_EDIT.textChanged.connect(self.startflowedit)
self.ui.time_wait_EDIT.textChanged.connect(self.dotimewait)
################### ESP32
def connectESP32(self):
@ -181,7 +202,7 @@ class MainWindow2( MainWindow):
self.ui.checkBox_3.setEnabled(True)
self.ui.checkBox_3.setCheckState(False)
self.ui.pushButton_3.setEnabled(True)
self.ui.pushButton_4.setEnabled(False)
self.ui.pushButton_4.setEnabled(False) #zum testen sonst False
time.sleep(1)
self.statusBar().showMessage("Successfully connected to Rheo board.")
self.getFromRheo()
@ -219,9 +240,17 @@ class MainWindow2( MainWindow):
left = x1 - xx
if ( left < 10):
self.statusBar().showMessage(f"Inject {xx} left {left} is to small !!")
self.auto_signals.finished.emit(0)
self.startcounter(0)
return
if (xx > 7) or (xx<0):
self.ui.checkBox_3.setChecked(False)
## set to load
self.ui.checkBox_3.setChecked(True)
## start pump
#self.ui.send_all_BTN.clicked.emit()
self.ui.run_BTN.clicked.emit()
## enable stop flow
self.ui.checkBox_2.setChecked(True)
time.sleep(1)
self.ui.pushButton_4.setEnabled(False)
cmd=str(xx)+'\r\n'
@ -254,6 +283,7 @@ class MainWindow2( MainWindow):
self.ui.label_26.setText(f'left {xx}')
self.ui.pushButton_4.setEnabled(True)
def sendRheo(self, sendStr):
#time.sleep(1) ## functioniert leider nicht
self.rheo_serial.flushInput()
@ -261,14 +291,13 @@ class MainWindow2( MainWindow):
def getFromRheo(self):
cmd = ""
thread = Thread(self.getRheoVolume,cmd)
thread.signals.finished.connect(lambda:self.thread_finished(thread))
thread.signals.result.connect(self.setwhatsleft)
self.threadpool.start(thread)
self.thread = Thread(self.getRheoVolume,cmd)
self.thread.signals.finished.connect(lambda:self.thread_finished(self.thread))
#self.threadx[2].signals.result.connect(self.setwhatsleft)
self.threadpool.start(self.thread)
def getRheoVolume(self,cmd):
time.sleep(0.1)
self.rheo_serial.flushOutput()
self.rheo_serial.flushInput()
cmd = str(5)+'\r\n'
self.rheo_serial.write(cmd.encode('utf-8'))
@ -281,17 +310,17 @@ class MainWindow2( MainWindow):
if inp[0] == 60 and inp[-3] == 62 :
inp = inp[1:-3]
y = float(inp.decode('utf-8'))
self.auto_signals.rheoleft.emit(y)
return y
except IndexError:
pass
if cnt > 100: #warten bis der Motor steht und der Arduino antwortet
return 0
def startflowedit(self,xx):
self.startflow = float(self.ui.start_flow_EDIT.text())
print(f" startFlow {self.startflow}")
def checkForStopFlow(self):
if self.checkForStopFlow :
if self.y[-1] > self.stopFlowLimit :
self.ui.pause_BTN.clicked.emit()
def updateData(self,x,y):
self.x.append(x)
@ -299,9 +328,15 @@ class MainWindow2( MainWindow):
self.data_line.setData(self.x,self.y)
if self.wait2Stopflow == True:
if (self.y[-1] >= self.stopFlowLimit):
self.ui.pause_BTN.clicked.emit()
self.auto_signals.startflow.emit(self.y[-1])
self.ui.stop_BTN.clicked.emit()
self.wait2Stopflow = False
self.ui.checkBox_2.setChecked(False)
if self.startflow > 0 :
if self.y[-1] < self.startflow :
#print("kann los")
self.auto_signals.endflow.emit(self.y[-1])
def clearPlot(self):
self.x.clear()
@ -312,6 +347,201 @@ class MainWindow2( MainWindow):
self.esp32_serial.write(sendStr.encode())
self.esp32_serial.flushInput()
def init(self,state):
if state == QtCore.Qt.Checked:
self.ui.p1_activate_CHECKBOX.setChecked(True)
self.ui.p2_activate_CHECKBOX.setChecked(True)
self.ui.p3_activate_CHECKBOX.setChecked(True)
self.ui.p1_amount_INPUT.setValue(5)
self.ui.p2_amount_INPUT.setValue(5)
self.ui.p3_amount_INPUT.setValue(5)
self.ui.run_BTN.clicked.emit()
self.ui.lineEdit_2.setText("1200")
self.ui.start_flow_EDIT.setText("600")
self.ui.checkBox_2.setChecked(True)
self.ui.lineEdit_3.setText("40")
self.ui.time_wait_EDIT.setText("10")
self.ui.start_BTN.clicked.emit()
else:
self.ui.stop_BTN.clicked.emit()
def setRheoVentil(self,state):
self.ui.checkBox_3.setChecked(state)
def setinit(self,state):
self.ui.init_BOX.setChecked(state)
def startmotor(self,state):
if state == 1:
print("start motor ")
self.ui.run_BTN.clicked.emit()
else :
print("stop motor")
self.ui.stop_BTN.clicked.emit()
def startcounter(self,state):
print(f"start counter {state} ")
if state == 1:
self.ui.start_btn.clicked.emit()
else:
self.ui.stop_btn.clicked.emit()
def checkflow(self,state):
self.ui.checkBox_2.setChecked(state)
def dotimewait(self,xx):
self.timewait = int(self.ui.time_wait_EDIT.text())
print(f" timewait {self.timewait}")
self.auto_signals.timewait.emit(self.timewait)
def start_auto(self):
##
print(f" endflow {self.startflow} ")
self.ui.stop_auto_BTN.setEnabled(True)
self.ui.pause_auto_BTN.setEnabled(True)
self.ui.resume_auto_BTN.setEnabled(False)
self.ui.start_auto_BTN.setEnabled(False)
self.threadx[2] = AutoP()
self.threadx[2].signal.rheoStart.connect(self.sendRheoInject)
self.threadx[2].signal.systeminit.connect(self.setinit)
self.threadx[2].signal.rheoventil.connect(self.setRheoVentil)
self.auto_signals.rheoleft.connect(self.set_volume)
self.auto_signals.startflow.connect(self.set_startflow)
self.auto_signals.endflow.connect(self.set_endflow)
self.auto_signals.finished.connect(self.set_finished)
self.auto_signals.timewait.connect(self.set_timewait)
self.threadx[2].signal.motorstart.connect(self.startmotor)
self.threadx[2].signal.checkflow.connect(self.checkflow)
self.dotimewait(1)
self.threadpool.start(self.threadx[2])
#self.threadx[2].signals.datasignal.connect(self.updateData)
def stop_auto(self):
self.threadx[2].kill()
self.ui.stop_auto_BTN.setEnabled(False)
self.ui.pause_auto_BTN.setEnabled(False)
self.ui.resume_auto_BTN.setEnabled(False)
self.ui.start_auto_BTN.setEnabled(True)
def pause_auto(self):
self.threadx[2].pause()
self.ui.pause_auto_BTN.setEnabled(False)
self.ui.resume_auto_BTN.setEnabled(True)
def resume_auto(self):
self.threadx[2].resume()
self.ui.pause_auto_BTN.setEnabled(True)
self.ui.resume_auto_BTN.setEnabled(False)
def set_volume(self,xx):
self.threadx[2].setvolume(xx)
def set_startflow(self,xx):
self.threadx[2].setstartflow(xx)
def set_endflow(self,xx):
#print(f" got {xx}")
self.threadx[2].setendflow(xx)
def set_finished(self,xx):
self.threadx[2].finished(xx)
def set_timewait(self,xx):
self.threadx[2].settimewait(xx)
class AutoAff_Signals(QtCore.QObject):
rheoleft = QtCore.pyqtSignal(float)
startflow = QtCore.pyqtSignal(float)
endflow = QtCore.pyqtSignal(float)
finished = QtCore.pyqtSignal(int)
timewait = QtCore.pyqtSignal(int)
class AutoEff_Signals(QtCore.QObject):
rheoStart = QtCore.pyqtSignal(int)
systeminit = QtCore.pyqtSignal(int)
rheoventil = QtCore.pyqtSignal(int)
motorstart = QtCore.pyqtSignal(int)
checkflow = QtCore.pyqtSignal(int)
#checkcounter = QtCore.pyqtSignal(int)
class AutoP(QtCore.QRunnable):
def __init__(self):
super().__init__()
self.is_paused = False
self.is_killed = False
self.signal = AutoEff_Signals()
self.status = 'start'
def run(self):
self.waittime = 5
while True :
#print(f" now waiting {self.status}")
time.sleep(0.1)
if self.status == 'flow':
time.sleep(1)
if self.status == 'idle':
time.sleep(1)
if self.status == 'start':
print(f" status {self.status}")
self.signal.checkflow.emit(False)
self.signal.motorstart.emit(1)
time.sleep(self.waittime)
self.status = 'load'
if self.status == 'load':
print(f" status {self.status}")
self.signal.rheoStart.emit(1)
self.status = 'idle'
if self.status == 'inject':
print(f" status {self.status}")
time.sleep(5)
self.signal.checkflow.emit(True)
self.signal.rheoventil.emit(False)
time.sleep(5)
#self.signal.rheoventil.emit(True)
self.status = 'idle'
while self.is_paused:
self.signal.motorstart.emit(0)
time.sleep(0)
if self.is_killed:
self.signal.motorstart.emit(0)
raise WorkerKilledException
def setvolume(self,xx):
print(f"----- volume {xx}")
self.status = 'inject'
def settimewait(self,xx):
print(f"----- wait for {xx}")
self.waittime = xx
def setstartflow(self,xx):
print(f" start flow {xx}")
self.status = 'flow'
def setendflow(self,xx):
#print(f" status {self.status}")
if self.status == 'flow':
print(f" end flow {xx}")
self.status = 'start'
def finished(self,xx):
self.signal.motorstart.emit(0)
self.is_killed=True
def pause(self):
self.is_paused=True
def resume(self):
self.signal.motorstart.emit(1)
self.is_paused = False
def kill(self):
self.is_killed = True
class WorkerKilledException(Exception):
pass
@ -341,9 +571,12 @@ class ThC(QtCore.QRunnable):
inp = self.port.readline()
try:
if inp[0] == 62 and inp[-3] == 60 :
inp = inp[1:-3]
y = float(inp.decode('utf-8'))
self.signals.datasignal.emit(cnt,y)
inp = inp[1:-3]
try:
y = float(inp.decode('utf-8'))
self.signals.datasignal.emit(cnt,y)
except ValueError:
pass
except IndexError:
pass
time.sleep(0.001)

5
poseidon/.gitignore vendored Normal file
View File

@ -0,0 +1,5 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

6
poseidon_main.py
View File

@ -80,7 +80,7 @@ class Thread(QtCore.QRunnable):
self.signals.finished.emit() # Done
self.stop()
print("Job completed")
#print("Job completed")
def stop(self):
self.runs = False
@ -579,7 +579,7 @@ class MainWindow(QtWidgets.QMainWindow, gui2.Ui_MainWindow):
print("Sending JOG command..")
thread = Thread(self.runTest, testData)
thread.fsignal.inished.connect(lambda:self.thread_finished(thread))
thread.signals.finished.connect(lambda:self.thread_finished(thread))
self.threadpool.start(thread)
print("JOG command sent.")
@ -590,7 +590,7 @@ class MainWindow(QtWidgets.QMainWindow, gui2.Ui_MainWindow):
print("Sending JOG command..")
thread = Thread(self.runTest, testData)
thread.fsignal.inished.connect(lambda:self.thread_finished(thread))
thread.signals.finished.connect(lambda:self.thread_finished(thread))
self.threadpool.start(thread)
print("JOG command sent.")
else: