[fossasia#509] Robotic arm config saving feature

boy-who-codes · Aug 29, 2019 · 028042a · 028042a
1 parent 2af5d90
commit 028042a
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Showing 10 changed files with 121 additions and 29 deletions.
diff --git a/background_tasks/playback.html b/background_tasks/playback.html
@@ -12,9 +12,9 @@
 
 	loadBalancer.job(
 		ipcRenderer,
-		'linker',
+		'playback',
 		() => {
-			loadBalancer.onRecieveData(ipcRenderer, 'linker', args => {
+			loadBalancer.onRecieveData(ipcRenderer, 'playback', args => {
 				pyshell.send(JSON.stringify(args));
 			});
 
@@ -24,6 +24,20 @@
 
 			pyshell.on('message', function(results) {
 				log.info(results);
+				try {
+					const parsedJSON = JSON.parse(results);
+					switch (parsedJSON['type']) {
+						case 'FETCH_ROB_ARM':
+							ipcRenderer.send('FETCH_ROB_ARM');
+							break;
+						case 'DATA_WRITING_STATUS':
+							ipcRenderer.send('DATA_WRITING_STATUS', parsedJSON);
+							break;
+					}
+				}
+				catch (error) {
+					log.error(error);
+				}
 			});
 		},
 		() => {

diff --git a/public/electron.js b/public/electron.js
@@ -117,3 +117,7 @@ ipcMain.on('CONNECTION_STATUS', (event, args) => {
 ipcMain.on('DATA_WRITING_STATUS', (event, args) => {
   mainWindow.webContents.send('DATA_WRITING_STATUS', args);
 });
+
+ipcMain.on('FETCH_ROB_ARM', (event, args) => {
+  mainWindow.webContents.send('FETCH_ROB_ARM', args);
+});
diff --git a/scripts/file_write.py b/scripts/file_write.py
@@ -21,11 +21,13 @@ def update_buffer(self, inst_type, **kwargs):
                 yData = ' '.join(map(str, kwargs['yData'].tolist()))
                 data = str(kwargs['timestamp']) + ", " + str(kwargs['datetime']) + ", " + \
                     kwargs['channel'] + ", " + xData + ", " + \
-                    yData + ", " + str(kwargs['timebase']) + ", " + " " + ", " + " " +"\n"
+                    yData + ", " + str(kwargs['timebase']) + \
+                    ", " + " " + ", " + " " + "\n"
 
             if inst_type == 'MUL_MET':
                 data = str(kwargs['timestamp']) + ", " + str(kwargs['datetime']) + ", " + \
-                    kwargs['data'] + ", " + str(kwargs['value']) + ", " + " " + ", " + " " + "\n"
+                    kwargs['data'] + ", " + \
+                    str(kwargs['value']) + ", " + " " + ", " + " " + "\n"
 
             self.data_buffer.append(data)
 
@@ -63,7 +65,7 @@ def save_config(self, data_path, device_type, **kwargs):
                 str(kwargs['p2']) + ", " + str(kwargs['dc_2']) + ", " + \
                 str(kwargs['p3']) + ", " + str(kwargs['dc_3']) + ", " + \
                 str(kwargs['p4']) + ", " + str(kwargs['dc_4']) + ", " + \
-                 " " + ", " + " " + "\n"
+                " " + ", " + " " + "\n"
             buffer.append(data)
             self.file_pointed.writelines(buffer)
 
@@ -73,7 +75,8 @@ def save_config(self, data_path, device_type, **kwargs):
                 "Timestamp, DateTime, PCS, PV1, PV2, PV3, Latitude, Longitude \n")
             data = str(kwargs['timestamp']) + ", " + str(kwargs['datetime']) + ", " + \
                 str(kwargs['pcs']) + ", " + str(kwargs['pv1']) + ", " + \
-                str(kwargs['pv2']) + ", " + str(kwargs['pv3']) + ", " + " " + "," + " " + "\n"
+                str(kwargs['pv2']) + ", " + str(kwargs['pv3']) + \
+                ", " + " " + "," + " " + "\n"
             buffer.append(data)
             self.file_pointed.writelines(buffer)
 
@@ -106,6 +109,20 @@ def get_config_from_file(self, data_path, device_type):
                       "latitude": " ",
                       "longitude": " "
                       }
+        if device_type == 'PowerSource':
+            f = open(data_path, "r")
+            lines = f.readlines()
+            data = lines[3].split(',')
+            output = {'type': 'GET_CONFIG_PWR_SRC',
+                      'pcs': data[2],
+                      'pv1': data[3],
+                      'pv2': data[4],
+                      'pv3': data[5],
+                      'latitude': " ",
+                      'longitude': " "
+                      }
+            print(json.dumps(output))
+            sys.stdout.flush()
         print(json.dumps(output))
         sys.stdout.flush()
         print(json.dumps(output))
@@ -120,19 +137,3 @@ def stop_recording(self):
         print(json.dumps({'type': 'DATA_WRITING_STATUS',
                           'message': 'Data recording stopped', }))
         sys.stdout.flush()
-
-    def get_config_from_file(self, data_path, device_type):
-        if device_type == 'PowerSource':
-            f = open(data_path, "r")
-            lines = f.readlines()
-            data = lines[3].split(',')
-            output = {'type': 'GET_CONFIG_PWR_SRC',
-                      'pcs': data[2],
-                      'pv1': data[3],
-                      'pv2': data[4],
-                      'pv3': data[5],
-                      'latitude': " ",
-                      'longitude': " "                      
-                      }
-            print(json.dumps(output))
-            sys.stdout.flush()
diff --git a/scripts/playback_bridge.py b/scripts/playback_bridge.py
@@ -1,22 +1,34 @@
 import sys
 import time
 import json
+from playback_robot import PlaybackRobot
+
+playbackRobot = PlaybackRobot()
 
 
 def main():
-    print('script started')
-    sys.stdout.flush()
     while(True):
         in_stream_data = input()
         parsed_stream_data = json.loads(in_stream_data)
         command = parsed_stream_data['command']
 
         # # -------------------------- Script termination block ----------------------------
+        if command == 'SAVE_CONFIG_ROB_ARM':
+            output = {'type': 'FETCH_ROB_ARM'}
+            print(json.dumps(output))
+            sys.stdout.flush()
+
+        if command == 'WRITE_ROB_ARM':
+            servo1 = parsed_stream_data['servo1']
+            servo2 = parsed_stream_data['servo2']
+            servo3 = parsed_stream_data['servo3']
+            servo4 = parsed_stream_data['servo4']
+            data_path = parsed_stream_data['dataPath']
+            playbackRobot.write(data_path, servo1, servo2, servo3, servo4)
+
         if command == 'KILL':
             exit()
 
 
 if __name__ == '__main__':
     main()
-    print("app exited successfully")
-    sys.stdout.flush()
diff --git a/scripts/playback_robot.py b/scripts/playback_robot.py
@@ -0,0 +1,22 @@
+import time
+import datetime
+import sys
+import json
+
+
+class PlaybackRobot:
+    def write(self, data_path, servo1, servo2, servo3, servo4):
+        file_name = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S:000")
+        file_pointed = open(data_path + '/' + file_name + '.csv', "w+")
+        file_pointed.write("%s, %s \n\n" % (
+            'RobotArm', str(datetime.datetime.now())))
+        file_pointed.write(
+            "Time, Servo1, Servo2, Servo3, Servo4, Latitude, Longitude\n")
+        for i in range(len(servo1)):
+            file_pointed.write(
+                "%s, %s, %s, %s, %s\n" % (
+                    str(i + 1), str(servo1[i]), str(servo2[i]), str(servo3[i]), str(servo4[i])))
+        file_pointed.close()
+        print(json.dumps({'type': 'DATA_WRITING_STATUS',
+                          'message': 'Config saved', }))
+        sys.stdout.flush()
diff --git a/src/App.js b/src/App.js
@@ -234,7 +234,7 @@ class App extends Component {
                 />
                 <Route
                   path="/robotarm"
-                  render={props => <RobotArm {...props} />}
+                  render={props => <RobotArm {...props} dataPath={dataPath} />}
                 />
                 <Route
                   path="/sensors"

diff --git a/src/components/Appshell/Appshell.js b/src/components/Appshell/Appshell.js
@@ -186,6 +186,23 @@ const Appshell = ({
             <SaveIcon />
           </IconButton>
         );
+      case '/robotarm':
+        return (
+          <IconButton
+            className={classes.iconButton}
+            size="medium"
+            onClick={() => {
+              loadBalancer.start(ipcRenderer, 'playback');
+              setTimeout(() => {
+                loadBalancer.sendData(ipcRenderer, 'playback', {
+                  command: 'SAVE_CONFIG_ROB_ARM',
+                });
+              }, 500);
+            }}
+          >
+            <SaveIcon />
+          </IconButton>
+        );
       case '/multimeter':
         return isWriting ? (
           <IconButton

diff --git a/src/screen/LoggedData/LoggedData.js b/src/screen/LoggedData/LoggedData.js
@@ -138,6 +138,8 @@ class LoggedData extends Component {
         return <PowerSourceIcon color="red" size={'2em'} />;
       case 'Multimeter':
         return <MultimeterIcon color="red" size={'2em'} />;
+      case 'RobotArm':
+        return <MultimeterIcon color="red" size={'2em'} />;
       default:
         break;
     }

diff --git a/src/screen/Oscilloscope/Oscilloscope.js b/src/screen/Oscilloscope/Oscilloscope.js
@@ -19,8 +19,6 @@ class Oscilloscope extends Component {
     super(props);
     this.timeBaseList = [0.5, 1, 5, 10, 20, 25, 50];
     this.state = {
-      // isWriting: false,
-      // isReading: false,
       timeBaseIndex: 0,
       activeChannels: {
         ch1: true,

diff --git a/src/screen/RobotArm/RobotArm.js b/src/screen/RobotArm/RobotArm.js
@@ -33,6 +33,28 @@ class RobotArm extends Component {
     this.timer = null;
   }
 
+  componentDidMount() {
+    ipcRenderer.on('FETCH_ROB_ARM', (event, args) => {
+      const { servo1, servo2, servo3, servo4 } = this.state;
+      const { dataPath } = this.props;
+      loadBalancer.sendData(ipcRenderer, 'playback', {
+        command: 'WRITE_ROB_ARM',
+        servo1,
+        servo2,
+        servo3,
+        servo4,
+        dataPath,
+      });
+      setTimeout(() => {
+        loadBalancer.stop(ipcRenderer, 'playback');
+      }, 500);
+    });
+  }
+
+  componentWillUnmount() {
+    ipcRenderer.removeAllListeners('FETCH_ROB_ARM');
+  }
+
   sendCommand = () => {
     const { active, timeLine, servo1, servo2, servo3, servo4 } = this.state;
     if (timeLine < 60) {