Scanner resource

docker-compose.yml

@@ -1,25 +1,24 @@
 
 services:
-
   teleshake:
     build: ./teleshake/
     environment:
       - PORT=50050
-    ports:
-      - "50050:50050"
+    # ports:
+    #   - "50050:50050"
     network_mode: host
 
   sila-browser:
     image: registry.gitlab.com/unitelabs/sila2/sila-browser:latest
     network_mode: host
-    ports:
-      - "3000:3000"
+    # ports:
+    #   - "3000:3000"
 
   robot-arm:
     build: ./robot-arm/
     network_mode: host
-    environment:
-      - ROBOT_IP=192.168.1.4 # Change
+    # environment:
+    #   - ROBOT_IP=192.168.1.4 # Change
 #    command: [ "python", "-m", "genericroboticarm", "--address", "0.0.0.0" ]
     command: python -m genericroboticarm --port 50054 --address 0.0.0.0  -r XArm --simulation
     volumes:
@@ -78,4 +77,4 @@ services:
     network_mode: host
 
 volumes:
-  pgdata:
+  pgdata:

laborchestrator/.gitignore

@@ -0,0 +1,3 @@
+jssp**.json
+Schedule**
+WFG**

laborchestrator/platform_config.yaml

@@ -20,9 +20,15 @@ sila_servers:
     shaker_6_d_pos_:
       capacity: 1
 
+  scanners:
+    scanner1:
+      capacity: 1
+      resolution: 640
+
 # ------ Translation to used resources in the process description ------
 # the key must match the categories above and the values must match the required resources in the workflow description
 pythonlab_translation:
   storage: LabwareStorageResource
   movers: MoverServiceResource
   shakers: ShakerServiceResource
+  scanners: ScannerResource

laborchestrator/vu_lab/processes/__init__.py

@@ -0,0 +1,2 @@
+from .basic_process import BasicProcess
+from .mini_process import MiniProcess

laborchestrator/vu_lab/processes/basic_process.py

@@ -6,7 +6,7 @@
 from pythonlab.resources.services.labware_storage import LabwareStorageResource
 from pythonlab.resources.services.moving import MoverServiceResource
 from pythonlab.resources.services.shaker import ShakerServiceResource
-
+from vu_lab.resources.scanner_resource import ScannerResource
 
 class BasicProcess(PLProcess, ABC):
     def __init__(
@@ -33,6 +33,8 @@ def create_resources(self) -> None:
 
         self.shaker_pool = ShakerServiceResource(proc=self, name=None)
 
+        self.scanner1 = ScannerResource(proc=self, name="scanner1")
+
         # the containers are automatically named/enumerated. You can change the naming without causing problems
         self.containers = [
             LabwareResource(

laborchestrator/vu_lab/processes/scanner_process.py

@@ -0,0 +1,45 @@
+"""Duplicate this file and add/modify the missing parts to create new processes"""
+
+from pythonlab.process import PLProcess
+from vu_lab.processes.basic_process import BasicProcess
+from pythonlab.resource import LabwareResource
+from vu_lab.resources.scanner_resource import ScannerResource
+
+DURATION = 10
+FREQUENCY = 10
+NUM_BEDS = 1
+PRIORITY = 3
+
+
+class ScannerProcess(BasicProcess):
+    """A simple test process that moves plates to a scanner, scans them, and returns them to the hotel."""
+
+    def __init__(
+        self,
+        priority: int = PRIORITY,
+        num_beds: int = NUM_BEDS,
+        duration: float = DURATION,
+        frequency: float = FREQUENCY,
+    ):
+        super().__init__(
+            priority=priority, num_plates=num_beds, process_name="Scanner process"
+        )
+        self.duration = duration
+        self.frequency = frequency
+
+    def init_service_resources(self):
+        super().init_service_resources()
+        self.container = self.containers[0]
+        self.container.set_start_position(self.hotel1, 1)
+
+    def process(self):
+
+        resolution = 640
+        # Loop through all containers and scan them
+        for idx in range(self.num_mw_plates):
+            cont = self.containers[idx]
+
+            # Move all containers to shaker
+            self.robot_arm.move(cont, self.scanner1)
+            self.scanner1.scan(cont, resolution)
+            self.robot_arm.move(cont, self.hotel1)

laborchestrator/vu_lab/resources/scanner_resource.py

@@ -0,0 +1,42 @@
+"""Duplicate this file and add/modify the missing parts to create a new resource"""
+
+import logging
+from pythonlab.resource import ServiceResource
+
+DURATION = 10
+FREQUENCY = 10
+NUM_BEDS = 1
+PRIORITY = 3
+
+
+class ScannerResource(ServiceResource):
+    """
+    Flatbed scanner resource as a service.
+
+    :param Resource: [description]
+    :type Resource: [type]
+    """
+
+    def __init__(self, proc, name: str = "Scanner"):
+        super().__init__(proc=proc, name=name)
+
+        self._resolution = 640
+
+    def init(self):
+        logging.debug(f"init {self.name}")
+
+    def scan(
+        self,
+        container: ServiceResource,
+        resolution: int,
+        **kwargs,
+    ):
+        kwargs.update(
+            {
+                "fct": "scan",
+                "resolution": resolution,
+            }
+        )
+
+        print(f"==[ Scan invoked.")
+        self.proc.add_process_step(self, [container], **kwargs)

laborchestrator/vu_lab/wrappers/scanner_wrapper.py

@@ -0,0 +1,38 @@
+from laborchestrator.structures import ProcessStep, ContainerInfo
+from laborchestrator.engine.worker_interface import Observable
+
+from vu_lab.wrappers import DeviceInterface
+
+from sila2.client import SilaClient as ScannerClient
+
+
+class ScannerWrapper(DeviceInterface):
+    @staticmethod
+    def get_SiLA_handler(
+        step: ProcessStep,
+        cont: ContainerInfo,
+        sila_client: ScannerClient,
+        **kwargs,
+    ) -> Observable:
+        pass
+
+    # Start scanning
+    # Stop scanning
+    # Start scan runtime
+
+    def start_scan(
+        self,
+        client: ScannerClient,
+        resolution: int,
+    ) -> Observable:
+        """
+        Start scanning with the specified mode, duration, and displacement.
+        :param client: SiLA client for the shaker device
+        :param resolution: The scanner resolution.
+        """
+
+        return client.ScanController.start_scan_step(resolution)
+
+    def abort_scan(self, client: ScannerClient) -> Observable:
+
+        return client.ScanController.abort_shake()