Version aus Leipzig

praezipos/praezipos_revpi.py

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+# -*- coding: utf-8 -*-
+"""Forklift load navigator."""
+__author__ = "Sven Sager"
+__copyright__ = "Copyright (C) 2019 Sven Sager"
+__license__ = "GPLv3"
+import revpimodio2
+from random import randint
+from revpimodio2.helper import Cycletools
+
+
+def cycle(ct: Cycletools):
+    if ct.first:
+        # Init control program variables
+        ct.var.center_diff_left = -600
+        ct.var.center_diff_right = 600
+        ct.var.center_value = 0
+        ct.var.mrk_t_forklift = False
+
+        rpi.io.program_running.value = True
+
+    # Flash LED A1 of core module
+    rpi.core.a1green.value = ct.flag20c
+
+    if rpi.io.t_forklift.value:
+        # Forklift in place
+        rpi.io.forklift.value = True
+
+        if not ct.var.mrk_t_forklift:
+            ct.var.mrk_t_forklift = True
+            ct.var.center_value = rpi.io.position.value + randint(-6000, 6000)
+
+        position = rpi.io.position.value - ct.var.center_value
+
+        # Mirror value to virtual device
+        rpi.io.load_pos.value = position
+
+        # Check direction of difference
+        rpi.io.more_right.value = position < ct.var.center_diff_left
+        rpi.io.more_left.value = position > ct.var.center_diff_right
+
+        # Show lights
+        rpi.io.h_red.value = rpi.io.more_left.value or rpi.io.more_right.value
+        rpi.io.h_green.value = not rpi.io.h_red.value
+
+    else:
+        # No forklift in position
+        ct.var.mrk_t_forklift = False
+
+        rpi.io.forklift.value = False
+        rpi.io.load_pos.value = 0
+        rpi.io.more_left.value = False
+        rpi.io.more_right.value = False
+        rpi.io.h_red.value = False
+        rpi.io.h_green.value = False
+
+
+def cleanup():
+    rpi.io.program_running.value = False
+
+
+# One global RevPiModIO instance for all modules and classes
+rpi = revpimodio2.RevPiModIO(autorefresh=True)
+
+# Configure IO of profinet device
+rpi.io.b_position1.replace_io("position", "H", byteorder="big")
+
+# Configure IO of panel device
+rpi.io.p_byte1.replace_io("p_online", "?", bit=0)
+
+rpi.io.r_byte1.replace_io("program_running", "?", bit=0)
+rpi.io.r_byte2.replace_io("more_left", "?", bit=0)
+rpi.io.r_byte2.replace_io("more_right", "?", bit=1)
+rpi.io.r_byte2.replace_io("forklift", "?", bit=2)
+
+rpi.io.r_position1.replace_io("load_pos", "h")
+
+# Export replaced ios for revpipyload and NetIO clients
+rpi.export_replaced_ios()
+
+rpi.handlesignalend(cleanup)
+rpi.cycleloop(cycle, cycletime=20)