Examples of org.openpnp.spi.Machine

org.openpnp.spi.Machine
Machine represents the pick and place machine itself. It provides the information and interface needed to cause the machine to do work. A Machine has one or more Heads. Unless otherwise noted, the methods in this class block while performing their operations.

        System.out.println("Configuration directory: " + workingDirectory);


        Configuration.initialize(workingDirectory);
        Configuration.get().load();


        Machine machine = Configuration.get().getMachine();
        ReferenceMachine referenceMachine = (ReferenceMachine) machine;
        TestDriver testDriver = (TestDriver) referenceMachine.getDriver();
        BasicJobTestDriverDelegate delegate = new BasicJobTestDriverDelegate();
        testDriver.setDelegate(delegate);


        TestCompleteNotifier notifier = new TestCompleteNotifier();


        JobProcessor jobProcessor = machine.getJobProcessor();
        jobProcessor.addListener(new BasicJobTestProcessorListener(notifier));
        jobProcessor.setDelegate(new BasicJobTestJobProcessorDelegate());


        Job job = createSimpleJob();


        Head h1 = machine.getHead("H1");
        Nozzle n1 = h1.getNozzle("N1");
        Nozzle n2 = h1.getNozzle("N2");


        delegate.expectMove("Move N1 to F1", n1, new Location(LengthUnit.Millimeters, -10, 0, 0, 0), 1.0);
        delegate.expectPick(n1);
        
        delegate.expectMove("Move N2 to F1", n2, new Location(LengthUnit.Millimeters, -20, 0, 0, 0), 1.0);
        delegate.expectPick(n2);
        
        delegate.expectMove("Move N1 to R1, Safe-Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0, 45), 1.0);
        delegate.expectMove("Move N1 to R1, Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0.825500, 45), 1.0);
        delegate.expectPlace(n1);
        delegate.expectMove("Move N1 to R1, Safe-Z", n1, new Location(LengthUnit.Millimeters, 0, 10, 0, 45), 1.0);
        
        delegate.expectMove("Move N2 to R2, Safe-Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0, 90), 1.0);
        delegate.expectMove("Move N2 to R2, Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0.825500, 90), 1.0);
        delegate.expectPlace(n2);
        delegate.expectMove("Move N2 to R2, Safe-Z", n2, new Location(LengthUnit.Millimeters, 00, 20, 0, 90), 1.0);
        
        jobProcessor.load(job);
        machine.setEnabled(true);
        synchronized (notifier) {
            jobProcessor.start();
            notifier.wait();
        }
        if (notifier.failed) {

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  @Override
    public void run() {
    state = JobState.Running;
    fireJobStateChanged();
    
    Machine machine = Configuration.get().getMachine();
    
    preProcessJob(machine);
    
    for (Head head : machine.getHeads()) {
      fireDetailedStatusUpdated(String.format("Move head %s to Safe-Z.", head.getId()));    
  
      if (!shouldJobProcessingContinue()) {
        return;
      }
  
      try {
        head.moveToSafeZ(1.0);
      }
      catch (Exception e) {
        fireJobEncounteredError(JobError.MachineMovementError, e.getMessage());
        return;
      }
    }
    
    JobPlanner jobPlanner = machine.getJobPlanner();
    Head head = machine.getHeads().get(0);
    
    jobPlanner.setJob(job);


        Set<PlacementSolution> solutions;
    while ((solutions = jobPlanner.getNextPlacementSolutions(head)) != null) {

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  }
  
  @Override
  public void run() {
    Set<PlacementSolution> solutions;
    Machine machine = Configuration.get().getMachine();
    Head head = machine.getHeads().get(0);
    JobPlanner jobPlanner = machine.getJobPlanner();


    //pre job stuff
    state = JobState.Running;
    fireJobStateChanged();
    try {

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Related Classes of org.openpnp.spi.Machine

BasicJobTest

org.openpnp.machine.reference.ReferenceJobProcessor

org.openpnp.machine.zippy.ZippyJobProcessor

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