Progress files and csv reports

CHANGELOG.md

@@ -4,16 +4,15 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
-## Unreleased
-
-### Added
+## [0.1.21] [2020-02-26]
 
 ### Changed
+- `compas_rcf.fabrication.abb_runner` now prints progress updates to Flex pendant.
+- `abb_runner` now dumps list of `ClayBullets` for every bullet into file with same filename as input JSON but with IN_PROGRESS added to start.
+- `abb_runner` now checks if attribute `placed` is set on `ClayBullet` and if so asks user if it should be skipped or placed (with the option to set skip and place for all future bullets with `placed` attribute). This file is deleted when script exits cleanly.
+- `compas_rcf.utils.csv_` renamed to `csv_reports`. Instead of a conversion tool it now creates an opinionated report from JSON file. It can also handle directories and multiple files as inputs.
 
-### Removed
-
-
-## \[0.1.20\] \[2020-20-25\]
+## \[0.1.20\] \[2020-02-25\]
 
 ### Added
 

src/compas_rcf/fabrication/abb_runner.py

@@ -6,12 +6,12 @@
 from __future__ import division
 from __future__ import print_function
 
+import json
 import logging
 import sys
 import time
 from datetime import datetime
 from pathlib import Path
-import json
 
 from colorama import Fore
 from colorama import Style
@@ -25,27 +25,27 @@
 from compas_rrc import MoveToFrame
 from compas_rrc import MoveToJoints
 from compas_rrc import PrintText
+from compas_rrc import ReadWatch
 from compas_rrc import SetAcceleration
 from compas_rrc import SetDigital
 from compas_rrc import SetMaxSpeed
 from compas_rrc import SetTool
 from compas_rrc import SetWorkObject
-from compas_rrc import WaitTime
 from compas_rrc import StartWatch
 from compas_rrc import StopWatch
-from compas_rrc import ReadWatch
+from compas_rrc import WaitTime
 
 from compas_rcf import __version__
 from compas_rcf.abb.helpers import docker_compose_paths
 from compas_rcf.abb.helpers import ping
 from compas_rcf.abb.helpers import robot_ips
+from compas_rcf.fabrication.clay_obj import ClayBulletEncoder
 from compas_rcf.fabrication.conf import abb_rcf_conf_template
 from compas_rcf.fabrication.conf import fabrication_conf
 from compas_rcf.utils import ui
 from compas_rcf.utils.docker import compose_up
 from compas_rcf.utils.json_ import load_bullets
 from compas_rcf.utils.util_funcs import get_offset_frame
-from compas_rcf.fabrication.clay_obj import ClayBulletEncoder
 
 if sys.version_info[0] < 2:
     raise Exception("This module requires Python 3")
@@ -438,7 +438,7 @@ def abb_run(cmd_line_args):
     for i in range(3):
         try:
             logging.debug("Pinging robot")
-            ping(abb, timeout=5)
+            ping(abb, timeout=10)
             logging.debug("Breaking loop after successful ping")
             break
         except TimeoutError:
@@ -447,7 +447,7 @@ def abb_run(cmd_line_args):
                 docker_compose_paths["abb_driver"], force_recreate=True, ROBOT_IP=ip
             )
             logging.debug("Compose up for abb_driver with robot-ip={}".format(ip))
-            time.sleep(10)
+            time.sleep(5)
     else:
         raise TimeoutError("Failed to connect to robot")
 
@@ -459,12 +459,60 @@ def abb_run(cmd_line_args):
     ############################################################################
     # Fabrication loop                                                         #
     ############################################################################
+    json_progress_identifier = "IN_PROGRESS-"
+
+    if json_path.name.startswith(json_progress_identifier):
+        in_progress_json = json_path
+    else:
+        in_progress_json = json_path.with_name(
+            json_progress_identifier + json_path.name
+        )
+
+    skip_all_placed = None
+    place_all_placed = None
 
     for i, bullet in enumerate(clay_bullets):
-        logging.info(
-            "Bullet {:03d}/{:03d} with id {}".format(i, len(clay_bullets), bullet.id)
+        current_bullet_desc = "Bullet {:03d}/{:03d} with id {}".format(
+            i, len(clay_bullets), bullet.id
         )
 
+        if bullet.placed and not place_all_placed:
+            if skip_all_placed:
+                logging.info("Skipping " + current_bullet_desc)
+                continue
+
+            placed_prompt = questionary.select(
+                current_bullet_desc
+                + " seems to have been placed already.".format(i, bullet.id),
+                [
+                    "Skip",
+                    "Skip all marked as placed in JSON",
+                    questionary.Separator(),
+                    "Place",
+                    "Place all marked as placed in JSON",
+                ],
+            ).ask()
+
+            skip_all_placed = (
+                True if placed_prompt == "Skip all marked as placed in JSON" else None
+            )
+            place_all_placed = (
+                True if placed_prompt == "Place all marked as placed in JSON" else None
+            )
+
+            if (
+                placed_prompt == "Skip"
+                or placed_prompt == "Skip all marked as placed in JSON"
+            ):
+                logging.info("Skipping " + current_bullet_desc)
+                continue
+
+            if placed_prompt == "Place":
+                pass
+
+        abb.send(PrintText(current_bullet_desc))
+        logging.info(current_bullet_desc)
+
         pick_frame = pick_frame_from_grid(i, bullet.height)
 
         # Pick bullet
@@ -480,10 +528,15 @@ def abb_run(cmd_line_args):
         bullet.placed = time.time()
         logging.debug("Time placed was {}".format(bullet.placed))
 
+        with in_progress_json.open(mode="w") as fp:
+            json.dump(clay_bullets, fp, cls=ClayBulletEncoder)
+
     ############################################################################
     # Shutdown procedure                                                       #
     ############################################################################
 
+    in_progress_json.unlink()  # Remove in progress json
+
     done_json = DEFAULT_JSON_DIR / "00_done" / json_path.name
 
     with done_json.open(mode="w") as fp:

src/compas_rcf/fabrication/clay_obj.py

@@ -2,10 +2,10 @@
 from __future__ import division
 from __future__ import print_function
 
+import collections
 import json
 import math
 from itertools import count
-import collections
 
 import compas.geometry as cg
 from compas import IPY
@@ -48,36 +48,38 @@ def __init__(
         location,
         trajectory_to=[],
         trajectory_from=[],
-        id=None,
+        bullet_id=None,
         radius=45,
         height=100,
         compression_ratio=0.5,
         clay_density=2.0,
         precision=5,
         tool=None,
         vkey=None,
+        cycle_time=None,
+        placed=None,
         **kwargs
     ):
         self.location = location
         self.trajectory_to = trajectory_to
         self.trajectory_from = trajectory_from
 
         # sortable ID, used for fabrication sequence
-        if id is None:
-            self.id = next(self._ids)
-        else:
-            self.id = str(id) + "x"  # To avoid id collisions
+        if not bullet_id:
+            self.bullet_id = next(self._ids)
 
         self.radius = radius
         self.height = height
         self.compression_ratio = compression_ratio
         self.tool = tool
         self.vkey = vkey
-        if kwargs:
-            self.attributes = kwargs
 
-        self.cycle_time = None
-        self.placed = None
+        self.cycle_time = cycle_time
+        self.placed = placed
+
+        if kwargs:
+            for key in kwargs.keys():
+                setattr(self, key, kwargs[key])
 
     @property
     def location(self):
@@ -323,13 +325,16 @@ def from_data(cls, data):
         for frame_data in data.pop("_trajectory_from"):
             trajectory_from.append(Frame.from_data(frame_data))
 
+        bullet_id = data.pop("bullet_id", None)
+
         # Take the rest of the dictionary
         kwargs = data
 
         return cls(
             location,
             trajectory_to=trajectory_to,
             trajectory_from=trajectory_from,
+            bullet_id=bullet_id,
             **kwargs
         )