{"action":"created","comment":{"url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/comments/194816483","pull_request_review_id":128059878,"id":194816483,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDE5NDgxNjQ4Mw==","diff_hunk":"@@ -0,0 +1,434 @@\n+import os\n+import time\n+import enum\n+import json\n+import serial\n+import logging\n+import threading\n+from queue import Queue\n+from collections import namedtuple\n+from abc import ABC, abstractmethod\n+\n+from storage import config\n+\n+# TODO: create state like LOADED_AT_PICK_SIDE LOADED_AT_PLACE_SIDE, methods and asserts of this states\n+# TODO: think about executor queue backup\n+# TODO: think about queued tasks removing, or smth like this\n+# TODO: think about executor timeout exception\n+# TODO: improve logging\n+\n+logger = logging.getLogger()\n+logger.setLevel(logging.DEBUG)\n+\n+fh = logging.FileHandler('ASRS.log')\n+fh.setLevel(logging.DEBUG)\n+\n+ch = logging.StreamHandler()\n+ch.setLevel(logging.DEBUG)\n+\n+formatter = logging.Formatter('%(asctime)s - %(name)s.%(funcName)s - %(levelname)s - %(message)s')\n+fh.setFormatter(formatter)\n+ch.setFormatter(formatter)\n+\n+logger.addHandler(fh)\n+logger.addHandler(ch)\n+\n+\n+class StorageLocation(enum.Enum):\n+    HOME = 0\n+    HOME_CENTER = 1\n+    ASRS = 2\n+    PRE_CONVEYOR = 3\n+    CONVEYOR = 4\n+    ASRS_PICK = 5\n+    ASRS_PLACE = 6\n+\n+\n+class StorageHWStatus(enum.Enum):\n+    BUSY = 1\n+    IDLE = 2\n+    E_STOP = 3\n+    ERROR = 4  # does it exists?\n+\n+\n+class StorageStatus(enum.Enum):\n+    NEED_TO_CALIBRATE = 0\n+    IDLE = 1\n+    ERROR = 2\n+    BUSY = 3\n+\n+\n+class ASRS:\n+    \"\"\" Class for ASRS config storing \"\"\"\n+    ROWS = 5\n+    COLUMNS = 5\n+    SIDES = 2\n+    # TODO: make it as properties for logging\n+    location = StorageLocation.HOME\n+    status = StorageStatus.IDLE\n+\n+\n+class StorageHWAPI(ABC):\n+    @abstractmethod\n+    def home_move(self):\n+        ...\n+\n+    @abstractmethod\n+    def home_center_move(self):\n+        ...\n+\n+    @abstractmethod\n+    def asrs_place(self, side, row, column):\n+        ...\n+\n+    @abstractmethod\n+    def asrs_pick(self, side, row, column):\n+        ...\n+\n+    @abstractmethod\n+    def asrs_center_move(self):\n+        ...\n+\n+    @abstractmethod\n+    def pre_conv_place(self):\n+        ...\n+\n+    @abstractmethod\n+    def pre_conv_pick(self):\n+        ...\n+\n+    @abstractmethod\n+    def conv_place(self):\n+        ...\n+\n+    @abstractmethod\n+    def conv_pick(self):\n+        ...\n+\n+    @abstractmethod\n+    def get_status(self):\n+        ...\n+\n+    @property\n+    def status(self):\n+        return self.get_status()\n+\n+\n+class StorageHWAPIBySerial(StorageHWAPI):\n+    \"\"\"\n+    Class that provides hardware API to ASRS over Serial\n+    \"\"\"\n+    serial_config = config.serial_kwargs\n+    ASRS = 'ASRS'\n+    ASRS_CENTER = 'ASRS_CENTER'\n+    HOME = 'HOME'\n+    HOME_CENTER = 'HOME_CENTER'\n+    CONVEYOR = 'CONV'\n+    PRE_CONVEYOR = 'PRE_CONV'\n+    COMMAND_ENCODING = '1251'\n+    COMMAND_SEPARATOR = '\\n\\r'\n+\n+    def __init__(self):\n+        self.logger = logging.getLogger(f'{type(self).__name__}')\n+        self.logger.debug('Opening serial connection with ASRS')\n+        self.ser = serial.Serial(**self.serial_config)\n+\n+    def __repr__(self):\n+        return f'{type(self).__name__}()'\n+\n+    def __del__(self):\n+        self.ser.close()\n+\n+    def _prepare_command(self, command: str):\n+        \"\"\" Close the ASRS command with separator \"\"\"\n+        command = f'{command}{self.COMMAND_SEPARATOR}'.encode(self.COMMAND_ENCODING)\n+        return command\n+\n+    def _prepare_and_send_command(self, command):\n+        \"\"\" Send command to ASRS \"\"\"\n+        self.logger.debug(f'Sending command to ASRS: {command!r}')\n+        command = self._prepare_command(command)\n+        self.ser.write(command)\n+\n+    def home_move(self):\n+        command = f'PLACE {self.HOME}'\n+        self._prepare_and_send_command(command)\n+\n+    def home_center_move(self):\n+        command = f'PLACE {self.HOME_CENTER}'\n+        self._prepare_and_send_command(command)\n+\n+    def asrs_place(self, side, row, column):\n+        command = f'PLACE {self.ASRS} {side} {row} {column}'\n+        self._prepare_and_send_command(command)\n+\n+    def asrs_pick(self, side, row, column):\n+        command = f'PICK {self.ASRS} {side} {row} {column}'\n+        self._prepare_and_send_command(command)\n+\n+    def asrs_center_move(self):\n+        command = f'PLACE {self.ASRS_CENTER}'\n+        self._prepare_and_send_command(command)\n+\n+    def pre_conv_place(self):\n+        command = f'PLACE {self.PRE_CONVEYOR}'\n+        self._prepare_and_send_command(command)\n+\n+    def pre_conv_pick(self):\n+        command = f'PICK {self.PRE_CONVEYOR}'\n+        self._prepare_and_send_command(command)\n+\n+    def conv_place(self):\n+        command = f'PLACE {self.CONVEYOR}'\n+        self._prepare_and_send_command(command)\n+\n+    def conv_pick(self):\n+        command = f'PICK {self.CONVEYOR}'\n+        self._prepare_and_send_command(command)\n+\n+    def get_status(self):\n+        # TODO: implement it\n+        status = StorageHWStatus.IDLE\n+        self.logger.debug(f'Current status: {status!r}')\n+        return status\n+\n+\n+class StorageCommandExecutorThread(ASRS):\n+    idle_wait_timeout = 30\n+\n+    def __init__(self, storage_hw_api: StorageHWAPI):\n+        self.st_api = storage_hw_api\n+        self._executor_logger = logging.getLogger(f'{type(self).__name__}(executor_thread)')\n+        self._executor_logger.debug('Initializing the executor thread')\n+        self._init_waypoints_stuff()\n+        self._task_queue = Queue()\n+        self._executor_thread = threading.Thread(target=self._executor)","path":"storage/storage_api.py","position":205,"original_position":205,"commit_id":"4be52de044960b502c4f24dd1c7c76a9dff45dc0","original_commit_id":"4be52de044960b502c4f24dd1c7c76a9dff45dc0","user":{"login":"yoshi-lyosha","id":22373445,"node_id":"MDQ6VXNlcjIyMzczNDQ1","avatar_url":"https://avatars2.githubusercontent.com/u/22373445?v=4","gravatar_id":"","url":"https://api.github.com/users/yoshi-lyosha","html_url":"https://github.com/yoshi-lyosha","followers_url":"https://api.github.com/users/yoshi-lyosha/followers","following_url":"https://api.github.com/users/yoshi-lyosha/following{/other_user}","gists_url":"https://api.github.com/users/yoshi-lyosha/gists{/gist_id}","starred_url":"https://api.github.com/users/yoshi-lyosha/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/yoshi-lyosha/subscriptions","organizations_url":"https://api.github.com/users/yoshi-lyosha/orgs","repos_url":"https://api.github.com/users/yoshi-lyosha/repos","events_url":"https://api.github.com/users/yoshi-lyosha/events{/privacy}","received_events_url":"https://api.github.com/users/yoshi-lyosha/received_events","type":"User","site_admin":false},"body":"строка 301","created_at":"2018-06-12T17:02:05Z","updated_at":"2018-06-12T17:02:05Z","html_url":"https://github.com/rk9-fms/fms_hardware/pull/1#discussion_r194816483","pull_request_url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/1","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/comments/194816483"},"html":{"href":"https://github.com/rk9-fms/fms_hardware/pull/1#discussion_r194816483"},"pull_request":{"href":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/1"}},"in_reply_to_id":194815167},"pull_request":{"url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/1","id":194084079,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk0MDg0MDc5","html_url":"https://github.com/rk9-fms/fms_hardware/pull/1","diff_url":"https://github.com/rk9-fms/fms_hardware/pull/1.diff","patch_url":"https://github.com/rk9-fms/fms_hardware/pull/1.patch","issue_url":"https://api.github.com/repos/rk9-fms/fms_hardware/issues/1","number":1,"state":"open","locked":false,"title":"2 storage first step","user":{"login":"yoshi-lyosha","id":22373445,"node_id":"MDQ6VXNlcjIyMzczNDQ1","avatar_url":"https://avatars2.githubusercontent.com/u/22373445?v=4","gravatar_id":"","url":"https://api.github.com/users/yoshi-lyosha","html_url":"https://github.com/yoshi-lyosha","followers_url":"https://api.github.com/users/yoshi-lyosha/followers","following_url":"https://api.github.com/users/yoshi-lyosha/following{/other_user}","gists_url":"https://api.github.com/users/yoshi-lyosha/gists{/gist_id}","starred_url":"https://api.github.com/users/yoshi-lyosha/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/yoshi-lyosha/subscriptions","organizations_url":"https://api.github.com/users/yoshi-lyosha/orgs","repos_url":"https://api.github.com/users/yoshi-lyosha/repos","events_url":"https://api.github.com/users/yoshi-lyosha/events{/privacy}","received_events_url":"https://api.github.com/users/yoshi-lyosha/received_events","type":"User","site_admin":false},"body":"Finished first steps in work with hardware lvl for this moment.\r\n\r\nRealized:\r\n- communicating with ASRS by Serial connection with existing Denford software by its weird protocol like \"PLACE CONVEYOR\" or \"PICK ASRS 2 2 8\"\r\n- executing all Denford software commands and waiting till its execution in the separate thread for non blocking work with this module\r\n- highlvl movement realization by waypoints. the problem with old way is total dumbness. when you want to travel from HOME to CONVEYOR - the stacker wrecks in the Storage props and causes e-stop because it calculates linear trajectory\r\n- keeping current location","created_at":"2018-06-11T19:47:53Z","updated_at":"2018-06-12T17:02:05Z","closed_at":null,"merged_at":null,"merge_commit_sha":"edfca2901c7b158e004ad8512cfc0e5c1c38a455","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/1/commits","review_comments_url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/1/comments","review_comment_url":"https://api.github.com/repos/rk9-fms/fms_hardware/pulls/comments{/number}","comments_url":"https://api.github.com/repos/rk9-fms/fms_hardware/issues/1/comments","statuses_url":"https://api.github.com/repos/rk9-fms/fms_hardware/statuses/4be52de044960b502c4f24dd1c7c76a9dff45dc0","head":{"label":"rk9-fms:2-storage_first_step","ref":"2-storage_first_step","sha":"4be52de044960b502c4f24dd1c7c76a9dff45dc0","user":{"login":"rk9-fms","id":39672439,"node_id":"MDEyOk9yZ2FuaXphdGlvbjM5NjcyNDM5","avatar_url":"https://avatars2.githubusercontent.com/u/39672439?v=4","gravatar_id":"","url":"https://api.github.com/users/rk9-fms","html_url":"https://github.com/rk9-fms","followers_url":"https://api.github.com/users/rk9-fms/followers","following_url":"https://api.github.com/users/rk9-fms/following{/other_user}","gists_url":"https://api.github.com/users/rk9-fms/gists{/gist_id}","starred_url":"https://api.github.com/users/rk9-fms/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rk9-fms/subscriptions","organizations_url":"https://api.github.com/users/rk9-fms/orgs","repos_url":"https://api.github.com/users/rk9-fms/repos","events_url":"https://api.github.com/users/rk9-fms/events{/privacy}","received_events_url":"https://api.github.com/users/rk9-fms/received_events","type":"Organization","site_admin":false},"repo":{"id":135051408,"node_id":"MDEwOlJlcG9zaXRvcnkxMzUwNTE0MDg=","name":"fms_hardware","full_name":"rk9-fms/fms_hardware","owner":{"login":"rk9-fms","id":39672439,"node_id":"MDEyOk9yZ2FuaXphdGlvbjM5NjcyNDM5","avatar_url":"https://avatars2.githubusercontent.com/u/39672439?v=4","gravatar_id":"","url":"https://api.github.com/users/rk9-fms","html_url":"https://github.com/rk9-fms","followers_url":"https://api.github.com/users/rk9-fms/followers","following_url":"https://api.github.com/users/rk9-fms/following{/other_user}","gists_url":"https://api.github.com/users/rk9-fms/gists{/gist_id}","starred_url":"https://api.github.com/users/rk9-fms/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rk9-fms/subscriptions","organizations_url":"https://api.github.com/users/rk9-fms/orgs","repos_url":"https://api.github.com/users/rk9-fms/repos","events_url":"https://api.github.com/users/rk9-fms/events{/privacy}","received_events_url":"https://api.github.com/users/rk9-fms/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/rk9-fms/fms_hardware","description":"Stuff 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