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cleaner.py
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cleaner.py
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import jmri
import time
import sys
sys.path.append('C:\\Users\\steve\\JMRI\\jython')
import alex
import loco
import track
from jmri_bindings import *
from javax.swing import JOptionPane
from myroutes import *
import random
DEBUG = True
class Cleaner(alex.Alex):
def __init__(self, loc, clean=None):
self.loco = loc
self.tracks = []
if clean is None:
self.clean = 'trackpair'
else:
self.clean = clean
# Initialises the tracks[] array, according to information in the myroutes.py file
def initTracks(self):
for t in TRACKS:
tr = track.Track(len(self.tracks) + 1, t[0], t[1], t[2], t[3], t[4])
self.tracks.append(tr)
# Cleans a pair of tracks, eg. tracks 1 and 2
def trackPair(self):
startBlock = self.loco.block
self.debug("startblock is " + startBlock.getDisplayName())
self.loco.status = loco.MOVING
# we will shortly start moving but we don't know which
# direction we're facing. Get the next sensor in
# each direction
trak = track.Track.findTrackByBlock(self.tracks, self.loco.block)
self.debug("track: " + str(trak.nr))
if trak.northbound():
direction = 'Northbound'
else:
direction = 'Southbound'
self.debug("direction: " + direction)
nextLayoutBlockNorth = layoutblocks.getLayoutBlock(trak.nextBlockNorth(self.loco.block).getUserName())
nextSensorNorth = nextLayoutBlockNorth.getOccupancySensor()
self.debug("nextLayoutBlockNorth: " + nextLayoutBlockNorth.getUserName())
nextLayoutBlockSouth = layoutblocks.getLayoutBlock(trak.nextBlockSouth(self.loco.block).getUserName())
nextSensorSouth = nextLayoutBlockSouth.getOccupancySensor()
self.debug("nextLayoutBlockSouth: " + nextLayoutBlockSouth.getUserName())
# check those sensors are not active
if nextSensorNorth.knownState == ACTIVE:
print "Next block north (" + nextLayoutBlockNorth.getUserName() + ") is occupied - quitting"
return False
if nextSensorSouth.knownState == ACTIVE:
print "Next block south (" + nextLayoutBlockSouth.getUserName() + ") is occupied - quitting"
return False
# check the reverse loops are empty
if blocks.getBlock(NORTH_REVERSE_LOOP).getState() == OCCUPIED:
print "block", NORTH_REVERSE_LOOP, "occupied, quitting"
if blocks.getBlock(SOUTH_REVERSE_LOOP).getState() == OCCUPIED:
print "block", SOUTH_REVERSE_LOOP, "occupied, quitting"
# set the direction to forward
self.loco.forward()
# set exit routes in both directions in case we're facing the wrong way
route = trak.exitRoute()
self.setRoute(route)
route = trak.exitRoute(reverse = True)
self.setRoute(route)
# set the speed
self.loco.setSpeedSetting(0.4)
# check which sensor comes up
self.debug("waiting for either " + nextLayoutBlockNorth.getUserName() + " or " + nextLayoutBlockSouth.getUserName() +" to go active")
sensorList = [nextSensorNorth, nextSensorSouth]
self.changedSensors(sensorList) # set the initial states
self.waitChange(sensorList, 60 * 1000)
changedList = self.changedSensors(sensorList)
if len(changedList) == 0:
print "Timed out waiting for a sensor to come active - quitting"
self.loco.emergencyStop()
return False
if len(changedList) > 1:
print "both north and south sensors changed, this is surely unpossible - quitting"
self.loco.emergencyStop()
return False
changedSensor = changedList[0]
wrongWay = False
if trak.northbound() and changedSensor == nextSensorSouth:
self.debug("track " + str(trak.nr) + " is northbound but changedSensor is nextSensorSouth: " + nextSensorSouth.getDisplayName())
wrongWay = True
if trak.southbound() and changedSensor == nextSensorNorth:
self.debug("track " + str(trak.nr) + " is southbound but changedSensor is nextSensorNorth: " + nextSensorNorth.getDisplayName())
wrongWay = True
if wrongWay is True:
self.debug("going the wrong way")
self.loco.reverse()
# we are now moving in thr right direction, keep going until
# we get to the north/south link
if trak.northbound():
lb = layoutblocks.getLayoutBlock('North Link')
ls = lb.getOccupancySensor()
else:
lb = layoutblocks.getLayoutBlock('South Link')
ls = lb.getOccupancySensor()
if ls.knownState == INACTIVE:
self.waitChange([ls], 60 * 1000)
# we are at the link
self.debug("link reached")
self.loco.setBlock(lb)
# go through the reversing loop
if trak.northbound():
loop = NORTH_REVERSE_LOOP
else:
loop = SOUTH_REVERSE_LOOP
self.reverseLoop(loop, stop=False)
# work out which trak we are going down now
if trak.southbound():
trak = self.tracks[trak.nr ] # move up one (eg. track 1 -> 2)
else:
trak = self.tracks[trak.nr - 2] # move up one (eg. 2 -> 1)
# set routes for entry and exit
rt = trak.entryRoute()
self.setRoute(rt)
rt = trak.exitRoute()
self.setRoute(rt)
# wait till we get to the link
if trak.northbound():
lb = layoutblocks.getLayoutBlock('North Link')
ls = lb.getOccupancySensor()
else:
lb = layoutblocks.getLayoutBlock('South Link')
ls = lb.getOccupancySensor()
if ls.knownState == INACTIVE:
self.waitChange([ls], 60 * 1000)
# we are at the link
self.loco.setBlock(lb)
# go through the reversing loop
if trak.northbound():
loop = NORTH_REVERSE_LOOP
else:
loop = SOUTH_REVERSE_LOOP
self.reverseLoop(loop, stop=False)
self.debug("done with reverse loop")
# work out which track we are going (back) down now
if trak.southbound():
trak = self.tracks[trak.nr] # move up one (eg. track 1 -> 2)
else:
trak = self.tracks[trak.nr - 2] # move down one (eg. 2 -> 1)
self.debug("going down track " + str(trak.nr))
# set route for entry
rt = trak.entryRoute()
self.setRoute(rt)
# set route for exit in case coming off the last block overruns the track
rt = trak.exitRoute()
self.setRoute(rt)
# wait for the original block to go active
s = startBlock.getSensor()
if s.knownState != ACTIVE:
self.debug("waiting for startblock " + startBlock.getDisplayName() + " sensor " + s.getDisplayName() + " to go active")
self.waitChange([s])
# go past
self.waitChange([s])
# come back a bit
self.loco.reverse()
time.sleep(20)
self.loco.setSpeedSetting(0)
def sidings(self, which='north'):
trak = track.Track.findTrackByBlock(self.tracks, self.loco.block)
self.debug("track: " + str(trak.nr))
startBlock = self.loco.block
speed = 0.3
# set exit route for this track
route = trak.exitRoute()
self.setRoute(route)
# pick which sidings we're doing
if which == 'north':
sidings = NORTH_SIDINGS
else:
sidings = SOUTH_SIDINGS
if random.random() > 0.5:
sidings.reverse()
for siding in sidings:
# FP sidings is a special case
if siding == "FP sidings" and siding != sidings[0]:
# reverse out behind the south link clear sensor
self.loco.reverse()
self.loco.setSpeedSetting(speed)
sensor = sensors.getSensor(IRSENSORS["South Link Clear"])
if sensor.knownState != ACTIVE:
self.waitChange([sensor])
self.waitChange([sensor])
# set the route into the siding
routes = self.requiredRoutes(siding)
for route in routes:
self.setRoute(route)
self.loco.forward()
self.loco.setSpeedSetting(speed)
# wait for the siding to become occupied
lb = layoutblocks.getLayoutBlock(siding)
ls = lb.getOccupancySensor()
if ls.knownState == ACTIVE:
raise RuntimeError("block " + siding + " is occupied")
else:
self.waitChange([ls], 60 * 1000)
# wait for a bit to get into the siding
st = CLEANER_SIDING_TIME[siding]
self.debug("waiting " + str(st) + " seconds before stopping")
time.sleep(st)
# stop
self.loco.emergencyStop()
# switch direction
self.loco.reverse()
# set speed
self.loco.setSpeedSetting(speed)
# wait till IR sensor goes active
if which == 'north':
irsensor = IRSENSORS["North Link Clear"]
elif siding == "FP sidings":
irsensor = IRSENSORS["South Link Clear"]
else:
irsensor = IRSENSORS["South Sidings Clear"]
ls = sensors.getSensor(irsensor)
if ls.knownState == INACTIVE:
self.waitChange([ls], 60 * 1000)
# and then wait for it to clear
self.waitChange([ls], 60 * 1000)
self.loco.setSpeedSetting(0)
# reverse back to the block we started on
self.loco.reverse()
self.loco.setSpeedSetting(speed)
sen = startBlock.getSensor()
self.waitChange([sen], 120 * 1000)
# and just past it
self.loco.setSpeedSetting(0.3)
self.waitChange([sen], 60 * 1000)
self.loco.setSpeedSetting(0)
def go(self):
# get track info
self.initTracks()
# turn layout power on
self.powerState = powermanager.getPower()
if self.powerState != jmri.PowerManager.ON:
poweredOn = True
self.debug("turning power on")
powermanager.setPower(jmri.PowerManager.ON)
else:
poweredOn = False
self.debug("power is on")
# get a throttle
self.getLocoThrottle(self.loco)
self.debug("got throttle")
if poweredOn:
# stop the loco in case it started up
self.loco.emergencyStop()
self.debug("sleeping for 5 ...")
time.sleep(5)
# get a block if we don't have one
self.debug("sorting out blocks")
if self.loco.block is None:
# put up a dropbox for the user to select the block
blist = ['not in use']
blockNameList = []
for t in self.tracks:
blockNameList += t.blocks
for blockName in blockNameList:
blk = blocks.getBlock(blockName)
if blk.getState () == OCCUPIED:
if str(blk.getValue()) == str(self.loco.dccAddr):
self.debug("found loco in block " + blockName)
self.loco.setBlock(blk)
elif blk.getValue() is None or blk.getValue() == "":
blist.append(blockName)
if self.loco.block is None:
self.debug("getting block from user")
b = JOptionPane.showInputDialog(None,
"Select starting block for " + self.loco.name(),
"Choose block",
JOptionPane.QUESTION_MESSAGE,
None,
blist,
'not in use')
if b is None:
# User cancelled
return False
if b != "not in use":
# set the block and add the new loco to the list
self.loco.setBlock(b)
if self.loco.block is None:
raise RuntimeError("I don't have a block!")
if self.clean == 'trackpair':
self.trackPair()
elif self.clean == 'northsidings':
self.sidings('north')
elif self.clean == 'southsidings':
self.sidings('south')
else:
print "don't recognise this instruction: " + self.clean
self.debug("exiting")
return False