Merge pull request #179 from schuetzepaul/assembly_features

Assembly features

.gitignore

@@ -21,3 +21,6 @@ html/
 .orig
 doxygen
 
+build/
+bin/
+lib/

assembly/assembly/assembly.cc

@@ -23,6 +23,8 @@
 #include <QApplication>
 #include <QDateTime>
 #include <QFile>
+#include <QCommandLineParser>
+#include <QCoreApplication>
 
 #include <opencv2/opencv.hpp>
 
@@ -45,12 +47,44 @@ int main(int argc, char** argv)
     }
 #else
     QApplication app(argc, argv);
+    QCoreApplication::setApplicationName("Automated Assembly Software");
+    QCoreApplication::setApplicationVersion("1.0");
 #endif
 
     app.setStyle("cleanlooks");
 
+    QCommandLineParser parser;
+    parser.setApplicationDescription("Automated Assembly Software");
+    parser.addHelpOption();
+    parser.addVersionOption();
+
+    parser.addOptions({
+        {{"g", "glass"},
+	 QCoreApplication::translate("main", "Use configuration for glass assembly")},
+	{{"s", "silicon"},
+	 QCoreApplication::translate("main", "Use configuration for silicon assembly")}
+      }
+      );
+
+    parser.process(app);
+
+    // ensure that either glass or silicon is specified
+    if(parser.isSet("glass") + parser.isSet("silicon") != 1)
+    {
+      std::cout << "Please specify the use of either glass or silicon via -g (--glass) or -s (--silicon)!" << std::endl << std::endl;
+      parser.showHelp(1);
+      exit(1);
+    }
+
+    // choose configuration file
+    auto relative_config_path = "/assembly/assembly_SiDummyPS.cfg";
+    if(parser.isSet("glass"))
+    {
+      relative_config_path = "/assembly/assembly_glass.cfg";
+    }
+
     // log output -----------
-    ApplicationConfig* config = ApplicationConfig::instance(std::string(Config::CMSTkModLabBasePath)+"/assembly/assembly.cfg", "main");
+    ApplicationConfig* config = ApplicationConfig::instance(std::string(Config::CMSTkModLabBasePath)+relative_config_path, "main");
 
     const NQLog::LogLevel nqloglevel_stdout  = ((NQLog::LogLevel) config->getDefaultValue<int>("main", "LogLevel_stdout" , 2));
     const NQLog::LogLevel nqloglevel_logfile = ((NQLog::LogLevel) config->getDefaultValue<int>("main", "LogLevel_logfile", 2));

assembly/assembly/parameters/SiDummyPS.cfg

@@ -0,0 +1,98 @@
+#-- Last updated on July 29th 2021 (second functional module)
+
+# Sensor    Ref-Point = corner of fiducial marker measured with Pattern Recognition
+# Spacer    Ref-Point = corner of spacer in correspondence with the Sensor Ref-Point
+# Baseplate Ref-Point = corner [...]
+# NB: 'edge' <-> corner
+
+####################################
+### DIMENSIONS #####################
+####################################
+
+# dimensions: thickness of assembly components -- to be remeasured for each assembly
+Thickness_Baseplate   0.210
+Thickness_PSS         0.250 #From zfocus on PSs
+Thickness_PSP         0.215 #From zfocus on PSp
+Thickness_MPA         0.420 #From zfocus on MPA
+Thickness_Spacer      3.200 #May check with caliper or zfocus
+Depth_SpacerSlots     0.350
+Thickness_GlueLayer   0.020
+
+####################################
+### POSITIONS ######################
+####################################
+
+# position: Camera pointing to Sensor Ref-Point area #These coordinates correspond to an arbitrary position where to position the sensor's ref. marker, so that it is quickly recognized by PatRec
+RefPointSensor_X     -61.15
+RefPointSensor_Y     -82.49
+RefPointSensor_Z     -16.595 #PSS: X-61.12/Y-81.10/Z-16.625 #PSP Z-16.625 ((avg [-16.62;-16.63])) #Values taken around center of platform, for direct comparison with 'CameraFocusOnAssemblyStage_Z'
+RefPointSensor_A     0.000
+
+# position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
+# values correspond to bottom-left reference-edge on assembly platform #Make sure 'AngleOfCameraFrameInRefFrame_dA' is calibrated first
+RefPointPlatform_X   -74.094
+RefPointPlatform_Y   -150.999
+RefPointPlatform_Z   -16.90
+RefPointPlatform_A   -0.156
+
+# position: z-position where camera is focused on Assembly Stage surface #NB: now focusing near the center of the vacuum plate, as different z-focus values at different points indicate slight tilt
+CameraFocusOnAssemblyStage_X     -12.2
+CameraFocusOnAssemblyStage_Y     -105.42
+CameraFocusOnAssemblyStage_Z     -16.94
+CameraFocusOnAssemblyStage_A       0.00
+
+# position: z-position where camera is focused on Gluing Stage surface #In Y, the spacers should be reasonably centered; in X, the spacer's 'bumps' should be well-positioned on the fast glue lego pieces
+CameraFocusOnGluingStage_X      -144.25
+CameraFocusOnGluingStage_Y      -102.33
+CameraFocusOnGluingStage_Z       -84.16
+CameraFocusOnGluingStage_A         0.00
+
+####################################
+### DISTANCES ######################
+####################################
+#NB: 'PSS/PSP RefPoint' below correspond to the ref. point on the PSS/PSP markers. In practice these point are identified via PatRec, i.e. they are assembly-dependent <-> these distances are all relative
+
+# distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg] #Obtained with the macro 'calibrations/AngleOfCameraFrameInRefFrame_dA.cc'
+AngleOfCameraFrameInRefFrame_dA        -89.4655
+
+# distance: from Sensor Ref-Point to Sensor Pickup position
+FromSensorRefPointToSensorPickup_dX     85.75
+FromSensorRefPointToSensorPickup_dY     40.80
+
+# distance: dZ distance to go from Z position where camera provides best-focus on object,
+# to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
+#  - empirical value calibrated with multi-pickup tests
+FromCameraBestFocusToPickupHeight_dZ   -18.38
+
+# distance: from PS-p Ref-Point to PS-s Ref-Point
+# This 'nominal distance' is taken from the properly-superimposed GDS drawings of the PSP and PSS <-> XY distance between the (arbitrary) reference points used by PatRec on the PSP and PSS ref. markers
+FromPSPRefPointToPSSRefPoint_dX          -0.16
+FromPSPRefPointToPSSRefPoint_dY          0.20
+
+# distance: from Spacer physical edge to PS-s Ref-Point
+# This 'nominal distance' is obtained from the CAD drawing of the [assembly platform + module] <-> XY distance between the 'top-left' corner of the top-most spacer (pushing against the stops) and the (arbitrary) reference point used by PatRec on the PSS ref. marker
+FromSpacerEdgeToPSSRefPoint_dX           -1.486
+FromSpacerEdgeToPSSRefPoint_dY           0.76
+
+# distance: from PS-p physical edge to PS-p Ref-Point
+# This 'nominal distance' is taken from the GDS drawing of the PSP <-> XY distance between PSP 'top-left' reference corner and the (arbitrary) reference point used by PatRec on the PSP ref. marker
+# NB: although we do not rely on the actual dicing of the PSP's edges, we do use the nominal PSP corner position in the code's logic to position the PSP on the baseplate
+FromPSPEdgeToPSPRefPoint_dX              0.90
+FromPSPEdgeToPSPRefPoint_dY             -0.34
+
+# distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
+# This 'ad hoc' distance is defined such that the [PSS + spacers] get positioned properly above the gluing stage (with the spacers' bumps above the fast glue, etc.) 
+FromPSSPlusSpacersToMaPSAPositionToGluingStage_dX       -170.25
+FromPSSPlusSpacersToMaPSAPositionToGluingStage_dY       -5.0
+
+# distance: from ref-point on assembly platform to spacer's edge corresponding to sensor ref. marker (in spacers platform orientation -- now same as baseplate orientation)
+# This 'nominal distance' is obtained from the CAD drawing of the [assembly platform] <-> XY distance between the ref. point on assembly platform and the 'top-left' corner of the top-most spacer (pushing against the stops)
+# NB: this distance is platform-dependent only
+FromRefPointPlatformToSpacerEdge_dX        13.355
+FromRefPointPlatformToSpacerEdge_dY        69.18
+
+# distance: from ref-point on assembly platform to PSp ref. edge (in baseplate platform orientation)
+# This 'nominal distance' is obtained from the CAD drawing of the [assembly platform + module] <-> XY distance between the ref. point on assembly platform and the 'top-left' corner of the PSP
+# NB: although we do not rely on the actual dicing of the PSP's edges, we do use the nominal PSP corner position in the code's logic to position the PSP on the baseplate
+FromRefPointPlatformToPSPEdge_dX          11.13
+FromRefPointPlatformToPSPEdge_dY          70.08

assembly/assembly/parameters/glass.cfg

@@ -0,0 +1,89 @@
+#-- Created on May 6th 2021 (re-calibrate setup after recent changes: re-machined vacuum plate with updated HV tail slot)
+
+# Sensor    Ref-Point = corner of fiducial marker measured with Pattern Recognition
+# Spacer    Ref-Point = corner of spacer in correspondence with the Sensor Ref-Point
+# Baseplate Ref-Point = corner [...]
+# NB: 'edge' <-> corner
+
+####################################
+### DIMENSIONS #####################
+####################################
+
+# dimensions: thickness of assembly components
+Thickness_Baseplate   0.220
+Thickness_PSS         0.700
+Thickness_PSP         0.690
+Thickness_MPA         0.000
+Thickness_Spacer      3.250
+Depth_SpacerSlots     0.350
+Thickness_GlueLayer   0.100
+
+####################################
+### POSITIONS ######################
+####################################
+
+# position: Camera pointing to Sensor Ref-Point area #These coordinates correspond to an arbitrary position where to position the sensor's ref. marker, so that it is quickly recognized by PatRec
+RefPointSensor_X     -61.15
+RefPointSensor_Y     -82.49
+RefPointSensor_Z     -16.24 #PSS: X-61.12/Y-81.10/Z-16.625 #PSP Z-16.625 ((avg [-16.62;-16.63])) #V
+RefPointSensor_A     0.000
+
+# position: ref-point on assembly platform for calibration of baseplate position (spacer aligned along x-axis)
+# values correspond to bottom-left reference-edge on assembly platform #Make sure 'AngleOfCameraFrameInRefFrame_dA' is calibrated first
+RefPointPlatform_X   -74.094
+RefPointPlatform_Y   -150.999
+RefPointPlatform_Z   -16.90
+RefPointPlatform_A   -0.156
+
+# position: z-position where camera is focused on Assembly Stage surface
+CameraFocusOnAssemblyStage_X     -12.2
+CameraFocusOnAssemblyStage_Y     -105.42
+CameraFocusOnAssemblyStage_Z     -16.94
+CameraFocusOnAssemblyStage_A       0.00
+
+# position: z-position where camera is focused on Gluing Stage surface #In Y, the spacers should be reasonably centered; in X, the spacer's 'bumps' should be well-positioned on the fast glue lego pieces
+CameraFocusOnGluingStage_X      -144.25
+CameraFocusOnGluingStage_Y      -102.33
+CameraFocusOnGluingStage_Z       -84.16
+CameraFocusOnGluingStage_A         0.00
+
+####################################
+### DISTANCES ######################
+####################################
+#NB: below 'PSS/PRefPoint' correspond to the ref. point identified by PatRec, i.e. it is assembly-dependent
+
+# distance: Angle of Camera Frame in the XY Motion Stage Ref-Frame [deg] #Obtained with the macro 'calibrations/AngleOfCameraFrameInRefFrame_dA.cc'
+AngleOfCameraFrameInRefFrame_dA        -89.4655
+
+# distance: from Sensor Ref-Point to Sensor Pickup position
+FromSensorRefPointToSensorPickup_dX     86.50
+FromSensorRefPointToSensorPickup_dY     40.30
+
+# distance: dZ distance to go from Z position where camera provides best-focus on object,
+# to Z position where free pickup-tool (i.e. with no other objects attached) touches the object
+#  - empirical value calibrated with multi-pickup tests
+FromCameraBestFocusToPickupHeight_dZ   -18.38
+
+# distance: from PS-p Ref-Point to PS-s Ref-Point
+FromPSPRefPointToPSSRefPoint_dX          1.25
+FromPSPRefPointToPSSRefPoint_dY          0.00
+
+# distance: from Spacer physical edge to PS-s Ref-Point
+FromSpacerEdgeToPSSRefPoint_dX           0.00
+FromSpacerEdgeToPSSRefPoint_dY           0.75
+
+# distance: from PS-p physical edge to PS-p Ref-Point
+FromPSPEdgeToPSPRefPoint_dX              0.85
+FromPSPEdgeToPSPRefPoint_dY             -0.15
+
+# distance: XY distance from 'final position to lower PSs+Spacers onto PSp' to 'position to lower PSs+Spacers onto Gluing Stage'
+FromPSSPlusSpacersToMaPSAPositionToGluingStage_dX       -170.25
+FromPSSPlusSpacersToMaPSAPositionToGluingStage_dY       -5.0
+
+# distance: from ref-point on assembly platform to spacer's edge corresponding to sensor ref. marker (in spacers platform orientation -- now same as baseplate orientation)
+FromRefPointPlatformToSpacerEdge_dX        13.34
+FromRefPointPlatformToSpacerEdge_dY        69.18
+
+# distance: from ref-point on assembly platform to PSp ref. edge (in baseplate platform orientation)
+FromRefPointPlatformToPSPEdge_dX          11.13
+FromRefPointPlatformToPSPEdge_dY          70.08

assembly/assemblyCommon/AssemblyAssemblyActionWidget.cc

@@ -13,6 +13,8 @@
 #include <nqlogger.h>
 #include <AssemblyAssemblyActionWidget.h>
 
+#include <QMessageBox>
+
 AssemblyAssemblyActionWidget::AssemblyAssemblyActionWidget(QWidget* parent)
  : QWidget(parent)
 
@@ -25,6 +27,8 @@ AssemblyAssemblyActionWidget::AssemblyAssemblyActionWidget(QWidget* parent)
  , qobject_(nullptr)
  , start_slot_(nullptr)
  , stop_signal_(nullptr)
+
+ , inhibit_dialogue_(false)
 {
   // layout
   layout_ = new QHBoxLayout;
@@ -61,6 +65,26 @@ void AssemblyAssemblyActionWidget::disable(const int state)
 {
   if(state == 2)
   {
+    if(!inhibit_dialogue_)
+    {
+      QMessageBox* msgBox = new QMessageBox;
+      msgBox->setStyleSheet("QLabel{min-width: 300px;}");
+      msgBox->setInformativeText("WARNING: this will not perform any action but just mark the step as \"done\".\nWould you like to proceed?");
+      msgBox->setStandardButtons(QMessageBox::No | QMessageBox::Yes);
+      msgBox->setDefaultButton(QMessageBox::Yes);
+      int ret = msgBox->exec();
+      switch(ret)
+      {
+        case QMessageBox::No:
+          checkbox_->setCheckState(Qt::Unchecked);
+          return;
+        case QMessageBox::Yes:
+          break;
+        default: return;
+      }
+    } else {
+      inhibit_dialogue_ = false;
+    }
     label_->setEnabled(false);
     button_->setEnabled(false);
   }
@@ -124,7 +148,8 @@ void AssemblyAssemblyActionWidget::disable_action()
 
     disconnect(qobject_, stop_signal_, this, SLOT(disable_action()));
 
-    checkbox_->setChecked(true);
+    inhibit_dialogue_ = true;
+    checkbox_->setCheckState(Qt::Checked);
   }
   else
   {

assembly/assemblyCommon/AssemblyAssemblyActionWidget.h

@@ -46,6 +46,8 @@ class AssemblyAssemblyActionWidget : public QWidget
   const char* start_slot_;
   const char* stop_signal_;
 
+  bool inhibit_dialogue_;
+
  public slots:
   void disable(const bool b=true);
   void disable(const int);

assembly/assemblyCommon/AssemblyAssemblyTextWidget.cc

@@ -10,6 +10,7 @@
 //                                                                             //
 /////////////////////////////////////////////////////////////////////////////////
 
+#include <nqlogger.h>
 #include <AssemblyAssemblyTextWidget.h>
 
 AssemblyAssemblyTextWidget::AssemblyAssemblyTextWidget(QWidget* parent)
@@ -66,3 +67,61 @@ void AssemblyAssemblyTextWidget::disable(const int state)
 
   return;
 }
+
+void AssemblyAssemblyTextWidget::reset_action()
+{
+  qobject_ = nullptr;
+  check_slot_ = nullptr;
+  uncheck_slot_ = nullptr;
+}
+
+
+void AssemblyAssemblyTextWidget::connect_check_action(const QObject* qobject, const char* check_slot, const char* uncheck_slot)
+{
+  if(qobject_) {this->reset_action();}
+
+  if(qobject)
+  {
+    qobject_ = qobject;
+    check_slot_ = check_slot;
+    uncheck_slot_ = uncheck_slot;
+
+    connect(checkbox_, SIGNAL(stateChanged(int)), this, SLOT(change_action(int)));
+  }
+  else
+  {
+    NQLog("AssemblyAssemblyTextWidget", NQLog::Warning) << "connect_check_action"
+       << ": invalid (NULL) input pointer to QObject, no action taken";
+  }
+}
+
+void AssemblyAssemblyTextWidget::change_action(int state)
+{
+  NQLog("AssemblyAssemblyTextWidget", NQLog::Spam) << "calling check_action";
+
+  if(qobject_)
+  {
+    if(state == Qt::Checked)
+    {
+      if(check_slot_)
+      {
+        connect(this, SIGNAL(action_request()), qobject_, check_slot_);
+        emit action_request();
+        disconnect(this, SIGNAL(action_request()), qobject_, check_slot_);
+      }
+    } else if(state == Qt::Unchecked)
+    {
+      if(uncheck_slot_)
+      {
+        connect(this, SIGNAL(action_request()), qobject_, uncheck_slot_);
+        emit action_request();
+        disconnect(this, SIGNAL(action_request()), qobject_, uncheck_slot_);
+      }
+    }
+  }
+  else
+  {
+    NQLog("AssemblyAssemblyTextWidget", NQLog::Warning) << "check_action"
+       << ": invalid (NULL) pointer to QObject, no action taken";
+  }
+}