commit by robo pro coding

.project.json

+{"uuid":"e2679fc1-bbd2-5142-2ec8-ad7e1cab3590","name":"Sorting_Line_AI_py","mode":"PROFESSIONAL","version":"1.0","controller":"TXT4"}
\ No newline at end of file

Sorting_Line_AI_py.py

+import logging
+import os
+import threading
+
+from lib.controller import *
+from lib.display import *
+from lib.machine_learning import *
+from lib.node_red import *
+from lib.sorting_line import *
+
+
+controllerid = None
+client = None
+
+
+controllerid = os.uname()[1]
+logging.basicConfig(level=logging.ERROR, format="%(asctime)s %(levelname)-10s %(funcName)3s %(message)s   #%(filename)3s:%(lineno)d")
+display.set_attr("part_pass_fail.text", str(''.join([str(x) for x in ['<h4>UI at: http://', controllerid, '.local:1880/ui</h4>']])))
+threading.Thread(target=thread_SLD, daemon=True).start()
+client = mqtt_client_forever()

lib/camera.py

+# auto generated content from camera configuration
+from lib.controller import *
+import fischertechnik.factories as txt_factory
+
+TXT_SLD_M_USB1_1_camera.set_rotate(False)
+TXT_SLD_M_USB1_1_camera.set_height(240)
+TXT_SLD_M_USB1_1_camera.set_width(320)
+TXT_SLD_M_USB1_1_camera.set_fps(15)
+TXT_SLD_M_USB1_1_camera.start()
+

lib/camera.xml

+<xml type="camera" version="2" camera_name="TXT_SLD_M_USB1_1_camera"/>
\ No newline at end of file

lib/controller.py

+import fischertechnik.factories as txt_factory
+
+txt_factory.init()
+txt_factory.init_input_factory()
+txt_factory.init_output_factory()
+txt_factory.init_motor_factory()
+txt_factory.init_counter_factory()
+txt_factory.init_usb_factory()
+txt_factory.init_camera_factory()
+
+TXT_SLD_M = txt_factory.controller_factory.create_graphical_controller()
+TXT_SLD_M_I4_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_SLD_M, 4)
+TXT_SLD_M_I5_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_SLD_M, 5)
+TXT_SLD_M_I6_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_SLD_M, 6)
+TXT_SLD_M_I7_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_SLD_M, 7)
+TXT_SLD_M_I8_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_SLD_M, 8)
+TXT_SLD_M_O5_magnetic_valve = txt_factory.output_factory.create_magnetic_valve(TXT_SLD_M, 5)
+TXT_SLD_M_O6_magnetic_valve = txt_factory.output_factory.create_magnetic_valve(TXT_SLD_M, 6)
+TXT_SLD_M_O7_magnetic_valve = txt_factory.output_factory.create_magnetic_valve(TXT_SLD_M, 7)
+TXT_SLD_M_O3_compressor = txt_factory.output_factory.create_compressor(TXT_SLD_M, 3)
+TXT_SLD_M_O4_led = txt_factory.output_factory.create_led(TXT_SLD_M, 4)
+TXT_SLD_M_O8_magnetic_valve = txt_factory.output_factory.create_magnetic_valve(TXT_SLD_M, 8)
+TXT_SLD_M_M1_encodermotor = txt_factory.motor_factory.create_encodermotor(TXT_SLD_M, 1)
+TXT_SLD_M_C1_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_SLD_M, 1)
+TXT_SLD_M_C1_motor_step_counter.set_motor(TXT_SLD_M_M1_encodermotor)
+TXT_SLD_M_USB1_1_camera = txt_factory.usb_factory.create_camera(TXT_SLD_M, 1)
+
+txt_factory.initialized()
\ No newline at end of file

lib/display.py

+import os
+import time
+import threading
+import signal
+
+import ftgui
+
+display = ftgui.fttxt2_gui_connector("app")
+display.open()
+
+def display_monitoring():
+    while display.is_open():
+        time.sleep(1)
+    os.kill(os.getpid(), signal.SIGTERM)
+    exit()
+
+threading.Thread(target=display_monitoring, daemon=True).start()

lib/display.qml

+// auto generated content from display configuration
+import QtQuick 2.2
+import QtQuick.Window 2.0
+import QtQuick.Controls 1.1
+import QtQuick.Controls.Styles 1.1
+import QtQuick.Extras 1.4
+
+TXTWindow {
+  Rectangle {
+    id: rect
+    color: "grey"
+    anchors.fill: parent
+  }
+  TXTLabel {
+    id: img_label
+    text: ""
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 17
+    y: 19
+    width: 200
+    height: 150
+  }
+  StatusIndicator {
+    id: red
+    color: "#EC1600"
+    active: false
+    x: 71
+    y: 195
+    width: 35
+    height: 35
+  }
+  StatusIndicator {
+    id: white
+    color: "#FFFFFF"
+    active: false
+    x: 1
+    y: 194
+    width: 35
+    height: 35
+  }
+  StatusIndicator {
+    id: blue
+    color: "#005693"
+    active: false
+    x: 137
+    y: 194
+    width: 35
+    height: 35
+  }
+  StatusIndicator {
+    id: fail
+    color: "#E7AE13"
+    active: false
+    x: 204
+    y: 195
+    width: 35
+    height: 35
+  }
+  TXTLabel {
+    id: version_label
+    text: "<small>Sorting Line AI: Version 2022/11/24</small>"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 19
+    y: 0
+    width: 201
+    height: 20
+  }
+  TXTLabel {
+    id: part_pass_fail
+    text: "<font>Webadress loading...</font>"
+    font.pixelSize: 16
+    elide: Text.ElideRight
+    x: 20
+    y: 170
+    width: 200
+    height: 22
+  }
+}

lib/display.xml

+<xml type="display" version="2"><item id="33" class="TXTLabel"><name>img_label</name><text/><geometry><x>17</x><y>19</y><width>200</width><height>150</height></geometry></item><item id="20" class="StatusIndicator"><name>red</name><color>#EC1600</color><active>false</active><geometry><x>71</x><y>195</y><width>35</width><height>35</height></geometry></item><item id="21" class="StatusIndicator"><name>white</name><color>#FFFFFF</color><active>false</active><geometry><x>1</x><y>194</y><width>35</width><height>35</height></geometry></item><item id="22" class="StatusIndicator"><name>blue</name><color>#005693</color><active>false</active><geometry><x>137</x><y>194</y><width>35</width><height>35</height></geometry></item><item id="23" class="StatusIndicator"><name>fail</name><color>#E7AE13</color><active>false</active><geometry><x>204</x><y>195</y><width>35</width><height>35</height></geometry></item><item id="24" class="TXTLabel"><name>version_label</name><text>&lt;small&gt;Sorting Line AI: Version 2022/11/24&lt;/small&gt;</text><geometry><x>19</x><y>0</y><width>201</width><height>20</height></geometry></item><item id="28" class="TXTLabel"><name>part_pass_fail</name><text>&lt;font&gt;Webadress loading...&lt;/font&gt;</text><geometry><x>20</x><y>170</y><width>200</width><height>22</height></geometry></item></xml>
\ No newline at end of file

lib/machine_learning.py

+import base64
+import cv2
+import datetime
+import logging
+import numpy as np
+import subprocess
+import time
+
+from datetime import datetime
+from fischertechnik.camera.VideoStream import VideoStream
+from fischertechnik.controller.Motor import Motor
+from fischertechnik.machine_learning.ObjectDetector import ObjectDetector
+from lib.camera import *
+from lib.controller import *
+from lib.display import *
+from lib.node_red import *
+
+
+tag = None
+value = None
+num = None
+color = None
+ts = None
+filename = None
+sat = None
+hue = None
+duration = None
+prob = None
+keytext = None
+pos = None
+frame = None
+detector = None
+result = None
+key = None
+
+
+def reset_inteface():
+    global tag, value, num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    display.set_attr("part_pass_fail.text", str(containInHTML('i', 'Not analysed yet')))
+    display.set_attr("red.active", str(False).lower())
+    display.set_attr("white.active", str(False).lower())
+    display.set_attr("blue.active", str(False).lower())
+    display.set_attr("fail.active", str(False).lower())
+
+
+def containInHTML(tag, value):
+    global num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    return ''.join([str(x) for x in ['<', tag, '>', value, '</', tag, '>']])
+
+
+def MakePictureRunKiReturnFoundPart():
+    global tag, value, num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    reset_inteface()
+    TXT_SLD_M_O4_led.set_brightness(int(512))
+    time.sleep(0.2)
+    TXT_SLD_M_O4_led.set_brightness(int(30))
+    time.sleep(0.8)
+    duration = (time.time() * 1000)
+    num = 4
+    prob = 0
+    keytext = 'No feature found'
+    pos = ''
+    display.set_attr("part_pass_fail.text", str(containInHTML('i', 'processing')))
+    frame = TXT_SLD_M_USB1_1_camera.read_frame()
+    #get color from frame
+    color = (np.mean(frame[ 80:120,  100:240], axis=(0, 1)))
+    color = cv2.cvtColor(np.uint8([[[color[0],color[1],color[2]]]]),cv2.COLOR_BGR2HLS)[0][0]
+    hue = color[0] # range 0-180
+    sat = color[2] # range 0-255
+    TXT_SLD_M_C1_motor_step_counter.reset()
+    TXT_SLD_M_M1_encodermotor.set_speed(int(160), Motor.CCW)
+    TXT_SLD_M_M1_encodermotor.set_distance(int(240))
+    detector = ObjectDetector('/opt/ft/workspaces/machine-learning/object-detection/sorting_line/model.tflite', '/opt/ft/workspaces/machine-learning/object-detection/sorting_line/labels.txt')
+    result = detector.process_image(frame)
+    color = get_color()
+    TXT_SLD_M_O4_led.set_brightness(int(0))
+    print(result)
+    if len(result) > 0:
+        prob = result[0]['probability']
+        pos = result[0]['position']
+        key = result[0]['label']
+        keytext = ''
+        if key == 'CRACK':
+            keytext = 'Cracks in Workpiece'
+        elif key == 'MIPO1':
+            keytext = '1x milled pocket'
+        elif key == 'MIPO2':
+            keytext = '2x milled pocket'
+        elif key == 'BOHO':
+            keytext = 'Round hole'
+        elif key == 'BOHOEL':
+            keytext = 'Hole elyptical'
+        elif key == 'BOHOMIPO1':
+            keytext = 'Hole and 1x milled pocket'
+        elif key == 'BOHOMIPO2':
+            keytext = 'Hole and 2x milled pocket'
+        elif key == 'BLANK':
+            keytext = 'Workpiece without features'
+        else:
+            keytext = key
+        print('{} {} {} {} {} {}'.format(key, keytext, num, prob, pos, color))
+        if key == 'BOHO' and color == 1:
+            num = 1
+            display.set_attr("white.active", str(True).lower())
+            display.set_attr("part_pass_fail.text", str(containInHTML('b', "Workpiece <font color='#88ff88'> PASSED</font>")))
+        elif key == 'MIPO2' and color == 2:
+            num = 2
+            display.set_attr("red.active", str(True).lower())
+            display.set_attr("part_pass_fail.text", str(containInHTML('b', "Workpiece <font color='#88ff88'> PASSED</font>")))
+        elif key == 'BOHOMIPO2' and color == 3:
+            num = 3
+            display.set_attr("blue.active", str(True).lower())
+            display.set_attr("part_pass_fail.text", str(containInHTML('b', "Workpiece <font color='#88ff88'> PASSED</font>")))
+        else:
+            num = 4
+            display.set_attr("fail.active", str(True).lower())
+            display.set_attr("part_pass_fail.text", str(containInHTML('b', "Workpiece <font color='#ff8888'>FAILED</font>")))
+    else:
+        display.set_attr("part_pass_fail.text", str(containInHTML('b', "Workpiece <font color='#ff8888'>FAILED</font>")))
+    duration = (time.time() * 1000) - duration
+    saveFileandPublish()
+    return num
+
+
+def get_color():
+    global tag, value, num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    if hue >= 85 and hue < 130 and sat >= 40:
+        color = 3
+    elif (hue >= 130 and hue <= 180 or hue >= 0 and hue < 15) and sat >= 40:
+        color = 2
+    else:
+        color = 1
+    return color
+
+
+def timestamp():
+    global tag, value, num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    ts = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")[:-3] + "Z"
+    return ts
+
+
+def saveFileandPublish():
+    global tag, value, num, color, ts, filename, sat, hue, duration, prob, keytext, pos, frame, detector, result, key
+    filename = '/opt/ft/workspaces/last-image.png'
+    if(pos != ""):
+        image = cv2.rectangle(frame, (pos[0], pos[1]), (pos[2], pos[3]), (180,105,0), 2)
+    logging.debug("write png file: ", filename)
+    cv2.imwrite(filename, frame)
+    subprocess.Popen(['chmod', '777', filename])
+
+    with open(filename, "rb") as img_file:
+        my_string = base64.b64encode(img_file.read())
+    imgb64 = "data:image/jpeg;base64," + (my_string.decode('utf-8'))
+    time.sleep(0.2)
+    publish(imgb64,keytext,color,num,prob,duration)
+    displaystr= "<img width='200' height='150' src='" +  imgb64  + "'>"
+    display.set_attr("img_label.text", str(displaystr))
+
+

lib/node_red.py

+import base64
+import cv2
+import json
+import logging
+import numpy as np
+import paho.mqtt.client as mqtt
+
+from datetime import datetime
+
+
+imagedata = None
+description = None
+color = None
+bay = None
+confidence = None
+duration = None
+client = None
+string = None
+ts = None
+
+
+def mqtt_client_forever():
+    global imagedata, description, color, bay, confidence, duration, client, string, ts
+    client = mqtt.Client("mqtt_client")
+    client.connect('127.0.0.1',2883,60)
+    #client.on_message=on_message
+    #client.subscribe("#")
+    client.loop_forever()
+    return client
+
+
+def get_client():
+    global imagedata, description, color, bay, confidence, duration, client, string, ts
+    return client
+
+
+def publish(imagedata, description, color, bay, confidence, duration):
+    global client, string, ts
+    string = '{{ "ts":"{}", "description":"{}", "color":"{}", "bay":"{}", "confidence":"{}", "data":"{}", "duration":"{}" }}'.format(timestamp(), description, color, bay, confidence, imagedata, duration)
+    logging.debug("sending...")
+    ret = client.publish("i/cam",string)
+
+
+def timestamp():
+    global imagedata, description, color, bay, confidence, duration, client, string, ts
+    ts = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")[:-3]
+    return ts
+
+

lib/sorting_line.py

+import logging
+import os
+import time
+
+from fischertechnik.controller.Motor import Motor
+from lib.controller import *
+from lib.machine_learning import *
+
+
+BeltSpeed = None
+BeltSteps = None
+MovementSpeed = None
+PositionBay1 = None
+PositionBay2 = None
+j = None
+PositionBay3 = None
+i = None
+state_code = None
+PositionBay4 = None
+PositionCamera = None
+dubblepart = None
+num = None
+
+
+def thread_SLD():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    logging.debug('starting thread SLD')
+    MovementSpeed = min(max(300, 1), 512)
+    PositionBay1 = 195
+    PositionBay2 = 280
+    PositionBay3 = 360
+    PositionBay4 = 443
+    PositionCamera = 105
+    dubblepart = False
+    num = -1
+    while True:
+        try:
+        	mainSLDexternal_th()
+        except Exception as e:
+        	print(e)
+        	clean_exit()
+
+
+def mainSLDexternal_th():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    if PartInGoodsReceipt():
+        reset_inteface()
+        logging.debug('start')
+        TXT_SLD_M_M1_encodermotor.set_speed(int(MovementSpeed * 0.5), Motor.CCW)
+        TXT_SLD_M_M1_encodermotor.start_sync()
+        for i in range(401):
+            if not PartInGoodsReceipt():
+                break
+            if i >= 399:
+                TXT_SLD_M_M1_encodermotor.stop_sync()
+                raise Exception("Insertion fault, workpiece did not clear the lightbeam in expected Time. [Trubleshoot:  Is the workpiece stuck somewhere?]")
+            time.sleep(0.01)
+        TXT_SLD_M_M1_encodermotor.stop_sync()
+        SetBeltSpeedSteps(MovementSpeed, PositionCamera)
+        AwaitBeltToReachPosition()
+        num = MakePictureRunKiReturnFoundPart()
+        if num == 1:
+            SetBeltSpeedSteps(MovementSpeed, (PositionBay1 - PositionCamera) - (TXT_SLD_M_C1_motor_step_counter.get_count()))
+            AwaitBeltToReachPosition()
+            ejectWhite()
+        elif num == 2:
+            SetBeltSpeedSteps(MovementSpeed, (PositionBay2 - PositionCamera) - (TXT_SLD_M_C1_motor_step_counter.get_count()))
+            AwaitBeltToReachPosition()
+            ejectRed()
+        elif num == 3:
+            SetBeltSpeedSteps(MovementSpeed, (PositionBay3 - PositionCamera) - (TXT_SLD_M_C1_motor_step_counter.get_count()))
+            AwaitBeltToReachPosition()
+            ejectBlue()
+        else:
+            SetBeltSpeedSteps(MovementSpeed, (PositionBay4 - PositionCamera) - (TXT_SLD_M_C1_motor_step_counter.get_count()))
+            AwaitBeltToReachPosition()
+            ejectFAIL()
+        if (state_code == 0):
+        	raise Exception("Ejection fault, workpiece did not reach storage bay in expected time. [Trubleshoot: Did the workpiece reach the bay? Is it stuck somewhere?]")
+
+
+def AwaitBeltToReachPosition():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    while True:
+        if (not TXT_SLD_M_M1_encodermotor.is_running()):
+            break
+        time.sleep(0.010)
+
+
+def SetBeltSpeedSteps(BeltSpeed, BeltSteps):
+    global MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    if BeltSteps < 0:
+        TXT_SLD_M_M1_encodermotor.set_speed(int(BeltSpeed), Motor.CW)
+        TXT_SLD_M_M1_encodermotor.set_distance(int(BeltSteps * -1))
+    else:
+        TXT_SLD_M_M1_encodermotor.set_speed(int(BeltSpeed), Motor.CCW)
+        TXT_SLD_M_M1_encodermotor.set_distance(int(BeltSteps))
+
+
+def ejectWhite():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    TXT_SLD_M_O3_compressor.on()
+    logging.debug('WHITE')
+    TXT_SLD_M_O5_magnetic_valve.on()
+    for j in range(151):
+        state_code = 0
+        if isWhite():
+            if j <= 30:
+                time.sleep((300 - 10 * j) / 1000)
+            state_code = 1
+            break
+        time.sleep(0.01)
+    TXT_SLD_M_O5_magnetic_valve.off()
+    TXT_SLD_M_O3_compressor.off()
+
+
+def ejectRed():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    TXT_SLD_M_O3_compressor.on()
+    logging.debug('RED')
+    TXT_SLD_M_O6_magnetic_valve.on()
+    for j in range(151):
+        state_code = 0
+        if isRed():
+            if j <= 30:
+                time.sleep((300 - 10 * j) / 1000)
+            state_code = 2
+            break
+        time.sleep(0.01)
+    TXT_SLD_M_O6_magnetic_valve.off()
+    TXT_SLD_M_O3_compressor.off()
+
+
+def ejectBlue():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    TXT_SLD_M_O3_compressor.on()
+    logging.debug('BLUE')
+    TXT_SLD_M_O7_magnetic_valve.on()
+    for j in range(151):
+        state_code = 0
+        if isBlue():
+            if j <= 30:
+                time.sleep((300 - 10 * j) / 1000)
+            state_code = 3
+            break
+        time.sleep(0.01)
+    TXT_SLD_M_O7_magnetic_valve.off()
+    TXT_SLD_M_O3_compressor.off()
+
+
+def ejectFAIL():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    TXT_SLD_M_O3_compressor.on()
+    logging.debug('FAIL')
+    TXT_SLD_M_O8_magnetic_valve.on()
+    for j in range(151):
+        state_code = 0
+        if isFAIL():
+            if j <= 30:
+                time.sleep((300 - 10 * j) / 1000)
+            state_code = 4
+            break
+        time.sleep(0.01)
+    TXT_SLD_M_O8_magnetic_valve.off()
+    TXT_SLD_M_O3_compressor.off()
+
+
+def isWhite():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    return TXT_SLD_M_I8_photo_transistor.is_dark()
+
+
+def isRed():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    return TXT_SLD_M_I7_photo_transistor.is_dark()
+
+
+def isBlue():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    return TXT_SLD_M_I6_photo_transistor.is_dark()
+
+
+def isFAIL():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    return TXT_SLD_M_I5_photo_transistor.is_dark()
+
+
+def PartInGoodsReceipt():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    return TXT_SLD_M_I4_photo_transistor.is_dark()
+
+
+def clean_exit():
+    global BeltSpeed, BeltSteps, MovementSpeed, PositionBay1, PositionBay2, j, PositionBay3, i, state_code, PositionBay4, PositionCamera, dubblepart, num
+    TXT_SLD_M_O4_led.set_brightness(int(0))
+    TXT_SLD_M_O3_compressor.off()
+    TXT_SLD_M_M1_encodermotor.stop_sync()
+    TXT_SLD_M_O5_magnetic_valve.off()
+    TXT_SLD_M_O6_magnetic_valve.off()
+    TXT_SLD_M_O7_magnetic_valve.off()
+    TXT_SLD_M_O8_magnetic_valve.off()
+    os._exit(os.EX_OK)
+
+