From 4d06b6021d015bf273fd1974946a317430094569 Mon Sep 17 00:00:00 2001
From: Byeongdulee <blee@anl.gov>
Date: Tue, 25 Jul 2023 09:43:55 -0500
Subject: [PATCH] tool functions are added.
---
.gitignore | 2 +-
urx/urrobot.py | 21 +++++++++++++++++++++
urx/urscript.py | 24 ++++++++++++++++++++++++
3 files changed, 46 insertions(+), 1 deletion(-)
diff --git a/.gitignore b/.gitignore
index 7536d70..ff7ce8d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,7 +3,7 @@ build
.idea/
.history/
*.pyc
-dist/urx-0.11.0-py3.10.egg
+dist/*.egg
urx.egg-info/dependency_links.txt
urx.egg-info/PKG-INFO
urx.egg-info/requires.txt
diff --git a/urx/urrobot.py b/urx/urrobot.py
index 3086fe7..56d124a 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -254,6 +254,27 @@ class URRobot(object):
prog = "set_tool_voltage(%s)" % (val)
self.send_program(prog)
+ def set_tool_digital_in(self, input_id):
+ """
+ set voltage to be delivered to the tool, val is 0, 12 or 24
+ """
+ prog = "set_tool_digital_in(%s)" % (input_id)
+ self.send_program(prog)
+
+ def set_tool_digital_out(self, input_id, signal_level):
+ """
+ set voltage to be delivered to the tool, val is 0, 12 or 24
+ """
+ prog = "set_tool_digital_out(%s, %s)" % (input_id, signal_level)
+ self.send_program(prog)
+
+ def set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.0, tx_idle_chars=3.5):
+ """
+ set voltage to be delivered to the tool, val is 0, 12 or 24
+ """
+ prog = "set_tool_communication(%s, %s, %s, %s, %s, %s)" % (enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars)
+ self.send_program(prog)
+
def _wait_for_move(self, target, threshold=None, timeout=5, joints=False):
"""
wait for a move to complete. Unfortunately there is no good way to know when a move has finished
diff --git a/urx/urscript.py b/urx/urscript.py
index 2382cb3..40b40ad 100755
--- a/urx/urscript.py
+++ b/urx/urscript.py
@@ -150,6 +150,30 @@ class URScript(object):
msg = "socket_send_byte(\"{}\",\"{}\")".format(str(byte), socket_name) # noqa
self.add_line_to_program(msg)
self._sync()
+
+ def _get_tool_digital_in(self, input_id):
+ assert(input_id in [0, 1])
+ msg = "get_standard_digital_in({})".format(input_id)
+ self.add_line_to_program(msg)
+
+ def _set_tool_digital_out(self, input_id, signal_level):
+ assert(input_id in [0, 1])
+ assert(signal_level in [True, False])
+ msg = "set_standard_digital_out({}, {})".format(input_id, signal_level)
+ self.add_line_to_program(msg)
+
+ def _set_tool_communication(self, enabled=True, baud_rate=9600, parity=0, stop_bits=1, rx_idle_chars=1.5, tx_idle_chars=3.5):
+ # stop_bits:Thenumberofstopbits(int).Validvalues:1,2.
+ # rx_idle_chars:AmountofcharstheRXunitinthetoolshouldwaitbeforemarkingamessage asover/sendingittothePC(float).Validvalues:min=1.0max=40.0.
+ # tx_idle_chars:
+ # set_tool_communication(True,115200,1,2,1.0,3.5)
+ # :9600,19200,38400,57600,115200, 1000000,2000000,5000000
+ assert(baud_rate in [9600,19200,38400,57600,115200, 1000000,2000000,5000000])
+ assert(parity in [0, 1, 2])
+ assert(stop_bits in [1, 2])
+ assert(enabled in [True, False])
+ msg = "set_tool_communication({}, {}, {}, {}, {}, {})".format(enabled, baud_rate, parity, stop_bits, rx_idle_chars, tx_idle_chars)
+ self.add_line_to_program(msg)
def _sync(self):
msg = "sync()"