adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

autopep8 --max-line-length 900 -a -a -i robot.py

Browse Source
This commit is contained in:
Olivier R-D 2015-04-10 11:17:43 +02:00
parent 22f0d5d79b
commit 747f07287d
4 changed files with 159 additions and 147 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
urx/__init__.py
View File

@ -4,6 +4,4 @@ Python library to control an UR robot through its TCP/IP interface
__version__ = "0.9.0"
from urx.robot import Robot, RobotException, URRobot

29
urx/robot.py
View File

@ -28,6 +28,7 @@ class RobotException(Exception):
class URRobot(object):
"""
Python interface to socket interface of UR robot.
programs are send to port 3002
@ -36,6 +37,7 @@ class URRobot(object):
The RT interfaces is only used for the get_force related methods
Rmq: A program sent to the robot i executed immendiatly and any running program is stopped
"""
def __init__(self, host, useRTInterface=False):
self.logger = logging.getLogger(self.__class__.__name__)
self.host = host
@ -54,7 +56,6 @@ class URRobot(object):
self.secmon.wait() # make sure we get data from robot before letting clients access our methods
def __repr__(self):
return "Robot Object (IP=%s, state=%s)" % (self.host, self.secmon.get_all_data()["RobotModeData"])
@ -398,14 +399,14 @@ class URRobot(object):
return self.rtmon
class Robot(URRobot):
"""
Generic Python interface to an industrial robot.
Compared to the URRobot class, this class adds the possibilty to work directly with matrices
and includes support for calibrating the robot coordinate system
"""
def __init__(self, host, useRTInterface=False):
URRobot.__init__(self, host, useRTInterface)
self.default_linear_acceleration = 0.01
@ -418,7 +419,7 @@ class Robot(URRobot):
"""
set robot flange to tool tip transformation
"""
if type(tcp) == m3d.Transform:
if isinstance(tcp, m3d.Transform):
tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp)
@ -442,7 +443,7 @@ class Robot(URRobot):
set tool orientation using a orientation matric from math3d
or a orientation vector
"""
if type(orient) is not m3d.Orientation:
if not isinstance(orient, m3d.Orientation):
orient = m3d.Orientation(orient)
trans = self.get_pose()
trans.orient = orient
@ -453,7 +454,7 @@ class Robot(URRobot):
move tool in base coordinate, keeping orientation
"""
t = m3d.Transform()
if not type(vect) is m3d.Vector:
if not isinstance(vect, m3d.Vector):
vect = m3d.Vector(vect)
t.pos += m3d.Vector(vect)
return self.add_pose_base(t, acc, vel, radius, wait=wait)
@ -463,7 +464,7 @@ class Robot(URRobot):
move tool in tool coordinate, keeping orientation
"""
t = m3d.Transform()
if not type(vect) is m3d.Vector:
if not isinstance(vect, m3d.Vector):
vect = m3d.Vector(vect)
t.pos += vect
return self.add_pose_tool(t, acc, vel, radius, wait=wait)
@ -472,7 +473,7 @@ class Robot(URRobot):
"""
set tool to given pos, keeping constant orientation
"""
if not type(vect) is m3d.Vector:
if not isinstance(vect, m3d.Vector):
vect = m3d.Vector(vect)
trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.set_pose(trans, acc, vel, radius, wait=wait)
@ -494,10 +495,9 @@ class Robot(URRobot):
pose = URRobot.movep(self, t.pose_vector, acc=acc, vel=vel, wait=wait, radius=radius)
else:
pose = URRobot.movel(self, t.pose_vector, acc=acc, vel=vel, wait=wait, radius=radius)
if pose != None: #movel does not return anything when wait is False
if pose is not None: # movel does not return anything when wait is False
return self.csys.inverse * m3d.Transform(pose)
def add_pose_base(self, trans, acc=None, vel=None, radius=0, wait=True, process=False):
"""
Add transform expressed in base coordinate
@ -606,7 +606,7 @@ class Robot(URRobot):
return t.pose_vector.tolist()
def set_gravity(self, vector):
if type(vector) == m3d.Vector:
if isinstance(vector, m3d.Vector):
vector = vector.list
return URRobot.set_gravity(self, vector)
@ -631,12 +631,5 @@ class Robot(URRobot):
return
if not MATH3D:
Robot = URRobot

65
urx/urrtmon.py
View File

@ -11,7 +11,6 @@ __credits__ = ["Morten Lind, Olivier Roulet-Dubonnet"]
__license__ = "GPLv3"
import logging
import socket
import struct
@ -23,13 +22,14 @@ import numpy as np
import math3d as m3d
class URRTMonitor(threading.Thread):
## Struct for revision of the UR controller giving 692 bytes
# Struct for revision of the UR controller giving 692 bytes
rtstruct692 = struct.Struct('>d6d6d6d6d6d6d6d6d18d6d6d6dQ')
## for revision of the UR controller giving 540 byte. Here TCP
## pose is not included!
# for revision of the UR controller giving 540 byte. Here TCP
# pose is not included!
rtstruct540 = struct.Struct('>d6d6d6d6d6d6d6d6d18d')
def __init__(self, urHost, loglevel=logging.WARNING):
@ -45,7 +45,7 @@ class URRTMonitor(threading.Thread):
self._rtSock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._rtSock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
self._urHost = urHost
## Package data variables
# Package data variables
self._timestamp = None
self._ctrlTimestamp = None
self._qActual = None
@ -68,7 +68,7 @@ class URRTMonitor(threading.Thread):
def __recv_bytes(self, nBytes):
''' Facility method for receiving exactly "nBytes" bytes from
the robot connector socket.'''
## Record the time of arrival of the first of the stream block
# Record the time of arrival of the first of the stream block
recvTime = 0
pkg = b''
while len(pkg) < nBytes:
@ -137,17 +137,21 @@ class URRTMonitor(threading.Thread):
def __recv_rt_data(self):
head = self.__recv_bytes(4)
## Record the timestamp for this logical package
# Record the timestamp for this logical package
timestamp = self.__recvTime
pkgsize = struct.unpack('>i', head)[0]
self.logger.debug('Received header telling that package is %d bytes long'%pkgsize)
self.logger.debug(
'Received header telling that package is %d bytes long' %
pkgsize)
payload = self.__recv_bytes(pkgsize - 4)
if pkgsize >= 692:
unp = self.rtstruct692.unpack(payload[:self.rtstruct692.size])
elif pkgsize >= 540:
unp = self.rtstruct540.unpack(payload[:self.rtstruct540.size])
else:
self.logger.warning('Error, Received packet of length smaller than 540: ', pkgsize)
self.logger.warning(
'Error, Received packet of length smaller than 540: ',
pkgsize)
return
with self._dataAccess:
@ -157,8 +161,13 @@ class URRTMonitor(threading.Thread):
#self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
#self._last_ts = self._timestamp
self._ctrlTimestamp = np.array(unp[0])
if self._last_ctrl_ts != 0 and (self._ctrlTimestamp - self._last_ctrl_ts) > 0.010:
self.logger.warning("Error the controller failed to send us a packet: time since last packet {}s ".format( self._ctrlTimestamp - self._last_ctrl_ts))
if self._last_ctrl_ts != 0 and (
self._ctrlTimestamp -
self._last_ctrl_ts) > 0.010:
self.logger.warning(
"Error the controller failed to send us a packet: time since last packet {}s ".format(
self._ctrlTimestamp -
self._last_ctrl_ts))
self._last_ctrl_ts = self._ctrlTimestamp
self._qActual = np.array(unp[31:37])
self._qTarget = np.array(unp[1:7])
@ -167,11 +176,16 @@ class URRTMonitor(threading.Thread):
if self._csys:
with self._csys_lock:
tcp = self._csys * m3d.Transform(self._tcp)#might be a godd idea to remove dependancy on m3d
# might be a godd idea to remove dependancy on m3d
tcp = self._csys * m3d.Transform(self._tcp)
self._tcp = tcp.pose_vector
if self._buffering:
with self._buffer_lock:
self._buffer.append((self._timestamp, self._ctrlTimestamp, self._tcp, self._qActual))#FIXME use named arrays of allow to configure what data to buffer
self._buffer.append(
(self._timestamp,
self._ctrlTimestamp,
self._tcp,
self._qActual)) # FIXME use named arrays of allow to configure what data to buffer
with self._dataEvent:
self._dataEvent.notifyAll()
@ -206,7 +220,6 @@ class URRTMonitor(threading.Thread):
return self._buffer.pop(0)
time.sleep(0.001)
def get_buffer(self):
"""
return a copy of the entire buffer
@ -221,7 +234,13 @@ class URRTMonitor(threading.Thread):
if wait:
self.wait()
with self._dataAccess:
return dict(timestamp=self._timestamp, ctrltimestamp=self._ctrlTimestamp, qActual=self._qActual, qTarget=self._qTarget, tcp=self._tcp, tcp_force=self._tcp_force)
return dict(
timestamp=self._timestamp,
ctrltimestamp=self._ctrlTimestamp,
qActual=self._qActual,
qTarget=self._qTarget,
tcp=self._tcp,
tcp_force=self._tcp_force)
def stop(self):
#print(self.__class__.__name__+': Stopping')
@ -239,15 +258,21 @@ class URRTMonitor(threading.Thread):
self._rtSock.close()
def startupInteractive():
from optparse import OptionParser
from IPython import embed
## Require the urhost arg.
# Require the urhost arg.
parser = OptionParser()
parser.add_option('--debug', action='store_true', default=False, dest='debug')
parser.add_option('--start', action='store_true', default=False, dest='start')
parser.add_option(
'--debug',
action='store_true',
default=False,
dest='debug')
parser.add_option(
'--start',
action='store_true',
default=False,
dest='start')
opts, args = parser.parse_args()
if len(args) != 1:
raise Exception('Must have argument with ur-host name or ip!')

20
urx/ursecmon.py
View File

@ -20,19 +20,20 @@ from copy import copy
import time
class ParsingException(Exception):
def __init__(self, *args):
Exception.__init__(self, *args)
class TimeoutException(Exception):
def __init__(self, *args):
Exception.__init__(self, *args)
class ParserUtils(object):
def __init__(self):
self.logger = logging.getLogger(__name__)
self.is_v30 = False
@ -194,11 +195,12 @@ class ParserUtils(object):
return None
class SecondaryMonitor(Thread):
"""
Monitor data from secondary port and send programs to robot
"""
def __init__(self, host):
Thread.__init__(self)
self.logger = logging.getLogger(self.__class__.__name__)
@ -226,12 +228,11 @@ class SecondaryMonitor(Thread):
"""
prog.strip()
self.logger.debug("Sending program: " + prog)
if type(prog) != bytes:
if not isinstance(prog, bytes):
prog = prog.encode()
with self._prog_queue_lock:
self._prog_queue.append(prog + b"\n")
def run(self):
"""
check program execution status in the secondary client data packet we get from the robot
@ -278,7 +279,7 @@ class SecondaryMonitor(Thread):
and self._dict["RobotModeData"]["isPowerOnRobot"] == True:
self.running = True
else:
if self.running == True:
if self.running:
self.logger.error("Robot not running: " + str(self._dict["RobotModeData"]))
self.running = False
with self._dataEvent:
@ -388,7 +389,6 @@ class SecondaryMonitor(Thread):
with self._dictLock:
return self._dict["RobotModeData"]["isProgramRunning"]
def cleanup(self):
self._trystop = True
self.join()
@ -397,7 +397,3 @@ class SecondaryMonitor(Thread):
if self._s_secondary:
with self._prog_queue_lock:
self._s_secondary.close()