From 80c280f5e85e35dbc4172abf84984297baea31c3 Mon Sep 17 00:00:00 2001 From: Chris Gilmer Date: Wed, 14 Jun 2017 12:40:10 -0700 Subject: [PATCH] Don't use bytearray for urscript as it doesn't work in python3 --- urx/robotiq_two_finger_gripper.py | 26 +++++++------- urx/urscript.py | 58 +++++++++++++++---------------- 2 files changed, 42 insertions(+), 42 deletions(-) diff --git a/urx/robotiq_two_finger_gripper.py b/urx/robotiq_two_finger_gripper.py index a495c5d..d1f4db1 100644 --- a/urx/robotiq_two_finger_gripper.py +++ b/urx/robotiq_two_finger_gripper.py @@ -47,20 +47,20 @@ import time from urx.urscript import URScript # Gripper Variables -ACT = b"ACT" -GTO = b"GTO" -ATR = b"ATR" -ARD = b"ARD" -FOR = b"FOR" -SPE = b"SPE" -OBJ = b"OBJ" -STA = b"STA" -FLT = b"FLT" -POS = b"POS" +ACT = "ACT" +GTO = "GTO" +ATR = "ATR" +ARD = "ARD" +FOR = "FOR" +SPE = "SPE" +OBJ = "OBJ" +STA = "STA" +FLT = "FLT" +POS = "POS" -SOCKET_HOST = b"127.0.0.1" +SOCKET_HOST = "127.0.0.1" SOCKET_PORT = 63352 -SOCKET_NAME = b"gripper_socket" +SOCKET_NAME = "gripper_socket" class RobotiqScript(URScript): @@ -88,7 +88,7 @@ class RobotiqScript(URScript): self.add_header_to_program(rq_script) def _rq_get_var(self, var_name, nbytes): - self._socket_send_string(b"GET {}".format(var_name)) + self._socket_send_string("GET {}".format(var_name)) self._socket_read_byte_list(nbytes) def _get_gripper_fault(self): diff --git a/urx/urscript.py b/urx/urscript.py index f1c4df5..a7d6cd7 100755 --- a/urx/urscript.py +++ b/urx/urscript.py @@ -29,34 +29,34 @@ class URScript(object): def __init__(self): self.logger = logging.getLogger(u"urscript") # The header is code that is before and outside the myProg() method - self.header = b"" + self.header = "" # The program is code inside the myProg() method - self.program = b"" + self.program = "" def __call__(self): - if(self.program == b""): + if(self.program == ""): self.logger.debug(u"urscript program is empty") - return b"" + return "" # Construct the program - myprog = b"""def myProg():{}\nend""".format(self.program) + myprog = """def myProg():{}\nend""".format(self.program) # Construct the full script - script = b"" + script = "" if self.header: - script = b"{}\n\n".format(self.header) - script = b"{}{}".format(script, myprog) + script = "{}\n\n".format(self.header) + script = "{}{}".format(script, myprog) return script def reset(self): - self.header = b"" - self.program = b"" + self.header = "" + self.program = "" def add_header_to_program(self, header_line): - self.header = b"{}\n{}".format(self.header, header_line) + self.header = "{}\n{}".format(self.header, header_line) def add_line_to_program(self, new_line): - self.program = b"{}\n\t{}".format(self.program, new_line) + self.program = "{}\n\t{}".format(self.program, new_line) def _constrain_unsigned_char(self, value): """ @@ -75,7 +75,7 @@ class URScript(object): assert(vrange in CONTROLLER_VOLTAGE) elif port in TOOL_PORTS: assert(vrange in TOOL_VOLTAGE) - msg = b"set_analog_inputrange({},{})".format(port, vrange) + msg = "set_analog_inputrange({},{})".format(port, vrange) self.add_line_to_program(msg) def _set_analog_output(self, input_id, signal_level): @@ -86,62 +86,62 @@ class URScript(object): def _set_analog_outputdomain(self, port, domain): assert(domain in OUTPUT_DOMAIN_VOLTAGE) - msg = b"set_analog_outputdomain({},{})".format(port, domain) + msg = "set_analog_outputdomain({},{})".format(port, domain) self.add_line_to_program(msg) def _set_payload(self, mass, cog=None): - msg = b"set_payload({}".format(mass) + msg = "set_payload({}".format(mass) if cog: assert(len(cog) == 3) - msg = b"{},{}".format(msg, cog) - msg = b"{})".format(msg) + msg = "{},{}".format(msg, cog) + msg = "{})".format(msg) self.add_line_to_program(msg) def _set_runstate_outputs(self, outputs=None): if not outputs: outputs = [] - msg = b"set_runstate_outputs({})".format(outputs) + msg = "set_runstate_outputs({})".format(outputs) self.add_line_to_program(msg) def _set_tool_voltage(self, voltage): assert(voltage in [0, 12, 24]) - msg = b"set_tool_voltage({})".format(voltage) + msg = "set_tool_voltage({})".format(voltage) self.add_line_to_program(msg) def _sleep(self, value): - msg = b"sleep({})".format(value) + msg = "sleep({})".format(value) self.add_line_to_program(msg) def _socket_close(self, socket_name): - msg = b"socket_close(\"{}\")".format(socket_name) + msg = "socket_close(\"{}\")".format(socket_name) self.add_line_to_program(msg) def _socket_get_var(self, var, socket_name): - msg = b"socket_get_var(\"{}\",\"{}\")".format(var, socket_name) + msg = "socket_get_var(\"{}\",\"{}\")".format(var, socket_name) self.add_line_to_program(msg) self._sync() def _socket_open(self, socket_host, socket_port, socket_name): - msg = b"socket_open(\"{}\",{},\"{}\")".format(socket_host, - socket_port, - socket_name) + msg = "socket_open(\"{}\",{},\"{}\")".format(socket_host, + socket_port, + socket_name) self.add_line_to_program(msg) def _socket_read_byte_list(self, nbytes, socket_name): - msg = b"global var_value = socket_read_byte_list({},\"{}\")".format(nbytes, socket_name) # noqa + msg = "global var_value = socket_read_byte_list({},\"{}\")".format(nbytes, socket_name) # noqa self.add_line_to_program(msg) self._sync() def _socket_send_string(self, message, socket_name): - msg = b"socket_send_string(\"{}\",\"{}\")".format(message, socket_name) # noqa + msg = "socket_send_string(\"{}\",\"{}\")".format(message, socket_name) # noqa self.add_line_to_program(msg) self._sync() def _socket_set_var(self, var, value, socket_name): - msg = b"socket_set_var(\"{}\",{},\"{}\")".format(var, value, socket_name) # noqa + msg = "socket_set_var(\"{}\",{},\"{}\")".format(var, value, socket_name) # noqa self.add_line_to_program(msg) self._sync() def _sync(self): - msg = b"sync()" + msg = "sync()" self.add_line_to_program(msg)