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Don't use bytearray for urscript as it doesn't work in python3

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Chris Gilmer 2017-06-14 12:40:10 -07:00 committed by oroulet
parent 40bdb3671b
commit 80c280f5e8
2 changed files with 42 additions and 42 deletions
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26
urx/robotiq_two_finger_gripper.py
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@ -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):

54
urx/urscript.py
View File

@ -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,
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)