movels works

urx/ursecmon.py

@@ -176,7 +176,7 @@ class ParserUtils(object):
                     self.logger.debug("Packet is not complete, advertised size is {0}, received size is {1}, type is {2}".format(psize, len(data), ptype))
                     return None
             else:
-                self.logger.debug("data smaller than 5 bytes")
+                #self.logger.debug("data smaller than 5 bytes")
                 return None
 
 
@@ -185,11 +185,11 @@ class SecondaryMonitor(Thread):
     """
     Monitor data from secondary port and send programs to robot
     """
-    def __init__(self, host, logLevel=logging.WARN):
+    def __init__(self, host, logLevel=logging.WARN, parserLogLevel=logging.WARN):
         Thread.__init__(self)
         self.logger = logging.getLogger(self.__class__.__name__)
         self.logger.setLevel(logLevel)
-        self._parser = ParserUtils(logLevel)
+        self._parser = ParserUtils(parserLogLevel)
         self._s_secondary = None
         self._dict = {}
         self._dictLock = Lock()
@@ -213,7 +213,7 @@ class SecondaryMonitor(Thread):
         """
         with self._prog_queue_lock:
             prog.strip()
-            self.logger.debug("Sending program: prog")
+            self.logger.debug("Sending program: " + prog)
             if type(prog) != bytes:
                 prog = prog.encode()
             self._prog_queue.append(prog + b"\n")
@@ -270,7 +270,7 @@ class SecondaryMonitor(Thread):
                 self._dataqueue = ans[1]
                 return ans[0]
             else:
-                self.logger.debug("Could not find packet in received data")
+                #self.logger.debug("Could not find packet in received data")
                 tmp = self._s_secondary.recv(1024)
                 self._dataqueue += tmp
 

urx/urx.py

@@ -51,7 +51,7 @@ class URRobot(object):
         self.host = host
         
         self.logger.info("Opening secondary monitor socket")
-        self.secmon = ursecmon.SecondaryMonitor(self.host, logLevel=logLevel) #data from robot at 10Hz
+        self.secmon = ursecmon.SecondaryMonitor(self.host, logLevel=logLevel, parserLogLevel=logging.WARN) #data from robot at 10Hz
         
         if useRTInterface:
             self.logger.info("Opening real-time monitor socket")
@@ -62,6 +62,8 @@ class URRobot(object):
         self.jointEpsilon = 0.05 # precision of joint movem used to wait for move completion
         self.linearEpsilon = 0.0005 # precision of linear movement, used to wait for move completion
         self.radialEpsilon = 0.05 # precision of radial movement, used to wait for move completion
+        #URScript is  limited in the character length of floats it accepts
+        self.max_float_length = 6 # FIXME: check max length!!!
         if useRTInterface:
             self.rtmon.start()
 
@@ -212,7 +214,11 @@ class URRobot(object):
         if relative:
             l = self.getj()
             joints = [v + l[i] for i, v in enumerate(joints)]
+        joints = [round(j, self.max_float_length) for j in joints] 
         prog = "movej(%s, a=%s, v=%s)" % (list(joints), acc, vel)
+        joints.append(acc)
+        joints.append(vel)
+        prog = "movej([{},{},{},{},{},{}], a={}, v={})".format(*joints)
         self.send_program(prog)
         if not wait:
             return None
@@ -248,8 +254,11 @@ class URRobot(object):
         if relative:
             l = self.getl()
             tpose = [v + l[i] for i, v in enumerate(tpose)]
-        tpose = [round(i, 2) for i in tpose]
+        tpose = [round(i, self.max_float_length) for i in tpose]
-        prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
+        #prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
+        tpose.append(acc)
+        tpose.append(vel)
+        prog = "movel(p[{},{},{},{},{},{}], a={}, v={})".format(*tpose)
         self.send_program(prog)
         if not wait:
             return None
@@ -272,9 +281,9 @@ class URRobot(object):
         Move Circular: Move to position (circular in tool-space)
         see UR documentation
         """
-        pose = [round(i, 2) for i in pose]
+        pose = [round(i, self.max_float_length) for i in pose]
-        pose_via = [round(i, 2) for i in pose_via]
+        pose_via = [round(i, self.max_float_length) for i in pose_via]
-        pose_to = [round(i, 2) for i in pose_to]
+        pose_to = [round(i, self.max_float_length) for i in pose_to]
         prog = "movec(p%s, p%s, p%s, a=%s, v=%s)" % (pose, pose_via, pose_to, acc, vel)
         self.send_program(prog)
         if not wait:
@@ -283,7 +292,7 @@ class URRobot(object):
             self.wait_for_move()
             return self.getl()
 
-    def movels(self, pose_list, acc, vel , radius, wait=True):
+    def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
         """
         where pose_list is a list of pose. 
         several movel commands must be send as one program in order for radius blending to work.
@@ -292,12 +301,19 @@ class URRobot(object):
         # can be implemented by sending a complete urscript program calling several movel in a row with a radius
         header = "def myProg():\n"
         end = "end\n"
-        template = "movel(p{}s, a={}, v={}, r={})\n"
+        template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
         prog = header
-        for pose in pose_list:
+        for idx, pose in enumerate(pose_list):
-            pose = [round(i, 2) for i in pose]
+            pose = [round(i, self.max_float_length) for i in pose]
-            prog += template.format(pose, acc, vel, radius)
+            pose.append(acc)
+            pose.append(vel)
+            if idx != (len(pose_list) -1 ):
+                pose.append(radius)
+            else:
+                pose.append(0)
+            prog += template.format(*pose)
         prog += end
+        print(prog)
         self.send_program(prog)
         if not wait:
             return None