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cleanup, move some methods to ursecmon

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This commit is contained in:
Olivier R-D 2013-09-22 11:11:04 +02:00
parent 09e446ec70
commit 9f541a4dea
3 changed files with 56 additions and 30 deletions
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1
examples/test_all.py
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@ -18,6 +18,7 @@ if __name__ == "__main__":
a = 0.3
r = 0.01
print("Digital out 0 and 1 are: ", rob.get_digital_out(0), rob.get_digital_out(1) )
print("Analog inputs are: ", rob.get_analog_inputs())
j = rob.getj()
print("Initial joint configuration is ", j)
t = rob.get_transform()

45
urx/robot.py
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@ -7,7 +7,6 @@ from __future__ import absolute_import # necessary for import tricks to work wit
__author__ = "Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011-2013, Sintef Raufoss Manufacturing"
__credits__ = ["Olivier Roulet-Dubonnet"]
__license__ = "GPLv3"
import logging
@ -19,7 +18,7 @@ try:
import numpy as np
except ImportError:
MATH3D = False
print("pymath3d library could not be found on this computer, disabling use of matrices")
print("python-math3d library could not be found on this computer, disabling use of matrices")
from urx import urrtmon
from urx import ursecmon
@ -54,10 +53,10 @@ class URRobot(object):
self.rtmon = self.get_realtime_monitor()
#the next 3 values must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion
#URScript is limited in the character length of floats it accepts
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
self.secmon.wait() # make sure we get data to not suprise clients
self.secmon.wait() # make sure we get data from robot before letting clients access our methods
def __repr__(self):
@ -143,47 +142,31 @@ class URRobot(object):
"""
get analog input
"""
data = self.secmon.get_all_data()
return data["MasterBoardData"]["analogInput0"], data["MasterBoardData"]["analogInput1"]
return self.secmon.get_analog_inputs()
def get_analog_in(self, nb):
def get_analog_in(self, nb, wait=False):
"""
get analog input
"""
data = self.secmon.get_all_data()
return data["MasterBoardData"]["analogInput" + str(nb)]
return self.secmon.get_analog_in(nb, wait)
def get_digital_in_bits(self):
"""
get digital output
"""
data = self.secmon.get_all_data()
return data["MasterBoardData"]["digitalInputBits"]
return self.secmon.get_digital_in_bits()
def get_digital_in(self, nb):
def get_digital_in(self, nb, wait=False):
"""
get digital output
"""
data = self.secmon.get_all_data()
val = data["MasterBoardData"]["digitalInputBits"]
mask = 1 << nb
if (val & mask):
return 1
else:
return 0
return self.secmon.get_digital_in(nb, wait)
def get_digital_out(self, val):
def get_digital_out(self, val, wait=False):
"""
get digital output
"""
data = self.secmon.get_all_data()
output = data["MasterBoardData"]["digitalOutputBits"]
mask = 1 << val
if (output & mask):
return 1
else:
return 0
return self.secmon.get_digital_out(val , wait)
def set_analog_out(self, output, val):
"""
@ -236,7 +219,7 @@ class URRobot(object):
for i in range(0, 6):
#Rmq: q_target is an interpolated target we have no control over
if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.joinEpsilon:
print("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i] , jts["q_actual%s"%i] - jts["q_target%s"%i], self.joinEpsilon))
self.logger.debug("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i] , jts["q_actual%s"%i] - jts["q_target%s"%i], self.joinEpsilon))
finished = False
break
if finished and not self.secmon.is_program_running():
@ -410,7 +393,7 @@ class URRobot(object):
class Robot(URRobot):
"""
Generic Python interface to an industrial robot.
Compare to the URRobot class, this class adds the possibilty to work directly with matrices
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, logLevel = logging.WARN, parserLogLevel=logging.WARN):
@ -499,6 +482,8 @@ class Robot(URRobot):
if pose != None : #movel does not return anything when wait is False
return self.csys_inv * m3d.Transform(pose)
set_transform = apply_transform #since we have set_pos, set_orient, we should be consistent and use set for tranform to ..
def add_transform_base(self, trans, acc=None, vel=None, wait=True, process=False):
"""
Add transform expressed in base coordinate

40
urx/ursecmon.py
View File

@ -325,6 +325,46 @@ class SecondaryMonitor(Thread):
else:
return None
def get_digital_out(self, nb, wait=False):
if wait:
self.wait()
with self._dictLock:
output = self._dict["MasterBoardData"]["digitalOutputBits"]
mask = 1 << nb
if (output & mask):
return 1
else:
return 0
def get_digital_in(self, nb, wait=False):
if wait:
self.wait()
with self._dictLock:
output = self._dict["MasterBoardData"]["digitalInputBits"]
mask = 1 << nb
if (output & mask):
return 1
else:
return 0
def get_analog_in(self, nb, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["analogInput" + str(nb)]
def get_digital_in_bits(self, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["digitalInputBits"]
def get_analog_inputs(self, wait=False):
if wait:
self.wait()
with self._dictLock:
return self._dict["MasterBoardData"]["analogInput0"], self._dict["MasterBoardData"]["analogInput1"]
def is_program_running(self, wait=False):
"""
return True if robot is executing a program