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Allow access of robot objects from top levle module\nInternal renamings, cleanup

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Olivier R-D
2013-01-11 10:23:53 +01:00
parent ce0970d7b5
commit b0806c945c
2 changed files with 19 additions and 7 deletions
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8
urx/__init__.py
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@@ -0,0 +1,8 @@
"""
Python library to control an UR robot through its TCP/IP interface
"""
from .urx import Robot, RobotException, URScript

18
urx/urx.py
View File

@@ -1,5 +1,5 @@
""" """
Python library to control an UR robot through its secondary port interface Python library to control an UR robot through its TCP/IP interface
import urx import urx
@@ -76,7 +76,7 @@ except ImportError:
print("pymath3d library could not be found on this computer, disabling use of matrices") print("pymath3d library could not be found on this computer, disabling use of matrices")
#import urrtmon #temproarely disabled #import urrtmon #temproarely disabled
import urparser from urx import urparser
class RobotException(Exception): class RobotException(Exception):
@@ -216,7 +216,7 @@ class SecondaryMonitor(Thread):
print(self.__class__.__name__, ": ", msg) print(self.__class__.__name__, ": ", msg)
class SimpleRobot(object): class URScript(object):
""" """
Python interface to socket interface of UR robot. Python interface to socket interface of UR robot.
programs are send to port 3002 programs are send to port 3002
@@ -390,7 +390,7 @@ class SimpleRobot(object):
return None return None
else: else:
while True: while True:
time.sleep(0.05) time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
if not self.isRunning():#FIXME add more tests if not self.isRunning():#FIXME add more tests
raise RobotException("Robot stopped") raise RobotException("Robot stopped")
currentjoints = self.getj() currentjoints = self.getj()
@@ -428,7 +428,7 @@ class SimpleRobot(object):
return None return None
else: else:
while True: while True:
time.sleep(0.05) time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
if not self.isRunning():#FIXME add more tests if not self.isRunning():#FIXME add more tests
raise RobotException("Robot stopped") raise RobotException("Robot stopped")
pose = self.getl() pose = self.getl()
@@ -504,7 +504,7 @@ class Robot(object):
and style portet to PEP 8 and style portet to PEP 8
""" """
def __init__(self, host, useRTInterface=False): def __init__(self, host, useRTInterface=False):
self.robot = SimpleRobot(host, useRTInterface)#since there are many depcreated methods in SimpleRobot it is cleaner not to inherit it self.robot = URScript(host, useRTInterface)#since there are many depcreated methods in SimpleRobot it is cleaner not to inherit it
self.default_linear_acceleration = 0.01 self.default_linear_acceleration = 0.01
self.default_linear_velocity = 0.01 self.default_linear_velocity = 0.01
@@ -577,6 +577,10 @@ class Robot(object):
self.apply_transform(math3d.Transform(pose), acc, vel, wait) self.apply_transform(math3d.Transform(pose), acc, vel, wait)
def movel_cnc(self, pose, acc=None, vel=None, wait=True): def movel_cnc(self, pose, acc=None, vel=None, wait=True):
"""
One could implement a CNC like interface with ABC being euler angles
Not implemented yet
"""
pass pass
def getl(self): def getl(self):
@@ -621,7 +625,7 @@ class Robot(object):
if not MATH3D: if not MATH3D:
Robot = SimpleRobot Robot = URScript
if __name__ == "__main__": if __name__ == "__main__":
try: try: