Add URScript class to compose urscripts. Update and clean robotiq code to use URScript class

urx/urscript.py

@@ -0,0 +1,147 @@
+#! /usr/bin/env python
+
+import logging
+
+
+# Controller Settings
+CONTROLLER_PORTS = [0, 1]
+CONTROLLER_VOLTAGE = [
+    0,  # 0-5V
+    2,  # 0-10V
+]
+
+# Tool Settings
+TOOL_PORTS = [2, 3]
+TOOL_VOLTAGE = [
+    0,  # 0-5V
+    1,  # 0-10V
+    2,  # 4-20mA
+]
+
+OUTPUT_DOMAIN_VOLTAGE = [
+    0,  # 4-20mA
+    1,  # 0-10V
+]
+
+
+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""
+        # The program is code inside the myProg() method
+        self.program = b""
+
+    def __call__(self):
+        if(self.program == b""):
+            self.logger.debug(u"urscript program is empty")
+            return b""
+
+        # Construct the program
+        myprog = b"""def myProg():{}\nend""".format(self.program)
+
+        # Construct the full script
+        script = b""
+        if self.header:
+            script = b"{}\n\n".format(self.header)
+        script = b"{}{}".format(script, myprog)
+        return script
+
+    def reset(self):
+        self.header = b""
+        self.program = b""
+
+    def add_header_to_program(self, header_line):
+        self.header = b"{}\n{}".format(self.header, header_line)
+
+    def add_line_to_program(self, new_line):
+        self.program = b"{}\n\t{}".format(self.program, new_line)
+
+    def _constrain_unsigned_char(self, value):
+        """
+        Ensure that unsigned char values are constrained
+        to between 0 and 255.
+        """
+        assert(isinstance(value, int))
+        if value < 0:
+            value = 0
+        elif value > 255:
+            value = 255
+        return value
+
+    def _set_analog_inputrange(self, port, vrange):
+        if port in CONTROLLER_PORTS:
+            assert(vrange in CONTROLLER_VOLTAGE)
+        elif port in TOOL_PORTS:
+            assert(vrange in TOOL_VOLTAGE)
+        msg = b"set_analog_inputrange({},{})".format(port, vrange)
+        self.add_line_to_program(msg)
+
+    def _set_analog_output(self, input_id, signal_level):
+        assert(input_id in [0, 1])
+        assert(signal_level in [0, 1])
+        msg = "set_analog_output({}, {})".format(input_id, signal_level)
+        self.add_line_to_program(msg)
+
+    def _set_analog_outputdomain(self, port, domain):
+        assert(domain in OUTPUT_DOMAIN_VOLTAGE)
+        msg = b"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)
+        if cog:
+            assert(len(cog) == 3)
+            msg = b"{},{}".format(msg, cog)
+        msg = b"{})".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)
+        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)
+        self.add_line_to_program(msg)
+
+    def _sleep(self, value):
+        msg = b"sleep({})".format(value)
+        self.add_line_to_program(msg)
+
+    def _socket_close(self, socket_name):
+        msg = b"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)
+        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)
+        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
+        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
+        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
+        self.add_line_to_program(msg)
+        self._sync()
+
+    def _sync(self):
+        msg = b"sync()"
+        self.add_line_to_program(msg)