diff --git a/urx/tracker.py b/urx/tracker.py index 5008dff..be11d89 100644 --- a/urx/tracker.py +++ b/urx/tracker.py @@ -18,22 +18,22 @@ class Tracker(Process): self._stop = Event() self._finished = Event() self._data = [] - if MATH3D: - self.calibration = Transform() + if MATH3D: + self.calibration = math3d.Transform() self.inverse = self.calibration.inverse() def _log(self, *args): print(self.__class__.__name__, ": ".join([str(i) for i in args])) def set_calibration_matrix(self, cal): - if MATH3D: + if MATH3D: self.calibration = cal self.inverse = self.calibration.inverse() def _save_data(self): - if MATH3D: + if MATH3D: for data in self._data: - data["transform"] = self.inverse * Transform(data["tcp"]) + data["transform"] = self.inverse * math3d.Transform(data["tcp"]) self._queue.put(self._data) diff --git a/urx/ursecmon.py b/urx/ursecmon.py index 4e654d4..8d942b3 100644 --- a/urx/ursecmon.py +++ b/urx/ursecmon.py @@ -206,7 +206,7 @@ class SecondaryMonitor(Thread): self.start() self.wait()# make sure we got some data before someone calls us - def sendProgram(self, prog): + def send_program(self, prog): """ send program to robot in URRobot format If another program is send while a program is running the first program is aborded. @@ -279,7 +279,7 @@ class SecondaryMonitor(Thread): with self._dataEvent: self._dataEvent.wait() - def getCartesianInfo(self, wait=False): + def get_cartesian_info(self, wait=False): if wait: self.wait() with self._dictLock: @@ -288,7 +288,7 @@ class SecondaryMonitor(Thread): else: return None - def getAllData(self, wait=False): + def get_all_data(self, wait=False): """ return last data obtained from robot in dictionnary format """ @@ -297,7 +297,7 @@ class SecondaryMonitor(Thread): with self._dictLock: return self._dict.copy() - def getJointData(self, wait=False): + def get_joint_data(self, wait=False): if wait: self.wait() with self._dictLock: @@ -306,7 +306,7 @@ class SecondaryMonitor(Thread): else: return None - def isProgramRunning(self, wait=False): + def is_program_running(self, wait=False): """ return True if robot is executing a program Rmq: The refresh rate is only 10Hz so the information may be outdated diff --git a/urx/urx.py b/urx/urx.py index 5ddd41e..d758e55 100644 --- a/urx/urx.py +++ b/urx/urx.py @@ -65,12 +65,11 @@ class URRobot(object): if useRTInterface: self.rtmon.start() - self.start_pose = [1.57, -1.77, 1.57, -1.8, -1.57, -1.57] self.secmon.wait() # make sure we get data to not suprise clients def __repr__(self): - return "Robot Object (IP=%s, state=%s)" % (self.host, self.secmon.getAllData()["RobotModeData"]) + return "Robot Object (IP=%s, state=%s)" % (self.host, self.secmon.get_all_data()["RobotModeData"]) def __str__(self): return self.__repr__() @@ -102,12 +101,6 @@ class URRobot(object): force += i**2 return force**0.5 - def moveToStartPose(self): - """ - move to pos defined in self.start_pose attribute - """ - self.movej(self.start_pose) - def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0): """ """ @@ -156,7 +149,7 @@ class URRobot(object): """ get analog input """ - data = self.secmon.getAllData() + data = self.secmon.get_all_data() return data["MasterBoardData"]["analogInput0"], data["MasterBoardData"]["analogInput1"] @@ -164,21 +157,21 @@ class URRobot(object): """ get analog input """ - data = self.secmon.getAllData() + data = self.secmon.get_all_data() return data["MasterBoardData"]["analogInput" + str(nb)] - def get_digital_inBits(self): + def get_digital_in_bits(self): """ get digital output """ - data = self.secmon.getAllData() + data = self.secmon.get_all_data() return data["MasterBoardData"]["digitalInputBits"] def get_digital_in(self, nb): """ get digital output """ - data = self.secmon.getAllData() + data = self.secmon.get_all_data() val = data["MasterBoardData"]["digitalInputBits"] mask = 1 << nb if (val & mask): @@ -186,11 +179,11 @@ class URRobot(object): else: return 0 - def getDigitalOutput(self, val): + def get_digital_out(self, val): """ get digital output """ - data = self.secmon.getAllData() + data = self.secmon.get_all_data() output = data["MasterBoardData"]["digitalOutputBits"] mask = 1 << val if (output & mask): @@ -198,14 +191,14 @@ class URRobot(object): else: return 0 - def setAnalogOut(self, output, val): + def set_analog_out(self, output, val): """ set analog output, val is a float """ prog = "set_analog_output(%s, %s)" % (output, val) self.secmon.send_program(prog) - def setToolVoltage(self, val): + def set_tool_voltage(self, val): """ set voltage to be delivered to the tool, val is 0, 12 or 24 """ @@ -232,7 +225,7 @@ class URRobot(object): while True: if not self.is_running(): raise RobotException("Robot stopped") - jts = self.secmon.getJointData(wait=True) + jts = self.secmon.get_joint_data(wait=True) finished = True for i in range(0, 6): if abs(jts["q_actual%s"%i] - jts["q_targets%s"%i]) > self.radialEpsilon: @@ -245,7 +238,7 @@ class URRobot(object): """ get joints position """ - jts = self.secmon.getJointData(wait) + jts = self.secmon.get_joint_data(wait) return [jts["q_actual0"], jts["q_actual1"], jts["q_actual2"], jts["q_actual3"], jts["q_actual4"], jts["q_actual5"]] def movel(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False): @@ -268,7 +261,7 @@ class URRobot(object): """ get TCP position """ - pose = self.secmon.getCartesianInfo(wait) + pose = self.secmon.get_cartesian_info(wait) if pose: pose = [pose["X"], pose["Y"], pose["Z"], pose["Rx"], pose["Ry"], pose["Rz"]] self.logger.debug("Current pose from robot: " + str(pose))