Use flake8 tool to clean up file to pep8 standards
This commit is contained in:
Chris Gilmer
ORD
parent
606ecd5fa3
commit
e711a1e929
@ -1,11 +1,10 @@
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"""
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Python library to control an UR robot through its TCP/IP interface
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"""
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from urx.urrobot import RobotException, URRobot # noqa
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__version__ = "0.9.0"
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from urx.urrobot import RobotException, URRobot
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try:
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from urx.robot import Robot
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except ImportError as ex:
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@ -26,61 +26,62 @@ Future Features
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import logging
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class Robotiq_Two_Finger_Gripper(object):
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complete_program = ""
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header = "def myProg():" + b"\n"
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end = b"\n" + "end"
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logger = False
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complete_program = ""
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header = "def myProg():" + b"\n"
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end = b"\n" + "end"
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logger = False
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def __init__(self):
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self.logger = logging.getLogger("urx")
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self.reset()
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def __init__(self):
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self.logger = logging.getLogger("urx")
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self.reset()
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def reset(self):
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self.complete_program = ""
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self.add_line_to_program("set_analog_inputrange(0, 0)")
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self.add_line_to_program("set_analog_inputrange(1, 0)")
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self.add_line_to_program("set_analog_inputrange(2, 0)")
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self.add_line_to_program("set_analog_inputrange(3, 0)")
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self.add_line_to_program("set_analog_outputdomain(0, 0)")
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self.add_line_to_program("set_analog_outputdomain(1, 0)")
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self.add_line_to_program("set_tool_voltage(0)")
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self.add_line_to_program("set_runstate_outputs([])")
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self.add_line_to_program("set_payload(0.85)") #0.85 is the weight of the gripper in KG
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self.add_line_to_program("socket_close(\"gripper_socket\")")
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#self.add_line_to_program("sleep(1)") #in Robotiq's example they do a wait here... I haven't found it nec
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self.add_line_to_program("socket_open(\"127.0.0.1\",63352,\"gripper_socket\")")
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#self.add_line_to_program("sleep(1)")
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self.add_line_to_program("socket_set_var(\"SEP\",255,\"gripper_socket\")") #Speed 0-255 is valid
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"FOR\",50,\"gripper_socket\")") #Force 0-255 is valid
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"ACT\",1,\"gripper_socket\")") # Activate robot
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"GTO\",1,\"gripper_socket\")")
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self.add_line_to_program("sync()")
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def reset(self):
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self.complete_program = ""
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self.add_line_to_program("set_analog_inputrange(0, 0)")
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self.add_line_to_program("set_analog_inputrange(1, 0)")
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self.add_line_to_program("set_analog_inputrange(2, 0)")
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self.add_line_to_program("set_analog_inputrange(3, 0)")
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self.add_line_to_program("set_analog_outputdomain(0, 0)")
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self.add_line_to_program("set_analog_outputdomain(1, 0)")
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self.add_line_to_program("set_tool_voltage(0)")
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self.add_line_to_program("set_runstate_outputs([])")
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self.add_line_to_program("set_payload(0.85)") # 0.85 is the weight of the gripper in KG
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self.add_line_to_program("socket_close(\"gripper_socket\")")
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# self.add_line_to_program("sleep(1)") # in Robotiq's example they do a wait here... I haven't found it nec
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self.add_line_to_program("socket_open(\"127.0.0.1\",63352,\"gripper_socket\")")
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# self.add_line_to_program("sleep(1)")
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self.add_line_to_program("socket_set_var(\"SEP\",255,\"gripper_socket\")") # Speed 0-255 is valid
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"FOR\",50,\"gripper_socket\")") # Force 0-255 is valid
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"ACT\",1,\"gripper_socket\")") # Activate robot
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self.add_line_to_program("sync()")
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self.add_line_to_program("socket_set_var(\"GTO\",1,\"gripper_socket\")")
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self.add_line_to_program("sync()")
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def open_gripper(self):
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self.add_line_to_program("socket_set_var(\"POS\",0,\"gripper_socket\")") #0 is open; range is 0-255
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self.add_line_to_program("sync()")
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self.add_line_to_program("sleep(2)")
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def open_gripper(self):
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self.add_line_to_program("socket_set_var(\"POS\",0,\"gripper_socket\")") # 0 is open; range is 0-255
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self.add_line_to_program("sync()")
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self.add_line_to_program("sleep(2)")
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def close_gripper(self):
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self.add_line_to_program("socket_set_var(\"POS\",255,\"gripper_socket\")") #255 is closed; range is 0-255
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self.add_line_to_program("sync()")
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self.add_line_to_program("sleep(2)")
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def close_gripper(self):
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self.add_line_to_program("socket_set_var(\"POS\",255,\"gripper_socket\")") # 255 is closed; range is 0-255
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self.add_line_to_program("sync()")
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self.add_line_to_program("sleep(2)")
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def add_line_to_program(self,new_line):
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if(self.complete_program != ""):
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self.complete_program += b"\n"
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self.complete_program += new_line
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def add_line_to_program(self, new_line):
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if(self.complete_program != ""):
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self.complete_program += b"\n"
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self.complete_program += new_line
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def ret_program_to_run(self):
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if(self.complete_program == ""):
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self.logger.debug("robotiq_two_finger_gripper's program is empty")
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return ""
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def ret_program_to_run(self):
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if(self.complete_program == ""):
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self.logger.debug("robotiq_two_finger_gripper's program is empty")
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return ""
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prog = self.header
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prog += self.complete_program
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prog += self.end
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return prog
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prog = self.header
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prog += self.complete_program
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prog += self.end
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return prog
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@ -208,7 +208,7 @@ class URRobot(object):
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start_dist = self._get_dist(target, joints)
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if threshold is None:
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threshold = start_dist * 0.8
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if threshold < 0.001: # roboten precision is limited
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if threshold < 0.001: # roboten precision is limited
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threshold = 0.001
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self.logger.debug("No threshold set, setting it to %s", threshold)
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count = 0
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@ -234,13 +234,13 @@ class URRobot(object):
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return self._get_lin_dist(target)
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def _get_lin_dist(self, target):
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#FIXME: we have an issue here, it seems sometimes the axis angle received from robot
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# FIXME: we have an issue here, it seems sometimes the axis angle received from robot
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pose = URRobot.getl(self, wait=True)
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dist = 0
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for i in range(3):
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dist += (target[i] - pose[i]) ** 2
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for i in range(3, 6):
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dist += ((target[i] - pose[i]) / 5) ** 2 # arbitraty length like
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dist += ((target[i] - pose[i]) / 5) ** 2 # arbitraty length like
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return dist ** 0.5
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def _get_joints_dist(self, target):
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@ -4,13 +4,6 @@ Confer http://support.universal-robots.com/Technical/RealTimeClientInterface
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Note: The packet lenght given in the web-page is 740. What is actually received from the controller is 692. It is assumed that the motor currents, the last group of 48 bytes, are not send.
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Originally Written by Morten Lind
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'''
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__author__ = "Morten Lind, Olivier Roulet-Dubonnet"
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__copyright__ = "Copyright 2011, NTNU/SINTEF Raufoss Manufacturing AS"
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__credits__ = ["Morten Lind, Olivier Roulet-Dubonnet"]
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__license__ = "LGPLv3"
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import logging
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import socket
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import struct
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@ -22,6 +15,11 @@ import numpy as np
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import math3d as m3d
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__author__ = "Morten Lind, Olivier Roulet-Dubonnet"
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__copyright__ = "Copyright 2011, NTNU/SINTEF Raufoss Manufacturing AS"
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__credits__ = ["Morten Lind, Olivier Roulet-Dubonnet"]
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__license__ = "LGPLv3"
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class URRTMonitor(threading.Thread):
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@ -51,7 +49,7 @@ class URRTMonitor(threading.Thread):
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self._tcp_force = None
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self.__recvTime = 0
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self._last_ctrl_ts = 0
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#self._last_ts = 0
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# self._last_ts = 0
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self._buffering = False
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self._buffer_lock = threading.Lock()
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self._buffer = []
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@ -155,8 +153,8 @@ class URRTMonitor(threading.Thread):
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self._timestamp = timestamp
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# it seems that packet often arrives packed as two... maybe TCP_NODELAY is not set on UR controller??
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# if (self._timestamp - self._last_ts) > 0.010:
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#self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
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#self._last_ts = self._timestamp
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# self.logger.warning("Error the we did not receive a packet for {}s ".format( self._timestamp - self._last_ts))
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# self._last_ts = self._timestamp
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self._ctrlTimestamp = np.array(unp[0])
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if self._last_ctrl_ts != 0 and (
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self._ctrlTimestamp -
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@ -239,7 +237,7 @@ class URRTMonitor(threading.Thread):
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tcp_force=self._tcp_force)
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def stop(self):
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#print(self.__class__.__name__+': Stopping')
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# print(self.__class__.__name__+': Stopping')
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self._stop_event = True
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def close(self):
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@ -69,7 +69,7 @@ class ParserUtils(object):
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self.version = (3, 0)
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allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBdd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling"))
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elif psize == 46: # It's 46 bytes in 3.2
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self.version = (3,2)
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self.version = (3, 2)
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allData['RobotModeData'] = self._get_data(pdata, "!IBQ???????BBdd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "controlMode", "speedFraction", "speedScaling", "speedFractionLimit"))
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else:
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allData["RobotModeData"] = self._get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction"))
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@ -104,9 +104,9 @@ class ParserUtils(object):
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elif ptype == 7 and self.version >= (3, 2):
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allData["ForceModeData"] = self._get_data(pdata, "iBddddddd", ("size", "type", "x", "y", "z", "rx", "ry", "rz", "robotDexterity"))
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# elif ptype == 8:
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#allData["varMessage"] = self._get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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# allData["varMessage"] = self._get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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# elif ptype == 7:
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#allData["keyMessage"] = self._get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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# allData["keyMessage"] = self._get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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elif ptype == 20:
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tmp = self._get_data(pdata, "!iB Qbb", ("size", "type", "timestamp", "source", "robotMessageType"))
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@ -217,11 +217,11 @@ class ParserUtils(object):
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# ok we we have somehting which looks like a packet"
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return (data[:psize], data[psize:])
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else:
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#packet is not complete
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# packet is not complete
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self.logger.debug("Packet is not complete, advertised size is %s, received size is %s, type is %s", psize, len(data), ptype)
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return None
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else:
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#self.logger.debug("data smaller than 5 bytes")
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# self.logger.debug("data smaller than 5 bytes")
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return None
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@ -314,7 +314,7 @@ class SecondaryMonitor(Thread):
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self.logger.error("Robot not running: " + str(self._dict["RobotModeData"]))
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self.running = False
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with self._dataEvent:
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#print("X: new data")
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# print("X: new data")
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self._dataEvent.notifyAll()
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def _get_data(self):
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@ -322,14 +322,14 @@ class SecondaryMonitor(Thread):
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returns something that looks like a packet, nothing is guaranted
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"""
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while True:
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#self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
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# self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
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ans = self._parser.find_first_packet(self._dataqueue[:])
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if ans:
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self._dataqueue = ans[1]
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#self.logger.debug("found packet of size {}".format(len(ans[0])))
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# self.logger.debug("found packet of size {}".format(len(ans[0])))
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return ans[0]
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else:
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#self.logger.debug("Could not find packet in received data")
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# self.logger.debug("Could not find packet in received data")
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tmp = self._s_secondary.recv(1024)
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self._dataqueue += tmp
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