148 lines
4.4 KiB
Python
Executable File
148 lines
4.4 KiB
Python
Executable File
#! /usr/bin/env python
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import logging
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# Controller Settings
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CONTROLLER_PORTS = [0, 1]
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CONTROLLER_VOLTAGE = [
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0, # 0-5V
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2, # 0-10V
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]
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# Tool Settings
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TOOL_PORTS = [2, 3]
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TOOL_VOLTAGE = [
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0, # 0-5V
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1, # 0-10V
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2, # 4-20mA
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]
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OUTPUT_DOMAIN_VOLTAGE = [
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0, # 4-20mA
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1, # 0-10V
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]
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class URScript(object):
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def __init__(self):
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self.logger = logging.getLogger(u"urscript")
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# The header is code that is before and outside the myProg() method
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self.header = b""
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# The program is code inside the myProg() method
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self.program = b""
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def __call__(self):
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if(self.program == b""):
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self.logger.debug(u"urscript program is empty")
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return b""
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# Construct the program
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myprog = b"""def myProg():{}\nend""".format(self.program)
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# Construct the full script
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script = b""
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if self.header:
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script = b"{}\n\n".format(self.header)
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script = b"{}{}".format(script, myprog)
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return script
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def reset(self):
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self.header = b""
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self.program = b""
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def add_header_to_program(self, header_line):
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self.header = b"{}\n{}".format(self.header, header_line)
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def add_line_to_program(self, new_line):
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self.program = b"{}\n\t{}".format(self.program, new_line)
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def _constrain_unsigned_char(self, value):
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"""
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Ensure that unsigned char values are constrained
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to between 0 and 255.
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"""
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assert(isinstance(value, int))
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if value < 0:
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value = 0
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elif value > 255:
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value = 255
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return value
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def _set_analog_inputrange(self, port, vrange):
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if port in CONTROLLER_PORTS:
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assert(vrange in CONTROLLER_VOLTAGE)
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elif port in TOOL_PORTS:
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assert(vrange in TOOL_VOLTAGE)
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msg = b"set_analog_inputrange({},{})".format(port, vrange)
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self.add_line_to_program(msg)
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def _set_analog_output(self, input_id, signal_level):
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assert(input_id in [0, 1])
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assert(signal_level in [0, 1])
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msg = "set_analog_output({}, {})".format(input_id, signal_level)
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self.add_line_to_program(msg)
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def _set_analog_outputdomain(self, port, domain):
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assert(domain in OUTPUT_DOMAIN_VOLTAGE)
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msg = b"set_analog_outputdomain({},{})".format(port, domain)
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self.add_line_to_program(msg)
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def _set_payload(self, mass, cog=None):
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msg = b"set_payload({}".format(mass)
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if cog:
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assert(len(cog) == 3)
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msg = b"{},{}".format(msg, cog)
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msg = b"{})".format(msg)
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self.add_line_to_program(msg)
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def _set_runstate_outputs(self, outputs=None):
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if not outputs:
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outputs = []
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msg = b"set_runstate_outputs({})".format(outputs)
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self.add_line_to_program(msg)
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def _set_tool_voltage(self, voltage):
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assert(voltage in [0, 12, 24])
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msg = b"set_tool_voltage({})".format(voltage)
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self.add_line_to_program(msg)
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def _sleep(self, value):
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msg = b"sleep({})".format(value)
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self.add_line_to_program(msg)
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def _socket_close(self, socket_name):
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msg = b"socket_close(\"{}\")".format(socket_name)
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self.add_line_to_program(msg)
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def _socket_get_var(self, var, socket_name):
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msg = b"socket_get_var(\"{}\",\"{}\")".format(var, socket_name)
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self.add_line_to_program(msg)
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self._sync()
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def _socket_open(self, socket_host, socket_port, socket_name):
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msg = b"socket_open(\"{}\",{},\"{}\")".format(socket_host,
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socket_port,
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socket_name)
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self.add_line_to_program(msg)
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def _socket_read_byte_list(self, nbytes, socket_name):
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msg = b"global var_value = socket_read_byte_list({},\"{}\")".format(nbytes, socket_name) # noqa
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self.add_line_to_program(msg)
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self._sync()
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def _socket_send_string(self, message, socket_name):
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msg = b"socket_send_string(\"{}\",\"{}\")".format(message, socket_name) # noqa
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self.add_line_to_program(msg)
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self._sync()
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def _socket_set_var(self, var, value, socket_name):
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msg = b"socket_set_var(\"{}\",{},\"{}\")".format(var, value, socket_name) # noqa
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self.add_line_to_program(msg)
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self._sync()
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def _sync(self):
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msg = b"sync()"
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self.add_line_to_program(msg)
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