171 lines
7.9 KiB
Python
171 lines
7.9 KiB
Python
"""
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parse data from UR socket client
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REMARK
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Only the last connected socket on 3001 is the primary client !!!! so it is unreliable to rely on it
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http://support.universal-robots.com/Technical/PrimaryAndSecondaryClientInterface
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"""
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__author__ = "Olivier Roulet-Dubonnet"
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__copyright__ = "Copyright 2011-2012, Olivier Roulet-Dubonnet"
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__credits__ = ["Olivier Roulet-Dubonnet"]
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__license__ = "GPLv3"
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__version__ = "0.3"
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__status__ = "Development"
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import struct
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from copy import copy
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class ParsingException(Exception):
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def __init__(self, *args):
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Exception.__init__(self, *args)
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def _get_data(data, fmt, names):
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"""
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fill data into a dictionary
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data is data from robot packet
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fmt is struct format, but with added A for arrays and no support for numerical in fmt
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names args are strings used to store values
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"""
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tmpdata = copy(data)
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fmt = fmt.strip() # space may confuse us
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d = dict()
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i = 0
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j = 0
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while j < len(fmt) and i < len(names):
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f = fmt[j]
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if f in (" ", "!", ">", "<"):
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j += 1
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elif f == "A": #we got an array
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# first we need to find its size
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if j == len(fmt) - 2: # we are last element, size is the rest of data in packet
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arraysize = len(tmpdata)
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else: # size should be given in last element
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asn = names[i-1]
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if not asn.endswith("Size"):
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raise ParsingException("Error, array without size ! %s %s" % (asn, i))
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else:
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arraysize = d[asn]
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d[names[i]] = tmpdata[0:arraysize]
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#print "Array is ", names[i], d[names[i]]
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tmpdata = tmpdata[arraysize:]
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j += 2
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i += 1
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else:
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fmtsize = struct.calcsize(fmt[j])
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#print "reading ", f , i, j, fmtsize, len(tmpdata)
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if len(tmpdata) < fmtsize: #seems to happen on windows
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raise ParsingException("Error, length of data smaller than advertized: ", len(tmpdata), fmtsize, "for names ", names, f, i, j)
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d[names[i]] = struct.unpack("!" + f, tmpdata[0:fmtsize])[0]
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#print names[i], d[names[i]]
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tmpdata = tmpdata[fmtsize:]
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j += 1
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i += 1
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return d
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def get_header(data):
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return struct.unpack("!iB", data[0:5])
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def analyze_header(data):
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"""
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read first 5 bytes and return complete packet
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"""
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if not len(data) >= 5:
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raise ParsingException("Packet size %s smaller than header size (5 bytes)" % len(data))
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else:
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psize, ptype = get_header(data)
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if psize < 5:
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raise ParsingException("Error, declared length of data smaller than its own header(5): ", psize)
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elif psize > len(data):
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raise ParsingException("Error, length of data smaller (%s) than declared (%s)" %( len(data), psize))
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return psize, ptype, data[:psize], data[psize:]
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def find_first_packet(data):
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"""
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find the first complete packet in a string
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returns None if none found
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"""
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counter = 0
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while True:
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if len(data) >= 5:
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psize, ptype = get_header(data)
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if psize < 5 or psize > 500 or ptype != 16:
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data = data[1:]
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elif len(data) > psize:
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if counter:
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print("Had to remove % bytes of garbage at begining of packet" % counter)
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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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return None
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else:
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return None
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def parse(data):
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"""
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parse a packet from the UR socket and return a dictionary with the data
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"""
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allData = {}
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#print "Total size ", len(data)
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while data:
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psize, ptype, pdata, data = analyze_header(data)
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#print "We got packet with size %i and type %s" % (psize, ptype)
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if ptype == 16:
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allData["SecondaryClientData"] = _get_data(pdata, "!iB", ("size", "type"))
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data = (pdata + data)[5:] # This is the total size so we resend data to parser
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elif ptype == 0:
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allData["RobotModeData"] = _get_data(pdata, "!iBQ???????Bd", ("size", "type", "timestamp", "isRobotConnected", "isRealRobotEnabled", "isPowerOnRobot", "isEmergencyStopped", "isSecurityStopped", "isProgramRunning", "isProgramPaused", "robotMode", "speedFraction"))
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elif ptype == 1:
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tmpstr = ["size", "type"]
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for i in range(0, 6):
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tmpstr += ["q_actual%s" % i, "q_target%s" % i, "qd_actual%s" % i, "I_actual%s" % i, "V_actual%s" % i, "T_motor%s" % i ,"T_micro%s" % i, "jointMode%s" % i]
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allData["JointData"] = _get_data(pdata, "!iB dddffffB dddffffB dddffffB dddffffB dddffffB dddffffB", tmpstr)
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elif ptype == 4:
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allData["CartesianInfo"] = _get_data(pdata, "iBdddddd", ("size", "type", "X", "Y", "Z", "Rx", "Ry", "Rz"))
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elif ptype == 5:
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allData["LaserPointer(OBSOLETE)"] = _get_data(pdata, "iBddd" , ("size", "type"))
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elif ptype == 3:
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allData["MasterBoardData"] = _get_data(pdata, "iBhhbbddbbddffffBBb" , ("size", "type", "digitalInputBits", "digitalOutputBits", "analogInputRange0", "analogInputRange1", "analogInput0", "analogInput1", "analogInputDomain0", "analogInputDomain1", "analogOutput0", "analogOutput1", "masterBoardTemperature", "robotVoltage48V", "robotCurrent", "masterIOCurrent"))#, "masterSafetyState" ,"masterOnOffState", "euromap67InterfaceInstalled" ))
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elif ptype == 2:
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allData["ToolData"] = _get_data(pdata, "iBbbddfBffB" , ("size", "type", "analoginputRange2", "analoginputRange3", "analogInput2", "analogInput3", "toolVoltage48V", "toolOutputVoltage", "toolCurrent", "toolTemperature", "toolMode" ))
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elif ptype == 20:
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tmp = _get_data(pdata, "!iB Qbb", ("size", "type", "timestamp", "source", "robotMessageType"))
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if tmp["robotMessageType"] == 3:
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allData["VersionMessage"] = _get_data(pdata, "!iBQbb bAbBBiAb", ("size", "type", "timestamp", "source", "robotMessageType", "projectNameSize", "projectName", "majorVersion", "minorVersion", "svnRevision", "buildDate"))
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elif tmp["robotMessageType"] == 6:
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allData["robotCommMessage"] = _get_data(pdata, "!iBQbb iiAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "messageText"))
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elif tmp["robotMessageType"] == 1:
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allData["labelMessage"] = _get_data(pdata, "!iBQbb iAc", ("size", "type", "timestamp", "source", "robotMessageType", "id", "messageText"))
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elif tmp["robotMessageType"] == 2:
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allData["popupMessage"] = _get_data(pdata, "!iBQbb ??BAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "warning", "error", "titleSize", "messageTitle", "messageText"))
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elif tmp["robotMessageType"] == 0:
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allData["messageText"] = _get_data(pdata, "!iBQbb Ac", ("size", "type", "timestamp", "source", "robotMessageType", "messageText"))
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elif tmp["robotMessageType"] == 8:
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allData["varMessage"] = _get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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elif tmp["robotMessageType"] == 7:
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allData["keyMessage"] = _get_data(pdata, "!iBQbb iiBAcAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "titleSize", "messageTitle", "messageText"))
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elif tmp["robotMessageType"] == 5:
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allData["keyMessage"] = _get_data(pdata, "!iBQbb iiAc", ("size", "type", "timestamp", "source", "robotMessageType", "code", "argument", "messageText"))
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else:
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print("Message type parser not implemented ", tmp)
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else:
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print("Uknown packet type %s with size %s" % (ptype, psize))
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return allData
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