def main():
logger.info("\n\nlog started ,main is running\n")
# start the server
server = Server(server_address, server_port)
server.start()
server.client_ips.update({"UR": ur_ip})
logger.info("server started")
# create client wrappers, that wrap the underlying communication to the sockets
ur = ClientWrapper("UR")
logger.info("client wrappers created")
# wait for the clients to be connected
ur.wait_for_connected()
logger.info("ur is connected")
# now enter fabrication loop
while True: # and ur and gh connected
commands_to_send = [[i] * 8 for i in range(20)]
for i, cmd in enumerate(commands_to_send):
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
time.sleep(4)
ur.purge_commands()
print("waiting for ready")
ur.wait_for_ready()
print("send new commands")
for i, cmd in enumerate(commands_to_send):
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
print("============================================================")
ur.quit()
server.close()
logger.info("siemens protal, gh, ur and server are closed")
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")
def main():
logger.info("\n\nlog started ,main is running\n")
# start the server
server = Server(server_address, server_port)
server.start()
server.client_ips.update({"UR": ur_ip})
logger.info("server started")
# create client wrappers, that wrap the underlying communication to the sockets
gh = ClientWrapper("GH")
ur = ClientWrapper("UR")
logger.info("client wrappers created")
# wait for the clients to be connected
gh.wait_for_connected()
ur.wait_for_connected()
logger.info("gh and ur are connected")
continue_fabrication = gh.wait_for_int()
print("continue_fabrication: %i" % continue_fabrication)
move_filament_loading_pt = gh.wait_for_int()
print("move_filament_loading_pt: %i" % move_filament_loading_pt)
linear_axis_toggle = gh.wait_for_int()
print("linear_axis_toggle: %i" % linear_axis_toggle)
#if linear_axis_toggle:
axis_moving_pts_indices = gh.wait_for_float_list()
print("We received %i linear axis_moving_pts_indices" % len(axis_moving_pts_indices))
logger.info("{} float list of axis_moving_pts_indices received".format(len(axis_moving_pts_indices)))
len_command = gh.wait_for_int()
print("len_command: %i" % len_command)
no_batches = gh.wait_for_int()
print("no_batches: %i" % no_batches)
commands_to_wait_flattened = []
for j in range(no_batches):
commands_flattened = gh.wait_for_float_list()
# create mew list for commands executed
commands_to_wait_flattened.extend(commands_flattened)
# the commands are formatted according to the sent length
commands = format_commands(commands_flattened, len_command)
print("We received %i commands." % len(commands))
logger.info("{} float list of commands_flattened received".format(len(commands)))
if move_filament_loading_pt:
commands_to_send = commands
else:
commands_to_send = commands[1:-1]
for i, cmd in enumerate(commands_to_send):
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
logger.info("all commands in batch number {} were sent".format(j))
break
print("=>>>>>>>>>>>>>>>>>>>>> wait for the 3rd")
ur.wait_for_command_executed(3)
ur.purge_commands()
# ur.quit()
# time.sleep(3)
# ur.wait_for_connected()
print("01_waiting for ready")
# # time.sleep(1.5)
ur.wait_for_ready()
print("02 send new commands")
# toggle extruder, turn off motor
# move away robot problem: it still sends it at end
x1, y1, z1, ax1, ay1, az1, speed1, radius1 = commands_to_send[0]
ur.send_command_movel([x1, y1, z1, ax1, ay1, az1], v=speed1, r=radius1)
print("03_Moving robot to a safe point")
# print("Waiting for 10 seconds")
# time.sleep(10)
print("04_waiting for ready")
ur.wait_for_ready()
print("======================")
ur.quit()
gh.quit()
# time.sleep(3)
server.close()
logger.info("siemens protal, gh, ur and server are closed")
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")
def main():
logger.info("\n\nlog started ,main is running\n")
# start the server
server = Server(server_address, server_port)
server.start()
server.client_ips.update({"UR": ur_ip})
logger.info("server started")
ur = ClientWrapper("UR")
time.sleep(0.5)
ur_driver.send()
ur.wait_for_connected()
move_filament_loading_pt = data['move_filament_loading_pt']
linear_axis_toggle = data['move_linear_axis']
axis_moving_pts_indices = data['axis_moving_pts_indices']
len_command = data['len_command']
batches = data['batches']
print("Batch length:", len(batches))
print("move_filament_loading_pt: %i" % move_filament_loading_pt)
logger.info(
"move_filament_loading_pt: {}".format(move_filament_loading_pt))
print("linear_axis_toggle: %i" % linear_axis_toggle)
logger.info("linear_axis_toggle: {}".format(linear_axis_toggle))
print("We received %i linear axis_moving_pts_indices" %
len(axis_moving_pts_indices))
logger.info("{} float list of axis_moving_pts_indices received".format(
len(axis_moving_pts_indices)))
#if the ur required to start extruding always from the same start base
print("============================================================")
linear_axis_x = 500
linear_axis_z = 800
if linear_axis_toggle:
# And move axis
p = s.SiemensPortal(2)
logger.info("siemens portal connected")
currentPosX = p.get_x()
currentPosZ = p.get_z()
if currentPosZ != linear_axis_z or currentPosX != linear_axis_x:
p.set_x(linear_axis_x)
p.set_z(linear_axis_z)
print("Linear axis is set to default x and z value")
p.wait_ext_axis()
p.close()
print("============================================================")
print("len_command: %i" % len_command)
# move linear axis except start and end (at filament loading and unloading pos)
linear_axis_move_z = linear_axis_z
linear_axis_failed = False
print("============================================================")
p1 = s.SiemensPortal(2)
# loop through all commands batches
command_counter = 0
for j, batch in enumerate(batches):
commands = format_commands(batch, len_command)
print("For batch nr %d, we received %i commands." %
(j + 1, len(commands)))
logger.info("{} float list of commands_flattened received".format(
len(commands)))
if move_filament_loading_pt:
commands = commands[1:-1]
difference_to_prev_command_before_sending_next = 10
# ===>>> start sending commands
for i, cmd in enumerate(commands):
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
command_counter += 1
if move_filament_loading_pt and i == 0 and j == 0:
# after Moving to first point, toggle extruder and wait
print("Moved to safe point")
print("Toggling extruder")
ur.send_command_digital_out(0, True)
command_counter += 1
print("Waiting for 2 seconds")
ur.send_command_wait(2)
command_counter += 1
print("all commands in batch number %i were sent." % j)
logger.info("all commands in batch number {} were sent".format(j))
wait_for_counter = command_counter - difference_to_prev_command_before_sending_next
print("Waiting for command counter %d" % wait_for_counter)
ur.wait_for_command_executed(wait_for_counter)
print("Executed command {} of {}".format(wait_for_counter,
len(commands) * len(batches)))
if linear_axis_toggle:
if i in axis_moving_pts_indices:
linear_axis_move_z += 1
p1.set_z(linear_axis_move_z)
print("Linear axis is supposed to move to %d mm" %
linear_axis_move_z)
#sleeping time depends on linear axis override speed
#for ex. 0.5 sec sleep is not enough to move 16mm in z
time.sleep(.7)
linear_axis_currentPosZ = p1.get_z()
if linear_axis_move_z == linear_axis_currentPosZ:
print("SUCCESS")
print("Linear axis moved to %d mm" %
linear_axis_currentPosZ)
print("Linear axis moved at point index %d" % i)
logger.info("SUCCESS")
logger.info("Linear axis moved to {} mm".format(
linear_axis_currentPosZ))
logger.info("Executed command {} of {} [{}%]".format(
i + 1, len(commands_to_wait),
(i + 1) * 100 / (len(commands_to_wait))))
else:
print(
"============================================================"
)
print("FAILED")
print("Linear axis still at %d mm" %
linear_axis_currentPosZ)
print("Linear axis failed to move at point index %d" % i)
logger.info("FAILED")
logger.info("Linear axis still at {} mm".format(
linear_axis_currentPosZ))
logger.info("Executed command {} of {} [{}%]".format(
i + 1, len(commands_to_wait),
(i + 1) * 100 / (len(commands_to_wait))))
ur.purge_commands()
print("00_purge done")
print("waiting for ready ......... ")
ur.wait_for_ready()
print("01_send new commands")
# toggle extruder, turn off motor
ur.send_command_digital_out(0, False)
logger.info("02_Nozzle Motor Stopped")
print("02_Nozzle Motor Stopped")
# move away robot problem: it still sends it at end
x1, y1, z1, ax1, ay1, az1, speed1, radius1 = commands_to_wait[
0]
ur.send_command_movel([x1, y1, z1, ax1, ay1, az1],
v=speed1,
r=radius1)
print("03_Moving robot to a safe point")
logger.info("03_Moving robot to a safe point")
print("waiting for ready ......... ")
ur.wait_for_ready()
linear_axis_failed = True
ur.quit()
print("04_ur quit")
logger.info("04_ur quit")
if not linear_axis_failed:
print("============================================================")
ur.wait_for_ready()
print("waiting for ready")
ur.send_command_digital_out(0, False)
logger.info("nozzle motor stopped")
print("Nozzle Motor Stopped")
ur.wait_for_ready()
logger.info("all commands were successfully executed")
print("all commands were successfully executed")
print("============================================================")
ur.quit()
p1.close()
time.sleep(1)
server.close()
print("siemens protal, gh, ur and server are closed")
logger.info("siemens protal, gh, ur and server are closed")
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")