def main():
# start the server
server = Server(server_address, server_port)
server.start()
server.client_ips.update({"UR": ur_ip})
# create client wrappers, that wrap the underlying communication to the sockets
gh = ClientWrapper("GH")
ur = ClientWrapper("UR")
# wait for the clients to be connected
gh.wait_for_connected()
ur.wait_for_connected()
# now enter fabrication loop
while True: # and ur and gh connected
# let gh control if we should continue
continue_fabrication = gh.wait_for_int(
) #1 client.send(MSG_INT, int(continue_fabrication))
print("1: continue_fabrication: %i" % continue_fabrication)
print("start fabrication")
"""
if not continue_fabrication:
break
"""
tool_string = gh.wait_for_float_list(
) #2 client.send(MSG_FLOAT_LIST,tool_string_axis)
print("2: set tool TCP")
ur.send_command_tcp(tool_string)
len_command_picking = gh.wait_for_int(
) #3 client.send(MSG_INT, len_command)
print("3: len command list picking")
commands_flattened_picking = gh.wait_for_float_list(
) #4 client.send(MSG_FLOAT_LIST, commands_flattened)
print("4: command list picking")
len_command_placing = gh.wait_for_int(
) #3 client.send(MSG_INT, len_command)
print("5: len command list placing")
commands_flattened_placing = gh.wait_for_float_list(
) #4 client.send(MSG_FLOAT_LIST, commands_flattened)
print("6: command list placing")
# the commands are formatted according to the sent length
commands_picking = format_commands(commands_flattened_picking,
len_command_picking)
print("We received %i picking commands." % len(commands_picking))
commands_placing = format_commands(commands_flattened_placing,
len_command_placing)
print("We received %i placing commands." % len(commands_placing))
# placing path
picking_cnt = 0
for i in range(0, len(commands_flattened_placing), 3):
ur.send_command_wait(0.3)
ur.send_command_digital_out(0, False)
ur.send_command_wait(0.3)
#above picking
placing_cmd = commands_picking[picking_cnt]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
#picking
placing_cmd = commands_picking[picking_cnt + 1]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
ur.send_command_wait(1.0)
#rotate
placing_cmd = commands_picking[picking_cnt + 2]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
ur.send_command_wait(1.0)
#above picking
placing_cmd = commands_picking[picking_cnt + 3]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
#above placing
placing_cmd = commands_placing[i]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
#placing
placing_cmd = commands_placing[i + 1]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
ur.send_command_wait(0.3)
ur.send_command_digital_out(0, True)
ur.send_command_wait(0.3)
#above placing
placing_cmd = commands_placing[i + 2]
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
picking_cnt += 4
ur.send_command_popup()
ur.send_command_digital_out(0, True) # Turn ON piston
ur.send_command_wait(0.5)
ur.wait_for_ready()
### Out Pose ###
#safe_out_pose_cmd = gh.wait_for_float_list() #6 client.send(MSG_FLOAT_LIST, safe_out_pose_cmd)
#print ("6: safe out pose")
#x, y, z, ax, ay, az, speed, acc = safe_out_pose_cmd
#ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
ur.send_command_wait(0.5)
ur.wait_for_ready()
#ur.wait_for_ready()
print("============================================================")
ur.quit()
gh.quit()
server.close()
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")
def main():
# start the server
server = Server(server_address, server_port)
server.start()
server.client_ips.update({"UR": ur_ip})
# create client wrappers, that wrap the underlying communication to the sockets
gh = ClientWrapper("GH")
ur = ClientWrapper("UR")
# wait for the clients to be connected
gh.wait_for_connected()
ur.wait_for_connected()
# now enter fabrication loop
while True: # and ur and gh connected
# let gh control if we should continue
continue_fabrication = gh.wait_for_int(
) #1 client.send(MSG_INT, int(continue_fabrication))
print("1: continue_fabrication: %i" % continue_fabrication)
print("start fabrication")
tool_string = gh.wait_for_float_list(
) #2 client.send(MSG_FLOAT_LIST,tool_string_axis)
print("2: set tool TCP")
ur.send_command_tcp(tool_string)
### Safe Pose ###
safety_pose_cmd = gh.wait_for_float_list(
) #3 client.send(MSG_FLOAT_LIST, safe_in_pose_cmd)
print("3: safe in pose")
x, y, z, ax, ay, az, speed, acc = safety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
ur.send_command_wait(1.0)
#turn on air and off motor
ur.send_command_digital_out(4, False)
ur.send_command_digital_out(5, True)
ur.wait_for_ready()
ur.send_command_popup(title='hello!',
message='Press ok when you are ready!',
blocking=True)
ur.wait_for_ready()
#turn on motor
ur.send_command_digital_out(4, True)
ur.wait_for_ready()
ur.send_command_popup(title='hello!',
message='Press ok when you are ready!',
blocking=True)
ur.wait_for_ready()
len_command = gh.wait_for_int() #4 client.send(MSG_INT, len_command)
print("4: len command list")
commands_flattened = gh.wait_for_float_list(
) #5 client.send(MSG_FLOAT_LIST, commands_flattened)
print("5: command list")
# the commands are formatted according to the sent length
commands = format_commands(commands_flattened, len_command)
print("We received %i commands." % len(commands))
# printing path
count = 0
for i in range(0, len(commands)):
printing_cmd = commands[i]
x, y, z, ax, ay, az, speed, radius, extrude_bool = printing_cmd
if extrude_bool == 0:
count += 1
ur.send_command_digital_out(4, False)
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
if count > 1:
ur.send_command_digital_out(4, True)
ur.send_command_wait(0.5)
else:
count = 0
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
for i, cmd in enumerate(commands[:-2]):
ur.wait_for_command_executed(i)
print("Executed command", i + 1)
print(cmd)
### Safe Pose ###
safety_pose_cmd = gh.wait_for_float_list(
) #6 client.send(MSG_FLOAT_LIST, safe_out_pose_cmd)
print("6: safe out pose")
x, y, z, ax, ay, az, speed, acc = safety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
ur.send_command_wait(5.0)
# turn off motor and extruder
ur.send_command_digital_out(4, False)
ur.send_command_wait(0.5)
ur.wait_for_ready()
#ur.wait_for_ready()
print("============================================================")
ur.quit()
gh.quit()
server.close()
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")