def main():
# start the server
server = Server(server_address, server_port)
server.start()
# create client wrappers, that wrap the underlying communication to the sockets
gh = ClientWrapper("GH")
# wait for the clients to be connected
gh.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()
print("continue_fabrication: %i" % continue_fabrication)
if not continue_fabrication:
break
float_list = gh.wait_for_float_list()
# do some calculation
x, y = float_list
sum = x + y
print("%f + %f = %f" % (x, y, sum))
gh.send_float_list([sum])
gh.quit()
server.close()
time.sleep(2)
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()
print("continue_fabrication: %i" % continue_fabrication)
if not continue_fabrication:
break
safe_pt_toggle = gh.wait_for_int()
len_command = gh.wait_for_int()
commands_flattened = gh.wait_for_float_list()
# the commands are formatted according to the sent length
commands = format_commands(commands_flattened, len_command)
print("We received %i commands." % len(commands))
if safe_pt_toggle:
print("Moving to safe point")
for i, cmd in enumerate(commands):
if i == 0:
# Move to first point, toggle extruder and wait
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az],
v=speed,
r=radius)
print("Toggling extruder")
ur.send_command_digital_out(0, True)
print("Waiting for 30 seconds")
ur.send_command_wait(30)
# And move axis
# p = s.SiemensPortal(1)
# p.set_x(650)
# p.set_z(850)
else:
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az],
v=speed,
r=radius)
else:
print("Skipping safe points")
for i, cmd in enumerate(commands[1:-1]):
x, y, z, ax, ay, az, speed, radius = cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
# for i, cmd in enumerate(commands):
# ur.wait_for_command_executed(i)
# print("Executed command", i+1, "of", len(commands), "[", (i+1)*100/(len(commands)), "%]")
# current_pose_cartesian = ur.get_current_pose_cartesian()
# print(current_pose_cartesian)
ur.wait_for_ready()
ur.send_command_digital_out(0, False)
gh.send_float_list(commands[0])
print("============================================================")
"""
ur.wait_for_ready()
# wait for sensor value
digital_in = ur.wait_for_digital_in(number)
current_pose_joint = ur.wait_for_current_pose_joint()
current_pose_cartesian = ur.get_current_pose_cartesian()
# send further to gh
gh.send_float_list(digital_in)
gh.send_float_list(current_pose_joint)
gh.send_float_list(current_pose_cartesian)
"""
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()
print("continue_fabrication: %i" % continue_fabrication)
if not continue_fabrication:
break
# receive further information from gh
# e.g. send number of commands:
# number = gh.wait_for_int()
# commands = []
# for i in range(number):
# cmd = gh.wait_for_float_list()
# commands.append(cmd)
picking_pose_cmd = gh.wait_for_float_list()
savety_pose_cmd = gh.wait_for_float_list()
len_command = gh.wait_for_int()
commands_flattened = gh.wait_for_float_list()
# the commands are formatted according to the sent length
commands = format_commands(commands_flattened, len_command)
print("We received %i commands." % len(commands))
# 1. move to savety pose
x, y, z, ax, ay, az, acc, vel = savety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
# 2. open gripper
ur.send_command_digital_out(2, True) # open tool
# 3. move to picking pose
x, y, z, ax, ay, az, acc, vel = picking_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
# 4. Close gripper
ur.send_command_digital_out(2, False) # close tool
# 5. move to savety pose
x, y, z, ax, ay, az, acc, vel = savety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
ur.wait_for_message(self, msg_id)
# placing path
for i in range(0, len(commands), 3):
savety_cmd1 = commands[i]
placing_cmd = commands[i+1]
savety_cmd2 = commands[i+2]
# 5. move to savety pose 1
x, y, z, ax, ay, az, speed, radius = savety_cmd1
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
# 6. move to placing pose
x, y, z, ax, ay, az, speed, radius = placing_cmd
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
# 7. wait
ur.send_command_wait(2.)
# 8. open gripper
ur.send_command_digital_out(2, True) # open tool
# 7. wait
ur.send_command_wait(1.)
# 9. move to savety pose 2
x, y, z, ax, ay, az, speed, radius = savety_cmd2
ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
# 1. move to savety pose
x, y, z, ax, ay, az, acc, vel = savety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
# 2. open gripper
ur.send_command_digital_out(2, True) # open tool
# 3. move to picking pose
x, y, z, ax, ay, az, acc, vel = picking_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
# 4. Close gripper
ur.send_command_digital_out(2, False) # close tool
# 5. move to savety pose
x, y, z, ax, ay, az, acc, vel = savety_pose_cmd
ur.send_command_movel([x, y, z, ax, ay, az], a=acc, v=vel)
ur.wait_for_ready()
gh.send_float_list(commands[0])
print("============================================================")
break
"""
ur.wait_for_ready()
# wait for sensor value
digital_in = ur.wait_for_digital_in(number)
current_pose_joint = ur.wait_for_current_pose_joint()
current_pose_cartesian = ur.get_current_pose_cartesian()
# send further to gh
gh.send_float_list(digital_in)
gh.send_float_list(current_pose_joint)
gh.send_float_list(current_pose_cartesian)
"""
ur.quit()
gh.quit()
server.close()
print("Please press a key to terminate the program.")
junk = sys.stdin.readline()
print("Done.")