def main():
"""
primary function for command-line execution. return an exit status integer
or a bool type (where True indicates successful exection)
"""
formatter = argparse.RawDescriptionHelpFormatter
argp = argparse.ArgumentParser(formatter_class=formatter, description=(
"Connects to a YASNAC ERC and sends system control command(s)\n"
"Make sure you quote each command, for example: \n"
'\nmotocommand "SVON 1" "JWAIT 10" "START TESTJOB"\n'
"\nAvailable System Control Functions:\n"
"-----------------------------------\n"
"CANCEL - Cancels the error status\n"
"CYCLE n - Selects a motion cycle mode, n is between 1 and 3\n"
"DELETE j - Deletes the specified job, j is a job name or * \n"
"HLOCK n - Turns operator's panel interlock on/off, n is 1 or 0\n"
"HOLD n - Puts a hold on the robot manipulator, n is 1 or 0\n"
"JSEQ s,n - Set job and line number; s is job name, n is line no.\n"
"JWAIT n - Wait n sec., return running job status, n is -1 to 32767\n"
"MDSP s - Displays a message on the console, s is up to 28 chars.\n"
"RESET - Resets robot alarms\n"
"SETMJ j - Makes the specified job the master job, j is a job name\n"
"START j - Starts robot operation. j is a an OPTIONAL job name\n"
"SVON n - Turns servo power on/off. n is 1 or 0\n"
"RUFRAME ? - Unknown undocumented function\n"
"WUFRAME ? - Unknown undocumented function\n"
"CVTRJ ? - Unknown undocumented function\n"
"\nAvailable Status Read Functions:\n"
"--------------------------------\n"
"RALARM - Lists error and alarm codes\n"
"RJDIR j - Lists all jobs or subjobs of j, j is * or a job name\n"
"RJSEQ - Lists the current job name, line number and step number\n"
"RPOS - Lists the current robot position in rectangular coordinates\n"
"RPOSJ - Lists the current robot position in joint coordinates\n"
"RSTATS - Lists the status of several robot conditions\n"))
argp.add_argument('command', nargs="+", help=(
"A command to send to the ERC controller"))
argp.add_argument('-d', '--debug', action="store_true", help=(
"Enable transaction debugging output"))
args = argp.parse_args()
if sys.version_info < (3,0) :
input = raw_input
uri = input("Enter the uri of the robot instance: ").strip()
Pyro4.config.SERIALIZER = "pickle"
Pyro4.config.SERIALIZERS_ACCEPTED = {"json","marshal","serpent","pickle"}
robot = Pyro4.Proxy(uri)
#uri = input("Enter the uri of the robot lib: ").strip()
#erc = Pyro4.Proxy(uri)
#robot = erc.ERC()
#erc.DEBUG = args.debug
command = ""
for command_part in args.command:
command = command + command_part + " "
#
print "about to " + command + " !"
result = robot.execute_command(command.strip())
if result:
print ",".join(result)
if command == 'RSTATS':
erc.warn("The result represents these flags: "
+ ",".join(erc.decode_rstats(result)), True)
return True
def main():
"""
primary function for command-line execution. return an exit status integer
or a bool type (where True indicates successful exection)
"""
argp = argparse.ArgumentParser(description=(
"Connect to an ERC-series robot and move the manipulator"), epilog=(
'If you see a "too few arguments" error, try adding "--" before '
"your position argument. For example: "
'motomove -- "coordinates"'))
argp.add_argument('--speed', nargs="?", type=float, default=10.0, help=(
"The speed at which the robot is to perform the motion, in mm/s. "
"Allowable values are from 0.1 to 1200.00. The default is a glacial "
"and safeish 10.0. BE SAFE."))
argp.add_argument('--power', choices=('on', 'off', 'onoff'), help=(
'Controls servo power; a value of "on" will activate servo power '
'in order to perform the motion, a value of "off" will turn the '
'servo power off after performing the motion, a value of "onoff" '
'will both activate the servo power before the motion and deactivate '
'the servo power after the motion is complete. The default is not to '
'make any change to the state of servo power.'))
argp.add_argument('-d', '--debug', action="store_true", help=(
"Enable transaction debugging output"))
argp.add_argument('position', help=(
"The position to move the robot into. Must be in rectangular "
"coordinates and comma separated: x,y,z,tx,ty,tz. tx,ty,tz are tool "
"list angles in degrees. If you don't want to specify a particular "
'value, leave it empty. You can specify deltas, such as '
"+=10.1,-=5,/=3,*=2 for movement relative to the robot's current "
"position. NOTE: The resulting values won't be sanity-checked!"))
args = argp.parse_args()
#erc.DEBUG = args.debug
# sanity check
if not (0.1 <= args.speed <= 1200.0):
print "Invalid speed value, must be between 0.1 and 1200.0"
return False
speed_string = "{:.2f}".format(args.speed)
if sys.version_info < (3,0) :
input = raw_input
uri = input("Enter the uri of the robot: ").strip()
Pyro4.config.SERIALIZER = "pickle"
Pyro4.config.SERIALIZERS_ACCEPTED = {"json","marshal","serpent","pickle"}
robot = Pyro4.Proxy(uri)
# now actually do stuff
#robot = erc.ERC()
# Calculate the 6 target coordinates based on the given argument and
# the current position of the robot
target = robot.execute_command("RPOS")[0:6] # retrieve the current pos.
for index, coordinate in enumerate(args.position.split(',')[:6]):
if coordinate:
target[index] = resolve_maths(coordinate.strip(), target[index])
target_string = ",".join(target)
# are the robot servos on?
rstats = erc.decode_rstats(robot.execute_command("RSTATS"))
if not "servos on" in rstats:
if args.power in ('on', 'onoff'):
# Turn them on
robot.execute_command("SVON 1")
# fixme: error checking
else:
erc.warn("Cannot move the manipulator when the servos are off",
force=True)
return False
print "moving to {} at {} mm/s".format(target_string, speed_string)
robot.execute_command(("MOVL 0,{speed},0,{pos},"
"0,0,0,0,0,0,0,0").format(speed=speed_string,
pos=target_string))
robot.execute_command("JWAIT -1")
# shoule we turn off the servos?
if args.power in ('off', 'onoff'):
# Turn them off
robot.execute_command("SVON 0")
return True
