def _run(self):
self._check_Robot_Job()
if self._motion_timer > 0:
self._motion_timer -= 1
leftCnt = len(self.ur_Locations)
if self.ur_Locations and self._motion_timer == 0:
self.instance.setMover(self.ur_Locations.pop(),self.ur_Rotations.pop())
if self.widgets_panel.RobotConCHK.is_checked == True:
bpy.context.view_layer.update()
try:
pop_Move_Time = self.ur_Move_Times.pop()
pop_Move_Radius = self.ur_Move_Radius.pop()
pop_Gripper_Motion = self.ur_Gripper_Motions.pop()
except Exception as e:
print(e)
pop_Move_Time = 0
pop_Move_Radius = 0
pop_Gripper_Motion = 0
URxMoveToPoseOperator(1, pop_Move_Time, pop_Move_Radius, pop_Gripper_Motion)
else:
print("Check Robot conn")
if len(self.ur_Locations) == 0 and len(self.ur_Gripper_Motions) == 0:
URxStateCheck(0)
self.stateUrRun = False
Bl_Ui_Draw_Pose_Operator(0)
if self.widgets_panel.RobotConCHK.is_checked == True:
URxMoveToPoseOperator(0)
if leftCnt > 0:
self._motion_timer = int(self._delay_time * self.widgets_panel.SpeedUD.get_value())
def bcall_Save_Pose_Lists(self, widget):
print("Button '{0}' is pressed".format(widget.text))
try:
bof.FLAG_IK_MOVE_DRAG = False
bod.data_Set_Save_To_Mem()
Bl_Ui_Draw_Pose_Operator(0)
bpy.ops.object.dialog_operator('INVOKE_DEFAULT')
except Exception as e:
print(e)
def modal(self, context, event):
if event.type == 'ESC':
if self.widgets_panel.RobotConCHK.is_checked == False:
self.ur_Locations = []
self.ur_Rotations = []
self.ur_Move_Times = []
self.ur_Move_Radius = []
self.ur_Gripper_Motions = []
URxMoveToPoseOperator(6)
Bl_Ui_Draw_Pose_Operator(0)
self.stateUrRun = False
bof.FLAG_OP_SHUTDOWN = True
self._run()
# buca.draw_Curr_Ur_FK() # Use UR5 in simulator
if bof.FLAG_OP_SHUTDOWN:
self._cancel(context)
self.unregister_handlers(context)
cleanup_and_quit()
return {'CANCELLED'}
elif event.type == 'TIMER':
self._modal_action()
for widget in self.widgets:
rtn = widget.handle_event(event)
for widget in self.widgets2:
rtn = widget.handle_event(event)
if self.instance is not None:
self.instance.set_event(event, context)
if self.sensor_cam is not None and self.sensor_cam_mode:
self.sensor_cam.processing()
if "ROBOT" in bod.data_Tcp_Clinet_List:
self.widgets_panel.RobotConCHK.is_checked = True
else:
self.widgets_panel.RobotConCHK.is_checked = False
bpy.context.view_layer.update()
if rtn:
print('redraw')
return {'RUNNING_MODAL'}
def bcall_Draw_Del_Pose(self, widget):
print("Button '{0}' is pressed".format(widget.text))
Bl_Ui_Draw_Pose_Operator(0)
