def _process_io_command(command, opts):
"""
Process io command.
:param command: Command tuple
:param opts: UserOptions tuple
:return:
"""
io_data = [] # empty data container
# Interpret digital output command
if opts.Include_digital_output:
if command.digital_output is not None:
io_type = BINARY_OUT
for io in command.digital_output:
formatted_io = postproc.fill_template(
io,
STRUCTURES[io_type],
TEMPLATES[io_type])
io_data.append(formatted_io)
# if command.analog_outputs is not None:
# io_type = ANALOG_OUT
# for io in command.analog_outputs:
# formatted_io = postproc.fill_template(
# io,
# STRUCTURES[io_type],
# TEMPLATES[io_type])
# io_data.append(formatted_io)
if io_data:
formatted_ios = '\n'.join(io_data)
return formatted_ios
def _process_motion_command(command, opts):
"""
Process motion command.
:param command: Command tuple
:param opts: UserOptions tuple
:return:
"""
motion_data_type = None
motion_data = [] # empty data container
# Interpret linear motion command
if opts.Use_linear_motion:
motion_type = MOVE_LIN
if command.pose is not None:
motion_data.extend(_convert_pose(command.pose))
if command.configuration is not None:
if command.external_axes is not None:
motion_data_type = E6POS
external_axes = [axis if axis is not None else 0 for axis in command.external_axes]
motion_data.extend(external_axes)
else:
motion_data_type = POS
motion_data.extend(_convert_configuration(command.configuration))
else:
motion_data_type = FRAME
else:
raise ValueError('Invalid command')
# Interpret nonlinear motion command
elif opts.Use_nonlinear_motion:
if opts.Use_continuous_motion:
motion_type = MOVE_CPTP
else:
motion_type = MOVE_PTP
if command.axes is not None:
motion_data.extend(command.axes)
if command.external_axes is not None:
motion_data_type = E6AXIS
external_axes = [axis if axis is not None else 0 for axis in command.external_axes]
motion_data.extend(external_axes)
else:
motion_data_type = AXIS
elif command.pose is not None:
motion_data_type = FRAME
motion_data.extend(_convert_pose(command.pose))
else:
raise ValueError('Invalid command')
else: # User never supplied a motion type
raise ValueError('Invalid motion type')
# Format parameters into string
motion_data = [general_utils.num_to_str(d, include_sign=False, precision=3)
for d in motion_data]
# Structure and format data, command
formatted_motion_data = postproc.fill_template(
motion_data,
STRUCTURES[motion_data_type],
TEMPLATES[motion_data_type])
formatted_motion = postproc.fill_template(
formatted_motion_data,
STRUCTURES[motion_type],
TEMPLATES[motion_type])
return formatted_motion
def _process_motion_command(command, opts): # Implement in base class!
"""
Process motion command.
:param command: Command tuple
:param opts: UserOptions tuple
:return:
"""
motion_type = None
target_data_type = None
target_data = []
# Interpret linear motion command
if opts.Use_linear_motion:
if command.pose is not None:
motion_type = MOVE_L
target_data_type = ROBTARGET
pose = _convert_pose(command.pose)
params = [
general_utils.num_to_str(p, include_sign=False, precision=3)
for p in pose
]
target_data.extend(params)
if command.configuration is not None:
configuration = _convert_configuration(command.configuration)
params = [
general_utils.num_to_str(p,
include_sign=False,
precision=3,
simplify_ints=True)
for p in configuration
]
target_data.extend(params)
else:
target_data.extend(rapid_config.DEFAULT_CONF)
if command.external_axes is not None:
external_axes = [
axis if axis is not None else '9E9'
for axis in command.external_axes
]
params = [
general_utils.num_to_str(p,
include_sign=False,
precision=3)
for p in external_axes
]
target_data.extend(params)
else:
target_data.extend(rapid_config.DEFAULT_EXAX)
else:
raise ValueError('Invalid command')
# Interpret nonlinear motion command
elif opts.Use_nonlinear_motion:
if command.axes is not None:
motion_type = MOVE_ABS_J
target_data_type = JOINTTARGET
axes = command.axes
params = [
general_utils.num_to_str(p, include_sign=False, precision=3)
for p in axes
]
target_data.extend(params)
if command.external_axes is not None:
external_axes = [
axis if axis is not None else '9E9'
for axis in command.external_axes
]
params = [
general_utils.num_to_str(p,
include_sign=False,
precision=3)
for p in external_axes
]
target_data.extend(params)
else:
target_data.extend(rapid_config.DEFAULT_EXAX)
elif command.pose is not None:
motion_type = MOVE_J
target_data_type = ROBTARGET
pose = _convert_pose(command.pose)
params = [
general_utils.num_to_str(p, include_sign=False, precision=3)
for p in pose
]
target_data.extend(params)
if command.configuration is not None:
configuration = _convert_configuration(command.configuration)
params = [
general_utils.num_to_str(p,
include_sign=False,
precision=3,
simplify_ints=True)
for p in configuration
]
target_data.extend(params)
else:
target_data.extend(rapid_config.DEFAULT_CONF)
if command.external_axes is not None:
external_axes = [
axis if axis is not None else '9E9'
for axis in command.external_axes
]
params = [
general_utils.num_to_str(p,
include_sign=False,
precision=3)
for p in external_axes
]
target_data.extend(params)
else:
target_data.extend(rapid_config.DEFAULT_EXAX)
else:
raise ValueError('Invalid command')
else: # User never supplied a motion type
raise ValueError('Invalid motion type')
# Structure and format data, command
formatted_target_data = postproc.fill_template(
target_data, STRUCTURES[target_data_type], TEMPLATES[target_data_type])
if opts.Use_motion_as_variables:
formatted_variable = postproc.fill_template(formatted_target_data,
STRUCTURES[VARIABLE],
TEMPLATES[VARIABLE])
return formatted_variable
else:
motion_data = [
motion_type, formatted_target_data, rapid_config.DEFAULT_SPEED,
rapid_config.DEFAULT_ZONE, rapid_config.DEFAULT_TOOL,
rapid_config.DEFAULT_WOBJ
]
formatted_motion = postproc.fill_template(motion_data,
STRUCTURES[MOVE],
TEMPLATES[MOVE])
return formatted_motion