def hold(self, joint_id=[1]):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"hold\\\","
cmd += "\\\"joint_ids\\\":"+str(joint_id)
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def delete_script(self, script_id=1):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"delete_script\\\","
cmd += "\\\"script_id\\\":\\\""+str(script_id)+"\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def test_script(self, script_code=""):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"test_script\\\","
cmd += "\\\"script_id\\\":\\\"0\\\","
cmd += "\\\"script_code\\\":\\\""+script_code+"\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
def save_script(self, script_name="", script_code=""):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"save_script\\\","
cmd += "\\\"script_name\\\":\\\""+script_name+"\\\","
cmd += "\\\"script_code\\\":\\\""+script_code+"\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def calibrate(self, use_existing=True):
if self.get_connection_info() == 2:
cmd = "\"{"
cmd += "\\\"action\\\":\\\"calibrate\\\","
cmd += "\\\"use_existing\\\":"+str(use_existing).lower()
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
return 0
def get_script(self, script_id=1): SockJSClient.remove_status(self, "one_script") self.request_script(script_id) script = SockJSClient.get_status(self, "one_script") counter = 0 while (script == 0): time.sleep(0.001) script = SockJSClient.get_status(slef, "one_script") counter += 1 if (counter > 100): return 0 return script
def initialize(self, model="PRob1R", kind='no_robot', channel_name="1", channel_type="PEAK_SYS_PCAN_USB", protocol="TMLCAN", host_id="10", baudrate="500000"):
if self.get_connection_info() == 0:
cmd = "\"{"
cmd += "\\\"action\\\":\\\"initialize\\\","
cmd += "\\\"model\\\":\\\""+model+"\\\","
cmd += "\\\"robot_kind\\\":\\\""+kind+"\\\""
if kind == 'real':
cmd += ","
cmd += "\\\"channel_name\\\":\\\""+channel_name+"\\\","
cmd += "\\\"channel_type\\\":\\\""+channel_type+"\\\","
cmd += "\\\"protocol\\\":\\\""+protocol+"\\\","
cmd += "\\\"host_id\\\":\\\""+host_id+"\\\","
cmd += "\\\"baudrate\\\":\\\""+baudrate+"\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
return 0
def start_server(ip):
global myp
try:
rospy.init_node('MyP')
# ROS service
srv_move_joint = rospy.Service('move_joint', MoveJoint, handle_move_joint)
srv_move_tool = rospy.Service('move_tool', MoveTool, handle_move_tool)
srv_move_to_point = rospy.Service('move_to_point', MoveToPoint, handle_move_to_point)
srv_move_wait_joint = rospy.Service('wait_joint', WaitJoint, handle_wait_joint)
srv_move_wait = rospy.Service('wait', Wait, handle_wait)
srv_get_scripts = rospy.Service('get_scripts', GetScripts, handle_get_scripts)
## Connection to myP XMLRPC server
#robot_arm = ServerProxy("http://"+ip+":8000", verbose=False, allow_none=True)
## calibrate robot
#robot_arm.calibrate()
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
myp_get_connection_info()
myp_initialize()
time.sleep(2)
myp_calibrate()
time.sleep(0.5)
print("Connected to PRob. Ready...")
rate = rospy.Rate(1)
while not rospy.is_shutdown():
#rospy.spin()
print 'this is prob_server_lenli speaking...'
rate.sleep()
myp.disconnect()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
def get_actuator_release_state(self):
state = SockJSClient.get_status(self, "actuator_release_state")
print("Actuator Release State: ", state)
return state
def get_application_info(self):
message = SockJSClient.get_status(self, "application_info")
print("Application Info: ", message)
return message
def get_message_info(self):
message = SockJSClient.get_status(self, "message_info")
print("Message Info: ", message)
return message
def get_status_info(self):
status = SockJSClient.get_status(self, "status_info")
print("Status Info: ", status)
return status
def get_paths(self):
paths = SockJSClient.get_status(self, "paths")
print("Paths: ", paths)
return paths
def recover(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"recover\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def get_current(self):
current = SockJSClient.get_status(self, "current")
print("Current: ", current)
return current
rospy.spin()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
def usage():
return "%s [PRob ip address]" % sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 2:
ip = sys.argv[1]
else:
print(usage())
sys.exit(1)
try:
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
start_server()
except:
print("Could not connect to myP at: ", ip)
# traceback.print_exc()
# raise
finally:
myp.disconnect()
print("Server closed")
def finalize(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"finalize\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
def get_scripts(self):
scripts = SockJSClient.get_status(self, "scripts")
#res.scripts = "hello py service"#str(scripts)
print('service called')
#print(str(scripts))
return GetScriptsResponse(str(scripts))
def get_connection_info(self):
connection = SockJSClient.get_status(self, "connection_info")
print("Connection Info: ", connection)
return connection
def stop(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"stop\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def get_position(self):
position = SockJSClient.get_status(self, "position")
print("Position: ", position)
return position
print "Status: ", robot_arm.get_status_info()
start_new_thread(robot_arm.publisher,())
rospy.spin()
except Exception as ex:
print("ERROR: ", ex)
sys.exit(1)
def usage():
return "%s [PRob ip address]"%sys.argv[0]
if __name__ == "__main__":
if len(sys.argv) == 2:
ip = sys.argv[1]
else:
print( usage() )
sys.exit(1)
try:
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
start_server()
except:
print("Could not connect to myP at: ", ip)
# traceback.print_exc()
# raise
finally:
myp.disconnect()
print("Server closed")
def get_euler_position(self):
position = SockJSClient.get_status(self, "euler_position")
print("Euler Position: ", position)
return position
def get_poses(self):
poses = SockJSClient.get_status(self, "poses")
print("Poses: ", poses)
return poses
def get_script_id(self, name): scripts = SockJSClient.get_status(slef, "scripts") for script in scripts: if script[1] == name: return script[0] return 0
def __init__(self, prefix, host = "localhost", port = 80): SockJSClient.__init__(self, prefix, host, port)
def pause(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"pause\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
cmd += "\\\"protocol\\\":\\\""+protocol+"\\\","
cmd += "\\\"host_id\\\":\\\""+host_id+"\\\","
cmd += "\\\"baudrate\\\":\\\""+baudrate+"\\\""
cmd += "}\""
myp.send(cmd)
return 1
return 0
try:
#connect to myP server through a sock js connection
ip = "192.168.80.219"
#ip = "192.168.21.173"
#ip = "localhost"
#ip = "10.2.105.42"
#ip = "192.168.1.16"
myp = SockJSClient('/socket', ip, 8888)
myp.connect()
myp_get_connection_info()
myp_initialize()
time.sleep(2)
myp_calibrate()
time.sleep(0.5)
while True:
scripts = myp.get_status("scripts")
print("Scripts: ", scripts)
time.sleep(1)
#start xmlrpc server
# server = SimpleXMLRPCServer(('', 8000), allow_none=True)
