def __init__(self):
"""
:param host: локальный хост севера Telnet
:param telnet_username: имя пользователя на сервере
:param telnet_password: пароль пользователя
:param moving_speed: начальная скорость перемещения по всем осям.
"""
self.tx = 0
self.ty = 0
self.tz = 0
self.current_position = Point(0, 0, 0)
self.program_zero = Point(0, 0, 0)
print("Manipulator initialisation")
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect(("127.0.0.1", 9105))
sleep(1)
t = self.socket.recv(4096)
sleep(1)
self.socket.sendall(b"as\n")
sleep(1)
t = self.socket.recv(4096)
sleep(1)
print("logged: " + t.decode("utf-8"))
sleep(1)
self.socket.sendall(b"ZPOW ON\n")
sleep(1)
t = self.socket.recv(4096)
sleep(1)
def __init__(self, host: str, telnet_username: str, telnet_password: str):
"""
:param host: локальный хост севера Telnet
:param telnet_username: имя пользователя на сервере
:param telnet_password: пароль пользователя
:param moving_speed: начальная скорость перемещения по всем осям.
"""
self.__host = host
self.__user_name = telnet_username
self.__password = telnet_password
self.current_position = Point(0, 0, 0)
self.program_zero = Point(0, 0, 0)
print("Manipulator initialisation")
def set_zero(self):
"""
Аппаратная установка точки начала отсчета
"""
# something to set zero position on manipulator
self.current_position = Point(0, 0, 0)
print("Set zero.")
def set_length(self, new_len: float or int) -> None:
"""
Устанавливает новую длинну вектора, сохраняя направление вектора.
Не изменяет положение начальной точки!!!
:param new_len: новая длина вектора.
"""
rad = self.radius_vector()
cof = new_len / self.length()
rad *= cof
if (rad.z is not None):
vec = Vector(Point(0, 0, 0), rad)
else:
vec = Vector(Point(0, 0), rad)
vec.move_to_point(self.start_point)
# self.start_point *= cof
self.end_point = vec.end_point
def __init__(self, point1: Point or Iterable, point2: Point or Iterable = None):
"""
Создает вектор плоскости. Если дана только одна точка, то вектор счетается радиус-вектором(начало в (0,0)).
:param point1: Точка начала вектора относительно С.О.
:param point2: Точка конца вектора относительно С.О.
"""
point1 = Point.check_Point(point1)
if type(point2) is None:
if point1.z is None:
self.start_point: Point = Point(0, 0)
else:
self.start_point: Point = Point(0, 0, 0)
self.end_point: Point = point1
else:
point2 = Point.check_Point(point2)
if (point1.z is None and point2.z is None) or (point1.z is not None and point2.z is not None):
self.start_point: Point = point1
self.end_point: Point = point2
else:
raise TypeError("Flat and 3D points used in one Vector obj.")
def get_current_position(self):
"""
получить текущую позицию
"""
self.socket.sendall(b"point a = here\n")
sleep(1)
t = self.socket.recv(4096)
input_data = (t.decode().split())
x = input_data[10]
y = input_data[11]
z = input_data[12]
self.x = x
self.y = y
self.z = z
self.tx = input_data[13]
self.ty = input_data[14]
self.tz = input_data[15]
print(self.x, self.y, self.z, self.tx, self.ty, self.tz)
return Point(x, y, z)
summ_y = 0
for p in points:
summ_x += int(p[0])
summ_y += int(p[1])
return summ_x / len(points), summ_y / len(points)
# Find zero and constants
while not find_zero_flag:
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
x_vector = None
y_vector = None
move_vector = None
frame_center = Point(frame.shape[1] / 2, frame.shape[0] / 2)
if ids is not None:
ids_dict = {}
ids_middle = {}
for i in range(ids.size):
ids_dict[int(ids[i][0])] = corners[i][0]
ids_middle[int(ids[i][0])] = find_middle(corners[i][0])
strg = ''
for i in range(0, ids.size):
strg += str(ids[i][0]) + ', '
_id = ids[i][0]
if _id in zero_ids:
if _id == 0:
mid_zero = ids_middle[ids[i][0]]
ADAPTIVE_CONSTANT = Zero_marker0.size / \
for p in points:
summ_x += int(p[0])
summ_y += int(p[1])
return summ_x / len(points), summ_y / len(points)
# Find zero and constants
while not find_zero_flag:
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = aruco.detectMarkers(
gray, aruco_dict, parameters=parameters)
x_vector = None
y_vector = None
move_vector = None
frame_center = Point(frame.shape[1] / 2, frame.shape[0] / 2)
if ids is not None:
ids_dict = {}
ids_middle = {}
for i in range(ids.size):
ids_dict[int(ids[i][0])] = corners[i][0]
ids_middle[int(ids[i][0])] = find_middle(corners[i][0])
strg = ''
for i in range(0, ids.size):
strg += str(ids[i][0]) + ', '
_id = ids[i][0]
if _id in zero_ids:
if _id == 0:
mid_zero = ids_middle[ids[i][0]]
ADAPTIVE_CONSTANT = Zero_marker0.size / \
