def __init__(self, ports=[80], extended=False):
RobotAdapter.__init__(self, ports, extended)
self.rosin_nodes = [
'/streaming_client', # ABB
'/motion_download_interface', # ABB
'/robot_state', # ABB
'/joint_trajectory_action', # ABB
'/kuka_eki_hw_interface', # KUKA
'/controller_spawner', # KUKA
'/motion_streaming_interface', # FANUC
'/industrial_robot_client', # FANUC
'/joint_state', # FANUC
'/kuka_rsi_simulator' # KUKA
]
self.timeout = aiohttp.ClientTimeout(total=3)
self.logger = logging.getLogger(__name__)
self.hosts = []
self.rate = 1000
async def scan_pipe(self):
async for line in RobotAdapter.stream_as_generator(
asyncio.get_event_loop(), sys.stdin):
str_line = (line.decode()).rstrip('\n')
for port in self.ports:
await self.analyze_nodes(str_line, port)
def stream_as_generator(loop, stream):
return RobotAdapter.stream_as_generator(loop, stream)
def load_range(self, net_range):
RobotAdapter.load_range(self, net_range)
def load_from_file(self, filename):
RobotAdapter.load_from_file(self, filename)