def draw_Ui_Ur_Add_Pose(cur_loc, cur_rot):
try:
draw_Done_Pose_Obj = Bl_Ui_Draw_Pose.draw_Pose(cur_loc, cur_rot)
bod.data_Set_Pose(draw_Done_Pose_Obj)
bod.data_Set_Save_Curr_Ur_Pose(cur_loc, cur_rot)
Bl_Ui_Draw_Pose.draw_Pose_Path()
except Exception as e:
print("draw_Ui_Ur_Add_Pose",e)
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 draw_Del_Pose():
try:
Bl_Ui_Draw_Pose.draw_Reset()
bod.data_Reset_Pose()
bpy.ops.object.select_pattern(pattern="pos*", extend=False)
bpy.ops.object.delete()
bpy.ops.object.select_pattern(pattern="cur_motion_path*", extend=False)
bpy.ops.object.delete()
except Exception as e:
print("draw_Del_Pose",e)
def draw_Load_File_Ur_Add_Pose(load_pose_datas):
try:
for load_pose_data in load_pose_datas:
load_Ur_Loc = load_pose_data[0]
load_Ur_Rot = load_pose_data[1]
load_Ur_Time = load_pose_data[2]
load_Ur_Radius = load_pose_data[3]
load_Ur_Gripper = load_pose_data[4]
draw_Done_Pose_Obj = Bl_Ui_Draw_Pose.draw_Pose(load_Ur_Loc, load_Ur_Rot)
bod.data_Set_Pose(draw_Done_Pose_Obj,load_Ur_Time,load_Ur_Radius,load_Ur_Gripper)
except Exception as e:
print("draw_Load_File_Ur_Add_Pose",e)
def draw_Load_File_Data_Add_Pose(file_Data):
try:
bod.data_Reset_Pose()
file_Load_Data = bod.data_Split_Load_Ur_Pose(file_Data)
Bl_Ui_Draw_Pose.draw_Del_Pose()
Bl_Ui_Draw_Pose.draw_Load_File_Ur_Add_Pose(file_Load_Data)
Bl_Ui_Draw_Pose.draw_Pose_Path()
Bl_Ui_Draw_Pose.draw_Reset()
except Exception as e:
print("draw_Load_file_Data_Add_Pose",e)
finally:
bof.FLAG_IK_MOVE_DRAG = True
def execute(self, context):
message = ("What you typed : {}".format(self.Name))
self.report({'INFO'}, message)
save_Pose_Data = bod.data_Get_Save_To_File()
print(save_Pose_Data)
if save_Pose_Data: # Datas => jointangle_Datas
write_File = open("{}/{}.txt".format(self.DataPath, self.Name),
'w')
write_File.write(str(save_Pose_Data))
write_File.close()
bof.FLAG_IK_MOVE_DRAG = True
return {'FINISHED'}
def draw_Curr_Ur_FK():
curr_Ur_Angle = bod.data_Get_Curr_Ur_Angle()
if curr_Ur_Angle:
Base = curr_Ur_Angle[1]
Shoulder = curr_Ur_Angle[2]
Elbow = curr_Ur_Angle[3]
Wrist1 = curr_Ur_Angle[4]
Wrist2 = curr_Ur_Angle[5]
Wrist3 = curr_Ur_Angle[6]
bpy.data.objects['Armature_UR'].pose.bones[
'Base'].rotation_euler.y = Base + 1.57079
bpy.data.objects['Armature_UR'].pose.bones[
'Shoulder'].rotation_euler.y = Shoulder + 1.5708
bpy.data.objects['Armature_UR'].pose.bones[
'Elbow'].rotation_euler.y = -Elbow
bpy.data.objects['Armature_UR'].pose.bones[
'Wrist1'].rotation_euler.y = Wrist1 + 1.5708
bpy.data.objects['Armature_UR'].pose.bones[
'Wrist2'].rotation_euler.y = Wrist2
bpy.data.objects['Armature_UR'].pose.bones[
'Wrist3'].rotation_euler.y = Wrist3
def up_Down_On_Ur_Accel_Up_Down_Value_Change(self, up_down, value): # on_ur_accel_up_down_value_change
bod.data_Set_Ui_Ur_Accel(value)
print("up_Down__On_Ur_Accel_Up_Down_Value_Change",bod.data_Get_Ui_Ur_Accel())
def up_Down_On_Ur_Velo_Up_Down_Value_Change(self, up_down, value): # up_Down_On_Ur_Accel_Up_Down_Value_Change
bod.data_Set_Ui_Ur_Velo(value)
print("up_Down__On_Ur_Velo_Up_Down_Value_Change : ",bod.data_Get_Ui_Ur_Velo())
def bcall_Set_Velo_Accel(self, widget):
print("Button '{0}' is pressed".format(widget.text))
velo = bod.data_Get_Ui_Ur_Velo()
accel = bod.data_Get_Ui_Ur_Accel()
URxMoveToPoseOperator(13, velo, accel)
def bcall_Run_Motion(self, widget):
try:
print("Button '{0}' is pressed".format(widget.text))
bod.data_Generate_Job()
except Exception as message:
print("bcall_run_Motion error : ", message)
def recv(self, client, addr, deviceName):
while (True):
try:
recv_data = client.recv(self.max_bytes)
length = len(recv_data)
# print("\n$$$", length, type(recv_data))
# 데이터 길이 및 유무 확인 후 없다면 연결 종료
if not recv_data:
print("Disconnected by - ", deviceName, ':', addr[0], ':',
addr[1])
self.del_Client(deviceName)
client.close()
break
# 디바이스 명이 XAVIER 일 경우 받은 데이터 처리
if deviceName == 'XAVIER':
buffer = recv_data.decode()
print("XAVIER Read : {}".format(buffer))
print(type(buffer))
if buffer == '1' and self.FLAG_AUTO_CONTROL_MODE == True and self.FLAG_STATE_UR_RUN == False:
try:
print("debug XAVIER Read")
self.auto_ModeLists = self.auto_ModeLoadNumber
self.auto_ModeListCount = self.auto_ModeListCount + 1
self.FLAG_CHECK_XAVIER_DATA = True
self.FLAG_STATE_UR_RUN = True
print("debug XAVIER Read out ")
except Exception as e:
print(e)
# 이미지 처리 부분
# buffer = recv_data
# if (length > self.max_bytes - 1) or (length == 8):
# # Image_LENGTH + jpg_IMAGE
# # print(recv_data[0:8])
# try:
# img_length = int(buffer[0:8]) # TRY False(str or bytes)
# len_data = img_length - length - 8
# self.xavier_Image_Datas = buffer[8:] + self.recv_All(client, len_data)
#
# # for end
# except:
# # print(">>> int change error !")
# pass
# try:
# str_data = buffer[0:6].decode()
# # print(str_data)
# # print(">>>",length,type(str_data)) #'str'
# except:
# pass
# # print(">>> str change error !")
#
# # 포즈 처리 부분
# else:
# if self.FLAG_CLOUD_POINT == True: # self.FLAG_CLOUD_POINT 가 True 일 경우만 포즈 데이터를 저장
# try:
# xavierPoseData = buffer.decode()
# if (length < 3):
# print("> none data")
# elif (length < 7):
# str_data = xavierPoseData
# print("> Server check")
# else:
# print(xavierPoseData)
# self.lock.acquire() # 스레드 락 (테스트후 삭제 예정)
# self.xavier_Pose_Datas = xavierPoseData
# self.lock.release()
# self.FLAG_CLOUD_POINT = False
# print("self.FLAG_CLOUD_POINT", self.FLAG_CLOUD_POINT)
# except:
# print(">>> data Error !!")
#print("XAVIER Read : {}".format(recv_data))
# 디바이스 명이 ROBOT 일 경우 받은 데이터 처리
elif deviceName == 'ROBOT':
buffer = recv_data.decode()
if buffer == "fw":
print("Work is finished")
else:
buffer_ = eval(buffer)
if buffer_[0] == 0:
curr_Ur_State = buffer_
bod.robot1.robot_Set_Curr_Ur_State(curr_Ur_State)
# print("ROBOT State Read : {}".format(buffer_))
if buffer_[0] == 1:
curr_Ur_Angle = buffer_
bod.data_Set_Curr_Ur_Angle(curr_Ur_Angle)
# 디바이스 명이 EMC 일 경우 받은 데이터 처리 비상시 긴급 정지를 위해 ROBOT에서 스레드로 계속 확인
elif deviceName == 'EMC':
buffer = recv_data.decode()
print("EMC Read : {}".format(buffer))
# 디바이스 명 없이 접속
else:
buffer = recv_data.decode()
print("Unkown Device Name Read : {}".format(buffer))
print("Unkown Device Name Disconnected by - ", addr[0],
':', addr[1])
client.close()
break
except Exception as e:
print("Something's wrong : {}".format(e))
client.close()
self.del_Client(deviceName)
break
def URxMoveToPoseOperator(code, cmd1=0, cmd2=0, cmd3=0):
#ik_target = bpy.data.objects['IK Target']
if (code == 0): #"Home Posistion"
print("debug : URxMoveToPoseOperator code : 0 , Home")
bl_Server.set_Off_Teach_Mode()
bl_Server.move_Home()
elif (code == 1): #right "Run" btn
print("debug : URxMoveToPoseOperator code : 1 , Run")
time = cmd1
radius = cmd2
gMotion = cmd3
armature_obj = bpy.data.objects['Armature_ik']
robotMode = "movej"
if (robotMode == "movej"):
bl_Server.movej(bod.data_Split_Local_Orientation(armature_obj),
time, radius, gMotion)
elif (robotMode == "speedj"):
print("debug code 1")
bl_Server.speedj(
bod.data_Split_Local_Orientation(armature_obj.pose.bones))
elif (code == 2): #"STOP" btn
print("debug : URxMoveToPoseOperator code : 2 , STOP")
bl_Server.emergency()
elif (code == 3):
print("debug : ")
elif (code == 4):
print("debug : ")
elif (code == 5):
print("debug : ")
elif (code == 6): #"PROGRAM_shut_Down"
print("debug : URxMoveToPoseOperator code : 6 , PROGRAM_shut_Down")
bl_Server.shut_Down()
elif (code == 7):
print("debug : ")
elif (code == 8):
print("debug : ")
elif (code == 9):
print("debug : ")
elif (code == 10):
print("debug : ")
elif (code == 11):
print("debug : ")
elif (code == 12):
print("debug : ")
elif (code == 13): # "set_Velo"
print("debug : URxMoveToPoseOperator code : 13 , set_Velo")
bl_Server.set_Velo(cmd1, cmd2)
elif (code == 14):
print("debug : ")
elif (code == 15):
print("debug : ")
return {'FINISHED'}
def my_callback(scene, context):
file_List = bod.data_Get_File_List()
return file_List
def up_Down_On_Ur_Move_Time_Up_Down_Value_Change(self, up_down, value):
bod.data_Set_Ui_Ur_Time(value)
print("up_Down__On_Ur_Move_Time_Up_Down_Value_Change : ",bod.data_Get_Ui_Ur_Time())
def set_event(self, event, context):
if event.type == 'P' and event.value == 'PRESS':
if self.is_rotation:
print('rotation off')
self.is_rotation = False
else:
print('rotation On')
self.is_rotation = True
if event.type == 'MOUSEMOVE':
if self.is_drag:
self.x = (event.mouse_x - self.drag_offset_x) / 2000
self.z = self._urChangePoseY
self.y = (event.mouse_y - self.drag_offset_y) / 2000
# print('cur x=',self.x,' y=',self.y)
if self.x > 0.5 or self.y > 0.5:
self.is_drag = False
self.drag_offset_x = 0
self.drag_offset_y = 0
# print('release')
self.mover.stop_command(IKMover.CMD_MOVE)
else:
if self.is_rotation:
self.mover._setRotate(self.x, self.z, self.y)
else:
self.mover._setCurPos(self.x, self.z, self.y)
self.mover.start_command(IKMover.CMD_MOVE)
return
if bof.FLAG_IK_MOVE_DRAG == True:
if event.type == 'LEFTMOUSE':
if event.value == 'PRESS':
self.is_drag = True
self.drag_offset_x = event.mouse_x
self.drag_offset_y = event.mouse_y
area = bpy.context.window_manager.windows[0].screen.areas[0]
viewport = area.regions[0]
if viewport is not None:
pass
elif event.value == 'RELEASE':
self.is_drag = False
self.mover.stop_command(IKMover.CMD_MOVE)
if self.is_rotation: # roation mode
self.item._set_rotation(self.mover.cur_roatation)
else: # axis move mode
self.item._set_new_pos(self.mover.cur_location)
if event.type == 'RIGHTMOUSE':
if event.value == 'PRESS':
budp.draw_Ui_Ur_Add_Pose(self.mover.cur_location, self.mover.cur_roatation)
if event.type == 'H' and event.value == 'PRESS':
bod.data_Switch_Camera_Loc_Rot_Value(6.5, -60, 5.4, 90, 0, 0)
if event.type == 'W' and event.value == 'PRESS':
bpy.ops.transform.translate(value=(0, 0, -1), orient_type='LOCAL')
if event.type == 'S' and event.value == 'PRESS':
bpy.ops.transform.translate(value=(0, 0, 1), orient_type='LOCAL')
if event.type == 'D' and event.value == 'PRESS':
bpy.ops.transform.translate(value=(1, 0, 0), orient_type='LOCAL')
if event.type == 'A' and event.value == 'PRESS':
bpy.ops.transform.translate(value=(-1, 0, 0), orient_type='LOCAL')
if event.type == 'Q' and event.value == 'PRESS':
bpy.ops.transform.rotate(value=0.01, orient_axis='Y', orient_type='LOCAL')
if event.type == 'E' and event.value == 'PRESS':
bpy.ops.transform.rotate(value=-0.01, orient_axis='Y', orient_type='LOCAL')
if event.type == 'R' and event.value == 'PRESS':
bpy.ops.transform.rotate(value=0.01, orient_axis='X', orient_type='LOCAL')
if event.type == 'F' and event.value == 'PRESS':
bpy.ops.transform.rotate(value=-0.01, orient_axis='X', orient_type='LOCAL')
def up_Down_On_Ur_Move_Radius_Up_Down_Value_Change(self, up_down, value):
bod.data_Set_Ui_Ur_Radius(value / 100)
print("up_Down__On_Ur_Move_Radius_Up_Down_Value_Change : ", bod.data_Get_Ui_Ur_Radius())
def set_event(self, event, context):
if event.type == 'R' and event.value == 'PRESS':
if self.is_rotation:
print('rotation off')
self.is_rotation = False
else:
print('rotation On')
self.is_rotation = True
if event.type == 'MOUSEMOVE':
if self.is_drag:
self.x = (event.mouse_x - self.drag_offset_x) / 20000
self.z = 0 # self.mover.bound_location[1]
self.y = (event.mouse_y - self.drag_offset_y) / 20000
# print('cur x=',self.x,' y=',self.y)
if self.x > 0.5 or self.y > 0.5:
self.is_drag = False
self.drag_offset_x = 0
self.drag_offset_y = 0
# print('release')
self.mover.stop_command(IKMover.CMD_MOVE)
else:
if self.is_rotation:
self.mover._setRotate(self.x, self.z, self.y)
else:
self.mover._setCurPos(self.x, self.z, self.y)
self.mover.start_command(IKMover.CMD_MOVE)
return
if bof.FLAG_IK_MOVE_DRAG == True:
if event.type == 'LEFTMOUSE':
if event.value == 'PRESS':
self.is_drag = True
self.drag_offset_x = event.mouse_x
self.drag_offset_y = event.mouse_y
area = bpy.context.window_manager.windows[0].screen.areas[
0]
#print('IK location = ',self.mover.bound_location)
viewport = area.regions[0]
if viewport is not None:
pass
#print('region ', viewport.x,viewport.y,viewport.width,viewport.height)
#region3D = context.space_data.region_3d
#loc = region_2d_to_location_3d(viewport, region3D, (event.mouse_x, event.mouse_y), (0, 0, 0))
#print('press',self.drag_offset_x,' ', self.drag_offset_y,' loc =',loc)
# self.mover.bound_location = loc
elif event.value == 'RELEASE':
self.is_drag = False
#print('release')
self.mover.stop_command(IKMover.CMD_MOVE)
if self.is_rotation: # roation mode
self.item._set_rotation(self.mover.cur_roatation)
else: # axis move mode
self.item._set_new_pos(self.mover.cur_location)
if event.type == 'RIGHTMOUSE' or event.type == 'NUMPAD_0':
if event.value == 'PRESS':
print("self.mover.cur_location : ", self.mover.cur_location,
"self.mover.cur_roatation : ", self.mover.cur_roatation)
budp.draw_Ui_Ur_Add_Pose(self.mover.cur_location,
self.mover.cur_roatation)
if event.type == 'ONE' and event.value == 'PRESS':
#bod.data_Switch_Camera_Loc_Rot_Value(0.09822, -3.724, 0.683, 90, 0, 0)
bod.data_Switch_Camera_Loc_Rot_Value(0.17039, -3.54293, 0.66801,
90, 0, 0)
if event.type == 'TWO' and event.value == 'PRESS':
bod.data_Switch_Camera_Loc_Rot_Value(2.68753, -1.96311, 3.67556,
50.4, 0, 44)
if event.type == 'THREE' and event.value == 'PRESS':
bod.data_Switch_Camera_Loc_Rot_Value(4.60415, 0.55412, 2.69870,
66.8, 0, 90)
if event.type == 'FOUR' and event.value == 'PRESS':
bod.data_Switch_Camera_Loc_Rot_Value(-3.02668, -1.35379, 3.77938,
50, 0, -62)
if event.type == 'FIVE' and event.value == 'PRESS':
bod.data_Switch_Camera_Loc_Rot_Value(-3.94804, 0.31245, 2.39620,
66.8, 0, -90)
if event.type == 'NUMPAD_PERIOD':
if event.value == 'PRESS':
self.urManualControlFlag = True
print(self.urManualControlFlag)
if event.type in self.command_for_key_type:
action = self.action_for_key_state[event.value]
action(self.command_for_key_type[event.type])