Exemplo n.º 1
0
def main():

    # start the server
    server = Server(server_address, server_port)
    server.start()
    server.client_ips.update({"UR": ur_ip})

    # create client wrappers, that wrap the underlying communication to the sockets
    gh = ClientWrapper("GH")
    ur = ClientWrapper("UR")

    # wait for the clients to be connected
    gh.wait_for_connected()
    ur.wait_for_connected()

    # now enter fabrication loop
    while True:  # and ur and gh connected
        # let gh control if we should continue
        continue_fabrication = gh.wait_for_int(
        )  #1 client.send(MSG_INT, int(continue_fabrication))
        print("1: continue_fabrication: %i" % continue_fabrication)
        print("start fabrication")
        """
        if not continue_fabrication:
            break
        """

        tool_string = gh.wait_for_float_list(
        )  #2 client.send(MSG_FLOAT_LIST,tool_string_axis)
        print("2: set tool TCP")

        ur.send_command_tcp(tool_string)

        len_command_picking = gh.wait_for_int(
        )  #3 client.send(MSG_INT, len_command)
        print("3: len command list picking")
        commands_flattened_picking = gh.wait_for_float_list(
        )  #4 client.send(MSG_FLOAT_LIST, commands_flattened)
        print("4: command list picking")

        len_command_placing = gh.wait_for_int(
        )  #3 client.send(MSG_INT, len_command)
        print("5: len command list placing")
        commands_flattened_placing = gh.wait_for_float_list(
        )  #4 client.send(MSG_FLOAT_LIST, commands_flattened)
        print("6: command list placing")

        # the commands are formatted according to the sent length
        commands_picking = format_commands(commands_flattened_picking,
                                           len_command_picking)
        print("We received %i picking commands." % len(commands_picking))

        commands_placing = format_commands(commands_flattened_placing,
                                           len_command_placing)
        print("We received %i placing commands." % len(commands_placing))

        # placing path
        picking_cnt = 0
        for i in range(0, len(commands_flattened_placing), 3):

            ur.send_command_wait(0.3)
            ur.send_command_digital_out(0, False)
            ur.send_command_wait(0.3)

            #above picking
            placing_cmd = commands_picking[picking_cnt]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

            #picking
            placing_cmd = commands_picking[picking_cnt + 1]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
            ur.send_command_wait(1.0)

            #rotate
            placing_cmd = commands_picking[picking_cnt + 2]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
            ur.send_command_wait(1.0)

            #above picking
            placing_cmd = commands_picking[picking_cnt + 3]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

            #above placing
            placing_cmd = commands_placing[i]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

            #placing
            placing_cmd = commands_placing[i + 1]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
            ur.send_command_wait(0.3)
            ur.send_command_digital_out(0, True)
            ur.send_command_wait(0.3)

            #above placing
            placing_cmd = commands_placing[i + 2]
            x, y, z, ax, ay, az, speed, radius = placing_cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

            picking_cnt += 4
            ur.send_command_popup()

        ur.send_command_digital_out(0, True)  # Turn ON piston
        ur.send_command_wait(0.5)
        ur.wait_for_ready()

        ### Out Pose ###
        #safe_out_pose_cmd = gh.wait_for_float_list() #6 client.send(MSG_FLOAT_LIST, safe_out_pose_cmd)
        #print ("6: safe out pose")
        #x, y, z, ax, ay, az, speed, acc = safe_out_pose_cmd
        #ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
        ur.send_command_wait(0.5)
        ur.wait_for_ready()

        #ur.wait_for_ready()

        print("============================================================")

    ur.quit()
    gh.quit()
    server.close()

    print("Please press a key to terminate the program.")
    junk = sys.stdin.readline()
    print("Done.")
Exemplo n.º 2
0
def main():

    # start the server
    server = Server(server_address, server_port)
    server.start()
    server.client_ips.update({"UR": ur_ip})

    # create client wrappers, that wrap the underlying communication to the sockets
    gh = ClientWrapper("GH")
    ur = ClientWrapper("UR")

    # wait for the clients to be connected
    gh.wait_for_connected()
    ur.wait_for_connected()

    # now enter fabrication loop
    while True:  # and ur and gh connected

        # let gh control if we should continue
        continue_fabrication = gh.wait_for_int(
        )  #1 client.send(MSG_INT, int(continue_fabrication))
        print("1: continue_fabrication: %i" % continue_fabrication)
        print("start fabrication")

        tool_string = gh.wait_for_float_list(
        )  #2 client.send(MSG_FLOAT_LIST,tool_string_axis)
        print("2: set tool TCP")
        ur.send_command_tcp(tool_string)

        ### Safe Pose ###
        safety_pose_cmd = gh.wait_for_float_list(
        )  #3 client.send(MSG_FLOAT_LIST, safe_in_pose_cmd)
        print("3: safe in pose")
        x, y, z, ax, ay, az, speed, acc = safety_pose_cmd
        ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
        ur.send_command_wait(1.0)

        #turn on air and off motor
        ur.send_command_digital_out(4, False)
        ur.send_command_digital_out(5, True)

        ur.wait_for_ready()
        ur.send_command_popup(title='hello!',
                              message='Press ok when you are ready!',
                              blocking=True)
        ur.wait_for_ready()

        #turn on motor
        ur.send_command_digital_out(4, True)

        ur.wait_for_ready()
        ur.send_command_popup(title='hello!',
                              message='Press ok when you are ready!',
                              blocking=True)
        ur.wait_for_ready()

        len_command = gh.wait_for_int()  #4 client.send(MSG_INT, len_command)
        print("4: len command list")

        commands_flattened = gh.wait_for_float_list(
        )  #5 client.send(MSG_FLOAT_LIST, commands_flattened)
        print("5: command list")

        # the commands are formatted according to the sent length
        commands = format_commands(commands_flattened, len_command)
        print("We received %i commands." % len(commands))

        # printing path
        count = 0
        for i in range(0, len(commands)):

            printing_cmd = commands[i]
            x, y, z, ax, ay, az, speed, radius, extrude_bool = printing_cmd

            if extrude_bool == 0:
                count += 1
                ur.send_command_digital_out(4, False)
                ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
                if count > 1:
                    ur.send_command_digital_out(4, True)
                    ur.send_command_wait(0.5)

            else:
                count = 0
                ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

        for i, cmd in enumerate(commands[:-2]):
            ur.wait_for_command_executed(i)
            print("Executed command", i + 1)
            print(cmd)

        ### Safe Pose ###
        safety_pose_cmd = gh.wait_for_float_list(
        )  #6 client.send(MSG_FLOAT_LIST, safe_out_pose_cmd)
        print("6: safe out pose")
        x, y, z, ax, ay, az, speed, acc = safety_pose_cmd
        ur.send_command_movel([x, y, z, ax, ay, az], v=speed, a=acc)
        ur.send_command_wait(5.0)

        # turn off motor and extruder
        ur.send_command_digital_out(4, False)
        ur.send_command_wait(0.5)

        ur.wait_for_ready()

        #ur.wait_for_ready()

        print("============================================================")

    ur.quit()
    gh.quit()
    server.close()

    print("Please press a key to terminate the program.")
    junk = sys.stdin.readline()
    print("Done.")