async def client_plotly():
uname=document.getElementById("uname").value
psw=document.getElementById("psw").value
credentials={"password":RR.RobotRaconteurVarValue(psw,"string")}
try:
inst=await RRN.AsyncConnectService('rr+ws://128.113.224.144:52222/?service=SmartCam',uname,credentials,None,None)
Sawyer=await RRN.AsyncConnectService('rr+ws://128.113.224.144:58653?service=sawyer',None,None,None,None)
UR=await RRN.AsyncConnectService('rr+tcp://128.113.224.144:58652?service=ur_robot',None,None,None,None)
c_host=await RRN.AsyncConnectService('rr+ws://128.113.224.144:2366?service=Webcam',uname,credentials,None,None)
c= await c_host.async_get_Webcams(0,None)
p= await c.FrameStream.AsyncConnect(-1,None)
global canvas, ctx
canvas = document.getElementById("image")
ctx = canvas.getContext("2d")
print_div("Running!")
p.PacketReceivedEvent+=new_frame
c.async_StartStreaming(None)
#robot state flag
robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", Sawyer)
state_flags_enum = robot_const['RobotStateFlags']
while True:
await plot(UR,Sawyer, inst, state_flags_enum)
# await RRN.AsyncSleep(0.01,None)
except:
print_div(traceback.format_exc())
raise
async def async_select_available_robot_url(robot_urls):
print_div("Selecting the robot URL.. <br>")
# Read the selected robot index from the browser
element_id = "available_robots"
available_robots_list = document.getElementById(element_id)
index = available_robots_list.selectedIndex
return robot_urls[index]
async def client_webcam():
# rr+ws : WebSocket connection without encryption
# url ='rr+ws://localhost:2355?service=Webcam'
# url ='rr+ws://192.168.1.128:2355?service=Webcam'
# url ='rr+ws://192.168.43.241:2355?service=Webcam'
url = 'rr+ws://192.168.50.152:2355?service=Webcam'
try:
c_host = await RRN.AsyncConnectService(url, None, None, None, None)
c = await c_host.async_get_Webcams(0, None)
p = await c.FrameStream.AsyncConnect(-1, None)
global canvas, ctx
canvas = document.getElementById("camera_image")
ctx = canvas.getContext("2d")
print_div("Camera is Running!<br>")
finish_time = 0
# while True:
p.PacketReceivedEvent += new_frame
c.async_StartStreaming(None)
await RRN.AsyncSleep(0.01, None)
except:
import traceback
print_div(traceback.format_exc())
raise
async def client_matplotlib():
uname = document.getElementById("uname").value
psw = document.getElementById("psw").value
credentials = {"password": RR.RobotRaconteurVarValue(psw, "string")}
try:
c_host = await RRN.AsyncConnectService(
'rr+ws://128.113.224.144:2366?service=Webcam', uname, credentials,
None, None)
c = await c_host.async_get_Webcams(0, None)
p = await c.FrameStream.AsyncConnect(-1, None)
global canvas, ctx
canvas = document.getElementById("image")
ctx = canvas.getContext("2d")
print_div("Running!")
while True:
p.PacketReceivedEvent += new_frame
c.async_StartStreaming(None)
await RRN.AsyncSleep(0.01, None)
except:
import traceback
print_div(traceback.format_exc())
raise
def jog_joints2(q_i, degree_diff, is_relative):
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_jog_joints2(q_i, degree_diff, is_relative))
else:
print_div("Jogging has not finished yet..<br>")
def playback_poses_func(self):
print_div("Playing Back Poses..<br>")
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_playback_poses_func())
else:
print_div("Jogging has not finished yet..<br>")
def go_sel_pose_func(self):
print_div("Moving to selected pose..<br>")
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_go_sel_pose_func())
else:
print_div("Jogging has not finished yet..<br>")
def stop_func(self):
print_div('STOP button pressed<br>')
global plugin_jogJointSpace
plugin_jogJointSpace.async_jog_joints_zeros(None)
global is_jogging
is_jogging = False
def stop_func(self):
print_div('STOP button pressed<br>')
global d, num_joints, joint_vel_limits
d.async_jog_joint(np.zeros((num_joints, )), joint_vel_limits, False, True,
None)
global is_jogging
is_jogging = False
def move_to_angles_func(self):
print_div('Move to angles button pressed<br>')
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_move_to_angles_func())
else:
print_div("Jogging has not finished yet..<br>")
def jog_joints_gamepad(joint_speed_constants):
joint_speed_constants = np.array(joint_speed_constants,dtype="f")
# print_div(str(joint_speed_constants)+"<br>")
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_jog_joints_gamepad(joint_speed_constants))
else:
print_div("Jogging has not finished yet..<br>")
def jog_joints(q_i, sign):
global is_mousedown
is_mousedown = True
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_jog_joints(q_i, sign))
else:
print_div("Jogging has not finished yet..<br>")
def timer_cb(ev):
if ev.stopped:
return
print_div("Got timer callback!")
global i
i += 1
if i > 10:
timer.Stop()
print_div("Stopped")
def jog_cartesian(P_axis, R_axis):
global is_mousedown
is_mousedown = True
global is_jogging
if (not is_jogging):
is_jogging = True
loop.call_soon(async_jog_cartesian(P_axis, R_axis))
else:
print_div("Jogging has not finished yet..<br>")
async def client_discovery():
# ip_plugins = 'localhost'
ip_plugins = '192.168.50.152'
try:
# Run the client as a class to access client data in a more convenient way
cli_discovery = ClientDiscovery(ip_plugins)
except:
import traceback
print_div(traceback.format_exc())
raise
async def test_wire_func():
c = await RRN.AsyncConnectService(
"rr+ws://localhost:2222?service=RobotRaconteurTestService", None, None,
None, None)
w = await c.broadcastwire.AsyncConnect(None)
await RRN.AsyncSleep(1, None)
for _ in range(50):
print_div(w.InValue)
await RRN.AsyncSleep(0.01, None)
print_div("Done!")
async def async_show_selected_cam_feedback(self):
# Get ref to the html element
index = self.available_cams_list.selectedIndex # Dictionary Key of the camera
print_div("selected index: " + str(index) + "<br>")
# Connects to WebcamImage struct pipe
if self.selCamInd is None:
# Start new one
self.selCamInd = index
# thisdict[sorted(thisdict)[1]]
key = sorted(self.webcam_names)[self.selCamInd]
print_div("selected key: " + str(key) + "<br>")
# Selects index th Webcam object from Array of Webcam objects
self.c = await self.c_host.async_get_Webcams(key, None)
self.p = await self.c.FrameStream.AsyncConnect(-1, None)
print_div("Camera '" + str(self.webcam_names[key]) +
"' is Selected!<br>")
self.p.PacketReceivedEvent += self.new_frame
self.c.async_StartStreaming(None)
await RRN.AsyncSleep(0.01, None)
elif self.selCamInd != index:
# Shut down the previous cam feedback
# await self.p.AsyncClose(None)
# await self.c.FrameStream.AsyncClose(-1,None)
await self.c.async_StopStreaming(None)
# Start new one
self.selCamInd = index
# thisdict[sorted(thisdict)[1]]
key = sorted(self.webcam_names)[self.selCamInd]
print_div("selected key: " + str(key) + "<br>")
# Selects index th Webcam object from Array of Webcam objects
self.c = await self.c_host.async_get_Webcams(key, None)
self.p = await self.c.FrameStream.AsyncConnect(-1, None)
print_div("Camera '" + str(self.webcam_names[key]) +
"' is Selected!<br>")
self.p.PacketReceivedEvent += self.new_frame
self.c.async_StartStreaming(None)
await RRN.AsyncSleep(0.01, None)
async def async_create_available_robots_list(self):
print_div("Auto discovering..")
await self.plugin_discovery.async_autodiscover(None)
try:
# print_div("Clearing the previous available robot options..")
length = self.available_robots_list.options.length
i = length-1
while i >= 0:
self.available_robots_list.options[i] = None
i -= 1
print_div('Creating available robots options..<br>')
self.robot_nodeNames = await self.plugin_discovery.async_available_robot_NodeNames(None)
print_div(str(self.robot_nodeNames) + "<br>")
i = 0
for nodeName in self.robot_nodeNames:
# print_div(str(self.robot_nodeNames[key]) + "<br>") # --> Right
# Add the available robot nodeName to the available_robots list
option = document.createElement("option")
option.text = str(i) + ": " + str(nodeName)
self.available_robots_list.add(option)
i += 1
except:
import traceback
print_div(traceback.format_exc())
async def test_await_func():
c = await RRN.AsyncConnectService("rr+ws://localhost:2222?service=RobotRaconteurTestService", None, None, None, None)
print_div("d1: " + str(await c.async_get_d1(None)))
print_div("i32_huge: " + str(await c.async_get_i32_huge(None)))
try:
await c.async_set_d1(5,None)
except GeneratorExit:
raise
except Exception as exp:
print_div("Caught exception: " + str(exp))
print_div("d1: " + str(await c.async_get_d1(None)))
await c.async_set_d1(3.456,None)
print_div("Done!")
async def async_del_sel_pose_func():
# Read the selected pose index from the browser
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
index = poses_list.selectedIndex
try:
if index == -1:
print_div("Please select a pose from Saved Poses.<br>")
else:
global plugin_savePlayback
await plugin_savePlayback.async_del_sel_pose(index,None)
# Delete from UI too.
poses_list.remove(index);
except:
pass
async def client_vision():
# ip_cam = 'localhost'
ip_cam = '192.168.50.152'
# ip_cam = '192.168.50.40'
# ip_plugins = 'localhost'
ip_plugins = '192.168.50.152'
try:
# Run the client as a class to access client data in a more convenient way
cli_vision = ClientVision(ip_cam, ip_plugins)
except:
import traceback
print_div(traceback.format_exc())
raise
def save_cur_pose_func(self):
print_div('Saving to "Saved Poses" list..<br>')
global d_q # Get the current joint angles in rad ndarray
# Convert them into degrees for text view
joints_text = ""
for i in d_q:
joints_text += "%.2f," % (np.rad2deg(i))
joints_text = joints_text[:-1] # Delete the last comma
# Add the current joint angles to the saved poses list
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
option = document.createElement("option")
option.text = joints_text
poses_list.add(option)
async def test_subscriber_func():
sub = RRN.SubscribeService(
"rr+ws://localhost:2222?service=RobotRaconteurTestService")
#await RRN.AsyncSleep(0.5, None)
c = await sub.AsyncGetDefaultClient(None)
print_div("d1: " + str(await c.async_get_d1(None)))
print_div("i32_huge: " + str(await c.async_get_i32_huge(None)))
try:
await c.async_set_d1(5, None)
except GeneratorExit:
raise
except Exception as exp:
print_div("Caught exception: " + str(exp))
print_div("d1: " + str(await c.async_get_d1(None)))
await c.async_set_d1(3.456, None)
print_div("Done!")
async def async_create_available_cams_list(self):
print_div('Creating available cameras options..<br>')
# # Get ref to the html element
# element_id = "available_cams"
# self.available_cams_list = document.getElementById(element_id)
self.webcam_names = await self.c_host.async_get_WebcamNames(
None
) # string{int32} i.e. a map (dictionary) of strings keyed by an integer.
print_div(str(self.webcam_names) +
"<br>") # str(self.webcam_names) --> {0:'Right'}
for key in self.webcam_names:
# print_div(str(self.webcam_names[key]) + "<br>") # --> Right
# Add the current joint angles to the available_cams list
option = document.createElement("option")
option.text = str(key) + ":" + str(self.webcam_names[key])
self.available_cams_list.add(option)
async def async_down_sel_pose_func():
# Read the selected pose index from the browser
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
index = poses_list.selectedIndex
try:
if index == -1:
print_div("Please select a pose from Saved Poses.<br>")
else:
global plugin_savePlayback
await plugin_savePlayback.async_down_sel_pose(index,None)
# Down it from UI too.
if index < poses_list.length-1:
option = poses_list.options[index];
poses_list.remove(index);
poses_list.add(option,index+1)
except:
pass
async def async_playback_poses_func():
# Get elements, poses and paramaters from web interface
poses_list = document.getElementById("saved_poses_list")
num_loops_elem = document.getElementById("num_loops_in")
num_loops = int(num_loops_elem.value)
joint_vel_range = document.getElementById("joint_vel_range")
joint_vel_ratio = float(joint_vel_range.value)/100.0
# Time to complete the playback
time_loops_elem = document.getElementById("time_loops_in")
t_complete = float(time_loops_elem.value) #seconds
if poses_list.length >= 4:
global plugin_savePlayback
await plugin_savePlayback.async_playback_poses(num_loops, joint_vel_ratio, t_complete, None)
else:
print_div("You need at least 4 different points. Add some poses to Saved Poses and try again<br>")
global is_jogging
is_jogging = False
async def async_move_to_angles_func():
global is_jogging
global plugin_jogJointSpace
joint_angles = np.zeros((7,))
element_id = "j1_angle_in"
for j in range(1,7+1):
element_id = "j" + str(j) + "_angle_in"
text_container_angle = document.getElementById(element_id)
angle = text_container_angle.value # str and in degrees
try: # if not angle == None or not angle == "":
joint_angles[j-1] = float(angle)* np.deg2rad(1)
except: # else:
print_div("Please specify angle of each joint!<br>")
is_jogging = False
return
await plugin_jogJointSpace.async_jog_joints_to_angles(joint_angles,None)
is_jogging = False
async def async_jog_joints(q_i, sign):
degree_diff = 1
global d, d_q, num_joints, joint_lower_limits, joint_upper_limits, joint_vel_limits
global is_mousedown
while (is_mousedown):
# Update joint angles
d_q = await update_joint_info() # Joint angles in radian ndarray
# UPdate the end effector pose info
pose = await update_end_info()
await update_state_flags()
if (num_joints < q_i):
print_div("Currently Controlled Robot only have " +
str(num_joints) + " joints..<br>")
else:
joint_diff = np.zeros((num_joints, ))
joint_diff[q_i - 1] = sign * np.deg2rad(degree_diff)
if not ((d_q + joint_diff) < joint_upper_limits).all() or not (
(d_q + joint_diff) > joint_lower_limits).all():
print_div("Specified joints might be out of range<br>")
else:
try:
await d.async_jog_joint(joint_diff, joint_vel_limits, True,
True, None)
except:
print_div("Specified joints might be out of range222<br>")
global is_jogging
is_jogging = False
async def async_move_to_angles_func():
global d, num_joints, joint_lower_limits, joint_upper_limits, joint_vel_limits
global is_jogging
joint_angles = np.zeros((num_joints, ))
element_id = "j1_angle_in"
for j in range(1, num_joints + 1):
element_id = "j" + str(j) + "_angle_in"
text_container_angle = document.getElementById(element_id)
angle = text_container_angle.value # str and in degrees
try: # if not angle == None or not angle == "":
joint_angles[j - 1] = float(angle) * np.deg2rad(1)
except: # else:
print_div("Please specify angle of each joint!<br>")
is_jogging = False
return
if not (joint_angles < joint_upper_limits).all() or not (
joint_angles > joint_lower_limits).all():
print_div("Specified joints are out of range<br>")
is_jogging = False
return
else:
try:
await d.async_jog_joint(joint_angles, joint_vel_limits, False,
True, None)
except:
print_div("Specified joints might be out of range<br>")
is_jogging = False
async def async_go_sel_pose_func():
global d, num_joints, joint_lower_limits, joint_upper_limits, joint_vel_limits
global is_jogging
# Read the selected pose from the browser
element_id = "saved_poses_list"
poses_list = document.getElementById(element_id)
index = poses_list.selectedIndex
try:
if index == -1:
print_div("Please select a pose from Saved Poses.<br>")
raise
else:
sel_pose = poses_list.options[index].value # angles as str
joint_angles = np.fromstring(sel_pose, dtype=float,
sep=',') * np.deg2rad(1) # in rad
if not (joint_angles < joint_upper_limits).all() or not (
joint_angles > joint_lower_limits).all():
print_div("Specified joints are out of range<br>")
raise
else:
try:
await d.async_jog_joint(joint_angles, joint_vel_limits,
False, True, None)
except:
print_div("Specified joints might be out of range<br>")
raise
except:
is_jogging = False
is_jogging = False
