Пример #1
0
def main():

    logger.info("\n\nlog started ,main is running\n")

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

    logger.info("server started")

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

    logger.info("client wrappers created")

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

    logger.info("ur is connected")

    # now enter fabrication loop
    while True:  # and ur and gh connected
        commands_to_send = [[i] * 8 for i in range(20)]

        for i, cmd in enumerate(commands_to_send):
            x, y, z, ax, ay, az, speed, radius = cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

        time.sleep(4)
        ur.purge_commands()
        print("waiting for ready")
        ur.wait_for_ready()
        print("send new commands")
        for i, cmd in enumerate(commands_to_send):
            x, y, z, ax, ay, az, speed, radius = cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
        print("============================================================")

    ur.quit()
    server.close()

    logger.info("siemens protal, gh, ur and server are closed")

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

    logger.info("\n\nlog started ,main is running\n")

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

    logger.info("server started")

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

    logger.info("client wrappers created")

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

    logger.info("gh and ur are connected")


    continue_fabrication = gh.wait_for_int()
    print("continue_fabrication: %i" % continue_fabrication)


    move_filament_loading_pt = gh.wait_for_int()
    print("move_filament_loading_pt: %i" % move_filament_loading_pt)

    linear_axis_toggle = gh.wait_for_int()
    print("linear_axis_toggle: %i" % linear_axis_toggle)

    #if linear_axis_toggle:
    axis_moving_pts_indices = gh.wait_for_float_list()
    print("We received %i linear axis_moving_pts_indices" % len(axis_moving_pts_indices))

    logger.info("{} float list of axis_moving_pts_indices received".format(len(axis_moving_pts_indices)))

    len_command = gh.wait_for_int()
    print("len_command: %i" % len_command)

    no_batches = gh.wait_for_int()
    print("no_batches: %i" % no_batches)

    commands_to_wait_flattened = []

    for j in range(no_batches):
        commands_flattened = gh.wait_for_float_list()
        # create mew list for commands executed
        commands_to_wait_flattened.extend(commands_flattened)
        # the commands are formatted according to the sent length
        commands = format_commands(commands_flattened, len_command)
        print("We received %i commands." % len(commands))
        logger.info("{} float list of commands_flattened received".format(len(commands)))

        if move_filament_loading_pt:
        	commands_to_send = commands
        else:
        	commands_to_send = commands[1:-1]

        for i, cmd in enumerate(commands_to_send):
             x, y, z, ax, ay, az, speed, radius = cmd
             ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)

        logger.info("all commands in batch number {} were sent".format(j))
        break

    print("=>>>>>>>>>>>>>>>>>>>>> wait for the 3rd")
    ur.wait_for_command_executed(3)


    ur.purge_commands()
    # ur.quit()
    # time.sleep(3)
    # ur.wait_for_connected()

    print("01_waiting for ready")
    # # time.sleep(1.5)
    ur.wait_for_ready()
    print("02 send new commands")
    # toggle extruder, turn off motor

    # move away robot problem: it still sends it at end
    x1, y1, z1, ax1, ay1, az1, speed1, radius1 = commands_to_send[0]
    ur.send_command_movel([x1, y1, z1, ax1, ay1, az1], v=speed1, r=radius1)
    print("03_Moving robot to a safe point")
    # print("Waiting for 10 seconds")
    # time.sleep(10)
    print("04_waiting for ready")
    ur.wait_for_ready()
    print("======================")

    ur.quit()
    gh.quit()
    # time.sleep(3)
    server.close()

    logger.info("siemens protal, gh, ur and server are closed")

    print("Please press a key to terminate the program.")
    junk = sys.stdin.readline()
    print("Done.")
Пример #3
0
def main():

    logger.info("\n\nlog started ,main is running\n")

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

    logger.info("server started")

    ur = ClientWrapper("UR")
    time.sleep(0.5)
    ur_driver.send()
    ur.wait_for_connected()

    move_filament_loading_pt = data['move_filament_loading_pt']
    linear_axis_toggle = data['move_linear_axis']
    axis_moving_pts_indices = data['axis_moving_pts_indices']
    len_command = data['len_command']
    batches = data['batches']

    print("Batch length:", len(batches))

    print("move_filament_loading_pt: %i" % move_filament_loading_pt)
    logger.info(
        "move_filament_loading_pt: {}".format(move_filament_loading_pt))

    print("linear_axis_toggle: %i" % linear_axis_toggle)
    logger.info("linear_axis_toggle: {}".format(linear_axis_toggle))

    print("We received %i linear axis_moving_pts_indices" %
          len(axis_moving_pts_indices))
    logger.info("{} float list of axis_moving_pts_indices received".format(
        len(axis_moving_pts_indices)))

    #if the ur required to start extruding always from the same start base
    print("============================================================")
    linear_axis_x = 500
    linear_axis_z = 800

    if linear_axis_toggle:
        # And move axis
        p = s.SiemensPortal(2)
        logger.info("siemens portal connected")
        currentPosX = p.get_x()
        currentPosZ = p.get_z()
        if currentPosZ != linear_axis_z or currentPosX != linear_axis_x:
            p.set_x(linear_axis_x)
            p.set_z(linear_axis_z)
            print("Linear axis is set to default x and z value")
            p.wait_ext_axis()
        p.close()

    print("============================================================")
    print("len_command: %i" % len_command)

    # move linear axis except start and end (at filament loading and unloading pos)
    linear_axis_move_z = linear_axis_z
    linear_axis_failed = False
    print("============================================================")
    p1 = s.SiemensPortal(2)

    # loop through all commands batches
    command_counter = 0
    for j, batch in enumerate(batches):

        commands = format_commands(batch, len_command)
        print("For batch nr %d, we received %i commands." %
              (j + 1, len(commands)))
        logger.info("{} float list of commands_flattened received".format(
            len(commands)))

        if move_filament_loading_pt:
            commands = commands[1:-1]

        difference_to_prev_command_before_sending_next = 10

        # ===>>> start sending commands
        for i, cmd in enumerate(commands):
            x, y, z, ax, ay, az, speed, radius = cmd
            ur.send_command_movel([x, y, z, ax, ay, az], v=speed, r=radius)
            command_counter += 1
            if move_filament_loading_pt and i == 0 and j == 0:
                # after Moving to first point, toggle extruder and wait
                print("Moved to safe point")
                print("Toggling extruder")
                ur.send_command_digital_out(0, True)
                command_counter += 1
                print("Waiting for 2 seconds")
                ur.send_command_wait(2)
                command_counter += 1
        print("all commands in batch number %i were sent." % j)
        logger.info("all commands in batch number {} were sent".format(j))

        wait_for_counter = command_counter - difference_to_prev_command_before_sending_next

        print("Waiting for command counter %d" % wait_for_counter)
        ur.wait_for_command_executed(wait_for_counter)
        print("Executed command {} of {}".format(wait_for_counter,
                                                 len(commands) * len(batches)))
        if linear_axis_toggle:
            if i in axis_moving_pts_indices:
                linear_axis_move_z += 1
                p1.set_z(linear_axis_move_z)
                print("Linear axis is supposed to move to %d mm" %
                      linear_axis_move_z)
                #sleeping time depends on linear axis override speed
                #for ex. 0.5 sec sleep is not enough to move 16mm in z
                time.sleep(.7)
                linear_axis_currentPosZ = p1.get_z()
                if linear_axis_move_z == linear_axis_currentPosZ:
                    print("SUCCESS")
                    print("Linear axis moved to %d mm" %
                          linear_axis_currentPosZ)
                    print("Linear axis moved at point index %d" % i)
                    logger.info("SUCCESS")
                    logger.info("Linear axis moved to {} mm".format(
                        linear_axis_currentPosZ))
                    logger.info("Executed command {} of {} [{}%]".format(
                        i + 1, len(commands_to_wait),
                        (i + 1) * 100 / (len(commands_to_wait))))
                else:
                    print(
                        "============================================================"
                    )
                    print("FAILED")
                    print("Linear axis still at %d mm" %
                          linear_axis_currentPosZ)
                    print("Linear axis failed to move at point index %d" % i)
                    logger.info("FAILED")
                    logger.info("Linear axis still at {} mm".format(
                        linear_axis_currentPosZ))
                    logger.info("Executed command {} of {} [{}%]".format(
                        i + 1, len(commands_to_wait),
                        (i + 1) * 100 / (len(commands_to_wait))))

                    ur.purge_commands()
                    print("00_purge done")
                    print("waiting for ready ......... ")
                    ur.wait_for_ready()
                    print("01_send new commands")
                    # toggle extruder, turn off motor
                    ur.send_command_digital_out(0, False)
                    logger.info("02_Nozzle Motor Stopped")
                    print("02_Nozzle Motor Stopped")
                    # move away robot problem: it still sends it at end
                    x1, y1, z1, ax1, ay1, az1, speed1, radius1 = commands_to_wait[
                        0]
                    ur.send_command_movel([x1, y1, z1, ax1, ay1, az1],
                                          v=speed1,
                                          r=radius1)
                    print("03_Moving robot to a safe point")
                    logger.info("03_Moving robot to a safe point")
                    print("waiting for ready ......... ")
                    ur.wait_for_ready()
                    linear_axis_failed = True
                    ur.quit()
                    print("04_ur quit")
                    logger.info("04_ur quit")

    if not linear_axis_failed:
        print("============================================================")
        ur.wait_for_ready()
        print("waiting for ready")
        ur.send_command_digital_out(0, False)
        logger.info("nozzle motor stopped")
        print("Nozzle Motor Stopped")
        ur.wait_for_ready()
        logger.info("all commands were successfully executed")
        print("all commands were successfully executed")
        print("============================================================")
        ur.quit()

    p1.close()
    time.sleep(1)
    server.close()
    print("siemens protal, gh, ur and server are closed")
    logger.info("siemens protal, gh, ur and server are closed")

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