def xml_callback(self, chunk):
#rospy.loginfo('*******************In PROCESS_XML callback***************')
self.lock.acquire()
try:
# Only grab XML elements for machine tool action requests
_, elements, self.action_goals = bridge_library.xml_components(chunk, self.ns, self.action_list, get_goal = True, action_goals = self.action_goals)
if elements:
# Check for existing handshake, execute it first
if self.handshake:
for e in elements:
if self.handshake == e.attrib['name'] and e.text == 'READY':
# Send hand shake signal
bridge_library.action_cb((self.adapter, self.di_dict, e.attrib['name'], 'READY'))
self.handshake = None
elements.remove(e)
if self.handshake != None:
rospy.logerr('DID NOT RECEIVE READY HANDSHAKE FROM MACHINE TOOL')
# Process remaining action requests
for e in elements:
# Remove XML namespace string from the element tag for hash tables
action_text = re.findall(r'(?<=\})\w+',e.tag)[0]
# Check if machine tool is requesting an action, if so, run action client
if e.text == 'ACTIVE':
self.handshake = self.action_client((action_text, self.action_goals[action_text], self.type_handle))
#self.handshake = e.attrib['name']
except Exception as e:
rospy.logerr("Generic Action Client: Process XML callback failed: %s, releasing lock" % e)
finally:
self.lock.release()
#rospy.loginfo('*******************Done with PROCESS_XML callback***************')
return
def xml_callback(self, chunk):
#rospy.loginfo('*******************In PROCESS_XML callback***************')
self.lock.acquire()
try:
# Only grab XML elements for machine tool action requests
_, elements, self.action_goals = bridge_library.xml_components(
chunk,
self.ns,
self.action_list,
get_goal=True,
action_goals=self.action_goals)
if elements:
# Check for existing handshake, execute it first
if self.handshake:
for e in elements:
if self.handshake == e.attrib[
'name'] and e.text == 'READY':
# Send hand shake signal
bridge_library.action_cb(
(self.adapter, self.di_dict, e.attrib['name'],
'READY'))
self.handshake = None
elements.remove(e)
if self.handshake != None:
rospy.logerr(
'DID NOT RECEIVE READY HANDSHAKE FROM MACHINE TOOL'
)
# Process remaining action requests
for e in elements:
# Remove XML namespace string from the element tag for hash tables
action_text = re.findall(r'(?<=\})\w+', e.tag)[0]
# Check if machine tool is requesting an action, if so, run action client
if e.text == 'ACTIVE':
self.handshake = self.action_client(
(action_text, self.action_goals[action_text],
self.type_handle))
#self.handshake = e.attrib['name']
except Exception as e:
rospy.logerr(
"Generic Action Client: Process XML callback failed: %s, releasing lock"
% e)
finally:
self.lock.release()
#rospy.loginfo('*******************Done with PROCESS_XML callback***************')
return
def process_xml(self, xml):
nextSeq, elements = bridge_library.xml_components(xml, self.ns, self.di_current)
# Create local data item dictionary to track event changes
local_di = self.init_di_dict()
# Loop through XML elements, update the di_changed and di_current
di_list = [di_val for di_list in self.data_items for di_val in di_list]
if elements:
rospy.logdebug('***********XML -->*************\n%s' % xml)
for e in elements:
for d_item in di_list:
if e.attrib['name'] == bridge_library.split_event(d_item):
local_di[d_item] = e.text
self.di_current[d_item] = e.text # Update di_current with new state
break
return nextSeq, local_di
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionClient')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = ['url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port', 'service']
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m = self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
self.service = self.config[self.msg_parameters[5]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1,self.url,self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.action_goals = {}
self.package = None
self.xml_goal = None
self.di_dict = {} # XML data item dictionary to store MTConnect Adapter Events
self.handshake = None
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event((self.adapter, self.action_list, self.di_dict, False))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Create robot Service Server thread for each machine tool action
self.action_service = []
for mt_action in self.action_goals.keys():
self.action_service.append(ActionService(mt_action, self.adapter, self.di_dict, self.service_handle, self.service))
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns, self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create class lock
self.lock = thread.allocate_lock()
# Create XML polling thread
lp = LongPull(response)
lp.long_pull(self.xml_callback) # Runs until user interrupts
def __init__(self):
# Initialize the ROS publisher node
rospy.init_node('bridge_publisher')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = ['url', 'url_port', 'machine_tool', 'xml_namespace']
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m = self.config[self.msg_parameters[3]])
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1,self.url,self.url_port))
# Create the data lists for the topic names, types, manifests, data items, ROS publishers, and ROS messages
self.topic_name_list = []
self.topic_type_list = []
self.lib_manifests = []
self.data_items = []
self.pub = []
self.msg = []
self.data_hold = None
# Setup topic, data items, pub, etc. via configuration file
self.setup_topic_data()
# Hash table of persistent CNC event states, only updates when state changes
self.di_current = self.init_di_dict()
# Hash table to store changed CNC event states
self.di_changed = None
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response((self.url, self.url_port, None, self.conn, self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns, self.di_current)
# Use XML to establish current data item state dictionary
for di in self.di_current.keys():
name = bridge_library.split_event(di)
for e in elements:
rospy.loginfo('Element %s --> %s' % (e.tag, e.text))
if name == e.attrib['name']:
self.di_current[di] = e.text
# Confirm that data items in config file are present in XML
for di_set in self.data_items:
if not set(di_set).issubset(set(self.di_current.keys())):
rospy.logerr('ERROR: INCORRECT EVENTS IN TOPIC CONFIG OR XML AGENT FILE')
sys.exit()
# Start a streaming XML connection
response = bridge_library.xml_get_response((self.url, self.url_port, None, self.conn, self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create queue for streaming XML
self.XML_queue = Queue()
# Create a ROS publishing thread
self.ros_publisher()
# Streams data from the agent...
lp = LongPull(response)
lp.long_pull(self.xml_callback) # Runs until user interrupts
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionClient')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = [
'url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port',
'service'
]
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m=self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
self.service = self.config[self.msg_parameters[5]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1, self.url, self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.action_goals = {}
self.package = None
self.xml_goal = None
self.di_dict = {
} # XML data item dictionary to store MTConnect Adapter Events
self.handshake = None
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event(
(self.adapter, self.action_list, self.di_dict, False))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Create robot Service Server thread for each machine tool action
self.action_service = []
for mt_action in self.action_goals.keys():
self.action_service.append(
ActionService(mt_action, self.adapter, self.di_dict,
self.service_handle, self.service))
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response(
(self.url, self.url_port, self.port, self.conn,
self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns,
self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response(
(self.url, self.url_port, self.port, self.conn,
self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create class lock
self.lock = thread.allocate_lock()
# Create XML polling thread
lp = LongPull(response)
lp.long_pull(self.xml_callback) # Runs until user interrupts
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('robot_link')
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1, 'localhost', 5000))
bridge_library.check_connectivity((1, 'localhost', 5001))
# Global variables
self.XML_CNC_queue = Queue()
self.XML_RBT_queue = Queue()
self.cnc_capture_xml = True
self.rbt_capture_xml = True
self.cnc_conn = httplib.HTTPConnection('localhost', 5000)
self.rbt_conn = httplib.HTTPConnection('localhost', 5001)
self.ns = dict(m = 'urn:mtconnect.org:MTConnectStreams:1.2')
self.data_items = {'MaterialLoad' : 'MaterialLoad', 'MaterialUnload' : 'MaterialUnload'}
# Establish CNC XML connection, read in current XML
cnc_response = bridge_library.xml_get_response(('localhost', 5000, None, self.cnc_conn, "/cnc/current"))
cnc_body = cnc_response.read()
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(cnc_body, self.ns, self.data_items)
# Start a streaming XML connection
cnc_response = bridge_library.xml_get_response(('localhost', 5000, None, self.cnc_conn, "/cnc/sample?interval=1000&count=1000&from=" + seq))
# Create CNC XML polling thread
cnc_lp = LongPull(cnc_response)
self.cnc_thread = threading.Thread(target = cnc_lp.long_pull, args = (self.cnc_xml_callback,))
self.cnc_thread.daemon = True
self.cnc_thread.start()
rospy.loginfo('STARTED STREAMING CNC XML THREAD')
# Establish Robot XML connection, read in current XML
rbt_response = bridge_library.xml_get_response(('localhost', 5001, None, self.rbt_conn, "/Robot/current"))
rbt_body = rbt_response.read()
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(rbt_body, self.ns, self.data_items)
# Start a streaming XML connection
rbt_response = bridge_library.xml_get_response(('localhost', 5001, None, self.rbt_conn, "/Robot/sample?interval=1000&count=1000&from=" + seq))
# Create Robot XML polling thread
rbt_lp = LongPull(rbt_response)
self.rbt_thread = threading.Thread(target = rbt_lp.long_pull, args = (self.rbt_xml_callback,))
self.rbt_thread.daemon = True
self.rbt_thread.start()
rospy.loginfo('STARTED STREAMING ROBOT XML THREAD')
# Create robot initialization publisher thread
self.t1 = threading.Thread(target = self.talker)
self.t1.daemon = True
self.t1.start()
rospy.loginfo('STARTED ROBOT INITIALIZATION THREAD')
# Create state sequence thread
self.t2 = threading.Thread(target = self.run_actions)
self.t2.daemon = True
self.t2.start()
rospy.loginfo('STARTED STATE MACHINE THREAD')
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('robot_link')
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1, 'localhost', 5000))
bridge_library.check_connectivity((1, 'localhost', 5001))
# Global variables
self.XML_CNC_queue = Queue()
self.XML_RBT_queue = Queue()
self.cnc_capture_xml = True
self.rbt_capture_xml = True
self.cnc_conn = httplib.HTTPConnection('localhost', 5000)
self.rbt_conn = httplib.HTTPConnection('localhost', 5001)
self.ns = dict(m='urn:mtconnect.org:MTConnectStreams:1.2')
self.data_items = {
'MaterialLoad': 'MaterialLoad',
'MaterialUnload': 'MaterialUnload'
}
# Establish CNC XML connection, read in current XML
cnc_response = bridge_library.xml_get_response(
('localhost', 5000, None, self.cnc_conn, "/cnc/current"))
cnc_body = cnc_response.read()
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(cnc_body, self.ns,
self.data_items)
# Start a streaming XML connection
cnc_response = bridge_library.xml_get_response(
('localhost', 5000, None, self.cnc_conn,
"/cnc/sample?interval=1000&count=1000&from=" + seq))
# Create CNC XML polling thread
cnc_lp = LongPull(cnc_response)
self.cnc_thread = threading.Thread(target=cnc_lp.long_pull,
args=(self.cnc_xml_callback, ))
self.cnc_thread.daemon = True
self.cnc_thread.start()
rospy.loginfo('STARTED STREAMING CNC XML THREAD')
# Establish Robot XML connection, read in current XML
rbt_response = bridge_library.xml_get_response(
('localhost', 5001, None, self.rbt_conn, "/Robot/current"))
rbt_body = rbt_response.read()
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(rbt_body, self.ns,
self.data_items)
# Start a streaming XML connection
rbt_response = bridge_library.xml_get_response(
('localhost', 5001, None, self.rbt_conn,
"/Robot/sample?interval=1000&count=1000&from=" + seq))
# Create Robot XML polling thread
rbt_lp = LongPull(rbt_response)
self.rbt_thread = threading.Thread(target=rbt_lp.long_pull,
args=(self.rbt_xml_callback, ))
self.rbt_thread.daemon = True
self.rbt_thread.start()
rospy.loginfo('STARTED STREAMING ROBOT XML THREAD')
# Create robot initialization publisher thread
self.t1 = threading.Thread(target=self.talker)
self.t1.daemon = True
self.t1.start()
rospy.loginfo('STARTED ROBOT INITIALIZATION THREAD')
# Create state sequence thread
self.t2 = threading.Thread(target=self.run_actions)
self.t2.daemon = True
self.t2.start()
rospy.loginfo('STARTED STATE MACHINE THREAD')
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionServer')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = ['url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port']
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m = self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1,self.url,self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.capture_xml = False
self.di_dict = {} # XML data item dictionary to store MTConnect Adapter Events
# Create a dictionary of _results to return upon action success
self._resultDict = {}
# Create a dictionary of action servers
self._as = {}
# Create a dictionary of server names
self.server_name = {}
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event((self.adapter, self.action_list, self.di_dict, True))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns, self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create queue for streaming XML
self.XML_queue = Queue()
# Create XML polling thread
lp = LongPull(response)
xml_thread = Thread(target = lp.long_pull, args = (self.xml_callback,))
xml_thread.daemon = True
xml_thread.start()
def execute_cb(self, goal):
# If goal is OpenDoor, use the goal defined in the message as your key, access it as goal.__slots__[0]
action = goal.__slots__[0]
# Empty function -- assumes action was successful
rospy.loginfo('In %s Callback -- determining action request result.' % self.server_name[action])
# Check to make sure machine tool is READY, if not, ABORT the robot action request
# Change to XML Tag format
tokens = re.findall(r'([A-Z][a-z]*)', self.server_name[action])
tokenlist = [val.upper() for val in tokens]
di_tag = tokenlist[0] + '_' + tokenlist[1]
# Check current status of XML Tag
check_response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/current?path=//DataItem[@type='" + di_tag + "']"))
body = check_response.read()
_, element = bridge_library.xml_components(body, self.ns, {self.server_name[action]:self.server_name[action]})
# Complete the action request
if element[0].text == 'READY': # Execute the action request
# Submit goal value to MTConnect via agent (i.e. goal.open_door = 'ACTIVE')
bridge_library.action_cb((self.adapter, self.di_dict, action, 'ACTIVE'))
robot_hold = 0 # Used to make sure you only change robot state once after 'COMPLETE' received from CNC
# Start capturing XML
self.capture_xml = True
# While loop to poll CNC XML until READY is received for Robot action request
dwell = True
while dwell == True:
try:
# Obtain XML chunk
if not self.XML_queue.empty():
chunk = self.XML_queue.get()
# Parse the XML and determine the current sequence and XML Event elements
root = ElementTree.fromstring(chunk)
element_list = root.findall('.//m:' + self.server_name[action], namespaces = self.ns)
if len(element_list) > 1:
rospy.logdebug('XML --> %s' % chunk)
if element_list:
# Must iterate -- multiple elements possible for a single tag
for element in element_list:
if element.text == 'ACTIVE':
# Set accepted back to action client
pass
# While polling monitor CNC response for COMPLETE, submit READY handshake
elif element.text == 'COMPLETE' and robot_hold == 0:
bridge_library.action_cb((self.adapter, self.di_dict, action, 'READY'))
robot_hold = 1
elif element.text == 'READY' and robot_hold == 1:
dwell = False
self.capture_xml = False
# When response is READY, set server result and communicate as below:
# Extract action attribute
result_attribute = self._resultDict[self.server_name[action]].__slots__[0]
# Set the attribute per the ROS to MTConnect conversion
setattr(self._resultDict[self.server_name[action]], result_attribute, 'READY')
# Indicate a successful action
self._as[self.server_name[action]].set_succeeded(self._resultDict[self.server_name[action]])
rospy.loginfo('In %s Callback -- action succeeded.' % self.server_name[action])
elif element.text == 'FAIL':
bridge_library.action_cb((self.adapter, self.di_dict, action, 'FAIL'))
dwell = False
self.capture_xml = False
# When response is FAIL, set server result and communicate as below:
# Extract action attribute. For CNC Actions, only one result --> i.e. OpenDoorResult.__slots__[0] = 'door_ready'
result_attribute = self._resultDict[self.server_name[action]].__slots__[0]
# Set the attribute per the ROS to MTConnect conversion
setattr(self._resultDict[self.server_name[action]], result_attribute, 'FAIL')
# Indicate an aborted action
self._as[self.server_name[action]].set_aborted(self._resultDict[self.server_name[action]])
rospy.loginfo('In %s Callback -- action aborted by CNC.' % self.server_name[action])
# Release the queue
self.XML_queue.task_done()
except rospy.ROSInterruptException:
rospy.loginfo('program interrupted before completion')
else: # Abort the action request, machine tool not ready or faulted
# Extract action attribute. For CNC Actions, only one result --> i.e. OpenDoorResult.__slots__[0] = 'door_ready'
result_attribute = self._resultDict[self.server_name[action]].__slots__[0]
# Set the attribute per the ROS to MTConnect conversion
setattr(self._resultDict[self.server_name[action]], result_attribute, 'NOT_READY')
# Indicate an aborted action
self._as[self.server_name[action]].set_aborted(self._resultDict[self.server_name[action]])
rospy.loginfo('In %s Callback -- action aborted, machine tool NOT_READY, FAULTED, or UNAVAILABLE.' % self.server_name[action])
return
