def go(self, move_l, wait=True, poll_limit_seconds=30):
"""
commands robot to move into position linear way
:param move_l: MoveL object describing target position and move settings
:param wait: wait for move to complete or not
:param poll_limit_seconds: functions as a timeout of wait is enabled
:return: boolean
"""
self.stopped = False
Commands.write_hold('0') # disable hold if currently enabled
Commands.write_linear_move(
move_l=move_l) # execute wanted move command
current = 0
if not wait:
return True
for x in range(poll_limit_seconds):
if self.stopped:
return False
time.sleep(1)
cp = Commands.read_current_specified_coordinate_system_position( # returns CurrentPos object
str(move_l.get_coordinate_specification()), '0')
if Utils.is_in_position(move_l, cp):
return True
else:
current = current + 1
if current == poll_limit_seconds:
return False
def _html(self, message):
try:
if str(self.path) == '/':
filename = 'index.html'
html_content = f"<html><body><h1>{message}</h1></body></html>"
job_name = Commands.read_current_job_details().job_name()
status = Commands.read_status()
c_pos = get_position()
with open(os.path.join(base_path, filename)) as f:
html_content = f.read()
html_content = html_content \
.replace('{{jobName}}', job_name) \
.replace('{{commandRemote}}', str(status.is_command_remote())) \
.replace('{{playMode}}', str(status.is_play())) \
.replace('{{isHold}}', str(
status.is_command_hold() or status.is_command_hold() or status.is_programming_pendant_hold())) \
.replace('{{teachMode}}', str(status.is_teach())) \
.replace('{{running}}', str(status.is_running())) \
.replace('{{servoOn}}', str(status.is_servo_on())) \
.replace('{{isError}}', str(status.is_error_occurring())) \
.replace('{{x}}', str(c_pos.x)) \
.replace('{{y}}', str(c_pos.y)) \
.replace('{{z}}', str(c_pos.z)) \
.replace('{{tx}}', str(c_pos.tx)) \
.replace('{{ty}}', str(c_pos.ty)) \
.replace('{{tz}}', str(c_pos.tz))
return html_content.encode(
"utf8") # NOTE: must return a bytes object!
else:
return "".encode('utf-8')
except Exception as e:
return html_content.encode("utf8")
def gripper_is_closed():
gripper_status = Gripper.Gripper()
res = Commands.read_io_signals(IO.IO(GRIPPER_ACKNOWLEDGE_SIGNAL,
1)).get_response()
logging.info('Gripper ack decimal: ' + res)
gripper_status.set_closed_status(res)
return gripper_status.is_gripper_closed()
def test_linear_motion_move(self):
move_l = MoveL.MoveL(
MoveL.MoveL.motion_speed_selection_posture_speed, 5,
MoveL.MoveL.coordinate_specification_base_coordinate, 352.769,
202.779, 120.658, -1.34, 35.78, 27.84,
Utils.binary_to_decimal(0x00000001), 0, 0, 0, 0, 0, 0, 0)
res = Commands.write_linear_move(move_l=move_l)
self.assertEqual(res.get_response(), '0000')
def test_joint_motion_move(self):
move_j = MoveJ.MoveJ(
25, # speed %
MoveJ.MoveJ.coordinate_specification_base_coordinate,
352.769,
202.779,
120.658,
-1.34,
35.78,
27.84,
Utils.binary_to_decimal(0x00000001),
0,
0,
0,
0,
0,
0,
0)
res = Commands.write_joint_motion_move(move_j=move_j)
self.assertEqual(res.get_response(), '0000')
def read_gripper_hit():
gripper_status = Gripper.Gripper()
gripper_status.set_closed_status(
Commands.read_io_signals(IO.IO(GRIPPER_HIT_SIGNAL, 4)))
return gripper_status
def read_gripper_closed_command_register():
gripper_status = Gripper.Gripper()
gripper_status.set_closed_status(
Commands.read_io_signals(IO.IO(GRIPPER_OPEN_CLOSE_SIGNAL, 4)))
return gripper_status
def test_write_hold(self):
res = Commands.write_hold('1')
self.assertEqual(res.get_response(), '0000')
def get_position():
return Commands.read_current_specified_coordinate_system_position(
str(COORDINATE_SYSTEM), '0')
def test_read_all_job_names(self):
res = Commands.read_all_job_names()
self.assertEqual(res.get_response(), '')
def test_write_master_job(self):
res = Commands.write_master_job('test_job')
self.assertEqual(res.get_response(), '0000')
def test_write_io_signals(self):
io = IO.IO(4)
res = Commands.write_io_signals(io)
self.assertEqual(res.get_response(), '0')
def test_write_servo_power(self):
res = Commands.write_servo_power('1')
self.assertEqual(res.get_response(), '0000')
def test_write_cancel(self):
res = Commands.write_cancel()
self.assertEqual(res.get_response(), '0000')
def stop(self):
"""
stop upper go function
"""
self.stopped = True
Commands.write_hold('1') # only way to stop robot from executing move
def test_read_alarms(self):
alarms = Commands.read_alarms()
self.assertEqual(alarms.get_alarms(),
['0', '0', '0', '0', '0', '0', '0', '0', '0', '0'])
def get_position():
return Commands.read_current_specified_coordinate_system_position(
str(COORDINATE_SYSTEM), '0')
while not done:
# event handling
for event in pygame.event.get():
if event.type == pygame.QUIT:
done = True
if event.type == pygame.JOYBUTTONDOWN:
if event.button == xbox360_controller.START:
Commands.write_servo_power('1')
print('servo on')
if event.button == xbox360_controller.BACK:
Commands.write_servo_power('0')
print('servo off')
if event.button == xbox360_controller.PAD_LEFT:
Commands.write_start_job('')
print('start default job')
# handle events for specific controllers
if event.joy == controller.get_id():
if event.button == xbox360_controller.A:
if ball_color == WHITE:
ball_color = RED
else:
ball_color = WHITE
def start_app():
logging.basicConfig(level=os.environ.get("LOGLEVEL", "INFO"))
nx100_remote_control.MOCK_RESPONSE = False
# WebServer.run(addr="localhost", port=8080)
# Commands.read_alarms()
# Commands.read_current_joint_coordinate_position()
# Commands.read_current_specified_coordinate_system_position('0', '0')
# Commands.read_status()
# Commands.read_current_job_details()
# Commands.write_hold('0') # 1 on, 0 off
# Commands.write_reset()
# Commands.write_cancel()
# Commands.write_servo_power('0') # 1 on, 0 off
# Commands.write_start_job('') # empty means default set execution job
# Commands.write_linear_move(MoveL.MoveL(
# MoveL.MoveL.motion_speed_selection_posture_speed,
# 5,
# MoveL.MoveL.coordinate_specification_base_coordinate,
# 353.769, 202.779, 120.658,
# -1.34, 35.78, 27.84,
# Utils.binary_to_decimal(0x00000001),
# 0, 0, 0, 0, 0, 0, 0
# ))
# Commands.read_all_job_names()
# Commands.write_master_job('job_name_here')
# Gripper.write_gripper_close()
# Gripper.write_gripper_open()
# Gripper.read_gripper_closed_command_register()
# Gripper.write_gripper_close()
# print(Gripper.gripper_is_closed())
# Gripper.read_gripper_hit()
# move_l = MoveL.MoveL(
# MoveL.MoveL.motion_speed_selection_posture_speed,
# 5,
# MoveL.MoveL.coordinate_specification_base_coordinate,
# 353.769, 202.779, 120.658,
# -1.34, 35.78, 27.84,
# Utils.binary_to_decimal(0x00000001),
# 0, 0, 0, 0, 0, 0, 0
# )
# Commands.robot_in_target_point_callback(
# move_l=move_l, timeout=10, _callback_success=callback_success, _callback_failed=callback_failed
# )
# move_l = MoveL.MoveL(
# MoveL.MoveL.motion_speed_selection_posture_speed,
# 5,
# MoveL.MoveL.coordinate_specification_base_coordinate,
# 352.769, 202.779, 120.658,
# -1.34, 35.78, 27.84,
# Utils.binary_to_decimal(0x00000001),
# 0, 0, 0, 0, 0, 0, 0
# )
# linear_move = LinearMove.LinearMove()
# linear_move.go(move_l=move_l, wait=True, poll_limit_seconds=10)
# print('finished')
position = Commands.read_current_specified_coordinate_system_position('0')
sp = [-70.888, 836.813, 281.496, 0.21, 36.59, 90.14]
# 542.553,-229.522,416.749,12.32,6.74,-27.25,0,0
# -70.888,836.813,281.496,0.21,36.59,90.14,0,0
"""
def get_position():
return Commands.read_current_specified_coordinate_system_position('0', '0')
def write_gripper_open():
io_out = IO.IO(GRIPPER_OPEN_CLOSE_SIGNAL_INPUT,
4) # each signal line has 8 bits, write them all
io_out.set_first_eight_io_contracts('00000000') # Todo, value not decided
return Commands.write_io_signals(io_out)
def do_POST(self):
content_length = int(
self.headers['Content-Length']) # <--- Gets the size of data
post_data = self.rfile.read(
content_length) # <--- Gets the data itself
# logging.info("POST request,\nPath: %s\nHeaders:\n%s\n\nBody:\n%s\n", str(self.path), str(self.headers),
# post_data.decode('utf-8'))
command = post_data.decode("utf-8")
if command == 'start_job':
Commands.write_start_job('')
elif command == 'hold_on':
Commands.write_hold('1')
elif command == 'hold_off':
Commands.write_hold('0')
elif command == 'servo_on':
Commands.write_servo_power('1')
elif command == 'servo_off':
Commands.write_servo_power('0')
elif command == 'move_s_l' or command == 'move_s_r':
c_pos = get_position()
Commands.write_linear_move(
MoveL.MoveL(
0, SPEED, 0,
(c_pos.get_x() - MOVE_MM) if command == 'move_s_l' else
(c_pos.get_x() + MOVE_MM), c_pos.get_y(), c_pos.get_z(),
c_pos.get_tx(), c_pos.get_ty(), c_pos.get_tz(),
Utils.binary_to_decimal(0x00000001)))
elif command == 'move_l_l' or command == 'move_l_r':
c_pos = get_position()
Commands.write_linear_move(
MoveL.MoveL(0, SPEED, 0, c_pos.get_x(),
(c_pos.get_y() -
MOVE_MM) if command == 'move_l_l' else
(c_pos.get_y() + MOVE_MM), c_pos.get_z(),
c_pos.get_tx(), c_pos.get_ty(), c_pos.get_tz(),
Utils.binary_to_decimal(0x00000001)))
elif command == 'move_u_l' or command == 'move_u_r':
c_pos = get_position()
Commands.write_linear_move(
MoveL.MoveL(0, SPEED, 0, c_pos.get_x(), c_pos.get_y(),
(c_pos.get_z() -
MOVE_MM) if command == 'move_u_l' else
(c_pos.get_z() + MOVE_MM), c_pos.get_tx(),
c_pos.get_ty(), c_pos.get_tz(),
Utils.binary_to_decimal(0x00000001)))
# Todo, do not use, ultra dangerous
# Todo, implement these some day with posture speed option
# elif command == 'move_r_l' or command == 'move_r_r':
# c_pos = get_position()
# Commands.write_linear_move(MoveL.MoveL(
# 0, 1, 0,
# c_pos.get_x(), c_pos.get_y(), c_pos.get_z(),
# (c_pos.get_tx() - 5.00) if command == 'move_r_l' else (c_pos.get_tx() + 5.0),
# c_pos.get_ty(), c_pos.get_tz(),
# Utils.binary_to_decimal(0x00000001)
# ))
self._set_headers()
self.wfile.write("".format(self.path).encode('utf-8'))
def test_read_current_joint_coordinate_position(self):
position = Commands.read_current_joint_coordinate_position()
self.assertEqual(position,
'45411,-59646,-55567,667,-1077,-1260,0,0,0,0,0,0')