def __init__(self, loop: "RobotRaconteur.WebLoop", config: Dict[str, Any]):
self._loop = loop
self._config = config
self._layout = PyriGoldenLayout(self)
self._seqno = 0
self._device_manager = DeviceManagerClient(fill_rr_url_template(
config["device_manager_url"]),
autoconnect=False,
tcp_ipv4_only=True)
self._devices_states_obj_sub = None
self._devices_states_wire_sub = None
self._devices_states_value = None
self._device_infos = dict()
self._device_infos_update_running = False
def set_devices_states(state, devices_states):
state.devices_states = devices_states
def set_active_device_names(state, device_names):
current_devices = []
current_devices_js = state.active_device_names
for i in range(current_devices_js.length):
current_devices.append(current_devices_js[i])
if set(current_devices) != set(device_names):
state.active_device_names = device_names
def set_device_infos(state, device_infos):
state.device_infos = device_infos
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device('jog_joint')
jog_service = d.get_device_client("jog_joint", 1)
print(jog_service.device_info.device.name)
tool = jog_service.get_tool("tool")
while (True):
tool.open()
time.sleep(0.5)
tool.close()
time.sleep(0.5)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
from RobotRaconteurCompanion.Util.ImageUtil import ImageUtil
import time
import cv2
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("vision_camera_calibration")
calibration_service = d.get_device_client("vision_camera_calibration", 1)
ret = calibration_service.calibrate_camera_intrinsic(
"camera", "intrinsic_calib_dataset0", "chessboard",
"camera_intrinsic_calibration") #"camera_intrinsic_calibration")
image_util = ImageUtil(client_obj=calibration_service)
i = 0
for c_img in ret.display_images:
img = image_util.compressed_image_to_array(c_img)
cv2.imshow(f"img {i}", img)
cv2.waitKey()
i += 1
cv2.destroyAllWindows()
img_name_prefix = "images"
img_name_ext = ".png"
img_count = 50
imgs = []
for i in range(img_count):
p = source_dir.joinpath(f"{img_name_prefix}{i}{img_name_ext}")
imgs.append(cv2.imread(str(p)))
# for img in imgs:
# cv2.imshow("",img)
# cv2.waitKey(250)
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("variable_storage")
var_storage = d.get_device_client("variable_storage", 1)
image_util = ImageUtil(client_obj=var_storage)
var_consts = var_storage.RRGetNode().GetConstants('tech.pyri.variable_storage',
var_storage)
variable_persistence = var_consts["VariablePersistence"]
variable_protection_level = var_consts["VariableProtectionLevel"]
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager', autoconnect=False)
d.refresh_devices(1)
d.connect_device("sandbox")
c = d.get_device_client("sandbox",1)
gen = c.getf_output()
while True:
try:
ret = gen.Next()
print([l.output for l in ret.output_list])
except RR.StopIterationException:
break
# gen = c.execute_procedure("test_print_many", [])
# while True:
# try:
# print(gen.Next().printed)
# except RR.StopIterationException:
# break
def __init__(self, node_name, tcp_port, flags = PyriService_NodeSetup_Default_Flags, \
allowed_overrides = PyriService_NodeSetup_Default_AllowedOverride, \
node = None, argv = None, rr_config = None, \
extra_service_defs = [], device_info_type = "com.robotraconteur.device.DeviceInfo", \
device_info_arg = None, default_info = None, \
arg_parser = None, \
display_description="PyRI Generic Service",
no_standard_robdef = False, no_device_manager = False,
device_manager_autoconnect = True,
register_plugin_robdef = False,
distribution_name = None,
version = None
):
# Initialize node setup superclass
super().__init__(node_name, tcp_port, flags, allowed_overrides, node,
argv, rr_config)
# If passed node is None, assume default node
if node is None:
node = RR.RobotRaconteurNode.s
# Set up and parse arguments
if arg_parser is None:
arg_parser = argparse.ArgumentParser(
description=display_description)
if device_info_arg is None:
arg_parser.add_argument("--device-info-file",
type=argparse.FileType('r'),
default=None,
required=False,
help="Info file for service")
arg_parser.add_argument(
'--device-manager-url',
type=str,
default=None,
required=False,
help="Robot Raconteur URL for device manager service")
arg_parser.add_argument(
'--device-manager-identifier',
type=str,
default=None,
required=False,
help="Robot Raconteur identifier for device manager service")
arg_parser.add_argument(
"--pyri-webui-server-port",
type=int,
default=8000,
help="The PyRI WebUI port for websocket origin (default 8000)")
if version is not None:
arg_parser.add_argument('-V',
'--version',
action='version',
version=f'%(prog)s {version}')
elif distribution_name is not None:
version1 = importlib.metadata.version(distribution_name)
arg_parser.add_argument('-V',
'--version',
action='version',
version=f'%(prog)s {version1}')
args, _ = arg_parser.parse_known_args()
self._argparse_results = args
if not no_standard_robdef:
# Register standard service types
RRC.RegisterStdRobDefServiceTypes(node)
if register_plugin_robdef:
# Register all plugin robdef if requested
robdef_plugins.register_all_plugin_robdefs(node)
# Register additional passed service types
extra_defs = []
for d in extra_service_defs:
if isinstance(d, tuple):
packg, res = d
extra_defs.append(importlib_resources.read_text(packg, res))
elif isinstance(d, io.TextIOBase):
extra_defs.append(d.read())
else:
extra_defs.append(d)
if len(extra_defs) > 0:
node.RegisterServiceTypes(extra_defs)
if device_info_arg is None:
device_info_arg = "device-info-file"
device_info_arg_res = getattr(args, device_info_arg.replace("-", "_"))
if device_info_arg_res is None:
if isinstance(default_info, tuple):
info_packg, info_res = default_info
device_info_text = importlib_resources.read_text(
info_packg, info_res)
elif isinstance(d, io.TextIOBase):
device_info_text = default_info.read()
else:
device_info_text = default_info
else:
with device_info_arg_res:
device_info_text = device_info_arg_res.read()
info_loader = InfoFileLoader(node)
any_device_info, device_ident_fd = info_loader.LoadInfoFileFromString(
device_info_text, device_info_type, "device")
if device_info_type == "com.robotraconteur.device.DeviceInfo":
device_info = any_device_info
else:
device_info = any_device_info.device_info
attributes_util = AttributesUtil(node)
device_attributes = attributes_util.GetDefaultServiceAttributesFromDeviceInfo(
device_info)
add_default_ws_origins(self.tcp_transport, args.pyri_webui_server_port)
if not no_device_manager:
self._device_manager = DeviceManagerClient(device_manager_url = args.device_manager_url, device_manager_identifier=args.device_manager_identifier, \
node = node, autoconnect = device_manager_autoconnect)
else:
self._device_manager = None
self._device_info = device_info
self._any_device_info = any_device_info
self._device_ident_fd = device_ident_fd
self._device_attributes = device_attributes
self.node = node
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager')
d.refresh_devices(1)
viewer = d.get_device_client("vision_camera_viewer", 1)
cam = viewer.get_camera_viewer("camera")
cam.capture_frame_preview()
class PyriWebUIBrowser:
def __init__(self, loop: "RobotRaconteur.WebLoop", config: Dict[str, Any]):
self._loop = loop
self._config = config
self._layout = PyriGoldenLayout(self)
self._seqno = 0
self._device_manager = DeviceManagerClient(fill_rr_url_template(
config["device_manager_url"]),
autoconnect=False,
tcp_ipv4_only=True)
self._devices_states_obj_sub = None
self._devices_states_wire_sub = None
self._devices_states_value = None
self._device_infos = dict()
self._device_infos_update_running = False
def set_devices_states(state, devices_states):
state.devices_states = devices_states
def set_active_device_names(state, device_names):
current_devices = []
current_devices_js = state.active_device_names
for i in range(current_devices_js.length):
current_devices.append(current_devices_js[i])
if set(current_devices) != set(device_names):
state.active_device_names = device_names
def set_device_infos(state, device_infos):
state.device_infos = device_infos
@property
def loop(self):
return self._loop
def create_task(self, task):
async def create_task_w():
await task
self._loop.create_task(create_task_w())
@property
def layout(self):
return self._layout
@property
def seqno(self):
return self._seqno
@property
def device_manager(self):
return self._device_manager
async def load_plugin_panels(self):
all_panels_u = get_all_webui_browser_panels_infos()
all_panels = dict()
for u in all_panels_u.values():
all_panels.update(u)
all_panels_sorted = sorted(all_panels.values(),
key=lambda x: x.priority)
for p in all_panels_sorted:
await add_webui_browser_panel(p.panel_type, self,
self._layout.layout_container)
async def run(self):
try:
print("Running PyRI WebUI Browser")
self._layout.init_golden_layout()
js.jQuery.find("#menuContainer")[0].removeAttribute('hidden')
await self.load_plugin_panels()
for i in range(100):
if i > 50:
js.window.alert(
"Could not connect to devices states service")
return
if "devices_states" in self._device_manager.get_device_names():
break
await RRN.AsyncSleep(0.1, None)
await self.update_devices()
self._device_manager.connect_device("variable_storage")
self._device_manager.connect_device("devices_states")
self._device_manager.connect_device("sandbox")
self._device_manager.connect_device("program_master")
self._devices_states_obj_sub = self._device_manager.get_device_subscription(
"devices_states")
# Run infinite update loop
self._layout.select_panel("welcome")
while True:
await RRN.AsyncSleep(0.1, None)
await self.update()
except:
traceback.print_exc()
async def update(self):
try:
self._seqno += 1
if self._seqno % 150 == 0:
self.create_task(self.update_devices())
res, devices_states_obj = self._devices_states_obj_sub.TryGetDefaultClient(
)
#print(f"devices states TryGetDefaultClient res: {res} {devices_states_obj}")
if res:
try:
devices_states, _ = await devices_states_obj.devices_states.AsyncPeekInValue(
None)
except:
traceback.print_exc()
res = False
if res:
self._devices_states_value = devices_states
self._update_device_infos(devices_states)
else:
self._devices_states_value = None
except:
traceback.print_exc()
async def update_devices(self):
try:
await RRN.AsyncSleep(0.02, None)
await self._device_manager.async_refresh_devices(1)
except:
traceback.print_exc()
@property
def devices_states(self):
return self._devices_states_value
@property
def active_device_names(self):
try:
return list(self._devices_states_value.devices_states.keys())
except AttributeError:
return []
@property
def device_infos(self):
return self._device_infos
def _update_device_infos(self, devices_states):
try:
if self._device_infos_update_running:
return
update_devices = []
for d in devices_states.devices_states.keys():
if d not in self._device_infos:
self._device_infos[d] = dict()
if len(self._device_infos[d]) != 3:
update_devices.append(d)
if len(update_devices) > 0:
self.create_task(self._do_update_device_infos(update_devices))
except:
traceback.print_exc()
async def _do_update_device_infos(self, local_device_names):
try:
self._device_infos_update_running = True
states_connected, states = self._devices_states_obj_sub.TryGetDefaultClient(
)
for d in local_device_names:
if not "device_info" in self._device_infos[d]:
self._device_infos[d][
"device_info"] = self._device_manager.get_device_info(
d)
if self._devices_states_value.devices_states[
d].connected and states_connected:
if not "standard_info" in self._device_infos[d]:
try:
self._device_infos[d][
"standard_info"] = await states.async_getf_standard_device_info(
d, None)
except:
traceback.print_exc()
if not "extended_info" in self._device_infos[d]:
try:
self._device_infos[d][
"extended_info"] = await states.async_getf_extended_device_info(
d, None)
except:
traceback.print_exc()
finally:
self._device_infos_update_running = False
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
import traceback
import os
print(os.getpid())
input()
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device('devices_states')
dev_states_sub = d.get_device_subscription("devices_states")
dev_states_wire_sub = dev_states_sub.SubscribeWire('devices_states')
while True:
try:
print(dev_states_wire_sub.InValue.seqno)
except:
traceback.print_exc()
time.sleep(0.1)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient()
#d = DeviceManagerClient()
d.refresh_devices(1)
for dev in d.get_device_names():
print(dev)
print(d.get_device_info(dev).urls)
try:
print(d.get_device_client(dev, 1).device_info.manufacturer.name)
except:
pass
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device_type("tech.pyri.robotics.jog.RoboticsJogService")
d.get_device_client("robotics_jog", 1)
# for dev in d.get_device_names():
# print (dev)
# print(d.get_device_info(dev).urls)
# print(d.get_device_client(dev,1).device_info.manufacturer.name)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import numpy as np
import general_robotics_toolbox as rox
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device("robotics_motion")
d.connect_device("robot")
c = d.get_device_client("robotics_motion", 1)
#p_target = np.array([-np.random.uniform(0.4,0.8),np.random.uniform(-0.1,0.1),np.random.uniform(0.0,0.4)])
p_target = np.array([
-np.random.uniform(-0.1, 0.1),
np.random.uniform(-0.1, 0.1),
np.random.uniform(0.0, 0.4)
])
rpy_target = np.random.randn(3) * 0.5
rpy_target[0] += np.pi
R_target = rox.rpy2R(rpy_target)
# p_target = np.array([-0.6, 0.0, 0.1])
# R_target = np.array([[0,1,0],[1,0,0],[0,0,-1]])
T_target = rox.Transform(R_target, p_target)
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
import traceback
import os
print(os.getpid())
input()
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device('joint_jog')
jog_sub = d.get_device_subscription("jog_joint")
i = 0
dir = 0
while True:
i += 1
if i > 20:
i = 0
elif i > 10:
dir = -1
else:
dir = 1
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import general_robotics_toolbox as rox
from RobotRaconteurCompanion.Util.RobotUtil import RobotUtil
from RobotRaconteurCompanion.Util.GeometryUtil import GeometryUtil
import copy
import numpy as np
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager',
autoconnect=False)
d.refresh_devices(1)
d.connect_device('robotics_jog')
d.connect_device('robot')
jog_service = d.get_device_client("robotics_jog", 1)
print(jog_service.device_info.device.name)
jog = jog_service.get_jog("robot")
jog.setf_jog_mode()
#for x in range(100):
#jog.jog_joints3(1,1)
#jog.setf_halt_mode()
robot = d.get_device_client("robot", 1)
robot_state, _ = robot.robot_state.PeekInValue()
from pyri.device_manager_client import DeviceManagerClient
from RobotRaconteur.Client import *
import time
d = DeviceManagerClient('rr+tcp://localhost:59902?service=device_manager')
d.refresh_devices(1)
jog_service = d.get_device_client("jog_cartesian", 1)
print(jog_service.device_info.device.name)
jog = jog_service.get_jog("robot")
#jog.setf_jog_mode()
#for x in range(100):
#jog.jog_joints3(1,1)
#jog.setf_halt_mode()
jog.prepare_jog()
while True:
for i in range(20):
jog.jog_cartesian3([0, 0, 1], [0, 0, 0])
time.sleep(0.005)
jog.stop_joints()
for i in range(20):
