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ipa-cmm-mn authored8549dda4
prog 9.65 KiB
def driverProg():
HOSTNAME = "%(driver_hostname)s"
PORT = %(driver_reverseport)d
MSG_OUT = 1
MSG_QUIT = 2
MSG_JOINT_STATES = 3
MSG_MOVEJ = 4
MSG_WAYPOINT_FINISHED = 5
MSG_STOPJ = 6
MSG_SERVOJ = 7
MSG_WRENCH = 9
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
MSG_SET_FLAG = 12
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
MULT_wrench = 10000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
pi = 3.14159265359
def send_out(msg):
enter_critical
socket_send_int(MSG_OUT)
socket_send_string(msg)
socket_send_string("~")
exit_critical
end
def send_waypoint_finished(waypoint_id):
enter_critical
socket_send_int(MSG_WAYPOINT_FINISHED)
socket_send_int(waypoint_id)
exit_critical
end
thread statePublisherThread():
def send_joint_state():
q = get_joint_positions()
qdot = get_joint_speeds()
tau = get_joint_torques()
wrench = get_tcp_force()
enter_critical
socket_send_int(MSG_JOINT_STATES)
socket_send_int(floor(MULT_jointstate * q[0]))
socket_send_int(floor(MULT_jointstate * q[1]))
socket_send_int(floor(MULT_jointstate * q[2]))
socket_send_int(floor(MULT_jointstate * q[3]))
socket_send_int(floor(MULT_jointstate * q[4]))
socket_send_int(floor(MULT_jointstate * q[5]))
socket_send_int(floor(MULT_jointstate * qdot[0]))
socket_send_int(floor(MULT_jointstate * qdot[1]))
socket_send_int(floor(MULT_jointstate * qdot[2]))
socket_send_int(floor(MULT_jointstate * qdot[3]))
socket_send_int(floor(MULT_jointstate * qdot[4]))
socket_send_int(floor(MULT_jointstate * qdot[5]))
socket_send_int(floor(MULT_jointstate * tau[0]))
socket_send_int(floor(MULT_jointstate * tau[1]))
socket_send_int(floor(MULT_jointstate * tau[2]))
socket_send_int(floor(MULT_jointstate * tau[3]))
socket_send_int(floor(MULT_jointstate * tau[4]))
socket_send_int(floor(MULT_jointstate * tau[5]))
socket_send_int(MSG_WRENCH)
socket_send_int(floor(MULT_wrench * wrench[0]))
socket_send_int(floor(MULT_wrench * wrench[1]))
socket_send_int(floor(MULT_wrench * wrench[2]))
socket_send_int(floor(MULT_wrench * wrench[3]))
socket_send_int(floor(MULT_wrench * wrench[4]))
socket_send_int(floor(MULT_wrench * wrench[5])) socket_send_int(MSG_GET_IO)
socket_send_int(1*get_digital_in(0) + 2*get_digital_in(1) + 4 * get_digital_in(2) + 8 * get_digital_in(3) + 16 * get_digital_in(4) + 32 * get_digital_in(5) + 64 * get_digital_in(6) + 128 * get_digital_in(7) + 256 * get_digital_in(8) + 512 * get_digital_in(9))
socket_send_int(1*get_digital_out(0) + 2*get_digital_out(1) + 4 * get_digital_out(2) + 8 * get_digital_out(3) + 16 * get_digital_out(4) + 32 * get_digital_out(5) + 64 * get_digital_out(6) + 128 * get_digital_out(7) + 256 * get_digital_out(8) + 512 * get_digital_out(9))
socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31) + pow(2,32)*get_flag(32))
socket_send_int(get_analog_out(0)*1000000)
socket_send_int(get_analog_out(1)*1000000)
socket_send_int(get_analog_in(0)*1000000)
socket_send_int(get_analog_in(1)*1000000)
socket_send_int(get_analog_in(2)*1000000)
socket_send_int(get_analog_in(3)*1000000)
#socket_send_int(7895160) # Recognizable ".xxx" or 00787878
exit_critical
end
#socket_open(HOSTNAME, 50002)
send_joint_state()
while True:
send_joint_state()
sync()
end
sync()
end
SERVO_IDLE = 0
SERVO_RUNNING = 1
cmd_servo_state = SERVO_IDLE
cmd_servo_id = 0 # 0 = idle, -1 = stop
cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
cmd_servo_dt = 0.0
def set_servo_setpoint(id, q, dt):
enter_critical
cmd_servo_state = SERVO_RUNNING
cmd_servo_id = id
cmd_servo_q = q
cmd_servo_dt = dt
exit_critical
end
thread servoThread():
state = SERVO_IDLE
while True:
# Latches the new command
enter_critical
q = cmd_servo_q
dt = cmd_servo_dt
id = cmd_servo_id
do_brake = False
if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE):
# No command pending
do_brake = True
end
state = cmd_servo_state
cmd_servo_state = SERVO_IDLE
exit_critical
#do_brake = False
# Executes the command
if do_brake:
#stopj(1.0) # TODO
send_out("Braking")
sync()
elif state == SERVO_RUNNING:
servoj(q, 0, 0, dt)
#send_out("Servoed")
else:
#send_out("Idle")
sync()
end
end
end
socket_open(HOSTNAME, PORT)
send_out("hello")
thread_state = run statePublisherThread()
thread_servo = run servoThread()
# Servoes in a circle
#movej([1.5,-0.4,-1.57,0,0,0], 3, 0.75, 1.0)
#t = 0
#while True:
# q = [1.5,0,-1.57,0,0,0]
# q[0] = q[0] + 0.2 * sin(0.25 * t*(2*pi))
# q[1] = q[1] - 0.2 + 0.2 * cos(0.25 * t*(2*pi))
# #servoj(q, 3, 1, 0.08)
# #send_out("servoed")
# set_servo_setpoint(t, q, 0.08)
# t = t + 0.08
# sleep(0.08)
#end
while True:
#send_out("Listening")
ll = socket_read_binary_integer(1)
if ll[0] == 0:
#send_out("Received nothing")
elif ll[0] > 1:
send_out("Received too many things")
else:
mtype = ll[1]
if mtype == MSG_QUIT:
send_out("Received QUIT")
break
elif mtype == MSG_MOVEJ:
send_out("Received movej")
params_mult = socket_read_binary_integer(1+6+4)
if params_mult[0] == 0:
send_out("Received no parameters for movej message")
end
# Unpacks the parameters
waypoint_id = params_mult[1]
q = [params_mult[2] / MULT_jointstate,
params_mult[3] / MULT_jointstate,
params_mult[4] / MULT_jointstate,
params_mult[5] / MULT_jointstate,
params_mult[6] / MULT_jointstate,
params_mult[7] / MULT_jointstate]
a = params_mult[8] / MULT_jointstate
v = params_mult[9] / MULT_jointstate
t = params_mult[10] / MULT_time
r = params_mult[11] / MULT_blend
# Sends the command
send_out("movej started")
movej(q, a, v, t, r)
send_waypoint_finished(waypoint_id)
send_out("movej finished")
elif mtype == MSG_SERVOJ:
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for movej message")
end
# Unpacks the parameters
waypoint_id = params_mult[1]
q = [params_mult[2] / MULT_jointstate,
params_mult[3] / MULT_jointstate,
params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate,
params_mult[6] / MULT_jointstate,
params_mult[7] / MULT_jointstate]
t = params_mult[8] / MULT_time
# Servos
#servoj(q, 3, 0.1, t)
#send_waypoint_finished(waypoint_id)
set_servo_setpoint(waypoint_id, q, t)
elif mtype == MSG_SET_PAYLOAD:
send_out("Received new payload")
elif mtype == MSG_STOPJ:
send_out("Received stopj")
stopj(1.0)
elif mtype == MSG_SET_DIGITAL_OUT:
#send_out("Received Digital Out Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
if params_mult[2] > 0:
set_digital_out(params_mult[1], True)
elif params_mult[2] == 0:
set_digital_out(params_mult[1], False)
end
elif mtype == MSG_SET_FLAG:
#send_out("Received Set Flag Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
if params_mult[2] != 0:
set_flag(params_mult[1], True)
elif params_mult[2] == 0:
set_flag(params_mult[1], False)
end
elif mtype == MSG_SET_ANALOG_OUT:
#send_out("Received Analog Out Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
set_analog_out(params_mult[1], (params_mult[2] / 1000000))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
# Reads the parameters
params_mult = socket_read_binary_integer(1+6+1)
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
set_tool_voltage(params_mult[1])
else:
send_out("Received unknown message type")
end
end
end
#sleep(1)
kill thread_state
socket_send_int(MSG_QUIT)
end
driverProg()