-
Dan Solomon authoreda65cd69b
prog 6.55 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_SET_PAYLOAD = 8
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_payload = 1000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
MULT_analog = 1000000.0
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
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_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_movej = socket_read_binary_integer(1+6+4)
if params_movej[0] == 0:
send_out("Received no parameters for movej message")
end
# Unpacks the parameters
waypoint_id = params_movej[1]
q = [params_movej[2] / MULT_jointstate,
params_movej[3] / MULT_jointstate,
params_movej[4] / MULT_jointstate,
params_movej[5] / MULT_jointstate,
params_movej[6] / MULT_jointstate,
params_movej[7] / MULT_jointstate]
a = params_movej[8] / MULT_jointstate
v = params_movej[9] / MULT_jointstate
t = params_movej[10] / MULT_time
r = params_movej[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_servoj = socket_read_binary_integer(1+6+1)
if params_servoj[0] == 0:
send_out("Received no parameters for movej message")
end
# Unpacks the parameters
waypoint_id = params_servoj[1]
q = [params_servoj[2] / MULT_jointstate,
params_servoj[3] / MULT_jointstate,
params_servoj[4] / MULT_jointstate,
params_servoj[5] / MULT_jointstate,
params_servoj[6] / MULT_jointstate,
params_servoj[7] / MULT_jointstate]
t = params_servoj[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:
params = socket_read_binary_integer(1)
if params[0] == 0:
send_out("Received no parameters for setPayload message")
end
payload = params[1] / MULT_payload
#send_out(payload)
send_out("Received new payload")
set_payload(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_sdo = socket_read_binary_integer(2)
if params_sdo[0] == 0:
send_out("Received no parameters for set_digital_out message")
end
if params_sdo[2] > 0:
set_digital_out(params_sdo[1], True)
elif params_sdo[2] == 0:
set_digital_out(params_sdo[1], False)
end
elif mtype == MSG_SET_FLAG:
#send_out("Received Set Flag Signal")
# Reads the parameters
params_sf = socket_read_binary_integer(2)
if params_sf[0] == 0:
send_out("Received no parameters for set_flag message")
end
if params_sf[2] != 0:
set_flag(params_sf[1], True)
elif params_sf[2] == 0:
set_flag(params_sf[1], False)
end
elif mtype == MSG_SET_ANALOG_OUT:
#send_out("Received Analog Out Signal")
# Reads the parameters
params_sao = socket_read_binary_integer(2)
if params_sao[0] == 0:
send_out("Received no parameters for set_analog_out message") end
set_analog_out(params_sao[1], (params_sao[2] / MULT_analog))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
# Reads the parameters (also reads second dummy '0' integer)
params_stv = socket_read_binary_integer(2)
if params_stv[0] == 0:
send_out("Received no parameters for set_tool_voltage message")
end
set_tool_voltage(params_stv[1])
else:
send_out("Received unknown message type")
end
end
end
socket_send_int(MSG_QUIT)
end
driverProg()