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Commit 22eaec6e authored by ipa-fxm's avatar ipa-fxm
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version-aware implementation for deserialize and deserializeRT in order to support v3.0

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ur_driver/src/ur_driver/deserialize.py
+ 102
− 15
View file @ 22eaec6e
......@@ -68,14 +68,29 @@ class MasterOnOffState(object):
ON = 2
TURNING_OFF = 3
#this class handles different protocol versions
class RobotModeData(object):
@staticmethod
def unpack(buf):
rmd = RobotModeData()
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 29:
return RobotModeData_V18.unpack(buf)
elif plen == 37:
return RobotModeData_V30.unpack(buf)
else:
print "RobotModeData has wrong length: " + str(plen)
return rmd
#this parses RobotModeData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8)
class RobotModeData_V18(object):
__slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled',
'power_on_robot', 'emergency_stopped',
'security_stopped', 'program_running', 'program_paused',
'robot_mode', 'speed_fraction']
@staticmethod
def unpack(buf):
rmd = RobotModeData()
rmd = RobotModeData_V18()
(_, _,
rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled,
rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped,
......@@ -83,7 +98,23 @@ class RobotModeData(object):
rmd.speed_fraction) = struct.unpack_from("!IBQ???????Bd", buf)
return rmd
# Don't use T_micro (obsolete). For retrocompatibility purposes.
#this parses RobotModeData for versions >=3.0 (i.e. 3.0)
class RobotModeData_V30(object):
__slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled',
'power_on_robot', 'emergency_stopped',
'security_stopped', 'program_running', 'program_paused',
'robot_mode', 'target_speed_fraction', 'speed_scaling']
@staticmethod
def unpack(buf):
rmd = RobotModeData_V30()
(_, _,
rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled,
rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped,
rmd.program_running, rmd.program_paused, rmd.robot_mode,
rmd.target_speed_fraction, rmd.speed_scaling) = struct.unpack_from("!IBQ???????Bdd", buf)
return rmd
#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0)
class JointData(object):
__slots__ = ['q_actual', 'q_target', 'qd_actual',
'I_actual', 'V_actual', 'T_motor', 'T_micro', 'joint_mode']
......@@ -100,6 +131,7 @@ class JointData(object):
all_joints.append(jd)
return all_joints
#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0)
class ToolData(object):
__slots__ = ['analog_input_range2', 'analog_input_range3',
'analog_input2', 'analog_input3',
......@@ -115,7 +147,23 @@ class ToolData(object):
td.tool_temperature, td.tool_mode) = struct.unpack_from("!IBbbddfBffB", buf)
return td
#this class handles different protocol versions
class MasterboardData(object):
@staticmethod
def unpack(buf):
md = MasterboardData()
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 64:
return MasterboardData_V18.unpack(buf)
elif plen == 68:
return MasterboardData_V30.unpack(buf)
else:
print "MasterboardData has wrong length: " + str(plen)
print "Euromap67Interface is ignored"
return md
#this parses MasterboardData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8)
class MasterboardData_V18(object):
__slots__ = ['digital_input_bits', 'digital_output_bits',
'analog_input_range0', 'analog_input_range1',
'analog_input0', 'analog_input1',
......@@ -124,10 +172,10 @@ class MasterboardData(object):
'masterboard_temperature',
'robot_voltage_48V', 'robot_current',
'master_io_current', 'master_safety_state',
'master_onoff_state']
'master_onoff_state']#subsequent slots related to 'euromap' ignored
@staticmethod
def unpack(buf):
md = MasterboardData()
md = MasterboardData_V18()
(_, _,
md.digital_input_bits, md.digital_output_bits,
md.analog_input_range0, md.analog_input_range1,
......@@ -140,6 +188,33 @@ class MasterboardData(object):
md.master_onoff_state) = struct.unpack_from("!IBhhbbddbbddffffBB", buf)
return md
#this parses MasterboardData for versions >=3.0 (i.e. 3.0)
class MasterboardData_V30(object):
__slots__ = ['digital_input_bits', 'digital_output_bits',
'analog_input_range0', 'analog_input_range1',
'analog_input0', 'analog_input1',
'analog_output_domain0', 'analog_output_domain1',
'analog_output0', 'analog_output1',
'masterboard_temperature',
'robot_voltage_48V', 'robot_current',
'master_io_current', 'safety_mode',
'in_reduced_mode']#subsequent slots related to 'euromap' ignored
@staticmethod
def unpack(buf):
md = MasterboardData_V30()
(_, _,
md.digital_input_bits, md.digital_output_bits,
md.analog_input_range0, md.analog_input_range1,
md.analog_input0, md.analog_input1,
md.analog_output_domain0, md.analog_output_domain1,
md.analog_output0, md.analog_output1,
md.masterboard_temperature,
md.robot_voltage_48V, md.robot_current,
md.master_io_current, md.safety_mode,
md.in_reduced_mode) = struct.unpack_from("!IBiibbddbbddffffBB", buf)
return md
#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0)
class CartesianInfo(object):
__slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz']
@staticmethod
......@@ -149,21 +224,26 @@ class CartesianInfo(object):
ci.x, ci.y, ci.z, ci.rx, ci.ry, ci.rz) = struct.unpack_from("!IB6d", buf)
return ci
#this parses KinematicsInfo for versions (i.e. 1.8, 3.0)
#KinematicsInfo is not available in 1.6 and 1.7
class KinematicsInfo(object):
@staticmethod
def unpack(buf):
return KinematicsInfo()
#helper class for ConfigurationData
class JointLimitData(object):
__slots__ = ['min_limit', 'max_limit', 'max_speed', 'max_acceleration']
#this parses ConfigurationData for versions (i.e. 1.8, 3.0)
#ConfigurationData is not available in 1.6 and 1.7
class ConfigurationData(object):
__slots__ = ['joint_limit_data',
'v_joint_default', 'a_joint_default',
'v_tool_default', 'a_tool_default', 'eq_radius',
'dh_a', 'dh_d', 'dh_alpha', 'dh_theta',
'masterboard_version', 'controller_box_type',
'robot_type', 'robot_subtype']
'robot_type', 'robot_subtype']#in v1.8 there is an additional slot 'motor_type' for each joint, which currently is ignored!
@staticmethod
def unpack(buf):
cd = ConfigurationData()
......@@ -179,6 +259,8 @@ class ConfigurationData(object):
cd.robot_subtype) = struct.unpack_from("!iiii", buf, 5+32*6+5*8+6*32)
return cd
#this parses KinematicsInfo for versions (i.e. 1.8, 3.0)
#KinematicsInfo is not available in 1.6 and 1.7
class ForceModeData(object):
__slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz', 'robot_dexterity']
@staticmethod
......@@ -188,6 +270,20 @@ class ForceModeData(object):
fmd.robot_dexterity) = struct.unpack_from("!IBddddddd", buf)
return fmd
#this class handles different protocol versions
class AdditionalInfo(object):
@staticmethod
def unpack(buf):
ai = AdditionalInfo()
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 10:
return AdditionalInfoOld.unpack(buf)
elif plen == 7:
return AdditionalInfoNew.unpack(buf)
else:
print "AdditionalInfo has wrong length: " + str(plen)
return ai
class AdditionalInfoOld(object):
__slots__ = ['ctrl_bits', 'teach_button']
@staticmethod
......@@ -203,16 +299,7 @@ class AdditionalInfoNew(object):
ai = AdditionalInfoNew()
(_,_,ai.teach_button_enabled, ai.teach_button_pressed) = struct.unpack_from("!IBBB", buf)
return ai
class AdditionalInfo(object):
@staticmethod
def unpack(buf):
ai = AdditionalInfo()
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 10:
return AdditionalInfoOld.unpack(buf)
else:
return AdditionalInfoNew.unpack(buf)
class RobotState(object):
__slots__ = ['robot_mode_data', 'joint_data', 'tool_data',
......
ur_driver/src/ur_driver/deserializeRT.py
+ 188
− 1
View file @ 22eaec6e
import struct
import copy
#this class handles different protocol versions
class RobotStateRT(object):
@staticmethod
def unpack(buf):
rs = RobotStateRT()
(plen, ptype) = struct.unpack_from("!IB", buf)
if plen == 812:
return RobotStateRT_V18.unpack(buf)
elif plen == 1044:
return RobotStateRT_V30.unpack(buf)
else:
print "RobotStateRT has wrong length: " + str(plen)
return rs
#this parses RobotStateRT for versions <= v1.8 (i.e. 1.6, 1.7, 1.8)
class RobotStateRT_V18(object):
__slots__ = ['time',
'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target',
'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values',
......@@ -20,7 +35,7 @@ class RobotStateRT(object):
print("MessageSize: ", message_size, "; BufferSize: ", len(buf))
raise Exception("Could not unpack RobotStateRT packet: length field is incorrect")
rs = RobotStateRT()
rs = RobotStateRT_V18()
#time: 1x double (1x 8byte)
rs.time = struct.unpack_from("!d",buf, offset)[0]
offset+=8
......@@ -116,3 +131,175 @@ class RobotStateRT(object):
rs.joint_modes = copy.deepcopy(all_values)
return rs
#this parses RobotStateRT for versions >=3.0 (i.e. 3.0)
class RobotStateRT_V30(object):
__slots__ = ['time',
'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target',
'q_actual', 'qd_actual', 'i_actual', 'i_control',
'tool_vector_actual', 'tcp_speed_actual', 'tcp_force',
'tool_vector_target', 'tcp_speed_target',
'digital_input_bits', 'motor_temperatures', 'controller_timer',
'test_value',
'robot_mode', 'joint_modes', 'safety_mode',
#6xd: unused
'tool_acc_values',
#6xd: unused
'speed_scaling', 'linear_momentum_norm',
#2xd: unused
'v_main', 'v_robot', 'i_robot', 'v_actual']
@staticmethod
def unpack(buf):
offset = 0
message_size = struct.unpack_from("!i", buf, offset)[0]
offset+=4
if message_size != len(buf):
print("MessageSize: ", message_size, "; BufferSize: ", len(buf))
raise Exception("Could not unpack RobotStateRT packet: length field is incorrect")
rs = RobotStateRT_V30()
#time: 1x double (1x 8byte)
rs.time = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#q_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.q_target = copy.deepcopy(all_values)
#qd_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.qd_target = copy.deepcopy(all_values)
#qdd_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.qdd_target = copy.deepcopy(all_values)
#i_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.i_target = copy.deepcopy(all_values)
#m_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.m_target = copy.deepcopy(all_values)
#q_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.q_actual = copy.deepcopy(all_values)
#qd_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.qd_actual = copy.deepcopy(all_values)
#i_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.i_actual = copy.deepcopy(all_values)
#i_control: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.i_control = copy.deepcopy(all_values)
#tool_vector_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.tool_vector_actual = copy.deepcopy(all_values)
#tcp_speed_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.tcp_speed_actual = copy.deepcopy(all_values)
#tcp_force: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.tcp_force = copy.deepcopy(all_values)
#tool_vector_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.tool_vector_target = copy.deepcopy(all_values)
#tcp_speed_target: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.tcp_speed_target = copy.deepcopy(all_values)
#digital_input_bits: 1x double (1x 8byte) ?
rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#motor_temperatures: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.motor_temperatures = copy.deepcopy(all_values)
#controller_timer: 1x double (1x 8byte)
rs.controller_timer = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#test_value: 1x double (1x 8byte)
rs.test_value = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#robot_mode: 1x double (1x 8byte)
rs.robot_mode = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#joint_modes: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.joint_modes = copy.deepcopy(all_values)
#safety_mode: 1x double (1x 8byte)
rs.safety_mode = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#unused: 6x double (6x 8byte)
offset+=48
#tool_acc_values: 3x double (3x 8byte)
all_values = list(struct.unpack_from("!ddd",buf, offset))
offset+=3*8
rs.tool_acc_values = copy.deepcopy(all_values)
#unused: 6x double (6x 8byte)
offset+=48
#speed_scaling: 1x double (1x 8byte)
rs.speed_scaling = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#linear_momentum_norm: 1x double (1x 8byte)
rs.linear_momentum_norm = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#unused: 2x double (2x 8byte)
offset+=16
#v_main: 1x double (1x 8byte)
rs.v_main = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#v_robot: 1x double (1x 8byte)
rs.v_robot = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#i_robot: 1x double (1x 8byte)
rs.i_robot = struct.unpack_from("!d",buf, offset)[0]
offset+=8
#v_actual: 6x double (6x 8byte)
all_values = list(struct.unpack_from("!dddddd",buf, offset))
offset+=6*8
rs.v_actual = copy.deepcopy(all_values)
return rs
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