From a5b09f685b275c5b7c80ae516bcf0117093c3cc0 Mon Sep 17 00:00:00 2001
From: Stuart Glaser <sglaser@willowgarage.com>
Date: Thu, 29 Mar 2012 15:49:05 -0700
Subject: [PATCH] Driver successfully reconnects after emergency stop
---
ur5_driver/driver.py | 243 ++++++++++++++++++-------------------------
1 file changed, 104 insertions(+), 139 deletions(-)
diff --git a/ur5_driver/driver.py b/ur5_driver/driver.py
index 058d483..655f620 100755
--- a/ur5_driver/driver.py
+++ b/ur5_driver/driver.py
@@ -3,8 +3,9 @@ import roslib; roslib.load_manifest('ur5_driver')
import time, sys, threading, math
import copy
import datetime
-import socket
+import socket, select
import struct
+import traceback, code
import SocketServer
import rospy
@@ -44,6 +45,17 @@ dump_state = open('dump_state', 'wb')
class EOF(Exception): pass
+def dumpstacks():
+ id2name = dict([(th.ident, th.name) for th in threading.enumerate()])
+ code = []
+ for threadId, stack in sys._current_frames().items():
+ code.append("\n# Thread: %s(%d)" % (id2name.get(threadId,""), threadId))
+ for filename, lineno, name, line in traceback.extract_stack(stack):
+ code.append('File: "%s", line %d, in %s' % (filename, lineno, name))
+ if line:
+ code.append(" %s" % (line.strip()))
+ print "\n".join(code)
+
def log(s):
print "[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s)
@@ -58,23 +70,32 @@ def getConnectedRobot(wait=False):
if wait:
while not connected_robot:
connected_robot_cond.wait(0.5)
+ #print "Threads:"
+ #dumpstacks()
return connected_robot
# Receives messages from the robot over the socket
class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def recv_more(self):
- more = self.request.recv(4096)
- if not more:
- raise EOF()
- return more
+ while True:
+ r, _, _ = select.select([self.request], [], [], 0.2)
+ if r:
+ more = self.request.recv(4096)
+ if not more:
+ raise EOF()
+ return more
+ else:
+ if self.last_joint_states and \
+ self.last_joint_states.header.stamp.to_sec() < time.time() + 1.0:
+ rospy.logerr("Stopped hearing from robot. Disconnected")
+ raise EOF()
def handle(self):
self.socket_lock = threading.Lock()
- self.waypoint_finished_cb = None
self.last_joint_states = None
setConnectedRobot(self)
- #print "Handling a request"
+ print "Handling a request"
try:
buf = self.recv_more()
if not buf: return
@@ -121,8 +142,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
buf = buf + self.recv_more()
waypoint_id = struct.unpack_from("!i", buf, 0)[0]
buf = buf[4:]
- if self.waypoint_finished_cb:
- self.waypoint_finished_cb(waypoint_id)
+ print "Waypoint finished (not handled)"
else:
raise Exception("Unknown message type: %i" % mtype)
@@ -130,6 +150,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
buf = buf + self.recv_more()
except EOF:
print "Connection closed (command)"
+ setConnectedRobot(None)
def send_quit(self):
with self.socket_lock:
@@ -232,26 +253,6 @@ def sample_traj(traj, t):
i += 1
return interp_cubic(traj.points[i], traj.points[i+1], t)
-MAX_BLEND = 0.1
-# Determines a blend for the given point that doesn't overlap with its neighbors.
-def compute_blend(traj, index):
- # The first and last points have nothing to blend with.
- if index == 0 or index == len(traj.points) - 1:
- return 0.0
-
- return 0.01
-
- # The blend can take up to half the distance to the previous or
- # next point.
- min_diff = MAX_BLEND
- q = traj.points[index].positions
- qbefore = traj.points[index-1].positions
- qafter = traj.points[index+1].positions
- for j in range(len(traj.joint_names)):
- min_diff = min(min_diff, abs(q[j] - qbefore[j]) / 2.0)
- min_diff = min(min_diff, abs(q[j] - qafter[j]) / 2.0)
- return min_diff
-
class UR5TrajectoryFollower(object):
RATE = 0.02
def __init__(self, robot):
@@ -261,7 +262,6 @@ class UR5TrajectoryFollower(object):
self.server = actionlib.ActionServer("follow_joint_trajectory",
FollowJointTrajectoryAction,
self.on_goal, self.on_cancel, auto_start=False)
- self.robot.set_waypoint_finished_cb(self.on_waypoint_finished)
self.goal_handle = None
self.traj = None
@@ -272,7 +272,20 @@ class UR5TrajectoryFollower(object):
self.update_timer = rospy.Timer(rospy.Duration(self.RATE), self._update)
+ def set_robot(self, robot):
+ # Cancels any goals in progress
+ if self.goal_handle:
+ self.goal_handle.set_canceled()
+ self.goal_handle = None
+ self.traj = None
+ self.robot = robot
+ if self.robot:
+ self.init_traj_from_robot()
+
+ # Sets the trajectory to remain stationary at the current position
+ # of the robot.
def init_traj_from_robot(self):
+ if not self.robot: raise Exception("No robot connected")
# Busy wait (avoids another mutex)
state = self.robot.get_joint_states()
while not state:
@@ -294,6 +307,12 @@ class UR5TrajectoryFollower(object):
def on_goal(self, goal_handle):
log("on_goal")
+ # Checks that the robot is connected
+ if not self.robot:
+ rospy.logerr("Received a goal, but the robot is not connected")
+ goal_handle.set_rejected()
+ return
+
# Checks if the joints are just incorrect
if set(goal_handle.get_goal().trajectory.joint_names) != set(JOINT_NAMES):
rospy.logerr("Received a goal with incorrect joint names: (%s)" % \
@@ -323,14 +342,11 @@ class UR5TrajectoryFollower(object):
self.traj = goal_handle.get_goal().trajectory
self.goal_handle.set_accepted()
- print "New trajectory:"
- print self.traj
-
def on_cancel(self, goal_handle):
log("on_cancel")
if goal_handle == self.goal_handle:
with self.following_lock:
- # Uses the next 100ms of trajectory to slow to a stop
+ # Uses the next little bit of trajectory to slow to a stop
STOP_DURATION = 0.5
now = time.time()
point0 = sample_traj(self.traj, now - self.traj_t0)
@@ -350,130 +366,79 @@ class UR5TrajectoryFollower(object):
goal_handle.set_canceled()
def _update(self, event):
- #t = time.time() - self.T0
- #q = Q2[:]
- #q[0] = Q2[0] + 0.2 * math.sin(0.25 * t*(2*math.pi))
- #q[1] = Q2[1] - 0.2 + 0.2 * math.cos(0.25 * t*(2*math.pi))
- #self.robot.send_servoj(999, q, 0.016)
-
- if self.traj:
+ if self.robot and self.traj:
now = time.time()
if (now - self.traj_t0) <= self.traj.points[-1].time_from_start.to_sec():
setpoint = sample_traj(self.traj, now - self.traj_t0)
- self.robot.send_servoj(999, setpoint.positions, 2 * self.RATE)
+ try:
+ self.robot.send_servoj(999, setpoint.positions, 2 * self.RATE)
+ except socket.error:
+ pass
else: # Off the end
if self.goal_handle:
self.goal_handle.set_succeeded()
self.goal_handle = None
-
- # The URScript program sends back waypoint_finished messages,
- # which trigger this callback.
- def on_waypoint_finished(self, waypoint_id):
- return
- with self.following_lock:
- log("Waypoint finished: %i" % waypoint_id)
- if not self.goal_handle:
- return
- if waypoint_id < self.first_waypoint_id:
- return
-
- index = waypoint_id - self.first_waypoint_id
- if index != self.tracking_i:
- rospy.logerr("Completed waypoint %i (id=%i), but tracking %i (id=%i)" % \
- (index, waypoint_id, self.tracking_i,
- self.first_waypoint_id + self.tracking_i))
- # TODO: Probably need to fail here
-
- traj = self.goal_handle.get_goal().trajectory
- traj_len = len(traj.points)
-
- # Checks if we've completed the trajectory
- if index == traj_len - 1:
- self.goal_handle.set_succeeded()
- self.first_waypoint_id += traj_len
- self.goal_handle = None
-
- # Moves onto the next segment
- self.tracking_i += 1
- if self.pending_i + 1 < traj_len:
- self.pending_i += 1
- self.robot.send_movej(self.first_waypoint_id + self.pending_i,
- traj.points[self.pending_i].positions,
- t=get_segment_duration(traj, self.pending_i),
- r=compute_blend(traj, self.pending_i))
- print "New blend radius:", compute_blend(traj, self.pending_i)
-
-
sock = None
def main():
global sock
rospy.init_node('ur5_driver', disable_signals=True)
+ if rospy.get_param("use_sim_time", False):
+ rospy.logfatal("use_sim_time is set!!!")
+ sys.exit(1)
- # Sends the program to the robot
- sock = socket.create_connection((HOSTNAME, PORT))
- with open('prog') as fin:
- program = fin.read()
- sock.sendall(program % {"driver_hostname": socket.getfqdn()})
-
- if False:
- print "Dump"
- print "="*70
- o = ""
- while len(o) < 4096:
- r = sock.recv(1024)
- if not r: break
- o = o + r
- print o
-
+ # Sets up the server for the robot to connect to
server = TCPServer(("", 50001), CommanderTCPHandler)
-
- thread_commander = threading.Thread(name="CommanderHandler", target=server.handle_request)
+ thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever)
thread_commander.daemon = True
thread_commander.start()
-
- r = getConnectedRobot(wait=True)
- print "Robot connected"
-
- action_server = UR5TrajectoryFollower(r)
- action_server.start()
-
+
+ action_server = None
try:
+ while True:
+ # Checks for disconnect
+ if getConnectedRobot(wait=False):
+ time.sleep(0.2)
+ else:
+ print "Disconnected. Reconnecting"
+ if action_server:
+ action_server.set_robot(None)
+
+
+ # Sends the program to the robot
+ sock = socket.create_connection((HOSTNAME, PORT))
+ with open('prog') as fin:
+ program = fin.read()
+ sock.sendall(program % {"driver_hostname": socket.getfqdn()})
+
+ # Useful for determining if the robot failed to compile the program
+ if False:
+ print "Dump"
+ print "="*70
+ o = ""
+ while len(o) < 4096:
+ r = sock.recv(1024)
+ if not r: break
+ o = o + r
+ print o
+
+ rospy.loginfo("Waiting for the robot to connect back to the driver")
+ print "Commander thread:", thread_commander.is_alive()
+ r = getConnectedRobot(wait=True)
+ rospy.loginfo("Robot connected")
+
+ if action_server:
+ action_server.set_robot(r)
+ else:
+ action_server = UR5TrajectoryFollower(r)
+ action_server.start()
- #r.send_servoj(1, Q1, 1.0)
- #time.sleep(0.5)
- #r.send_servoj(2, Q2, 1.0)
- #time.sleep(0.2)
- #r.send_servoj(3, Q3, 1.0)
- #r.send_servoj(4, Q2, 1.0)
- #time.sleep(0.5)
-
- #t0 = time.time()
- #waypoint_id = 100
- #while True:
- # t = time.time() - t0
- # q = Q2[:]
- # q[0] = Q2[0] + 0.2 * math.sin(0.25 * t*(2*math.pi))
- # q[1] = Q2[1] - 0.2 + 0.2 * math.cos(0.25 * t*(2*math.pi))
- # r.send_servoj(waypoint_id, q, 0.016)
- # waypoint_id += 1
- # #print "Servo:", t, q[0], q[1]
- # time.sleep(0.008)
-
-
- #log("movej Q1")
- #r.send_movej(1, Q1, t=2.0)
- #log("movej Q2")
- #r.send_movej(2, Q2, t=1.0)
- #time.sleep(3)
-
- #r.send_quit()
-
- # Waits for the threads to finish
- joinAll([thread_commander])
except KeyboardInterrupt:
- r.send_quit()
- rospy.signal_shutdown("KeyboardInterrupt")
+ try:
+ rospy.signal_shutdown("KeyboardInterrupt")
+ if r: r.send_quit()
+ except:
+ pass
raise
if __name__ == '__main__': main()
--
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