sends tree structure of frames and tools to clients

script/devices/RobotBernina.py

@@ -17,6 +17,9 @@ ROBOT_JOINT_MOTORS = ["j1" , "j2", "j3", "j4", "j5", "j6"]
 ROBOT_CARTESIAN_MOTORS = ["x" , "y", "z", "rx", "ry", "rz"]
 ROBOT_SPHERICAL_MOTORS = ["r" , "gamma", "delta"]
 
+FRAME_HIRARCHY = ["world.f_SwissFELCoord.f_ESBWorld.f_linearAxis." + k for k in ["f_direct.", "f_2mRad.", "f_4mRad.", "f_6mRad.", "f_8mRad.",]]
+FRAME_HIRARCHY += ["t_flange.t_Adapter." + k for k in ["t_JF01T03det.t_JF01T03.", "t_JF07T32det.t_JF07T32."]]
+
 run("devices/RobotTCP")
 
 override_remote_safety = False
@@ -40,7 +43,15 @@ class RobotBernina(RobotTCP):
         }
         self.remote_allowed_recorded = AdjustableFS(name="remote_allowed", default_value = default_remote_allowed_recorded)
         self.remote_allowed_deltas = AdjustableFS(name="remote_allowed_deltas", default_value = default_remote_allowed_deltas)
-        
+
+
+    def get_frame_tree(self, frame):
+        """frame can be a string of a tool or a frame"""
+        for f in FRAME_HIRARCHY:
+            if frame in f:
+                return f.split("." + frame + ".")[0]+"." + frame
+        return frame
+    
     def set_override_remote_safety(self, value):
         self.override_remote_safety = bool(value)
 

script/devices/RobotTCP.py

@@ -777,9 +777,9 @@ class RobotTCP(TcpDevice, Stoppable):
                 "task": self.current_task,
                 "mode": self.working_mode,
                 "status": self.status,
-                "frame": self.frame(),
+                "frame": self.get_frame_tree(self.frame()),
                 "frame_coordinates": self.frame_trsf,
-                "tool": self.tool(),
+                "tool": self.get_frame_tree(self.tool()),
                 "tool_coordinates": self.tool_trsf,
                 "cartesian_motors_enabled": self.cartesian_motors_enabled,
                 "spherical_motors_enabled": self.spherical_motors_enabled,
@@ -814,9 +814,9 @@ class RobotTCP(TcpDevice, Stoppable):
                 self.getLogger().info(ev)
                 self.on_event(ev) 
                 
-            self.setCache({
-                           "pos": self.get_current_point_cached() if self.state==State.Ready else None #TODO: make it calculated in robot by polling funtion 
-                           }, None)
+            #self.setCache({
+            #               "pos": self.get_current_point_cached() if self.state==State.Ready else None #TODO: make it calculated in robot by polling funtion 
+            #               }, None)
             pos = self.cartesian_pos.copy()
             pos.update(self.spherical_pos)
             pos.update(self.joint_pos)

script/elements/adjustables.py

@@ -2,7 +2,8 @@ from json import load, dump
 from os import path
 import os
 
-BASEPATH = "C:/dev/pshell/config/bernina_robot/adjustables_fs/"
+#BASEPATH = "C:/dev/pshell/config/bernina_robot/adjustables_fs/"
+BASEPATH = "/sf/bernina/config/src/python/bernina_robot/adjustables_fs/"
 
 class AdjustableFS:
     def __init__(self, name=None, default_value=None, file_path=None):
@@ -31,4 +32,4 @@ class AdjustableFS:
             return self.get_current_value()
 
     def __repr__(self):
-        return "Current value of {} at: ".format(self.name) + str(self.get_current_value())
+        return "Current value of {} at: ".format(self.name) + str(self.get_current_value())