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Script execution

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This commit is contained in:
gac-S_Changer
2017-02-24 14:31:21 +01:00
parent 39fe16bfd0
commit 46b3afd087
1 changed files with 46 additions and 14 deletions
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60
script/RobotTCP.py
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@@ -19,14 +19,14 @@ class RobotTCP(TcpDevice, Stoppable):
self.status = None
self.lock = threading.Lock()
def _sendReceive(self, msg_id, msg = "", timeout = None, retries = None):
def _sendReceive(self, msg_id, msg = "", timeout = None):
tx = self.header if (self.header != None) else ""
tx = tx + msg_id + " " + msg
if (len(tx)>127):
raise Exception("Exceeded maximum message size")
self.getLogger().finer("TX = '" + str(tx)+ "'")
if (self.trailer != None): tx = tx + self.trailer
rx = self.sendReceive(tx, msg_id, self.trailer , 0, self.timeout, self.retries)
rx = self.sendReceive(tx, msg_id, self.trailer , 0, self.timeout if timeout is None else timeout, self.retries)
rx=rx[:-1] #Remove 0A
self.getLogger().finer("RX = '" + str(rx) + "'")
if rx[:3] != msg_id:
@@ -38,18 +38,19 @@ class RobotTCP(TcpDevice, Stoppable):
raise Exception(rx[4:])
return rx[4:]
def call(self, msg, timeout = None, retries = None):
def call(self, msg, timeout = None):
id = "%03d" % self.msg_id
self.msg_id = (self.msg_id+1)%1000
return self._sendReceive(id, msg, timeout, retries)
return self._sendReceive(id, msg, timeout)
def execute(self, command, *argv):
def execute(self, command, *args, **kwargs):
timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"]
msg = str(command)
if len(argv)>10:
if len(args)>10:
raise Exception("Exceeded maximum number of parameters")
for i in range(len(argv)):
msg += (self.cmd_separator if (i==0) else self.array_separator) + str(argv[i])
rx = self.call(msg)
for i in range(len(args)):
msg += (self.cmd_separator if (i==0) else self.array_separator) + str(args[i])
rx = self.call(msg, timeout)
if rx.count(self.array_separator)>0:
return rx.split(self.array_separator)
return rx
@@ -59,8 +60,8 @@ class RobotTCP(TcpDevice, Stoppable):
if ev.strip() == "": return None
return ev
def evaluate(self, cmd, timeout = timeout, retries = retries):
ret = self.execute('eval', cmd, timeout, retries)
def evaluate(self, cmd, timeout=None):
ret = self.execute('eval', cmd, timeout=timeout)
if ret.strip() != "": raise Exception(ret)
def get_var(self, name):
@@ -233,15 +234,18 @@ class RobotTCP(TcpDevice, Stoppable):
def get_joint_forces(self):
robot_tcp.evaluate("getJointForce(arr)")
return robot_tcp.get_float_arr(6)
#Tool
#This function can timeout since it synchronizes move. Better check state before
#This function can timeout since it synchronizes move.
#Better check state before otherwise it can freeze the communication
def open(self, tool):
return self.evaluate("open(" + tool + " )")
return self.evaluate("open(" + tool + " )", timeout=3000)
#This function can timeout since it synchronizes move. Better check state before
#Better check state before otherwise it can freeze the communication
def close(self, tool):
return self.evaluate("close(" + tool + " )")
return self.evaluate("close(" + tool + " )", timeout=3000)
#Arm position
def herej(self):
@@ -268,6 +272,34 @@ class RobotTCP(TcpDevice, Stoppable):
def position(self, point, frame):
return self.eval_trf("position(" + point + ", " + frame + ")")
#Task control
def task_create(self, program, *args, **kwargs):
priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"]
name = program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"]
taskCreate "t1", 10, read(sMessage)
cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
for i in range(len(args)):
cmd += str(args[i]) + (',' if (i<(len(args)-1)) else '')
cmd+=')'
self.evaluate("cmd")
def task_suspend(self, name):
self.evaluate("taskSuspend(" + str(name)+ ")")
#waits until the task is ready for restart
def task_resume(self, name):
self.evaluate("taskResume(" + str(name)+ ",0)", timeout = 2000)
#waits for the task to be actually killed
def task_kill(self, name):
self.evaluate("taskKill(" + str(name)+ ")", timeout = 2000)
def get_task_status(self, name):
code = self.eval_int("taskStatus(" + str(name)+ ")")
status = self.eval_str("help(" + str(code)+ ")")
return [code, status]
#Updating
def update_status(self):