script/devices/Hexiposi.py

@@ -127,7 +127,7 @@ class Hexiposi(DiscretePositionerBase):
             
         
  
-#http://129.129.110.83:8002/hexiposi/get
+#http://myriotell:8002/hexiposi/get
 dev = Hexiposi("hexiposi", "myriotell:8002/hexiposi")
 
 add_device(dev, True)

script/devices/RobotSC.py

@@ -210,13 +210,19 @@ class RobotSC(RobotTCP):
         robot.waitState(State.Ready, 1000) #robot.state.assertReady()
 
 if simulation:
-    #add_device(RobotSC("robot","129.129.126.92:1000"),force = True)
-    add_device(RobotSC("robot","129.129.110.81:1000"),force = True)
+    add_device(RobotSC("robot","localhost:1000"),force = True)
 else:
-    add_device(RobotSC("robot", "129.129.110.100:1000"), force = True) 
+    #add_device(RobotSC("robot", "129.129.243.120:1000"), force = True) 
+    #add_device(RobotSC("robot", "pcp068129.psi.ch:1000"), force = True) 
+    #add_device(RobotSC("robot", "saresb-cons-06.psi.ch:1000"), force = True) 
+    add_device(RobotSC("robot", "129.129.243.90:1000"), force = True) 
+     
 
-#robot.set_monitor_speed(20)
 robot.set_default_desc(DESC_DEFAULT)
+robot.default_speed = 20
+robot.set_tool(TOOL_DEFAULT)
+robot.setPolling(DEFAULT_ROBOT_POLLING)          
+   
 
 
 class jf1(ReadonlyRegisterBase):

script/devices/RobotTCP.py

@@ -45,7 +45,8 @@ class RobotTCP(TcpDevice, Stoppable):
          self.frame = FRAME_DEFAULT
          self.polling_interval = 0.01
          self.reset = True           
-         self.default_tolerance = 10         
+         self.default_tolerance = 10    
+         self.default_speed = 100     
 
          self.task_start_retries = 3
          self.exception_on_task_start_failure = True  #Tasks may start and be finished when checked
@@ -68,8 +69,11 @@ class RobotTCP(TcpDevice, Stoppable):
         return self.tool
 
 
-    def assert_tool(self, tool):
-        if self.tool != tool:
+    def assert_tool(self, tool=None):
+        if tool  is None: 
+            if self.tool is None:
+                 raise Exception("Tool is undefined")    
+        elif self.tool != tool:
             raise Exception("Invalid tool: " + self.tool)        
 
     def set_default_desc(self,default_desc):
@@ -213,11 +217,13 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def get_tool_trsf(self, name=None):
         if name is None: 
+            self.assert_tool()
             name = self.tool
         return self.get_trsf(name+".trsf")
 
     def set_tool_trsf(self, trsf, name=None):
         if name is None: 
+            self.assert_tool()
             name = self.tool
         self.set_trsf(trsf, name+".trsf")       
 
@@ -275,9 +281,12 @@ class RobotTCP(TcpDevice, Stoppable):
         if (ret==-1): raise Exception("The robot is not in remote working mode")
         if (ret==-2): raise Exception("The monitor speed is under the control of the operator")
         if (ret==-3): raise Exception("The specified speed is not supported")
+
+    def set_default_speed(self):
+        set_monitor_speed(self.default_speed)
     
     def is_calibrated(self):
-        return self.eval_bool("isCalibrated()")
+        return self.eval_bool("isCalibrated()") 
 
     def save_program(self):
         ret = self.execute('save',  timeout=5000)        
@@ -367,6 +376,10 @@ class RobotTCP(TcpDevice, Stoppable):
     def movej(self, joint_or_point, tool=None, desc=None, sync=False):
         if desc is None: desc = self.default_desc
         if tool is None: tool = self.tool
+        #If joint_or_point is a list assumes ir is a point
+        if not is_string(point):
+            robot.set_pnt(joint_or_point , "tcp_p")   
+            joint_or_point =  "tcp_p"         
         ret = self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")
         if sync:
             self.wait_end_of_move()        
@@ -375,6 +388,9 @@ class RobotTCP(TcpDevice, Stoppable):
     def movel(self, point, tool=None, desc=None, sync=False):
         if desc is None: desc = self.default_desc
         if tool is None: tool = self.tool
+        if not is_string(point):
+            robot.set_pnt(point , "tcp_p")   
+            point =  "tcp_p"        
         ret = self.eval_int("movel(" + point + ", " + tool + ", " + desc +")")
         if sync:
             self.wait_end_of_move()        
@@ -588,13 +604,15 @@ class RobotTCP(TcpDevice, Stoppable):
     def get_flange_pos(self):            
         return self.eval_pnt("jointToPoint(" +FLANGE + ", " + self.frame + ", herej())")
 
-    def get_cartesian_pos(self):            
+    def get_cartesian_pos(self): 
+        self.assert_tool()           
         return self.eval_pnt("jointToPoint(" + self.tool + ", " + self.frame + ", herej())")
         #self.set_jnt(self.herej())
         #return self.joint_to_point(tool, frame)        
 
     def get_cartesian_destination(self):
-         return self.here(self.tool, self.frame)
+        self.assert_tool()
+        return self.here(self.tool, self.frame)
 
     def get_distance_to_pnt(self, name):   
         #self.here(self.tool, self.frame) #???
@@ -672,6 +690,7 @@ class RobotTCP(TcpDevice, Stoppable):
                     m.initialize()                
     #Alignment
     def align(self, point = None, frame = FRAME_DEFAULT, desc = None):
+        self.assert_tool()
         if desc is None: desc = self.default_desc
         if point is None:
             self.get_cartesian_pos()