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gac-S_Changer
2017-03-01 16:36:24 +01:00
parent 49a6e6a7a2
commit c9ff017d8b
3 changed files with 50 additions and 50 deletions
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16
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
View File

@@ -83,10 +83,10 @@
<Value key="0" link="Socket\sSIO" />
</Data>
<Data name="events" access="private" xsi:type="array" type="string" size="10" />
<Data name="n" access="private" xsi:type="array" type="num" size="1" />
<Data name="arr" access="private" xsi:type="array" type="num" size="10" />
<Data name="b" access="private" xsi:type="array" type="bool" size="1" />
<Data name="s" access="private" xsi:type="array" type="string" size="1" />
<Data name="tcp_n" access="private" xsi:type="array" type="num" size="1" />
<Data name="tcp_a" access="private" xsi:type="array" type="num" size="10" />
<Data name="tcp_b" access="private" xsi:type="array" type="bool" size="1" />
<Data name="tcp_s" access="private" xsi:type="array" type="string" size="1" />
<Data name="gripper" access="private" xsi:type="array" type="tool" size="30">
<Value key="0" fatherId="flange[0]" ioLink="valve1" />
<Value key="1" fatherId="flange[0]" ioLink="valve1" />
@@ -119,12 +119,12 @@
<Value key="28" fatherId="flange[0]" ioLink="valve1" />
<Value key="29" fatherId="flange[0]" ioLink="valve1" />
</Data>
<Data name="j" access="private" xsi:type="array" type="jointRx" size="1" />
<Data name="p" access="private" xsi:type="array" type="pointRx" size="1">
<Data name="tcp_j" access="private" xsi:type="array" type="jointRx" size="1" />
<Data name="tcp_p" access="private" xsi:type="array" type="pointRx" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
<Data name="t" access="private" xsi:type="array" type="trsf" size="1" />
<Data name="f" access="private" xsi:type="array" type="frame" size="1">
<Data name="tcp_t" access="private" xsi:type="array" type="trsf" size="1" />
<Data name="tcp_f" access="private" xsi:type="array" type="frame" size="1">
<Value key="0" fatherId="world[0]" />
</Data>
</Datas>

44
robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
View File

@@ -163,38 +163,38 @@
break
//case "get_str"
// //$exec("s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH!
// //$exec("tcp_s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH!
// //tx = s
//break
case "get_pnt"
$exec("p = " + args[0])
tx = tx + toString(".4", p.trsf.x) + "|"
tx = tx + toString(".4", p.trsf.y) + "|"
tx = tx + toString(".4", p.trsf.z) + "|"
tx = tx + toString(".4", p.trsf.rx) + "|"
tx = tx + toString(".4", p.trsf.ry) + "|"
tx = tx + toString(".4", p.trsf.rz) + "|"
$exec("tcp_p = " + args[0])
tx = tx + toString(".4", tcp_p.trsf.x) + "|"
tx = tx + toString(".4", tcp_p.trsf.y) + "|"
tx = tx + toString(".4", tcp_p.trsf.z) + "|"
tx = tx + toString(".4", tcp_p.trsf.rx) + "|"
tx = tx + toString(".4", tcp_p.trsf.ry) + "|"
tx = tx + toString(".4", tcp_p.trsf.rz) + "|"
break
case "get_jnt"
$exec("j = " + args[0])
tx = tx + toString(".4", j.j1) + "|"
tx = tx + toString(".4", j.j2) + "|"
tx = tx + toString(".4", j.j3) + "|"
tx = tx + toString(".4", j.j4) + "|"
tx = tx + toString(".4", j.j5) + "|"
tx = tx + toString(".4", j.j6) + "|"
$exec("tcp_j = " + args[0])
tx = tx + toString(".4", tcp_j.j1) + "|"
tx = tx + toString(".4", tcp_j.j2) + "|"
tx = tx + toString(".4", tcp_j.j3) + "|"
tx = tx + toString(".4", tcp_j.j4) + "|"
tx = tx + toString(".4", tcp_j.j5) + "|"
tx = tx + toString(".4", tcp_j.j6) + "|"
break
case "get_trf"
$exec("t = " + args[0])
tx = tx + toString(".4", t.x) + "|"
tx = tx + toString(".4", t.y) + "|"
tx = tx + toString(".4", t.z) + "|"
tx = tx + toString(".4", t.rx) + "|"
tx = tx + toString(".4", t.ry) + "|"
tx = tx + toString(".4", t.rz) + "|"
$exec("tcp_t = " + args[0])
tx = tx + toString(".4", tcp_t.x) + "|"
tx = tx + toString(".4", tcp_t.y) + "|"
tx = tx + toString(".4", tcp_t.z) + "|"
tx = tx + toString(".4", tcp_t.rx) + "|"
tx = tx + toString(".4", tcp_t.ry) + "|"
tx = tx + toString(".4", tcp_t.rz) + "|"
break
case "get_help"

40
script/RobotTCP.py
View File

@@ -75,65 +75,65 @@ class RobotTCP(TcpDevice, Stoppable):
def get_arr(self, name, size):
return self.execute('get_arr', name, size)
def get_bool(self, name = "b"):
def get_bool(self, name = "tcp_b"):
return True if (self.execute('get_bool', name).strip() == '1') else False
def get_int(self, name ="n"):
def get_int(self, name ="tcp_n"):
return int(self.get_var(name))
def get_float(self, name ="n"):
def get_float(self, name ="tcp_n"):
return float(self.get_var(name))
def get_int_arr(self, size, name="arr"):
def get_int_arr(self, size, name="tcp_a"):
# not working. A Jython bug in PyUnicaode?
#return [int(x) for x in self.get_arr("arr", size)]
#return [int(x) for x in self.get_arr("tcp_arr", size)]
ret = []
a=self.get_arr(name, size)
for i in range(size):
ret.append(int(a[i]))
return ret
def get_float_arr(self, size, name="arr"):
#return [float(x) for x in self.get_arr("arr", size)]
def get_float_arr(self, size, name="tcp_a"):
#return [float(x) for x in self.get_arr("tcp_arr", size)]
a=self.get_arr(name, size)
ret = [];
for i in range(size): ret.append(float(a[i]));
return ret
def get_trf(self, name="t"):
def get_trf(self, name="tcp_t"):
a = self.execute('get_trf', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def set_tr(self, l, name="t"):
def set_tr(self, l, name="tcp_t"):
self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
def get_jnt(self, name="j"):
def get_jnt(self, name="tcp_j"):
a = self.execute('get_jnt', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def set_jnt(self, l, name="j"):
def set_jnt(self, l, name="tcp_j"):
self.evaluate(name + "={" + str(l[0]) + ","+ str(l[1]) + ","+ str(l[2]) + ","+ str(l[3]) + ","+ str(l[4]) + ","+ str(l[5]) + "}")
def get_pnt(self, name="p"):
def get_pnt(self, name="tcp_p"):
a = self.execute('get_pnt', name)
ret = []
for i in range(6): ret.append(float(a[i]))
return ret
def eval_int(self, cmd):
self.evaluate("n=" + cmd)
self.evaluate("tcp_n=" + cmd)
return self.get_int()
def eval_float(self, cmd):
self.evaluate("n=" + cmd)
self.evaluate("tcp_n=" + cmd)
return self.get_float()
def eval_bool(self, cmd):
self.evaluate("b=" + cmd)
self.evaluate("tcp_b=" + cmd)
return self.get_bool()
#def eval_str(self, cmd):
@@ -141,15 +141,15 @@ class RobotTCP(TcpDevice, Stoppable):
# return self.get_str()
def eval_jnt(self, cmd):
self.evaluate("j=" + cmd)
self.evaluate("tcp_j=" + cmd)
return self.get_jnt()
def eval_trf(self, cmd):
self.evaluate("t=" + cmd)
self.evaluate("tcp_t=" + cmd)
return self.get_trf()
def eval_pnt(self, cmd):
self.evaluate("p=" + cmd)
self.evaluate("tcp_p=" + cmd)
return self.get_pnt()
@@ -198,8 +198,8 @@ class RobotTCP(TcpDevice, Stoppable):
def read_working_mode(self):
try:
mode = self.eval_int("workingMode(arr)")
status = int(self.get_var("arr[0]"))
mode = self.eval_int("workingMode(tcp_a)")
status = int(self.get_var("tcp_a[0]"))
self._update_working_mode(mode, status)
self._update_state()
except: