This commit is contained in:
gac-S_Changer
@@ -86,5 +86,43 @@
|
||||
<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="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" />
|
||||
<Value key="2" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="3" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="4" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="5" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="6" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="7" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="8" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="9" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="10" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="11" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="12" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="13" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="14" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="15" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="16" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="17" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="18" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="19" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="20" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="21" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="22" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="23" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="24" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="25" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="26" fatherId="flange[0]" ioLink="valve1" />
|
||||
<Value key="27" fatherId="flange[0]" ioLink="valve1" />
|
||||
<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">
|
||||
<Value key="0" fatherId="world[0]" />
|
||||
</Data>
|
||||
<Data name="t" access="private" xsi:type="array" type="trsf" size="1" />
|
||||
</Datas>
|
||||
</Database>
|
||||
@@ -83,72 +83,102 @@
|
||||
break
|
||||
|
||||
case "get_var","get_bool"
|
||||
if cmd == "get_var"
|
||||
ret = getData(args[0], aux)
|
||||
else
|
||||
ret = getData(args[0], auxb)
|
||||
endIf
|
||||
switch(ret)
|
||||
case -1
|
||||
ex = "The variable does not exists"
|
||||
break
|
||||
case -2
|
||||
ex = "The variable library does not exists"
|
||||
break
|
||||
case -3
|
||||
ex = "The index is out of range"
|
||||
break
|
||||
case -4
|
||||
ex = "The data's type does not match the variable's type"
|
||||
break
|
||||
default
|
||||
if cmd == "get_var"
|
||||
tx = toString(".4", aux)
|
||||
ret = getData(args[0], aux)
|
||||
else
|
||||
if auxb
|
||||
tx = "1"
|
||||
else
|
||||
tx = "0"
|
||||
endIf
|
||||
endIf
|
||||
break
|
||||
endSwitch
|
||||
break
|
||||
|
||||
case "get_arr"
|
||||
toNum(args[1], count, ok)
|
||||
tx = ""
|
||||
for index = 0 to count
|
||||
if cmd == "get_var"
|
||||
ret = getData(args[0], aux)
|
||||
else
|
||||
ret = getData(args[0], auxb)
|
||||
endIf
|
||||
|
||||
ret = getData(args[0] + "[" + toString("", index )+ "]", aux)
|
||||
ret = getData(args[0], auxb)
|
||||
endIf
|
||||
switch(ret)
|
||||
case -1
|
||||
case -1
|
||||
ex = "The variable does not exists"
|
||||
return
|
||||
break
|
||||
case -2
|
||||
ex = "The variable library does not exists"
|
||||
return
|
||||
break
|
||||
case -3
|
||||
ex = "The index is out of range"
|
||||
return
|
||||
break
|
||||
case -4
|
||||
ex = "The data's type does not match the variable's type"
|
||||
return
|
||||
break
|
||||
default
|
||||
tx = tx + toString(".4", aux) + "|"
|
||||
if cmd == "get_var"
|
||||
tx = toString(".4", aux)
|
||||
else
|
||||
if auxb
|
||||
tx = "1"
|
||||
else
|
||||
tx = "0"
|
||||
endIf
|
||||
endIf
|
||||
break
|
||||
endSwitch
|
||||
break
|
||||
|
||||
case "get_arr"
|
||||
toNum(args[1], count, ok)
|
||||
for index = 0 to count
|
||||
if cmd == "get_var"
|
||||
ret = getData(args[0], aux)
|
||||
else
|
||||
ret = getData(args[0], auxb)
|
||||
endIf
|
||||
ret = getData(args[0] + "[" + toString("", index )+ "]", aux)
|
||||
switch(ret)
|
||||
case -1
|
||||
ex = "The variable does not exists"
|
||||
return
|
||||
break
|
||||
case -2
|
||||
ex = "The variable library does not exists"
|
||||
return
|
||||
break
|
||||
case -3
|
||||
ex = "The index is out of range"
|
||||
return
|
||||
break
|
||||
case -4
|
||||
ex = "The data's type does not match the variable's type"
|
||||
return
|
||||
break
|
||||
default
|
||||
tx = tx + toString(".4", aux) + "|"
|
||||
break
|
||||
endSwitch
|
||||
endFor
|
||||
break
|
||||
case "get_str"
|
||||
$exec("s = " + args[0])
|
||||
tx = s
|
||||
break
|
||||
case "get_pnt"
|
||||
$exec("p = " + args[0])
|
||||
$exec("t = " + 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) + "|"
|
||||
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) + "|"
|
||||
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) + "|"
|
||||
break
|
||||
default
|
||||
//App specific
|
||||
call onCommandTcp(cmd,args, tx, ex)
|
||||
|
||||
@@ -102,6 +102,9 @@ class RobotTCP(TcpDevice, Stoppable):
|
||||
for i in range(6): ret.append(float(a[i]))
|
||||
return ret
|
||||
|
||||
def set_trf(self, l, name="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"):
|
||||
a = self.execute('get_jnt', name)
|
||||
ret = []
|
||||
|
||||
Reference in New Issue
Block a user