mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
293 lines
8.2 KiB
Python
Executable file
293 lines
8.2 KiB
Python
Executable file
#!/usr/bin/python
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from socket import *
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import math
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import sys
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import time
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from multiprocessing import Lock
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import rospy
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from sensor_msgs.msg import JointState
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global mc
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mutex = Lock()
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class ElephantRobot(object):
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def __init__(self, host, port):
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# setup connection
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self.BUFFSIZE = 2048
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self.ADDR = (host, port)
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self.tcp_client = socket(AF_INET, SOCK_STREAM)
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def start_client(self):
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try:
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self.tcp_client.connect(self.ADDR)
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return ""
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except error, e:
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return e
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def stop_client(self):
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self.tcp_client.close()
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def send_command(self, command):
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with mutex:
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self.tcp_client.send(command.encode())
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recv_data = self.tcp_client.recv(self.BUFFSIZE).decode()
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res_str = str(recv_data)
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print "recv = " + res_str
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res_arr = res_str.split(":")
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if len(res_arr) == 2:
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return res_arr[1]
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else:
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return ""
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def string_to_coords(self, data):
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data = data.replace("[", "")
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data = data.replace("]", "")
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data_arr = data.split(",")
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if len(data_arr) == 6:
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try:
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coords_1 = float(data_arr[0])
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coords_2 = float(data_arr[1])
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coords_3 = float(data_arr[2])
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coords_4 = float(data_arr[3])
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coords_5 = float(data_arr[4])
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coords_6 = float(data_arr[5])
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coords = [coords_1, coords_2, coords_3, coords_4, coords_5, coords_6]
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return coords
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except:
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return invalid_coords()
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return invalid_coords()
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def string_to_double(self, data):
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try:
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val = float(data)
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return val
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except:
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return -9999.99
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def string_to_int(self, data):
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try:
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val = int(data)
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return val
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except:
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return -9999
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def invalid_coords(self):
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coords = [-1, -2, -3, -4, -1, -1]
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return coords
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def get_angles(self):
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command = "get_angles()\n"
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res = self.send_command(command)
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return self.string_to_coords(res)
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def get_coords(self):
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command = "get_coords()\n"
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res = self.send_command(command)
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return self.string_to_coords(res)
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def get_speed(self):
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command = "get_speed()\n"
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res = self.send_command(command)
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return self.string_to_double(res)
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def power_on(self):
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command = "power_on()\n"
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res = self.send_command(command)
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return True
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def power_off(self):
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command = "power_off()\n"
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res = self.send_command(command)
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return True
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def check_running(self):
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command = "check_running()\n"
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res = self.send_command(command)
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return res == "1"
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def state_check(self):
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command = "state_check()\n"
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res = self.send_command(command)
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return res == "1"
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def program_open(self, file_path):
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command = "program_open(" + file_path + ")\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def program_run(self, start_line):
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command = "program_run(" + str(start_line) + ")\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def read_next_error(self):
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command = "read_next_error()\n"
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res = self.send_command(command)
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return res
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def write_coords(self, coords, speed):
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command = "set_coords("
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for item in coords:
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command += str(item) + ","
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command += str(speed) + ")\n"
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self.send_command(command)
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def write_coord(self, axis, value, speed):
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coords = self.get_coords()
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if coords != self.invalid_coords():
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coords[axis] = value
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self.write_coords(coords, speed)
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def write_angles(self, angles, speed):
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command = "set_angles("
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for item in angles:
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command += str(item) + ","
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command += str(speed) + ")\n"
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self.send_command(command)
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def write_angle(self, joint, value, speed):
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angles = self.get_angles()
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if angles != self.invalid_coords():
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angles[joint] = value
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self.write_angles(angles, speed)
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def set_speed(self, percentage):
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command = "set_speed(" + str(percentage) + ")\n"
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self.send_command(command)
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def set_carte_torque_limit(self, axis_str, value):
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command = "set_torque_limit(" + axis_str + "," + str(value) + ")\n"
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self.send_command(command)
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def set_upside_down(self, up_down):
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up = "1"
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if up_down:
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up = "0"
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command = "set_upside_down(" + up + ")\n"
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self.send_command(command)
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def set_payload(self, payload):
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command = "set_speed(" + str(payload) + ")\n"
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self.send_command(command)
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def state_on(self):
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command = "state_on()\n"
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self.send_command(command)
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def state_off(self):
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command = "state_off()\n"
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self.send_command(command)
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def task_stop(self):
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command = "task_stop()\n"
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self.send_command(command)
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def jog_angle(self, joint_str, direction, speed):
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command = (
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"jog_angle(" + joint_str + "," + str(direction) + "," + str(speed) + ")\n"
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)
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self.send_command(command)
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def jog_coord(self, axis_str, direction, speed):
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command = (
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"jog_coord(" + axis_str + "," + str(direction) + "," + str(speed) + ")\n"
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)
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self.send_command(command)
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def get_digital_in(self, pin_number):
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command = "get_digital_in(" + str(pin_number) + ")\n"
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self.send_command(command)
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def get_digital_out(self, pin_number):
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command = "get_digital_out(" + str(pin_number) + ")\n"
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self.send_command(command)
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def set_digital_out(self, pin_number, pin_signal):
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command = "set_digital_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
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self.send_command(command)
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def set_analog_out(self, pin_number, pin_signal):
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command = "set_analog_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
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self.send_command(command)
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def get_acceleration(self):
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command = "get_acceleration()\n"
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res = self.send_command(command)
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return self.string_to_int(res)
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def set_acceleration(self, acceleration):
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command = "set_acceleration(" + str(acceleration) + ")\n"
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self.send_command(command)
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def command_wait_done(self):
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command = "wait_command_done()\n"
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self.send_command(command)
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def wait(self, seconds):
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command = "wait(" + str(seconds) + ")\n"
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self.send_command(command)
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def assign_variable(self, var_name, var_value):
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command = 'assign_variable("' + str(var_name) + '",' + str(var_value) + ")\n"
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self.send_command(command)
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def get_variable(self, var_name):
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command = 'get_variable("' + str(var_name) + '")\n'
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return self.send_command(command)
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old_list = []
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def callback(data):
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global old_list
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# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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print ("position", data.position)
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data_list = []
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for index, value in enumerate(data.position):
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value = value * 180 / math.pi
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data_list.append(value)
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print ("data", data_list)
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if not old_list:
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old_list = data_list
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mc.write_angles(data_list, 1999)
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elif old_list != data_list:
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old_list = data_list
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if mc.check_running():
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mc.task_stop()
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time.sleep(0.05)
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mc.write_angles(data_list, 1999)
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def listener():
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global mc
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rospy.init_node("control_slider", anonymous=True)
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ip = rospy.get_param("~ip", "192.168.10.169")
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print (ip)
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mc = ElephantRobot(ip, 5001)
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# START CLIENT
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res = mc.start_client()
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if res != "":
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print res
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sys.exit(1)
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print ep.wait(5)
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print mc.get_angles()
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print mc.get_coords()
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mc.set_speed(30)
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print mc.get_speed()
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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print ("sping ...")
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rospy.spin()
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if __name__ == "__main__":
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listener()
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