Rest node upgrades

Makefile

@@ -4,11 +4,6 @@
 
 init: # Do the initial configuration of the project
 	@test -e .env || cp example.env .env
-ifeq ($(shell uname),Darwin)
-	@sed -i '' 's|^PROJECT_PATH=.*|PROJECT_PATH=$(shell pwd | sed 's/\//\\\//g')|' .env
-else
-	@sed -i 's/^PROJECT_PATH=.*/PROJECT_PATH=$(shell pwd | sed 's/\//\\\//g')/' .env
-endif
 
 .env: init
 
@@ -24,6 +19,3 @@ test: init .env paths # Runs all the tests
 	@docker compose -f wei.compose.yaml --env-file .env up --build -d
 	@docker compose -f wei.compose.yaml --env-file .env exec ur_module pytest -p no:cacheprovider ur_module
 	@docker compose -f wei.compose.yaml --env-file .env down
-
-clean:
-	@rm .env

example.env

@@ -1,8 +1,7 @@
 # Note: all paths are relative to the docker compose file
 UR_IP="164.54.116.129"
-PROJECT_PATH=
 WEI_DATA_DIR=~/.wei
 WORKCELL_FILENAME=test_workcell.yaml
-WORKCELLS_DIR=${PROJECT_PATH}/tests/workcell_defs
+WORKCELLS_DIR=./tests/workcell_defs
 IMAGE=ghcr.io/ad-sdl/ur_module
 REDIS_DIR=~/.wei/redis

pyproject.toml

@@ -71,7 +71,7 @@ exclude = [
 ]
 
 # Same as Black.
-line-length = 88
+line-length = 120
 indent-width = 4
 
 # Assume Python 3.8

src/ur_driver/ur.py

@@ -9,14 +9,10 @@
 from urx import Robot
 
 from ur_driver.ur_dashboard import UR_DASHBOARD
-from ur_driver.ur_tools.gripper_controller import (
-    FingerGripperController,
-)
+from ur_driver.ur_tools.gripper_controller import FingerGripperController
 from ur_driver.ur_tools.ot_pipette_controller import OTPipetteController
 from ur_driver.ur_tools.screwdriver_controller import ScrewdriverController
-from ur_driver.ur_tools.tricontinent_pipette_controller import (
-    TricontinentPipetteController,
-)
+from ur_driver.ur_tools.tricontinent_pipette_controller import TricontinentPipetteController
 from ur_driver.ur_tools.wm_tool_changer_controller import WMToolChangerController
 
 
@@ -75,10 +71,6 @@ def __init__(self, hostname: str = None, PORT: int = 29999):
 
         self.hostname = hostname
         self.PORT = PORT
-        self.ur_dashboard = UR_DASHBOARD(hostname=self.hostname, PORT=self.PORT)
-        self.ur = Connection(hostname=self.hostname)
-        self.ur_connection = self.ur.connection
-        self.ur_connection.set_tcp((0, 0, 0, 0, 0, 0))
         self.acceleration = 0.5
         self.velocity = 0.5
         self.speed_ms = 0.750
@@ -88,18 +80,25 @@ def __init__(self, hostname: str = None, PORT: int = 29999):
         self.blend_radius_m = 0.001
         self.ref_frame = [0, 0, 0, 0, 0, 0]
         self.robot_current_joint_angles = None
+
+        # if not self.hostname == "127.0.0.1":
+        self.ur_dashboard = UR_DASHBOARD(hostname=self.hostname, PORT=self.PORT)
+        self.ur = Connection(hostname=self.hostname)
+        self.ur_connection = self.ur.connection
+        self.ur_connection.set_tcp((0, 0, 0, 0, 0, 0))
         self.get_movement_state()
-        # TODO: get the information of what is the current tool attached to UR. Run a senity check at the beginning to findout if a tool is connected
+        # else:
+        # TODO: Use simulation mode for local IP
+
+        # TODO: get the information of what is the current tool attached to UR. Run a sanity check at the beginning to find out if a tool is connected
 
     def get_movement_state(self) -> str:
         """Gets robot movement status by checking robot joint values.
         Return (str) READY if robot is not moving
                      BUSY if robot is moving
         """
         current_location = self.ur_connection.getj()
-        current_location = [
-            "%.2f" % value for value in current_location
-        ]  # rounding to 3 digits
+        current_location = ["%.2f" % value for value in current_location]  # rounding to 3 digits
         # print(current_location)
         if self.robot_current_joint_angles == current_location:
             movement_state = "READY"
@@ -223,16 +222,12 @@ def gripper_transfer(
         """
 
         if not source or not target:
-            raise Exception(
-                "Please provide both the source and target loactions to make a transfer"
-            )
+            raise Exception("Please provide both the source and target locations to make a transfer")
 
         self.home(home)
 
         try:
-            gripper_controller = FingerGripperController(
-                hostname=self.hostname, ur=self.ur_connection
-            )
+            gripper_controller = FingerGripperController(hostname=self.hostname, ur=self.ur_connection)
             gripper_controller.connect_gripper()
 
             if gripper_open:
@@ -276,7 +271,7 @@ def gripper_screw_transfer(
             target(list): Target location
             screwdriver_loc (list): Location of the screwdriving bit
             screw_loc (list): Location where the screwdriving will be performed
-            screw_time (float): Screwdriving durition
+            screw_time (float): Screwdriving duration
             gripper_open (int): Gripper max open value (0-255)
             gripper_close (int): Gripper min close value (0-255)
 
@@ -285,9 +280,7 @@ def gripper_screw_transfer(
         self.home(home)
 
         try:
-            gripper_controller = FingerGripperController(
-                hostname=self.hostname, ur=self.ur_connection
-            )
+            gripper_controller = FingerGripperController(hostname=self.hostname, ur=self.ur_connection)
             gripper_controller.connect_gripper()
 
             if gripper_open:
@@ -365,9 +358,7 @@ def remove_cap(
         self.home(home)
 
         try:
-            gripper_controller = FingerGripperController(
-                hostname=self.hostname, ur=self.ur_connection
-            )
+            gripper_controller = FingerGripperController(hostname=self.hostname, ur=self.ur_connection)
             gripper_controller.connect_gripper()
             if gripper_open:
                 gripper_controller.gripper_open = gripper_open
@@ -419,9 +410,7 @@ def place_cap(
         self.home(home)
 
         try:
-            gripper_controller = FingerGripperController(
-                hostname=self.hostname, ur=self.ur_connection
-            )
+            gripper_controller = FingerGripperController(hostname=self.hostname, ur=self.ur_connection)
             gripper_controller.connect_gripper()
             if gripper_open:
                 gripper_controller.gripper_open = gripper_open
@@ -476,9 +465,7 @@ def pick_and_flip_object(
         self.home(home)
 
         try:
-            gripper_controller = FingerGripperController(
-                hostname=self.hostname, ur=self.ur_connection
-            )
+            gripper_controller = FingerGripperController(hostname=self.hostname, ur=self.ur_connection)
             gripper_controller.connect_gripper()
 
             if gripper_open:
@@ -572,9 +559,7 @@ def pipette_transfer(
             volume (int): Pipette transfer volume. Unit number of steps. Each step is 1 mL
         """
         if not tip_loc or not source:
-            raise Exception(
-                "Please provide both the source and target loactions to make a transfer"
-            )
+            raise Exception("Please provide both the source and target loactions to make a transfer")
 
         try:
             pipette = TricontinentPipetteController(
@@ -583,9 +568,7 @@ def pipette_transfer(
             pipette.connect_pipette()
             pipette.pick_tip(tip_loc=tip_loc)
             self.home(home)
-            pipette.transfer_sample(
-                home=home, sample_aspirate=source, sample_dispense=target, vol=volume
-            )
+            pipette.transfer_sample(home=home, sample_aspirate=source, sample_dispense=target, vol=volume)
             pipette.eject_tip(eject_tip_loc=tip_trash, approach_axis="y")
             pipette.disconnect_pipette()
             print("Disconnecting from the pipette")
@@ -609,9 +592,7 @@ def run_droplet(
             droplet_loc (list): Location where the droplet will be hung
             tip_trash (list): Pipette tip trash location
         """
-        pipette = OTPipetteController(
-            ur_connection=self.ur_connection, IP=self.hostname
-        )
+        pipette = OTPipetteController(ur_connection=self.ur_connection, IP=self.hostname)
         pipette.connect_pipette()
 
         self.home(home)
@@ -638,9 +619,7 @@ def run_urp_program(self, transfer_file_path: str = None, program_name: str = No
         ur_program_path = "/programs/" + program_name
 
         if transfer_file_path:
-            self.ur_dashboard.transfer_program(
-                local_path=transfer_file_path, remote_path=ur_program_path
-            )
+            self.ur_dashboard.transfer_program(local_path=transfer_file_path, remote_path=ur_program_path)
             sleep(2)
 
         self.ur_dashboard.load_program(program_path=ur_program_path)
@@ -674,8 +653,8 @@ def run_urp_program(self, transfer_file_path: str = None, program_name: str = No
 if __name__ == "__main__":
     """Tests"""
 
-    pos1 = [-0.22575, -0.65792, 0.39271, 2.216, 2.196, -0.043]
-    pos2 = [0.22575, -0.65792, 0.39271, 2.216, 2.196, -0.043]
+    # pos1 = [-0.22575, -0.65792, 0.39271, 2.216, 2.196, -0.043]
+    # pos2 = [0.22575, -0.65792, 0.39271, 2.216, 2.196, -0.043]
     robot3 = UR(hostname="164.54.116.129")  # UR3
     robot5 = UR(hostname="164.54.116.109")  # UR5
 
@@ -880,5 +859,5 @@ def run_urp_program(self, transfer_file_path: str = None, program_name: str = No
     # robot5.gripper_transfer(home = ur5_home, source = ur5_cell_holder, target = ur5_measurement_unit, source_approach_axis="z", target_approach_axis="z",source_approach_distance=0.15, target_approach_distance=0.15, gripper_open = 190, gripper_close = 240)
     # robot5.place_tool(home= ur5_home,tool_loc=ur5_handE)
 
-    robot3.ur.disconnect_ur()
+    # robot3.ur.disconnect_ur()
     robot5.ur.disconnect_ur()

src/ur_driver/ur_dashboard.py

@@ -9,13 +9,17 @@
 
 class UR_DASHBOARD:
     """
-    This is a python interface to communicate the UR Dashboard server.
-    UR can be controlled from remote by sending simple commands to the GUI over a TCP/IP socket.
+    This is a python interface to communicate with the UR Dashboard server.
+    The UR can be controlled remotely by sending simple commands to the GUI over a TCP/IP socket.
     The server is running on port 29999 on the robots IP address.
     Each command should be terminated by a `\n` also called a newline.
     """
 
-    def __init__(self, hostname: str = "146.137.240.38", PORT: int = 29999) -> None:
+    def __init__(
+        self,
+        hostname: str = "146.137.240.38",
+        PORT: int = 29999,
+    ) -> None:
         """Constructor for the UR dashboard class.
         :param hostname: Hostname or ip.
         :param port: Port.
@@ -32,15 +36,14 @@ def __init__(self, hostname: str = "146.137.240.38", PORT: int = 29999) -> None:
         self.connect()
         if self.connection_error:
             raise Exception("Can't connect to dashboard")
+        sleep(3)
         self.initialize()
 
     def connect(self) -> None:
         """Create a socket"""
         try:
             self.connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.connection.settimeout(
-                5
-            )  # Socket will wait 5 seconds till it recieves the response
+            self.connection.settimeout(5)  # Socket will wait 5 seconds till it receives the response
             self.connection.connect((self.hostname, self.port))
 
         except socket.error as err:
@@ -52,7 +55,11 @@ def disconnect(self) -> None:
         """Close the socket"""
         self.connection.close()
 
-    def send_command(self, command: str = None, response_delay: float = 0.1) -> str:
+    def send_command(
+        self,
+        command: str = None,
+        response_delay: float = 0.1,
+    ) -> str:
         """Constructs a command to send over the Dashboard socket
         Args
             command (str): Robot command.
@@ -293,7 +300,12 @@ def transfer_program(
                 hostname=self.hostname,
                 username=user_name,
                 password=user_password,
-                disabled_algorithms={"pubkeys": ["rsa-sha2-256", "rsa-sha2-512"]},
+                disabled_algorithms={
+                    "pubkeys": [
+                        "rsa-sha2-256",
+                        "rsa-sha2-512",
+                    ]
+                },
             )
             with SCPClient(ssh_client.get_transport()) as scp:
                 scp.put(local_path, remote_path)
@@ -305,12 +317,7 @@ def transfer_program(
             print("SCP error: " + scp_err)
 
         else:
-            print(
-                "UR program "
-                + local_path
-                + " is transferred to UR onboard "
-                + remote_path
-            )
+            print("UR program " + local_path + " is transferred to UR onboard " + remote_path)
 
         finally:
             scp.close()
@@ -394,20 +401,3 @@ def stop_program(self) -> str:
     # robot.transfer_program("/home/rpl/test.urp", "/programs/katerina.urp")
     # robot.load_program("/programs/katerina.urp")
     # robot.run_program()
-
-    """
-    Bug: Output error message breaks the client state check, causing the client to retry connection
-
-    [ur5_client-1] [INFO] [1685573134.289546521] [ur5_client.UR5_Client_Node]: {'program_name': 'chemspeed2tecan'}
-    [ur5_client-1] [INFO] [1685573134.290071438] [ur5_client.UR5_Client_Node]: None
-    [ur5_client-1] [INFO] [1685573134.290490743] [ur5_client.UR5_Client_Node]: chemspeed2tecan
-    [ur5_client-1] << NONE
-    [ur5_client-1] File not found: /programs/chemspeed2tecan
-    [ur5_client-1] << Safetystatus: NORMAL
-    [ur5_client-1] << Robotmode: RUNNING
-    [ur5_client-1] ['Robotmode:', 'RUNNING']
-    [ur5_client-1] << true
-    [ur5_client-1] [ERROR] [1685573134.745633959] [ur5_client.UR5_Client_Node]: list index out of range
-    [ur5_client-1] [ERROR] [1685573134.746134932] [ur5_client.UR5_Client_Node]: State: ERROR
-    [ur5_client-1] [ERROR] [1685573134.746477735] [ur5_client.UR5_Client_Node]: Robot_Mode: RUNNING Safety_Status: RUNNING
-    """

src/ur_driver/ur_tools/ati_tool_changer_controller.py

@@ -61,7 +61,10 @@ def lock_tool_changer(self):
             print("Locking the tool changer...")
             self.tool_changer.put(1)
         except Exception as err:
-            print("Error accured while locking the tool changer: ", err)
+            print(
+                "Error accured while locking the tool changer: ",
+                err,
+            )
 
     def unlock_tool_changer(self):
         """
@@ -73,4 +76,7 @@ def unlock_tool_changer(self):
             print("Unlocking the tool changer...")
             self.tool_changer.put(0)
         except Exception as err:
-            print("Error accured while unlocking the tool changer: ", err)
+            print(
+                "Error accured while unlocking the tool changer: ",
+                err,
+            )