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postprocessor Hwashi.py
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# импортируем библиотеки
from robodk import *
JOINT_DATA = ['X','Y','Z','A','B','C','X1=','Y1=','Z1=']
# ----------------------------------------------------
def pose_2_str(pose, joints = None):
"""Prints a pose target"""
[x,y,z,r,p,w] = Pose_2_Hwashi(pose)
str_xyzwpr = 'X%.4f Y%.4f Z%.4f A%.4f B%.4f C%.4f' % (x,y,z,r,p,w)
if joints is not None:
if len(joints) > 6:
for j in range(6,len(joints)):
str_xyzwpr += (' %s%.6f ' % (JOINT_DATA[j], joints[j]))
return str_xyzwpr
def joints_2_str(joints):
"""Prints a joint target"""
str = ''
for i in range(len(joints)):
str = str + ('%s%.6f ' % (JOINT_DATA[i], joints[i]))
str = str[:-1]
return str
# ----------------------------------------------------
class RobotPost(object):
"""Robot post object"""
PROG_EXT = 'nc' # выбор объекта
# выбор робота
ROBOT_POST = ''
ROBOT_NAME = ''
PROG_FILES = []
PROG = []
LOG = ''
nAxes = 6
nId = 0
SPEED_F = ' F400' # стандартная скорость движения
MoveType = -1
MOVE_TYPE_NONE = -1
MOVE_NAMES = []
MOVE_TYPE_MCS = 0
MOVE_NAMES.append("MCS")
MOVE_TYPE_HSC = 1
MOVE_NAMES.append("HSC")
MOVE_TYPE_PTP = 2
MOVE_NAMES.append("PTP")
REF_FRAME = eye(4)
def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
self.ROBOT_POST = robotpost
self.ROBOT_NAME = robotname
self.PROG = []
self.LOG = ''
self.nAxes = robot_axes
def ProgStart(self, progname):
self.addline('%% program: %s()' % progname, False)
self.addline('', False)
self.addline('G90')
self.addline('#HSC [BSPLINE PATH_DEV 0.0000 TRACK_DEV 0.0000]', False)
self.addline('#CS OFF ALL')
self.addline('#CS DEF[1][0.0000,0.0000,0.0000,0.0000,0.0000,0.0000]')
self.addline('#CS ON[1]')
self.addline('G54')
self.addline('', False)
def ProgFinish(self, progname):
self.set_move_type(self.MOVE_TYPE_NONE)
self.addline('%% End of program %s' % progname, False)
def ProgSave(self, folder, progname, ask_user=False, show_result=False):
progname = progname + '.' + self.PROG_EXT
if ask_user or not DirExists(folder):
filesave = getSaveFile(folder, progname, 'Save program as...')
if filesave is not None:
filesave = filesave.name
else:
return
else:
filesave = folder + '/' + progname
fid = open(filesave, "w")
for line in self.PROG:
fid.write(line + '\n')
fid.close()
print('SAVED: %s\n' % filesave)
self.PROG_FILES = filesave
#---------------------- show result part
if show_result:
if type(show_result) is str:
# Open file with provided application
import subprocess
p = subprocess.Popen([show_result, filesave])
elif type(show_result) is list:
import subprocess
p = subprocess.Popen(show_result + [filesave])
else:
# open file with default application
import os
os.startfile(filesave)
if len(self.LOG) > 0:
mbox('Program generation LOG:\n\n' + self.LOG)
def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
"""Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
The connection parameters must be provided in the robot connection menu of RoboDK"""
UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
def set_move_type(self, move_type):
if self.MoveType == move_type:
return
if self.MoveType >= 0:
self.addline("#%s OFF" % self.MOVE_NAMES[self.MoveType])
self.MoveType = -1
if move_type >= 0:
self.addline('',False) # add empty line
self.addline("#%s ON" % self.MOVE_NAMES[move_type])
self.MoveType = move_type
def MoveJ(self, pose, joints, conf_RLF=None):
"""Add a joint movement"""
self.set_move_type(self.MOVE_TYPE_MCS)
self.addline('G0 ' + joints_2_str(joints))
if pose is not None:
self.set_move_type(self.MOVE_TYPE_PTP)
self.addline('G0 ' + pose_2_str(pose, joints))
def MoveL(self, pose, joints, conf_RLF=None):
"""Add a linear movement"""
self.set_move_type(self.MOVE_TYPE_HSC)
self.addline('G1 ' + pose_2_str(self.REF_FRAME*pose, joints) + self.SPEED_F)
self.SPEED_F = ''
def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
"""Add a circular movement"""
xyz1 = (self.REF_FRAME*pose1).Pos()
xyz2 = (self.REF_FRAME*pose2).Pos()
self.addline('G2 X%.3f Y%.3f Z%.3f I1=%.3f J1=%.3f K1=%.3f' % (xyz2[0], xyz2[1], xyz2[2], xyz1[0], xyz1[1], xyz1[2]))
#self.addline('N%02i G102 X%.3f Y%.3f Z%.3f I1=%.3f J1=%.3f K1=%.3f' % (self.nId, xyz1[0], xyz1[1], xyz1[2], xyz2[0]-xyz1[0], xyz2[1]-xyz1[1], xyz2[2]-xyz1[2]))
def setFrame(self, pose, frame_id=None, frame_name=None):
"""Изменить систему отсчета робота"""
self.REF_FRAME = pose
self.addline('%% Using Reference %s: %s' % (frame_name, pose_2_str(pose)), False)
self.addline('%% (Using absolute coordinates)', False)
def setTool(self, pose, tool_id=None, tool_name=None):
"""Смена ТСР"""
self.addline('', False)
self.addline('%% Using Tool %s: %s' % (tool_name, pose_2_str(pose)), False)
if tool_id < 1:
tool_id = 99
self.addline('M5')
self.addline('#TRAFO OFF')
self.addline('M6 T%i' % tool_id)
self.addline('#TRAFO ON')
self.addline('M3 S3501')
self.addline('G131 100')
self.addline('G133 150')
self.addline('G134 150')
self.addline('', False)
def Pause(self, time_ms):
"""Пауза программы робота"""
if time_ms < 0:
self.addline('%% PAUSE', False)
else:
self.addline('%% WAIT %.3f' % (time_ms*0.001), False)
def setSpeed(self, speed_mms):
"""Выбор скорости движения робота: (in mm/s)"""
self.SPEED_F = ' F%.3f' % (speed_mms*60)
def setAcceleration(self, accel_mmss):
"""Выбор скорости ускорения (in mm/s2)"""
self.addlog('setAcceleration not defined')
def setSpeedJoints(self, speed_degs):
""" Изменяет скорость движения суставов робота (in deg/s)"""
self.addlog('setSpeedJoints not defined')
def setAccelerationJoints(self, accel_degss):
"""Изменяет совместное ускорение робота(in deg/s2)"""
self.addlog('setAccelerationJoints not defined')
def setZoneData(self, zone_mm):
"""Изменяет радиус скругления CNT, APO"""
self.addlog('setZoneData not defined (%.1f mm)' % zone_mm)
def setDO(self, io_var, io_value):
""" Устанавливает переменную (цифровой выход) на заданное значение """
if type(io_var) != str: # set default variable name if io_var is a number
io_var = 'OUT[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
self.addline('%s=%s' % (io_var, io_value))
def waitDI(self, io_var, io_value, timeout_ms=-1):
""" Ожидает, пока переменная (цифровой вход) io_var достигнет заданного значения io_value. По желанию может быть предоставлен тайм-аут. """
if type(io_var) != str: # set default variable name if io_var is a number
io_var = 'IN[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
if timeout_ms < 0:
self.addline('WAIT FOR %s==%s' % (io_var, io_value))
else:
self.addline('WAIT FOR %s==%s TIMEOUT=%.1f' % (io_var, io_value, timeout_ms))
def RunCode(self, code, is_function_call = False):
"""Код вызова функции"""
if is_function_call:
code.replace(' ','_')
if not code.endswith(')'):
code = code + '()'
self.addline(code)
else:
self.addline(code)
def RunMessage(self, message, iscomment = False):
"""Вывод информации на teach pendant робота(устройство управления)"""
if iscomment:
self.addline('%% ' + message, False)
else:
self.addline('%% Show message: %s' % message, False)
# ------------------ private part----------------------
def addline(self, newline, add_N = True):
"""Add program line"""
if add_N:
self.nId += 1
newline = 'N%i ' % self.nId + newline
self.PROG.append(newline)
def addlog(self, newline):
"""Add a log message"""
self.LOG = self.LOG + newline + '\n'
# -------------------------------------------------
# ------------ For testing part ---------------
def Pose(xyzrpw):
[x,y,z,r,p,w] = xyzrpw
a = r*math.pi/180
b = p*math.pi/180
c = w*math.pi/180
ca = math.cos(a)
sa = math.sin(a)
cb = math.cos(b)
sb = math.sin(b)
cc = math.cos(c)
sc = math.sin(c)
return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])
def test_post():
"""Тестирование пост процессора тестовой програмой"""
robot = RobotPost()
robot.ProgStart("Program")
robot.RunMessage("Программа генерирована для проверки универсального пост процессора для робота Hwashi", True)
robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]), 3, 'Reference 2')
robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]), 5, 'Tool 5')
robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
robot.RunMessage("Setting air valve 1 on")
robot.RunCode("TCP_On", True)
robot.Pause(1000)
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
robot.RunMessage("Setting air valve off")
robot.RunCode("TCP_Off", True)
robot.Pause(1000)
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
robot.MoveJ(None, [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
robot.ProgFinish("Program")
# robot.ProgSave(".","Program",True)
for line in robot.PROG:
print(line)
if len(robot.LOG) > 0:
mbox('Программа сгенерировала LOG:\n\n' + robot.LOG)
input("Нажмите Enter для завершения....")
if __name__ == "__main__":
""" Функция для вызова, когда модуль выполняется сам по себе: test """
test_post()