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CPR.py
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CPR.py
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# Copyright 2017 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs
# for a CPR robot (Common place robotics: http://www.cpr-robots.com/)
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
# 1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
# 2- Make the necessary changes
# 3- Run the file to open Python Shell: Run -> Run module (F5 by default)
# 4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
# 1- Open the robot panel (double click a robot)
# 2- Select "Parameters"
# 3- Select "Unlock advanced options"
# 4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
# http://www.robodk.com/help#PostProcessor
# http://www.robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------
# ----------------------------------------------------
# Import RoboDK tools
from robodk import *
from robolink import *
# ----------------------------------------------------
def pose_2_str(pose):
"""Prints a pose target"""
[x,y,z,r,p,w] = Pose_2_KUKA(pose)
return ('x="%.3f" y="%.3f" z="%.3f" a="%.3f" b"%.3f" c="%.3f"' % (x,y,z,r,p,w))
def joints_2_str(joints):
"""Prints a joint target"""
str = ''
jnt_tags = ['a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8']
for i in range(len(joints)):
str = str + ('%s="%.5f" ' % (jnt_tags[i], joints[i]))
str = str[:-1]
return str
# ----------------------------------------------------
# Object class that handles the robot instructions/syntax
class RobotPost(object):
"""Robot post object"""
PROG_EXT = 'xml' # set the program extension
# other variables
ROBOT_POST = ''
ROBOT_NAME = ''
PROG_FILES = []
PROG = ''
LOG = ''
TAB = ''
MAIN_PROG_NAME = None
nAxes = 6
Prog_count = 0
SMOOTH = 'True'
SPEED = 70
SPEED_PERCENT = 35
NR_ID = 0
FRAME = eye(4)
TOOL = 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.Prog_count = self.Prog_count + 1
self.addline('<?xml version="1.0" encoding="utf-8"?>')
self.addline('<!-- values in mm and degree -->')
self.addline('<Program>')
self.addline('<Header ProgramName ="CPRog recording" Author="nn" SetUpDate="" LastChangeDate="" Kinematic="CPRFour"/>')
self.TAB = ' '
if self.MAIN_PROG_NAME is None:
self.MAIN_PROG_NAME = progname
else:
pass
def ProgFinish(self, progname):
self.TAB = ''
self.addline('</Program>')
self.addline('<!-- End of program: %s -->' % progname)
self.addline('')
if self.Prog_count == 1:
pass
def ProgSave(self, folder, progname, ask_user=False, show_result=False):
import subprocess
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
# retrieve robot IP
RDK = Robolink()
robot = RDK.Item(self.ROBOT_NAME, ITEM_TYPE_ROBOT)
[server_ip, port, remote_path, username, password] = robot.ConnectionParams()
fid = open(filesave, "w")
fid.write(self.PROG)
print('SAVED: %s\n' % filesave)
self.PROG_FILES = filesave
#---------------------- show result
#selection_view = mbox('Do you want to view/edit the program or run it on the robot?', 'View', 'Run')
selection_view = True
if selection_view and 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)
if not selection_view:
RDK.ShowMessage('Running program...', False)
proc = subprocess.Popen(['python', filesave])
# Using the same pipe
#import io
#proc = subprocess.Popen(['python', filesave], stdout=subprocess.PIPE)
#for line in io.TextIOWrapper(proc.stdout, encoding="utf-8"): # or another encoding
# RDK.ShowMessage(line, False)
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"""
import subprocess
import os
import sys
import time
print("POPUP: Starting process...")
print("Python path " + PATH_PYTHON)
print("Program file: " + self.PROG_FILES)
sys.stdout.flush()
# Start process
cmd_run = self.PROG_FILES # run py file itself
if PATH_PYTHON != '':
# if a python path is specified, use it to run the Py file
cmd_run = [PATH_PYTHON, self.PROG_FILES]
process = subprocess.Popen(cmd_run, shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, universal_newlines=True)
# Poll process for new output until finished
for stdout_line in iter(process.stdout.readline, ""):
print("POPUP: " + stdout_line.strip())
sys.stdout.flush()
process.stdout.close()
return_code = process.wait()
if return_code:
raise subprocess.CalledProcessError(return_code, cmd_run)
if (return_code == 0):
return
else:
raise ProcessException(command, return_code, output)
def MoveJ(self, pose, joints, conf_RLF=None):
"""Add a joint movement"""
self.NR_ID = self.NR_ID + 1
self.addline('<Joint Nr="%i" %s velPercent="%.0f" acc="40" smooth="%s" Descr="" />' % (self.NR_ID, joints_2_str(joints), self.SPEED_PERCENT, self.SMOOTH))
def MoveL(self, pose, joints, conf_RLF=None):
"""Add a linear movement"""
self.NR_ID = self.NR_ID + 1
if pose is None:
# no linear movement allowed by providing joints
self.addline('<Joint Nr="%i" %s velPercent="%.0f" acc="40" smooth="%s" Descr="" />' % (self.NR_ID, joints_2_str(joints), self.SPEED_PERCENT, self.SMOOTH))
else:
self.addline('<Joint Nr="%i" %s vel="%.0f" acc="40" smooth="%s" Descr="" />' % (self.NR_ID, pose_2_str(self.FRAME*pose*invH(self.TOOL)), self.SPEED, self.SMOOTH))
def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
"""Add a circular movement"""
self.addlog("Cicular moves not supported")
def setFrame(self, pose, frame_id=None, frame_name=None):
"""Change the robot reference frame"""
self.FRAME = pose
self.addline("<!-- Using Reference: %s -->" % pose_2_str(pose))
def setTool(self, pose, tool_id=None, tool_name=None):
"""Change the robot TCP"""
self.TOOL = pose
self.addline("<!-- Using Tool: %s -->" % pose_2_str(pose))
def Pause(self, time_ms):
"""Pause the robot program"""
self.NR_ID = self.NR_ID + 1
if time_ms < 0:
self.addline('<Wait Nr="%i" Seconds="%.3f" Descr="" />' % (self.NR_ID, float(9999)))
else:
#self.addline('time.sleep(%.3f)' % (float(time_ms)*0.001))
self.addline('<Wait Nr="%i" Seconds="%.3f" Descr="" />' % (self.NR_ID, float(time_ms)*0.001))
def setSpeed(self, speed_mms):
"""Changes the robot speed (in mm/s)"""
self.SPEED_PERCENT = speed_mms
def setAcceleration(self, accel_mmss):
"""Changes the robot acceleration (in mm/s2)"""
self.addlog('Linear acceleration not supported')
def setSpeedJoints(self, speed_degs):
"""Changes the robot joint speed (in deg/s)"""
self.SPEED_PERCENT = min(speed_degs, 100)
def setAccelerationJoints(self, accel_degss):
"""Changes the robot joint acceleration (in deg/s2)"""
self.addlog('Joint acceleration not supported')
def setZoneData(self, zone_mm):
"""Changes the smoothing radius (aka CNT, APO or zone data) to make the movement smoother"""
if zone_mm > 0:
self.SMOOTH = 'True'
else:
self.SMOOTH = 'False'
def setDO(self, io_var, io_value):
"""Sets a variable (digital output) to a given value"""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = '%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'
self.NR_ID = self.NR_ID + 1
# at this point, io_var and io_value must be string values
# self.addline('%s=%s' % (io_var, io_value))
self.addline('<Output Nr="%i" Local="True" DIO="%s" State="%s" Descr="" />' % (self.NR_ID, io_var, io_value))
def waitDI(self, io_var, io_value, timeout_ms=-1):
"""Waits for a variable (digital input) io_var to attain a given value io_value. Optionally, a timeout can be provided."""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = '%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'
self.NR_ID = self.NR_ID + 1
# at this point, io_var and io_value must be string values
self.addline('<WaitInput Nr="%i" Local="True" DIO="%s" State="%s" Descr="" />' % (self.NR_ID, io_var, io_value))
def RunCode(self, code, is_function_call = False):
"""Adds code or a function call"""
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):
"""Display a message in the robot controller screen (teach pendant)"""
if iscomment:
self.addline('<!-- %s -->' % message)
else:
self.addline('<!-- %s -->' % message)
# ------------------ private ----------------------
def addline(self, newline):
"""Add a program line"""
self.PROG = self.PROG + self.TAB + newline + '\n'
def addlog(self, newline):
"""Add a log message"""
self.LOG = self.LOG + newline + '\n'
# -------------------------------------------------
# ------------ For testing purposes ---------------
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():
"""Test the post with a basic program"""
robot = RobotPost()
robot.ProgStart("Program")
robot.RunMessage("Program generated by RoboDK using a custom post processor", True)
robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
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)
print(robot.PROG)
if len(robot.LOG) > 0:
mbox('Program generation LOG:\n\n' + robot.LOG)
input("Press Enter to close...")
if __name__ == "__main__":
"""Function to call when the module is executed by itself: test"""
test_post()