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control3.py
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control3.py
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#!/usr/bin/env python3
import socket
import requests
import json
import itertools
import time
NAME = 'CONTROL'
LOGIC_ADDR = ('127.0.0.1', 4321)
MONITOR_ADDR = ('127.0.0.1', 5432)
GRIPPER_IP = '10.6.6.11'
GRIPPER_TOLERANCE = 2 # mm
ROBOT_ADDR = ('10.6.6.10', 30002)
ROBOT_HOME = [0.30, -0.2, 0.142, 2.25, -2.25, 0]
SOLENOID = ('10.6.6.8', 7777)
class Logic:
def __init__(self, addr):
self.server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.server.connect(addr)
def get_task(self):
print("{} - Querying task".format(NAME))
self.server.send('get'.encode())
recv_pos = self.server.recv(1024).decode().strip()
task = json.loads(recv_pos)
print("{} - Received task: {}".format(NAME, json.dumps(task, indent=4)))
return task
class Monitor:
def __init__(self, addr):
self.server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.server.connect(addr)
def wait(self, pose):
position = pose[:3]
print("{} - Waiting for move completion".format(NAME))
self.server.send(json.dumps(position).encode())
recv = self.server.recv(1024).decode().strip()
print("{} - Move completed".format(NAME))
class Gripper:
def __init__(self, ip):
self.ip = ip
def wait(self, width):
#actual_width = 1000 # outside range
#request = 'http://{}/sensor_data'.format(self.ip)
#while abs(actual_width - width) > GRIPPER_TOLERANCE:
# resp = requests.get(request)
# data = json.loads(resp.text)
# actual_width = data['devices'][0]['variable']['backpack']['width']
time.sleep(0.3)
print("{} - Gripper is set".format(NAME))
def set_params(self, data):
self.opened_mm = data['open']
self.closed_mm = data['close']
def set_width(self, width):
print("{} - Setting gripper to {}mm".format(NAME, width))
resp = requests.get('http://{}/api/dc/rg2ft/set_width/{}/40'.format(self.ip, width))
if resp.status_code == 200:
print("{} - OK".format(NAME))
self.wait(width)
else:
raise Exception('Connection to gripper failed')
def close(self):
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.sendto(bytes("MSG PLACEHOLDER", "utf-8"), SOLENOID)
self.set_width(self.closed_mm)
def open(self):
self.set_width(self.opened_mm)
class Robot:
def __init__(self, addr):
self.robot = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.monitor = Monitor(MONITOR_ADDR)
self.gripper = Gripper(GRIPPER_IP)
self.payload = 0
self.robot.connect(addr)
self._move_home()
def _create_move_command(self, move_type, pose):
return '{}(get_inverse_kin(p{}))\n'.format(move_type, json.dumps(pose))
def _create_payload_command(self, payload):
return 'set_payload({})\n'.format(payload)
def _send_command(self, command):
print("{} - Sending command - {}".format(NAME, command.strip()))
self.robot.send(command.encode())
def _move_home(self):
command = self._create_move_command('movej', ROBOT_HOME)
self._send_command(command)
# self.monitor.wait(ROBOT_HOME)
time.sleep(2)
def _move_above(self, data):
pose = data['pose'].copy()
pose[2] += data['lift_height']
command = self._create_move_command('movej', pose)
self._send_command(command)
# self.monitor.wait(pose)
def _move_vertical(self, data, direction):
if direction not in ['up', 'down']:
raise Exception('Invalid parameter for direction - {}'.format(direction))
pose = data['pose'].copy()
if direction is 'up':
pose[2] += data['lift_height']
command = self._create_move_command('movel', pose)
self._send_command(command)
# self.monitor.wait(pose)
def _set_payload(self, payload):
command = self._create_payload_command(payload)
self._send_command(command)
def setup_gripper(self, gripper_data):
self.gripper.set_params(gripper_data)
#self.gripper.open()
self.payload = gripper_data['payload']
def pick_up(self, location_data):
self._move_above(location_data)
time.sleep(1.53)
self._move_vertical(location_data, 'down')
time.sleep(0.715)
self._set_payload(self.payload)
self.gripper.close()
self._move_vertical(location_data, 'up')
time.sleep(0.65)
def put_down(self, location_data):
self._move_above(location_data)
time.sleep(1.53)
self._move_vertical(location_data, 'down')
time.sleep(0.715)
self._set_payload(0)
self.gripper.open()
self._move_vertical(location_data, 'up')
time.sleep(0.65)
if __name__ == "__main__":
logic = Logic(LOGIC_ADDR)
robot = Robot(ROBOT_ADDR)
while True:
task = logic.get_task()
robot.setup_gripper(task['gripper'])
robot.pick_up(task['from'])
robot.put_down(task['to'])