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/URBasic/robotModel.py
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--- a +++ b/URBasic/robotModel.py @@ -0,0 +1,310 @@ +''' +Python 3.x library to control an UR robot through its TCP/IP interfaces +Copyright (C) 2017 Martin Huus Bjerge, Rope Robotics ApS, Denmark + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software +and associated documentation files (the "Software"), to deal in the Software without restriction, +including without limitation the rights to use, copy, modify, merge, publish, distribute, +sublicense, and/or sell copies of the Software, and to permit persons to whom the Software +is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies +or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, +INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR +PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM, +DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used +in advertising or otherwise to promote the sale, use or other dealings in this Software +without prior written authorization from "Rope Robotics ApS". +''' +__author__ = "Martin Huus Bjerge" +__copyright__ = "Copyright 2017, Rope Robotics ApS, Denmark" +__license__ = "MIT License" + +import URBasic + +class RobotModel(object): + ''' + Data class holding all data and states + + Input parameters: + + ''' + + + def __init__(self, log_path="ur_log/", log_config_path=None): + ''' + Constructor see class description for more info. + ''' + logger = URBasic.dataLogging.DataLogging(path=log_path, config=log_config_path) + name = logger.AddEventLogging(__name__) + self.__logger = logger.__dict__[name] + self.__logger.info('Init done') + + #Universal Robot Model content + self.password = None + self.ipAddress = None + + self.dataDir = {'timestamp':None, + 'target_q':None, + 'target_q':None, + 'target_qd':None, + 'target_qdd':None, + 'target_current':None, + 'target_moment':None, + 'actual_q':None, + 'actual_qd':None, + 'actual_current':None, + 'joint_control_output':None, + 'actual_TCP_pose':None, + 'actual_TCP_speed':None, + 'actual_TCP_force':None, + 'target_TCP_pose':None, + 'target_TCP_speed':None, + 'actual_digital_input_bits':None, + 'joint_temperatures':None, + 'actual_execution_time':None, + 'robot_mode':None, + 'joint_mode':None, + 'safety_mode':None, + 'actual_tool_accelerometer':None, + 'speed_scaling':None, + 'target_speed_fraction':None, + 'actual_momentum':None, + 'actual_main_voltage':None, + 'actual_robot_voltage':None, + 'actual_robot_current':None, + 'actual_joint_voltage':None, + 'actual_digital_output_bits':None, + 'runtime_state':None, + 'robot_status_bits':None, + 'safety_status_bits':None, + 'analog_io_types':None, + 'standard_analog_input0':None, + 'standard_analog_input1':None, + 'standard_analog_output0':None, + 'standard_analog_output1':None, + 'io_current':None, + 'euromap67_input_bits':None, + 'euromap67_output_bits':None, + 'euromap67_24V_voltage':None, + 'euromap67_24V_current':None, + 'tool_mode':None, + 'tool_analog_input_types':None, + 'tool_analog_input0':None, + 'tool_analog_input1':None, + 'tool_output_voltage':None, + 'tool_output_current':None, + 'tcp_force_scalar':None, + 'output_bit_registers0_to_31':None, + 'output_bit_registers32_to_63':None, + 'output_int_register_0':None, + 'output_int_register_1':None, + 'output_int_register_2':None, + 'output_int_register_3':None, + 'output_int_register_4':None, + 'output_int_register_5':None, + 'output_int_register_6':None, + 'output_int_register_7':None, + 'output_int_register_8':None, + 'output_int_register_9':None, + 'output_int_register_10':None, + 'output_int_register_11':None, + 'output_int_register_12':None, + 'output_int_register_13':None, + 'output_int_register_14':None, + 'output_int_register_15':None, + 'output_int_register_16':None, + 'output_int_register_17':None, + 'output_int_register_18':None, + 'output_int_register_19':None, + 'output_int_register_20':None, + 'output_int_register_21':None, + 'output_int_register_22':None, + 'output_int_register_23':None, + 'output_double_register_0':None, + 'output_double_register_1':None, + 'output_double_register_2':None, + 'output_double_register_3':None, + 'output_double_register_4':None, + 'output_double_register_5':None, + 'output_double_register_6':None, + 'output_double_register_7':None, + 'output_double_register_8':None, + 'output_double_register_9':None, + 'output_double_register_10':None, + 'output_double_register_11':None, + 'output_double_register_12':None, + 'output_double_register_13':None, + 'output_double_register_14':None, + 'output_double_register_15':None, + 'output_double_register_16':None, + 'output_double_register_17':None, + 'output_double_register_18':None, + 'output_double_register_19':None, + 'output_double_register_20':None, + 'output_double_register_21':None, + 'output_double_register_22':None, + 'output_double_register_23':None, + 'urPlus_force_torque_sensor':None, + 'urPlus_totalMovedVerticalDistance':None + } + + + self.rtcConnectionState = None + self.rtcProgramRunning = False + self.rtcProgramExecutionError = False + self.stopRunningFlag = False + self.forceRemoteActiveFlag = False + self.realtimeControlFlag = False + + # UR plus content + self.hasForceTorqueSensor = False + self.forceTourqe = None + + def RobotTimestamp(self):return self.dataDir['timestamp'] + def LastUpdateTimestamp(self):raise NotImplementedError('Function Not yet implemented') + def RTDEConnectionState(self):raise NotImplementedError('Function Not yet implemented') + def RuntimeState(self): return self.rtcProgramRunning + def StopRunningFlag(self): return self.stopRunningFlag + def DigitalInputbits(self,n): + if n>=0 & n<8: + n = pow(2,n) + return n&self.dataDir['actual_digital_input_bits']==n + else: + return None + + def ConfigurableInputBits(self,n): + if n>=8 & n<16: + n = pow(2,n+8) + return n&self.dataDir['actual_digital_input_bits']==n + else: + return None + + def DigitalOutputBits(self,n): + if n>=0 & n<8: + n = pow(2,n) + return n&self.dataDir['actual_digital_output_bits']==n + else: + return None + + def ConfigurableOutputBits(self,n): + if n>=8 & n<16: + n = pow(2,n+8) + return n&self.dataDir['actual_digital_output_bits']==n + else: + return None + + def RTDEProtocolVersion(self):raise NotImplementedError('Function Not yet implemented') + def ActualTCPPose(self):return self.dataDir['actual_TCP_pose'] + def RobotModee(self):raise NotImplementedError('Function Not yet implemented') + def SafetyMode(self):raise NotImplementedError('Function Not yet implemented') + def TargetQ(self):raise NotImplementedError('Function Not yet implemented') + def TargetQD(self):raise NotImplementedError('Function Not yet implemented') + def TargetQDD(self):raise NotImplementedError('Function Not yet implemented') + def TargetCurrent(self):raise NotImplementedError('Function Not yet implemented') + def TargetMoment(self):raise NotImplementedError('Function Not yet implemented') + def ActualQ(self):return self.dataDir['actual_q'] + def ActualQD(self):raise NotImplementedError('Function Not yet implemented') + def ActualCurrent(self):raise NotImplementedError('Function Not yet implemented') + def JointControlOutput(self):raise NotImplementedError('Function Not yet implemented') + def ActualTCPSpeed(self):return self.dataDir["actual_TCP_speed"] + def ActualTCPForce(self):return self.dataDir['actual_TCP_force'] + def TargetTCPPose(self):raise NotImplementedError('Function Not yet implemented') + def TargetTCPSpeed(self):raise NotImplementedError('Function Not yet implemented') + def JointTemperatures(self):raise NotImplementedError('Function Not yet implemented') + def ActualExecutionTime(self):raise NotImplementedError('Function Not yet implemented') + def JointMode(self):raise NotImplementedError('Function Not yet implemented') + def ActualToolAccelerometer(self):raise NotImplementedError('Function Not yet implemented') + def SpeedScaling(self):raise NotImplementedError('Function Not yet implemented') + def TargetSpeedFraction(self):raise NotImplementedError('Function Not yet implemented') + def ActualMomentum(self):raise NotImplementedError('Function Not yet implemented') + def ActualMainVoltage(self):raise NotImplementedError('Function Not yet implemented') + def ActualRobotVoltage(self):raise NotImplementedError('Function Not yet implemented') + def ActualRobotCurrent(self):raise NotImplementedError('Function Not yet implemented') + def ActualJointVoltage(self):raise NotImplementedError('Function Not yet implemented') + def RunTimeState(self):raise NotImplementedError('Function Not yet implemented') + def IoCurrent(self):raise NotImplementedError('Function Not yet implemented') + def ToolAnalogInput0(self):raise NotImplementedError('Function Not yet implemented') + def ToolAnalogInput1(self):raise NotImplementedError('Function Not yet implemented') + def ToolOutputCurrent(self):raise NotImplementedError('Function Not yet implemented') + def ToolOutputVoltage(self):raise NotImplementedError('Function Not yet implemented') + def StandardAnalogInput(self,n): + if n == 0: + return self.dataDir['standard_analog_input0'] + elif n == 1: + return self.dataDir['standard_analog_input1'] + else: + raise KeyError('Index out of range') + + def StandardAnalogOutput(self):raise NotImplementedError('Function Not yet implemented') + + def RobotStatus(self): + ''' + SafetyStatusBit class defined in the bottom of this file + ''' + result = RobotStatusBit() + result.PowerOn = 1&self.dataDir['robot_status_bits']==1 + result.ProgramRunning = 2&self.dataDir['robot_status_bits']==2 + result.TeachButtonPressed = 4&self.dataDir['robot_status_bits']==4 + result.PowerButtonPressed = 8&self.dataDir['robot_status_bits']==8 + return result + + def SafetyStatus(self): + ''' + SafetyStatusBit class defined in the bottom of this file + ''' + result = SafetyStatusBit() + result.NormalMode = 1&self.dataDir['safety_status_bits']==1 + result.ReducedMode = 2&self.dataDir['safety_status_bits']==2 + result.ProtectiveStopped = 4&self.dataDir['safety_status_bits']==4 + result.RecoveryMode = 8&self.dataDir['safety_status_bits']==8 + result.SafeguardStopped = 16&self.dataDir['safety_status_bits']==16 + result.SystemEmergencyStopped = 32&self.dataDir['safety_status_bits']==32 + result.RobotEmergencyStopped = 64&self.dataDir['safety_status_bits']==64 + result.EmergencyStopped = 128&self.dataDir['safety_status_bits']==128 + result.Violation = 256&self.dataDir['safety_status_bits']==256 + result.Fault = 512&self.dataDir['safety_status_bits']==512 + result.StoppedDueToSafety = 1024&self.dataDir['safety_status_bits']==1024 + return result + + def TcpForceScalar(self): return self.dataDir['tcp_force_scalar'] + + def OutputBitRegister(self): + result = [None]*64 + for ii in range(64): + if ii<32 and self.dataDir['output_bit_registers0_to_31'] is not None: + result[ii] = 2**(ii)&self.dataDir['output_bit_registers0_to_31']==2**(ii) + elif ii>31 and self.dataDir['output_bit_registers32_to_63'] is not None: + result[ii] = 2**(ii-32)&self.dataDir['output_bit_registers32_to_63']==2**(ii-32) + return result + + def OutputDoubleRegister(self, n): + return self.dataDir["output_double_register_" + str(n)] + + def UrControlVersion(self):raise NotImplementedError('Function Not yet implemented') + def ClearToSend(self):raise NotImplementedError('Function Not yet implemented') + + +class RobotStatusBit(object): + PowerOn = None + ProgramRunning = None + TeachButtonPressed = None + PowerButtonPressed = None + +class SafetyStatusBit(object): + NormalMode = None + ReducedMode = None + ProtectiveStopped = None + RecoveryMode = None + SafeguardStopped = None + SystemEmergencyStopped = None + RobotEmergencyStopped = None + EmergencyStopped = None + Violation = None + Fault = None + StoppedDueToSafety = None