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4996 lines (4100 loc) · 157 KB
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#!/usr/bin/env python3
import xmlrpc.client
'''
XML-RPC library for controlling OnRobot devcies from Doosan robots
Global_cbip holds the IP address of the compute box, needs to be defined by the end user
'''
#Device IDs
VG10_ID = 0x10
VGC10_ID = 0x11
RG2_ID = 0x20
RG6_ID = 0x21
THREEFG_ID = 0x70
TWOFG_ID = 0xC0
MG_ID = 0xA0
SG_ID = 0x50
SD_ID = 0x80
RG2FT_ID = 0x22
VGP_ID = 0x18
SDR_ID = 0xB0
FGP_ID = 0xF0
LIFT_ID = 0x100
#Hex t_index
HEX_INDEX = -1
#HEX device id's
HEXV3_ID = 0x40
HEXV2_ID = 0x42
#LIFT t_index
LIFT_INDEX = 100
EYES_DOOSAN_ID = 8
CONN_ERR = -2
RET_OK = 0
RET_FAIL = -1
class Device:
'''
Generic device object
'''
cb = None
def __init__(self):
#try to get Computebox IP address
try:
Global_cbip
except NameError:
tp_popup("Global_cbip is not defined!", DR_PM_WARNING)
def getCB(self):
try:
self.cb = xmlrpc.client.ServerProxy(
"http://" + str(Global_cbip) + ":41414/")
return self.cb
except TimeoutError:
tp_popup("Connection to ComputeBox failed!", DR_PM_WARNING)
def report_robot(self):
if self.cb is not None:
#Send our ID to the robot
self.cb.cb_report_robot_type(EYES_DOOSAN_ID)
class VG():
'''
This class is for handling VG10 and VGC10 devices
'''
cb = None
def __init__(self, dev):
self.cb = dev.getCB()
def isconn(self, t_index):
'''
Returns with True if a VG10 or VGC10 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
'''
isVG10Curr = self.cb.cb_is_device_connected(t_index, VG10_ID)
isVGC10Curr = self.cb.cb_is_device_connected(t_index, VGC10_ID)
if isVG10Curr == False and isVGC10Curr == False:
tp_popup("No VG10 or VGC10 device connected", DR_PM_WARNING)
return False
else:
return True
def isVGC10(self, t_index):
'''
Returns with True if a VGC10 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.cb_is_device_connected(t_index, VGC10_ID)
def isVG10(self, t_index):
'''
Returns with True if a VG10 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.cb_is_device_connected(t_index, VG10_ID)
def grip(self, t_index, vacuumA, vacuumB, waiting):
'''
Starts the gripper with the given vacuum levels per channel
@type vacuumA: int
@type vacuumB: int
@type waiting: bool
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param vacuumA: The desired vacuum level on channel A, between 1-80
@param vacuumB: The desired vacuum level on channel B, between 1-80
@param waiting: Wait for vacuum to build or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.vg10_grip(t_index, 0, float(vacuumA))
self.cb.vg10_grip(t_index, 1, float(vacuumB))
if waiting:
tim_cnt = 0
vacA = self.getvacA(t_index)
vacB = self.getvacB(t_index)
while ((vacuumA > vacA) or (vacuumB > vacB)):
wait(0.1)
vacA = self.getvacA(t_index)
vacB = self.getvacB(t_index)
tim_cnt += 1
if tim_cnt > 40:
#Turn off channel that could not reach the level
if vacA < vacuumA:
self.release(t_index, True, False, False)
if vacB < vacuumB:
self.release(t_index, False, True, False)
tp_popup("Timeout during VG grip command", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
else:
return RET_OK
def release(self, t_index, channelA, channelB, waiting):
'''
Turns the choosen channels off
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type channelA: bool
@type channelB: bool
@type waiting bool
@param channelA: True turns the channel off, False leaves the channel running
@param channelB: True turns the channel off, False leaves the channel running
@param waiting: Wait for complete vacuum loss or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.vg10_release(t_index, channelA, channelB)
if waiting:
if (channelA is True) and (channelB is False):
#Only wait for A channel
tim_cnt = 0
vacA = self.getvacA(t_index)
while (0.1 < vacA):
wait(0.1)
vacA = self.getvacA(t_index)
tim_cnt += 1
if tim_cnt > 40:
tp_popup("Timeout during VG release command", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
elif (channelA is False) and (channelB is True):
#Only wait for B channel
tim_cnt = 0
vacB = self.getvacB(t_index)
while (0.1 < vacB):
wait(0.1)
vacB = self.getvacB(t_index)
tim_cnt += 1
if tim_cnt > 40:
tp_popup("Timeout during VG release command", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
elif (channelA is True) and (channelB is True):
#Wait for both channels
tim_cnt = 0
vacA = self.getvacA(t_index)
vacB = self.getvacB(t_index)
while ((0.1 < vacB) or (0.1 < vacA)):
wait(0.1)
vacA = self.getvacA(t_index)
vacB = self.getvacB(t_index)
tim_cnt += 1
if tim_cnt > 40:
tp_popup("Timeout during VG release command", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
else:
#None of them were commanded to release but wait was True
#Why would you do this?
return RET_OK
else:
return RET_OK
def getvacA(self, t_index):
'''
Returns with vacuum level on channel A
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@rtype: float
@return: Vacuum level
'''
if self.isconn(t_index) is False:
return CONN_ERR
vacAB = self.cb.vg10_get_all_double_variables(t_index)
if len(vacAB) > 1:
vacA = vacAB[0]
return vacA
def getvacB(self, t_index):
'''
Returns with vacuum level on channel B
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@rtype: float
@return: Vacuum level
'''
if self.isconn(t_index) is False:
return CONN_ERR
vacAB = self.cb.vg10_get_all_double_variables(t_index)
if len(vacAB) > 1:
vacB = vacAB[1]
return vacB
def idle(self, t_index, channelA, channelB):
'''
Turns off pump on selected channel
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param channelA: True turns the pump off on ch A, False leaves the pump running
@param channelB: True turns the pump off on ch B, False leaves the pump running
@type channelA: bool
@type channelB: bool
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.vg10_idle(t_index, channelA, channelB)
class RG():
'''
This class is for handling RG2 and RG6 devices
'''
cb = None
def __init__(self, dev):
super().__init__()
self.cb = dev.getCB()
def isconn(self, t_index):
'''
Returns with True if a RG2 or RG6 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
@rtype: bool
'''
isRG2Conn = self.cb.cb_is_device_connected(t_index, RG2_ID)
isRG6Conn = self.cb.cb_is_device_connected(t_index, RG6_ID)
if not isRG2Conn and not isRG6Conn:
tp_popup("No RG2 or RG6 device connected", DR_PM_WARNING)
return False
else:
return True
def isRG2(self, t_index):
'''
Returns with True if a RG2 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
@rtype: bool
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.cb_is_device_connected(t_index, RG2_ID)
def isRG6(self, t_index):
'''
Returns with True if a RG6 device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
@rtype: bool
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.cb_is_device_connected(t_index, RG6_ID)
#No grip detection (just move the gripper)
def move(self, t_index, twidth, tforce, fwait):
'''
Moves the gripper to the desired position
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param twidth: The width to move the gripper to in mm's
@type twidth: float
@param tforce: The force to move the gripper width in Newtons
@type fwait: bool
@param fwait: wait for the move to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.rg_grip(t_index, float(twidth), float(tforce))
if fwait:
tim_cnt = 0
fbusy = self.cb.rg_get_busy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.cb.rg_get_busy(t_index)
tim_cnt += 1
if tim_cnt > 30:
tp_popup("RG move timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
else:
return RET_OK
#If wait then also detect grip at the end
def grip(self, t_index, twidth, tforce, fwait):
'''
Makes a grip with the gripper to the desired position
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param twidth: The width to move the gripper to in mm's
@type twidth: float
@param tforce: The force to move the gripper width in Newtons
@type fwait: bool
@param fwait: wait for the grip to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.rg_grip(t_index, float(twidth), float(tforce))
if fwait:
tim_cnt = 0
fbusy = self.cb.rg_get_busy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.cb.rg_get_busy(t_index)
tim_cnt += 1
if tim_cnt > 30:
tp_popup("RG grip timeout", DR_PM_WARNING)
break
else:
#Grip detection
grip_tim = 0
gripped = self.isGripped(t_index)
while (not gripped):
wait(0.1)
gripped = self.isGripped(t_index)
grip_tim += 1
if grip_tim > 20:
tp_popup("RG grip detection timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
return RET_FAIL
else:
return RET_OK
def halt(self, t_index):
'''
Stop the grippers movement
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_stop(t_index)
def get_speed(self, t_index):
'''
Returns with the grippers speeds
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: float
@return: Speed in mm/s
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_speed(t_index)
def get_depth(self, t_index):
'''
Gets the absolute depth of the gripper
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: float
@return: Depth in mm
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_depth(t_index)
def get_rel_depth(self, t_index):
'''
Gets the relative depth of the gripper
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: float
@return: Depth in mm
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_relative_depth(t_index)
def get_width(self, t_index):
'''
Gets the width of the gripper
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: float
@return: Width in mm
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_width(t_index)
def get_ft_offset(self, t_index):
'''
Gets the current fingertip offset of the gripper
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: float
@return: Fingertip offset in mm
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_fingertip_offset(t_index)
def isBusy(self, t_index):
'''
Gets if the grpper is busy or not
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if busy, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_busy(t_index)
def isGripped(self, t_index):
'''
Gets if the gripper is gripping or not
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if gripped, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_get_grip_detected(t_index)
def isSafetyON(self, t_index):
'''
Gets if the safety circuit is active or no
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if safety triggered, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
s1 = self.cb.rg_get_s1_triggered(t_index)
s2 = self.cb.rg_get_s2_triggered(t_index)
if (s1 or s2):
return True
elif (not s1 and not s2):
return False
def set_ft_offset(self, t_index, ft_offset):
'''
Sets the fingertip offset of the gripper
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@param ft_offset: Finger tip offset
@type ft_offset: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.rg_set_fingertip_offset(t_index, float(ft_offset))
def resetpower(self, t_index):
'''
Resets the power of the grippers\n
Needs to be issued after saftey event
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
'''
if self.isconn(t_index) is False:
return CONN_ERR
self.cb.cb_reset_tool_power()
class THREEFG():
'''
This class is for handling 3FG device
'''
cb = None
def __init__(self, dev):
self.cb = dev.getCB()
def isconn(self, t_index):
'''
Returns with True if 3FG device is connected, False otherwise
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: True if connected, False otherwise
@rtype: bool
'''
is3FGConn = self.cb.cb_is_device_connected(t_index, THREEFG_ID)
if not is3FGConn:
tp_popup("No 3FG device connected", DR_PM_WARNING)
return False
else:
return True
def get_min_diam(self, t_index):
'''
Returns with current minimum diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Minimum diameter in mm
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_min_diameter(t_index)
def get_max_diam(self, t_index):
'''
Returns with current maximum diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Maximum diameter in mm
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_max_diameter(t_index)
def get_diam(self, t_index):
'''
Returns with current diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Diameter in mm
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_diameter(t_index)
def get_raw_diam(self, t_index):
'''
Returns with current raw diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Raw diameter in mm
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_diameter_raw(t_index)
def get_force(self, t_index):
'''
Returns with current force
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Force in N
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_force(t_index)
def get_finger_pos(self, t_index):
'''
Returns with current finger position
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Finger position [1,2,3]
@rtype: int
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_finger_position(t_index)
def get_finger_len(self, t_index):
'''
Returns with current finger lenght
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@return: Finger lenght in mm
@rtype: float
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_finger_length(t_index)
def isBusy(self, t_index):
'''
Gets if the grpper is busy or not
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if busy, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_busy(t_index)
def isForceGripped(self, t_index):
'''
Gets if the gripper is force gripping or not
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if force gripped, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_force_grip_detected(t_index)
def isGripped(self, t_index):
'''
Gets if the gripper is gripping or not
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@type t_index: int
@rtype: bool
@return: True if gripped, False otherwise
'''
if self.isconn(t_index) is False:
return CONN_ERR
return self.cb.tfg_get_grip_detected(t_index)
def move(self, t_index, diam, f_wait):
'''
Moves the gripper to the desired diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param diam: The diameter to move the gripper to in mm's
@type diam: float
@type f_wait: bool
@param f_wait: wait for the move to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
max = self.get_max_diam(t_index)
min = self.get_min_diam(t_index)
if ((diam > max) or (diam < min)):
tp_popup("Invalid 3FG diameter parameter", DR_PM_WARNING)
return RET_FAIL
self.cb.tfg_move(t_index, float(diam))
if f_wait:
busy_cnt = 0
fbusy = self.isBusy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.isBusy(t_index)
busy_cnt += 1
if busy_cnt > 30:
tp_popup("3FG move timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
else:
return RET_OK
def grip_int(self, t_index, diam, force, f_wait):
'''
Makes an internal grip with the gripper to the desired diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param diam: The diameter to move the gripper to in mm
@type diam: float
@param force: The force to move the gripper width in N
@type force: float
@type f_wait: bool
@param f_wait: wait for the grip to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
max = self.get_max_diam(t_index)
min = self.get_min_diam(t_index)
if ((diam > max) or (diam < min)):
tp_popup("Invalid 3FG diameter parameter, " + str(max)+" - "+str(min) +" is valid only", DR_PM_WARNING)
return RET_FAIL
if ((force < 1) or (force > 100)):
tp_popup("Invalid 3FG force parameter, 1-100 is valid only", DR_PM_WARNING)
return RET_FAIL
self.cb.tfg_grip(t_index, float(diam), float(force), True)
if f_wait:
busy_cnt = 0
fbusy = self.isBusy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.isBusy(t_index)
busy_cnt += 1
if busy_cnt > 30:
tp_popup("3FG grip timeout", DR_PM_WARNING)
break
else:
#Check for grip detect
grip_tim = 0
gripped = self.isGripped(t_index)
while (not gripped):
wait(0.1)
gripped = self.isGripped(t_index)
grip_tim += 1
if grip_tim > 20:
tp_popup("3FG grip detection timeout", DR_PM_WARNING)
break
else:
#Check for force grip
fgrip_tim = 0
fgripped = self.isForceGripped(t_index)
while (not fgripped):
wait(0.1)
fgripped = self.isForceGripped(t_index)
fgrip_tim += 1
if fgrip_tim > 20:
tp_popup("3FG force grip detection timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
return RET_FAIL
return RET_FAIL
else:
return RET_OK
def flex_grip_int(self, t_index, diam, force, f_wait):
'''
Makes an internal flexible grip with the gripper to the desired diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param diam: The diameter to move the gripper to in mm
@type diam: float
@param force: The force to move the gripper width in N
@type force: float
@type f_wait: bool
@param f_wait: wait for the grip to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
max = self.get_max_diam(t_index)
min = self.get_min_diam(t_index)
if ((diam > max) or (diam < min)):
tp_popup("Invalid 3FG diameter parameter, " + str(max)+" - "+str(min) +" is valid only", DR_PM_WARNING)
return RET_FAIL
if ((force < 1) or (force > 100)):
tp_popup("Invalid 3FG force parameter, 1-100 is valid only", DR_PM_WARNING)
return RET_FAIL
self.cb.tfg_flexible_grip(t_index, float(diam), float(force), True)
if f_wait:
busy_cnt = 0
fbusy = self.isBusy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.isBusy(t_index)
busy_cnt += 1
if busy_cnt > 30:
tp_popup("3FG grip timeout", DR_PM_WARNING)
break
else:
#Check for grip detect
grip_tim = 0
gripped = self.isGripped(t_index)
while (not gripped):
wait(0.1)
gripped = self.isGripped(t_index)
grip_tim += 1
if grip_tim > 20:
tp_popup("3FG grip detection timeout", DR_PM_WARNING)
break
else:
#Check for force grip
fgrip_tim = 0
fgripped = self.isForceGripped(t_index)
while (not fgripped):
wait(0.1)
fgripped = self.isForceGripped(t_index)
fgrip_tim += 1
if fgrip_tim > 20:
tp_popup("3FG force grip detection timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
return RET_FAIL
return RET_FAIL
else:
return RET_OK
def grip_ext(self, t_index, diam, force, f_wait):
'''
Makes an external grip with the gripper to the desired diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param diam: The diameter to move the gripper to in mm
@type diam: float
@param force: The force to move the gripper width in N
@type force: float
@type f_wait: bool
@param f_wait: wait for the grip to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
max = self.get_max_diam(t_index)
min = self.get_min_diam(t_index)
if ((diam > max) or (diam < min)):
tp_popup("Invalid 3FG diameter parameter, " + str(max)+" - "+str(min) +" is valid only", DR_PM_WARNING)
return RET_FAIL
if ((force < 1) or (force > 100)):
tp_popup("Invalid 3FG force parameter, 1-100 is valid only", DR_PM_WARNING)
return RET_FAIL
self.cb.tfg_grip(t_index, float(diam), float(force), False)
if f_wait:
busy_cnt = 0
fbusy = self.isBusy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.isBusy(t_index)
busy_cnt += 1
if busy_cnt > 30:
tp_popup("3FG grip timeout", DR_PM_WARNING)
break
else:
#Check for grip detect
grip_tim = 0
gripped = self.isGripped(t_index)
while (not gripped):
wait(0.1)
gripped = self.isGripped(t_index)
grip_tim += 1
if grip_tim > 20:
tp_popup("3FG grip detection timeout", DR_PM_WARNING)
break
else:
#Check for force grip
fgrip_tim = 0
fgripped = self.isForceGripped(t_index)
while (not fgripped):
wait(0.1)
fgripped = self.isForceGripped(t_index)
fgrip_tim += 1
if fgrip_tim > 20:
tp_popup("3FG force grip detection timeout", DR_PM_WARNING)
break
else:
return RET_OK
return RET_FAIL
return RET_FAIL
return RET_FAIL
else:
return RET_OK
def flex_grip_ext(self, t_index, diam, force, f_wait):
'''
Makes an external flexible grip with the gripper to the desired diameter
@param t_index: The position of the device (0 for single, 1 for dual primary, 2 for dual secondary)
@param diam: The diameter to move the gripper to in mm
@type diam: float
@param force: The force to move the gripper width in N
@type force: float
@type f_wait: bool
@param f_wait: wait for the grip to end or not?
'''
if self.isconn(t_index) is False:
return CONN_ERR
max = self.get_max_diam(t_index)
min = self.get_min_diam(t_index)
if ((diam > max) or (diam < min)):
tp_popup("Invalid 3FG diameter parameter, " + str(max)+" - "+str(min) +" is valid only", DR_PM_WARNING)
return RET_FAIL
if ((force < 1) or (force > 100)):
tp_popup("Invalid 3FG force parameter, 1-100 is valid only", DR_PM_WARNING)
return RET_FAIL
self.cb.tfg_flexible_grip(t_index, float(diam), float(force), False)
if f_wait:
busy_cnt = 0
fbusy = self.isBusy(t_index)
while (fbusy):
wait(0.1)
fbusy = self.isBusy(t_index)
busy_cnt += 1
if busy_cnt > 30:
tp_popup("3FG grip timeout", DR_PM_WARNING)
break
else:
#Check for grip detect
grip_tim = 0
gripped = self.isGripped(t_index)
while (not gripped):
wait(0.1)
gripped = self.isGripped(t_index)
grip_tim += 1
if grip_tim > 20: