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DobotControl.py
229 lines (187 loc) · 7.22 KB
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DobotControl.py
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import sys
from threading import Thread
import DobotAPI
import DobotTypes
import getDisMap
from DobotSession import DobotSession
class DobotControl(Thread):
first_init = True
root_session = DobotSession('', '')
_searched = []
@staticmethod
def search():
if DobotControl.first_init:
DobotControl._searched = DobotControl.root_session.SearchDobot()
print(DobotControl._searched)
DobotControl.first_init = False
return DobotControl._searched
def __init__(self):
super().__init__()
self.color_sensor = None
self.pump = None
self.addr = ""
self.connect_state = -1
self.dobot: DobotSession = None
self.speed = 200
self.acc = 200
self.connect_state = -1
self.device_version = "UnkownVersion"
def user_init(self):
pass
def setAddr(self, addr):
if addr not in DobotControl.search():
raise Exception("Cannot find port", addr)
self.addr = addr
def connect(self):
if self.isOk():
return
self.dobot = DobotSession()
self.connect_state = self.dobot.ConnectDobot(self.addr)[0]
print(self.addr, "Connect status:", DobotTypes.CONNECT_RESULT[self.connect_state])
self.device_version = '%d.%d.%d' % tuple(self.dobot.GetDeviceVersion())
if self.device_version != "3.2.2" and self.device_version != "3.5.0":
print("Device version may be not supported:", self.device_version, self, file=sys.stderr)
def init(self):
if not self.isOk():
raise Exception("You should connect dobot successfully before you init it", self.addr)
print("Initing dobot", self.addr)
DobotAPI.GetPose(self.dobot.api)
self.dobot.GetPose()
self.dobot.ClearAllAlarmsState()
self.dobot.SetQueuedCmdStopExec()
self.dobot.SetQueuedCmdClear()
self.dobot.SetQueuedCmdStartExec()
self.dobot.SetPTPJointParamsEx(self.speed, self.acc, self.speed, self.acc, self.speed, self.acc, self.speed,
self.acc, 1)
self.dobot.SetPTPCoordinateParams(self.speed, self.acc, self.speed, self.acc, 1)
self.dobot.SetPTPJumpParamsEx(10, 170, 1)
self.dobot.SetPTPCommonParamsEx(self.speed, self.acc, 1)
self.reset_pose()
self.unsuck()
self.user_init()
def getAlarmState(self):
return self.dobot.GetAlarmsState()
def reset_zero(self, home_pose):
if type(home_pose) == list:
home_pose = tuple(home_pose)
print("Resetting position", self.addr)
self.moveTo(*home_pose)
self.dobot.SetHOMEParams(*home_pose, 1)
self.dobot.SetHOMECmdEx(temp=0, isQueued=1)
def run(self):
self.connect()
if not self.isOk():
return
try:
self.init()
self.work()
finally:
self.clean()
print("stopped", self.addr)
def clean(self):
"""
You shall mannully call this method
:return:
"""
print("auto cleaning", self.addr)
self.unsuck()
self.dobot.DisconnectDobot()
def suck(self):
self.pumpControl(1, 1)
def blow(self):
self.pumpControl(1, 0)
def unsuck(self):
self.pumpControl(0, 0)
def pumpControl(self, enable, control):
if self.pump:
if self.pump[0] > 0:
self.dobot.SetIODOEx(self.pump[0], enable, 1)
if self.pump[1] > 0:
self.dobot.SetIODOEx(self.pump[1], control, 1)
else:
self.dobot.SetEndEffectorGripperEx(enable, control, 1)
def getDobot(self):
return self.dobot
def moveTo(self, x=None, y=None, z=None, r=None, straight=False):
nowPos = self.dobot.GetPose()
x = float(x) if x is not None else nowPos[0]
y = float(y) if y is not None else nowPos[1]
z = float(z) if z is not None else nowPos[2]
r = float(r) if r is not None else nowPos[3]
moveMode = DobotTypes.PTPMode.PTP_MOVL_XYZ_Mode if straight else DobotTypes.PTPMode.PTP_MOVJ_XYZ_Mode
print(self.addr, "move to", x, y, z, r)
self.dobot.SetPTPCmdEx(moveMode, x, y, z, r, 1)
def moveInc(self, dx=0, dy=0, dz=0, dr=0, straight=False):
nowPos = self.dobot.GetPose()
self.moveTo(nowPos[0] + dx, nowPos[1] + dy, nowPos[2] + dz, nowPos[3] + dr, straight)
def isOk(self):
return self.connect_state == DobotTypes.DobotConnect.DobotConnect_Successfully
def work(self):
pass
def startMoto(self, port, speed):
if speed <= 0:
raise Exception("You should call stopMoto")
vel = speed * 282.94212105225836
self.dobot.SetEMotorEx(port, 1, int(vel), 1)
def startMotoS(self, port, speed, distance_ms):
if speed <= 0 or distance_ms <= 0:
raise Exception("You should call stopMoto")
vel = speed * 282.94212105225836
distance = getDisMap.get_dis_tick(distance_ms)
self.dobot.SetEMotorSEx(port, 1, int(vel), int(distance), 1)
def stopMoto(self, port):
self.dobot.SetEMotorEx(port, 0, 0, 1)
def reset_pose(self):
if self.dobot.SetLostStepCmd():
self.dobot.ResetPose(0, 0, 0)
def setColotSensor(self, output_port, input_left, input_right, enable=True):
self.color_sensor = (output_port, input_left, input_right, enable)
self.dobot.SetIOMultiplexingEx(output_port, DobotTypes.IOFunction.IOFunctionDO, 1)
self.dobot.SetIOMultiplexingEx(input_left, DobotTypes.IOFunction.IOFunctionDI, 1)
self.dobot.SetIOMultiplexingEx(input_right, DobotTypes.IOFunction.IOFunctionDI, 1)
self.dobot.SetIODOEx(output_port, enable, 1)
def getColorSensor(self):
if self.color_sensor:
left = self.dobot.GetIODI(self.color_sensor[1])[0]
right = self.dobot.GetIODI(self.color_sensor[2])[0]
if left == 0 and right == 0:
return 1, 0, 0
elif left == 1 and right == 0:
return 0, 1, 0
elif left == 0 and right == 1:
return 0, 0, 1
else:
return 0, 0, 0
else:
return self.dobot.GetColorSensor()
def setPump(self, power_port, control_port):
self.pump = (power_port, control_port)
self.dobot.SetIOMultiplexingEx(power_port, DobotTypes.IOFunction.IOFunctionDO, 1)
self.dobot.SetIOMultiplexingEx(control_port, DobotTypes.IOFunction.IOFunctionDO, 1)
def __str__(self):
return "Dobot[{addr}]".format(addr=self.addr)
def color_exists(n):
if type(n) == int:
return n == 255 or n == 1
else:
for e in n:
if color_exists(e):
return True
else:
return False
def ensure_color_index(tpl, default=-1):
if type(tpl) == int:
return tpl
for i in range(len(tpl)):
if color_exists(tpl[i]):
return i
else:
return default
def ensure_color_tuple(index, default=(0, 0, 0)):
if type(index) == tuple or type(index) == list:
return tuple(index)
if index < 0:
return default
lst = [0, 0, 0]
lst[index] += 1
return tuple(lst)