changed main function

parent cc689335
......@@ -26,7 +26,7 @@ class ResponseMismatch(Exception):
class test_client(object):
def __init__(self, host=socket.gethostname(), port=9876,version="LabComm2014.v1"):
def __init__(self, host, port, version="LabComm2014.v1"):
self.host=host
self.port=port
self.version=version
......@@ -244,87 +244,6 @@ class test_client(object):
while run:
run = self.run_one()
if __name__ == "__main__":
port = sys.argv[1] if len(sys.argv) >= 2 else 9876
version = sys.argv[2] if len(sys.argv) == 3 else "LabComm2014.v1"
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.connect((socket.gethostname(), port))
client = test_client(server)
t = threading.Thread(target=receiver, args=(client,))
t.start()
try:
client.CMD_UNLCK_TL()
client.CMD_LCK_TL()
coord = dict(x=0,y=1,z=2)
rot = dict(c=0,b=0,a=0)
client.CMD_MOVE_LIN(coord, rot, 1, 0.1)
client.CMD_MOVE_PTP(range(6), 1, 0.1)
client.CMD_READ_PTP()
coord = dict(x=0,y=1,z=2)
rot = dict(c=0,b=0,a=0)
client.CMD_MOVE_MEASURE(1, coord, rot, 1, 0.1)
start = dict(pos=dict(x=0,y=1,z=2),
rot=dict(c=0,b=0,a=0))
finish = dict(pos=dict(x=0,y=1,z=2),
rot=dict(c=0,b=0,a=0))
client.CMD_NAIL_LIN(1, False, start, finish, 1, 0.1)
posI = dict(pos=dict(x=0,y=1,z=2),
rot=dict(c=0,b=0,a=0))
posF = dict(pos=dict(x=0,y=1,z=2),
rot=dict(c=0,b=0,a=0))
client.CMD_MOVE_ARC(posI, posF, 1, 0.1)
#linear
move1 = dict(pos=dict(pos=dict(x=0,y=1,z=2),
rot=dict(c=0,b=0,a=0)),
S_Ac=dict(speed=1,
acc=2))
move2 = dict(pos=dict(pos=dict(x=5,y=1,z=0),
rot=dict(c=0,b=0,a=0)),
S_Ac=dict(speed=1,
acc=2))
#ptp
move3 = dict(j=[0, 0, 0, 0, 0, 0],
S_Ac = dict (speed=0.1, acc=0.5))
#arc
move4 = dict(posI=dict(pos=dict(x=2,y=4,z=5),
rot=dict(c=0,b=0,a=1)),
posF=dict(pos=dict(x=0,y=1,z=0.5),
rot=dict(c=0,b=1,a=0)),
S_Ac = dict(speed=0.4, acc=1))
#example of how to use variable length lists to make a "union"
moves = [dict(move_lin=[move1],move_ptp=[],move_arc=[]),
dict(move_lin=[move2],move_ptp=[],move_arc=[]),
dict(move_lin=[],move_ptp=[move3],move_arc=[]),
dict(move_lin=[],move_ptp=[],move_arc=[move4]),]
client.CMD_MOVE(moves)
client.shutdown()
except EOFError:
print "got EOF"
except Exception, e:
print "got Exception"
print e
traceback.print_exc()
class ROS_client(test_client):
#GBSPose p
......@@ -472,3 +391,45 @@ class ROS_client(test_client):
ans.err1 = GBS_ERROR
ans.err2 = GBS_ERROR
return ans
def add_services(self):
rospy.init_node('synch_gbs_server')
rospy.Service('gbs_circmove', GBSCircMove, self.handle_gbs_circmove)
rospy.Service('gbs_combmove', GBSCombMove, self.handle_gbs_combmove)
rospy.Service('gbs_linmove', GBSLinMove, self.handle_gbs_linmove)
rospy.Service('gbs_lockspindle', GBSLockSpindle, self.handle_gbs_lockspindle)
rospy.Service('gbs_locktool', GBSLockTool, self.handle_gbs_locktool)
rospy.Service('gbs_measuremove', GBSMeasureMove, self.handle_gbs_measuremove)
rospy.Service('gbs_naillinmove', GBSNailLinMove, self.handle_gbs_naillinmove)
rospy.Service('gbs_ptpmove', GBSPTPMove, self.handle_gbs_ptpmove)
rospy.Service('gbs_jointpose', GBSReadCurJointPose, self.handle_gbs_readcurjointpose)
rospy.Service('gbs_releasepanel', GBSReleasePanel, self.handle_gbs_releasepanel)
rospy.Service('gbs_runspindle', GBSRunSpindle, self.handle_gbs_runspindle)
rospy.Service('gbs_readsensor', GBSReadSensor, self.handle_gbs_readsensor)
rospy.Service('gbs_shakevacuum', GBSShakeVacuum, self.handle_gbs_shakevacuum)
rospy.Service('gbs_stopspindle', GBSStopSpindle, self.handle_gbs_stopspindle)
rospy.Service('gbs_switchvacuum', GBSSwitchVacuum, self.handle_gbs_switchvacuum)
rospy.Service('gbs_takepanel', GBSTakePanel, self.handle_gbs_takepanel)
rospy.Service('gbs_unlockspindle', GBSUnlockSpindle, self.handle_gbs_unlockspindle)
rospy.Service('gbs_unlocktool', GBSUnlockTool, self.handle_gbs_unlocktool)
print "Ready to receive GBS commands"
rospy.spin()
if __name__ == "__main__":
host = sys.argv[1] if len(sys.argv) >= 2 else socket.gethostname()
port = sys.argv[2] if len(sys.argv) >= 3 else 9876
version = sys.argv[3] if len(sys.argv) == 4 else "LabComm2014.v1"
client = ROS_client(host, port, version)
try:
client.connect()
client.add_services()
# client.shutdown()
except EOFError:
print "got EOF"
except Exception, e:
print "got Exception"
print e
traceback.print_exc()
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