Commit 3e95cb36 authored by Mathias Haage's avatar Mathias Haage

Support full GBS

parent b929e625
......@@ -47,9 +47,7 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files(
FILES
GBSCmd.msg
GBSCmdArray.msg
GBSAck.msg
GBSAckArray.msg
)
......
int32[200] n
GBSAck[200] ack1
GBSAck[200] ack2
int32 n
float32[1000] array
int32 n
GBSCmd[200] cmd
float32[1000] array
......@@ -7,24 +7,171 @@ def near(t, n):
return n-0.01 < t and t < n+0.01
def prettyprint(array):
for i in range(array.n):
c0 = array.cmd[i].array[0]
c1 = array.cmd[i].array[1]
c2 = array.cmd[i].array[2]
i = 0
while i < array.n:
c0 = array.array[0+i]
c1 = array.array[1+i]
c2 = array.array[2+i]
if near(c0,10) and near(c1,1) and near(c2,1):
x = array.cmd[i].array[3]
y = array.cmd[i].array[4]
z = array.cmd[i].array[5]
a = array.cmd[i].array[6]
b = array.cmd[i].array[7]
c = array.cmd[i].array[8]
s = array.cmd[i].array[9]
ac = array.cmd[i].array[10]
print "linmove x=%f y=%f z=%f a=%f b=%f c=%f s=%f ac=%f"%(x,y,z,a,b,c,s,ac)
x = array.array[3+i]
y = array.array[4+i]
z = array.array[5+i]
c = array.array[6+i]
b = array.array[7+i]
a = array.array[8+i]
s = array.array[9+i]
ac = array.array[10+i]
i = i + 11
print "linmove x=%f y=%f z=%f c=%f b=%f a=%f s=%f ac=%f"%(x,y,z,c,b,a,s,ac)
elif near(c0,10) and near(c1,1) and near(c2,2):
j1 = array.array[3+i]
j2 = array.array[4+i]
j3 = array.array[5+i]
j4 = array.array[6+i]
j5 = array.array[7+i]
j6 = array.array[8+i]
s = array.array[9+i]
ac = array.array[10+i]
i = i + 11
print "ptpmove j1=%f j2=%f j3=%f j4=%f j5=%f j6=%f s=%f ac=%f"%(j1,j2,j3,j4,j5,j6,s,ac)
elif near(c0,2) and near(c1,1) and near(c2,4):
i = i + 3
print "readlibrary"
elif near(c0,2) and near(c1,1) and near(c2,5):
i = i + 3
print "readcurrentrobotpos"
elif near(c0,2) and near(c1,1) and near(c2,6):
i = i + 3
print "locktool"
elif near(c0,2) and near(c1,1) and near(c2,7):
i = i + 3
print "unlocktool"
elif near(c0,18) and near(c1,1) and near(c2,8):
id = array.array[3+i]
bstop = array.array[4+i]
s = array.array[5+i]
ac = array.array[6+i]
x1 = array.array[7+i]
y1 = array.array[8+i]
z1 = array.array[9+i]
c1 = array.array[10+i]
b1 = array.array[11+i]
a1 = array.array[12+i]
x2 = array.array[13+i]
y2 = array.array[14+i]
z2 = array.array[15+i]
c2 = array.array[16+i]
b2 = array.array[17+i]
a2 = array.array[18+i]
i = i + 19
print "naillinmove id=%f bstop=%f s=%f ac=%f x1=%f y1=%f z1=%f c1=%f b1=%f a1=%f x2=%f y2=%f z2=%f c2=%f b2=%f a2=%f"%(id,bstop,s,ac,x1,y1,z1,c1,b1,a1,x2,y2,z2,c2,b2,a2)
elif near(c0,11) and near(c1,1) and near(c2,8):
id = array.array[3+i]
x = array.array[4+i]
y = array.array[5+i]
z = array.array[6+i]
c = array.array[7+i]
b = array.array[8+i]
a = array.array[9+i]
s = array.array[10+i]
ac = array.array[11+i]
i = i + 12
print "measuremove id=%f x=%f y=%f z=%f c=%f b=%f a=%f s=%f ac=%f"%(id,x,y,z,c,b,a,s,ac)
elif near(c0,16) and near(c1,1) and near(c2,10):
xi = array.array[3+i]
yi = array.array[4+i]
zi = array.array[5+i]
ci = array.array[6+i]
bi = array.array[7+i]
ai = array.array[8+i]
xf = array.array[9+i]
yf = array.array[10+i]
zf = array.array[11+i]
cf = array.array[12+i]
bf = array.array[13+i]
af = array.array[14+i]
s = array.array[15+i]
ac = array.array[16+i]
i = i + 17
print "circmove xi=%f yi=%f zi=%f ci=%f bi=%f ai=%f xf=%f yf=%f zf=%f cf=%f bf=%f af=%f s=%f ac=%f"%(xi,yi,zi,ci,bi,ai,xf,yf,zf,cf,bf,af,s,ac)
elif near(c0,35) and near(c1,1) and near(c2,11):
i = i + 3
print "combmove"
while True:
cc0 = array.array[i]
if near(cc0, 1):
x = array.array[1+i]
y = array.array[2+i]
z = array.array[3+i]
c = array.array[4+i]
b = array.array[5+i]
a = array.array[6+i]
s = array.array[7+i]
ac = array.array[8+i]
i = i + 9
print " linmove x=%f y=%f z=%f c=%f b=%f a=%f s=%f ac=%f"%(x,y,z,c,b,a,s,ac)
elif near(cc0, 10):
xi = array.array[1+i]
yi = array.array[2+i]
zi = array.array[3+i]
ci = array.array[4+i]
bi = array.array[5+i]
ai = array.array[6+i]
xf = array.array[7+i]
yf = array.array[8+i]
zf = array.array[9+i]
cf = array.array[10+i]
bf = array.array[11+i]
af = array.array[12+i]
s = array.array[13+i]
ac = array.array[14+i]
i = i + 15
print " circmove xi=%f yi=%f zi=%f ci=%f bi=%f ai=%f xf=%f yf=%f zf=%f cf=%f bf=%f af=%f s=%f ac=%f"%(xi,yi,zi,ci,bi,ai,xf,yf,zf,cf,bf,af,s,ac)
elif near(cc0, 2):
j1 = array.array[1+i]
j2 = array.array[2+i]
j3 = array.array[3+i]
j4 = array.array[4+i]
j5 = array.array[5+i]
j6 = array.array[6+i]
s = array.array[7+i]
ac = array.array[8+i]
i = i + 9
print " ptpmove j1=%f j2=%f j3=%f j4=%f j5=%f j6=%f s=%f ac=%f"%(j1,j2,j3,j4,j5,j6,s,ac)
else:
break
elif near(c0,3) and near(c1,1) and near(c2,12):
rpm = array.array[3+i]
i = i + 4
print "runspindle rpm=%f"%(rpm)
elif near(c0,2) and near(c1,1) and near(c2,13):
i = i + 3
print "stopspindle"
elif near(c0,2) and near(c1,1) and near(c2,14):
i = i + 3
print "lockspindle"
elif near(c0,2) and near(c1,1) and near(c2,15):
i = i + 3
print "unlockspindle"
elif near(c0,2) and near(c1,1) and near(c2,16):
i = i + 3
print "getsensorvalues"
elif near(c0,2) and near(c1,1) and near(c2,17):
i = i + 3
print "takepanel"
elif near(c0,2) and near(c1,1) and near(c2,18):
i = i + 3
print "releasepanel"
elif near(c0,2) and near(c1,1) and near(c2,19):
i = i + 3
print "switchvacuum"
elif near(c0,2) and near(c1,1) and near(c2,20):
i = i + 3
print "shakevacuum"
else:
print "Unknown GBS command %f %f %f"%(c0,c1,c2)
return
def handle_post_gbs_cmdarray(req):
print "Received an GBS array"
......
......@@ -5,27 +5,225 @@ import rospy
from gbs.msg import *
from gbs.srv import *
def linmove(cmd, x, y, z, a, b, c, s, ac):
cmd.array[0] = 10;
cmd.array[1] = 1;
cmd.array[2] = 1;
cmd.array[3] = x;
cmd.array[4] = y;
cmd.array[5] = z;
cmd.array[6] = a;
cmd.array[7] = b;
cmd.array[8] = c;
cmd.array[9] = s;
cmd.array[10] = ac;
def linmove(array, x, y, z, c, b, a, s, ac):
i = array.n
array.array[0+i] = 10
array.array[1+i] = 1
array.array[2+i] = 1
array.array[3+i] = x
array.array[4+i] = y
array.array[5+i] = z
array.array[6+i] = c
array.array[7+i] = b
array.array[8+i] = a
array.array[9+i] = s
array.array[10+i] = ac
array.n = i + 11
def ptpmove(array, j1, j2, j3, j4, j5, j6, s, ac):
i = array.n
array.array[0+i] = 10
array.array[1+i] = 1
array.array[2+i] = 2
array.array[3+i] = j1
array.array[4+i] = j2
array.array[5+i] = j3
array.array[6+i] = j4
array.array[7+i] = j5
array.array[8+i] = j6
array.array[9+i] = s
array.array[10+i] = ac
array.n = i + 11
def readlibrary(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 4
array.n = i + 3
def readcurrentrobotpos(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 5
array.n = i + 3
def locktool(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 6
array.n = i + 3
def unlocktool(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 7
array.n = i + 3
def naillinmove(array, id, bstop, s, ac, x1, y1, z1, c1, b1, a1, x2, y2, z2, c2, b2, a2):
i = array.n
array.array[0+i] = 18
array.array[1+i] = 1
array.array[2+i] = 8
array.array[3+i] = id
array.array[4+i] = bstop
array.array[5+i] = s
array.array[6+i] = ac
array.array[7+i] = x1
array.array[8+i] = y1
array.array[9+i] = z1
array.array[10+i] = c1
array.array[11+i] = b1
array.array[12+i] = a1
array.array[13+i] = x2
array.array[14+i] = y2
array.array[15+i] = z2
array.array[16+i] = c2
array.array[17+i] = b2
array.array[18+i] = a2
array.n = i + 19
def measuremove(array, id, x, y, z, c, b, a, s, ac):
i = array.n
array.array[0+i] = 11
array.array[1+i] = 1
array.array[2+i] = 8
array.array[3+i] = id
array.array[4+i] = x
array.array[5+i] = y
array.array[6+i] = z
array.array[7+i] = c
array.array[8+i] = b
array.array[9+i] = a
array.array[10+i] = s
array.array[11+i] = ac
array.n = i + 12
def circmove(array, xi, yi, zi, ci, bi, ai, xf, yf, zf, cf, bf, af, s, ac):
i = array.n
array.array[0+i] = 16
array.array[1+i] = 1
array.array[2+i] = 10
array.array[3+i] = xi
array.array[4+i] = yi
array.array[5+i] = zi
array.array[6+i] = ci
array.array[7+i] = bi
array.array[8+i] = ai
array.array[9+i] = xf
array.array[10+i] = yf
array.array[11+i] = zf
array.array[12+i] = cf
array.array[13+i] = bf
array.array[14+i] = af
array.array[15+i] = s
array.array[16+i] = ac
array.n = i + 17
def combmove(array, cmdarray):
i = array.n
array.array[0+i] = 35
array.array[1+i] = 1
array.array[2+i] = 11
for j in range(len(cmdarray)):
array.array[3+i+j] = cmdarray[j]
array.n = i + 3 + len(cmdarray)
def runspindle(array, rpm):
i = array.n
array.array[0+i] = 3
array.array[1+i] = 1
array.array[2+i] = 12
array.array[3+i] = rpm
array.n = i + 4
def stopspindle(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 13
array.n = i + 3
def lockspindle(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 14
array.n = i + 3
def unlockspindle(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 15
array.n = i + 3
def getsensorvalues(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 16
array.n = i + 3
def takepanel(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 17
array.n = i + 3
def releasepanel(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 18
array.n = i + 3
def switchvacuum(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 19
array.n = i + 3
def shakevacuum(array):
i = array.n
array.array[0+i] = 2
array.array[1+i] = 1
array.array[2+i] = 20
array.n = i + 3
def post_gbs_cmdarray_client():
rospy.wait_for_service('post_gbs_cmdarray')
try:
post_gbs_cmdarray = rospy.ServiceProxy('post_gbs_cmdarray', PostGBSCmdArray)
array = GBSCmdArray()
array.n = 2
linmove(array.cmd[0], 10, 11, 12, 35, 0, 0, 10, 5)
linmove(array.cmd[1], 10, 11, 12, 35, 0, 0, 10, 6)
array.n = 0
linmove(array, 10, 11, 12, 35, 0, 0, 10, 5)
linmove(array, 10, 11, 12, 35, 0, 0, 10, 6)
ptpmove(array, 1, 2, 3, 4, 5, 6, 10, 6)
readlibrary(array)
readcurrentrobotpos(array)
locktool(array)
unlocktool(array)
naillinmove(array, 1, 1, 3, 3, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
measuremove(array, 2, 1, 2, 3, 4, 5, 6, 10, 5)
circmove(array, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5)
combmove(array, (1, 0,0,0,0,0,0,10,5, 10, 100,0,0,35,0,0,15,25,35,1,2,3,10,5, 2, 1,2,3,4,5,6,10,5))
runspindle(array, 5000)
stopspindle(array)
lockspindle(array)
unlockspindle(array)
getsensorvalues(array)
takepanel(array)
releasepanel(array)
switchvacuum(array)
shakevacuum(array)
array.array[array.n] = -1
resp = post_gbs_cmdarray(array)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
......
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