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Commit 884ce343 authored by Mathias Haage's avatar Mathias Haage

Support more gbs cmnds

parent d3d67b02
......@@ -82,7 +82,10 @@ def prettyprint(array):
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):
elif near(c0,2) and near(c1,3) and near(c2,1):
i = i + 3
print "noop"
elif near(c0,2) and near(c1,4) and near(c2,1):
i = i + 3
print "readlibrary"
elif near(c0,2) and near(c1,5) and near(c2,1):
......@@ -94,38 +97,38 @@ def prettyprint(array):
elif near(c0,2) and near(c1,7) and near(c2,1):
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
elif near(c0,17) and near(c1,8):
id = array.array[2+i]
bstop = array.array[3+i]
s = array.array[4+i]
ac = array.array[5+i]
x1 = array.array[6+i]
y1 = array.array[7+i]
z1 = array.array[8+i]
c1 = array.array[9+i]
b1 = array.array[10+i]
a1 = array.array[11+i]
x2 = array.array[12+i]
y2 = array.array[13+i]
z2 = array.array[14+i]
c2 = array.array[15+i]
b2 = array.array[16+i]
a2 = array.array[17+i]
i = i + 18
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):
elif near(c0,10) and near(c1,9):
id = array.array[2+i]
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 "measuremove id=%f j1=%f j2=%f j3=%f j4=%f j5=%f j6=%f s=%f ac=%f"%(id,j1,j2,j3,j4,j5,j6,s,ac)
elif near(c0,16) and near(c1,10) and near(c2,1):
xi = array.array[3+i]
yi = array.array[4+i]
zi = array.array[5+i]
......@@ -142,7 +145,7 @@ def prettyprint(array):
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):
elif near(c1,11) and near(c2,1):
i = i + 3
print "combmove"
while True:
......@@ -188,32 +191,32 @@ def prettyprint(array):
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):
elif near(c0,3) and near(c1,12) and near(c2,1):
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):
elif near(c0,2) and near(c1,13) and near(c2,1):
i = i + 3
print "stopspindle"
elif near(c0,2) and near(c1,1) and near(c2,14):
elif near(c0,2) and near(c1,14) and near(c2,1):
i = i + 3
print "lockspindle"
elif near(c0,2) and near(c1,1) and near(c2,15):
print "lockendeffector"
elif near(c0,2) and near(c1,15) and near(c2,1):
i = i + 3
print "unlockspindle"
elif near(c0,2) and near(c1,1) and near(c2,16):
print "unlockendeffector"
elif near(c0,2) and near(c1,16) and near(c2,1):
i = i + 3
print "getsensorvalues"
elif near(c0,2) and near(c1,1) and near(c2,17):
print "getmeasure"
elif near(c0,2) and near(c1,17) and near(c2,1):
i = i + 3
print "takepanel"
elif near(c0,2) and near(c1,1) and near(c2,18):
print "lockpanel"
elif near(c0,2) and near(c1,18) and near(c2,1):
i = i + 3
print "releasepanel"
elif near(c0,2) and near(c1,1) and near(c2,19):
print "unlockpanel"
elif near(c0,2) and near(c1,19) and near(c2,1):
i = i + 3
print "switchvacuum"
elif near(c0,2) and near(c1,1) and near(c2,20):
elif near(c0,2) and near(c1,20) and near(c2,1):
i = i + 3
print "shakevacuum"
else:
......@@ -223,12 +226,13 @@ def prettyprint(array):
def handle_gbs_circmove(req):
array = Array()
array.n = 17
array.array = [16,1,10, req.pi.pos.x,req.pi.pos.y,req.pi.pos.z, req.pi.ori.c,req.pi.ori.b,req.pi.ori.a, req.pf.pos.x,req.pf.pos.y,req.pf.pos.z, req.pf.ori.c,req.pf.ori.b,req.pf.ori.a, req.s, req.ac]
array.array = [16,10,1, req.pi.pos.x,req.pi.pos.y,req.pi.pos.z, req.pi.ori.c,req.pi.ori.b,req.pi.ori.a, req.pf.pos.x,req.pf.pos.y,req.pf.pos.z, req.pf.ori.c,req.pf.ori.b,req.pf.ori.a, req.s, req.ac]
prettyprint(array)
comm.sendArray(array)
ans = GBSCircMoveResponse()
ans.err1 = comm.receiveFloat()
comm.receiveFloat()
#ans.err1 = comm.receiveFloat()
#comm.receiveFloat()
ans.err1 = 0
ans.err2 = comm.receiveFloat()
comm.receiveFloat()
return ans
......@@ -236,14 +240,15 @@ def handle_gbs_circmove(req):
def handle_gbs_combmove(req):
array = Array()
array.n = 3 + req.n
array.array = [35,1,11] + [-1 for i in range(req.n + 1)]
array.array = [array.n-1,11,1] + [-1 for i in range(req.n + 1)]
for i in range(req.n):
array.array[3 + i] = req.array[i]
prettyprint(array)
comm.sendArray(array)
ans = GBSCombMoveResponse()
ans.err1 = comm.receiveFloat()
comm.receiveFloat()
#ans.err1 = comm.receiveFloat()
#comm.receiveFloat()
ans.err1 = 0
ans.err2 = comm.receiveFloat()
comm.receiveFloat()
return ans
......@@ -265,11 +270,11 @@ def handle_gbs_linmove(req):
def handle_gbs_lockspindle(req):
array = Array()
array.n = 3
array.array = [2,1,14]
array.array = [2,14,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSLockSpindleResponse()
ans.err = com.receiveFloat()
ans.err = comm.receiveFloat()
comm.receiveFloat()
return ans
......@@ -286,26 +291,28 @@ def handle_gbs_locktool(req):
def handle_gbs_measuremove(req):
array = Array()
array.n = 12
array.array = [11,1,8, req.id, req.p.pos.x,req.p.pos.y,req.p.pos.z, req.p.ori.c,req.p.ori.b,req.p.ori.a, req.s, req.ac]
array.n = 11
array.array = [10,9, req.id, req.p.pos.x,req.p.pos.y,req.p.pos.z, req.p.ori.c,req.p.ori.b,req.p.ori.a, req.s, req.ac]
prettyprint(array)
comm.sendArray()
comm.sendArray(array)
ans = GBSMeasureMoveResponse()
ans.err1 = comm.receiveFloat()
comm.receiveFloat()
#ans.err1 = comm.receiveFloat()
#comm.receiveFloat()
ans.err1 = 0
ans.err2 = comm.receiveFloat()
comm.receiveFloat()
return ans
def handle_gbs_naillinmove(req):
array = Array()
array.n = 19
array.array = [18,1,8, req.id, req.bstop, req.s, req.ac, req.p1.pos.x,req.p1.pos.y,req.p1.pos.z, req.p1.ori.c,req.p1.ori.b,req.p1.ori.a, req.p2.pos.x,req.p2.pos.y,req.p2.pos.z, req.p2.ori.c,req.p2.ori.b,req.p2.ori.a]
array.n = 18
array.array = [17,8, req.id, req.bstop, req.s, req.ac, req.p1.pos.x,req.p1.pos.y,req.p1.pos.z, req.p1.ori.c,req.p1.ori.b,req.p1.ori.a, req.p2.pos.x,req.p2.pos.y,req.p2.pos.z, req.p2.ori.c,req.p2.ori.b,req.p2.ori.a]
prettyprint(array)
comm.sendArray(array)
ans = GBSNailLinMoveResponse()
ans.err1 = comm.receiveFloat()
comm.receiveFloat()
#ans.err1 = comm.receiveFloat()
#comm.receiveFloat()
ans.err1 = 0
ans.err2 = comm.receiveFloat()
comm.receiveFloat()
return ans
......@@ -344,7 +351,7 @@ def handle_gbs_readcurjointpose(req):
def handle_gbs_releasepanel(req):
array = Array()
array.n = 3
array.array = [2,1,18]
array.array = [2,18,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSReleasePanelResponse()
......@@ -355,16 +362,18 @@ def handle_gbs_releasepanel(req):
def handle_gbs_runspindle(req):
array = Array()
array.n = 4
array.array = [3,1,12, req.rpm]
array.array = [3,12,1, req.rpm]
prettyprint(array)
comm.sendArray(array)
ans = GBSRunSpindleResponse()
err = comm.receiveFloat()
comm.receiveFloat()
return ans
def handle_gbs_readsensor(req):
array = Array()
array.n = 3
array.array = [2,1,16]
array.array = [2,16,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSReadSensorResponse()
......@@ -378,7 +387,7 @@ def handle_gbs_readsensor(req):
def handle_gbs_shakevacuum(req):
array = Array()
array.n = 3
array.array = [2,1,20]
array.array = [2,20,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSShakeVacuumResponse()
......@@ -389,7 +398,7 @@ def handle_gbs_shakevacuum(req):
def handle_gbs_stopspindle(req):
array = Array()
array.n = 3
array.array = [2,1,13]
array.array = [2,13,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSStopSpindleResponse()
......@@ -400,7 +409,7 @@ def handle_gbs_stopspindle(req):
def handle_gbs_switchvacuum(req):
array = Array()
array.n = 3
array.array = [2,1,19]
array.array = [2,19,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSSwitchVacuumResponse()
......@@ -411,7 +420,7 @@ def handle_gbs_switchvacuum(req):
def handle_gbs_takepanel(req):
array = Array()
array.n = 3
array.array = [2,1,17]
array.array = [2,17,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSTakePanelResponse()
......@@ -422,7 +431,7 @@ def handle_gbs_takepanel(req):
def handle_gbs_unlockspindle(req):
array = Array()
array.n = 3
array.array = [2,1,15]
array.array = [2,15,1]
prettyprint(array)
comm.sendArray(array)
ans = GBSUnlockSpindleResponse()
......
......@@ -231,19 +231,19 @@ def test():
print 'Current robot pose ['+str(ans.p.j1)+','+str(ans.p.j2)+','+str(ans.p.j3)+','+str(ans.p.j4)+','+str(ans.p.j5)+','+str(ans.p.j6)+']'
ans = locktool(gbs_locktool)
ans = unlocktool(gbs_unlocktool)
#ans = measuremove(gbs_measuremove, 111, 10, 11, 12, 35, 0, 0, 10, 6)
#ans = naillinmove(gbs_naillinmove, 1, 1, 3, 3, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
ans = measuremove(gbs_measuremove, 1, 0, 0, 0, 0, 5, 0, 1, 1)
ans = naillinmove(gbs_naillinmove, 1, 1, 1, 1, 0, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175), 2, 0, -0.6, math.radians(0), math.radians(0), math.radians(-175))
#ans = circmove(gbs_circmove, 0, 0, 0, 0, 0, 0, 100, 0, 0, 0, 0, 0, 10, 5)
#ans = combmove(gbs_combmove, (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))
#ans = runspindle(gbs_runspindle, 5000)
#ans = stopspindle(gbs_stopspindle)
#ans = lockspindle(gbs_lockspindle)
#ans = unlockspindle(gbs_unlockspindle)
ans = runspindle(gbs_runspindle, 5000)
ans = stopspindle(gbs_stopspindle)
ans = lockspindle(gbs_lockspindle)
ans = unlockspindle(gbs_unlockspindle)
#ans = getsensorvalues(gbs_readsensor)
#ans = takepanel(gbs_takepanel)
#ans = releasepanel(gbs_releasepanel)
#ans = switchvacuum(gbs_switchvacuum)
#ans = shakevacuum(gbs_shakevacuum)
ans = takepanel(gbs_takepanel)
ans = releasepanel(gbs_releasepanel)
ans = switchvacuum(gbs_switchvacuum)
ans = shakevacuum(gbs_shakevacuum)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
......
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