dashboard.cpython-312.pyc•22 kB
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Python 3.x library to control an UR robot through its TCP/IP interfaces
Copyright (C) 2017 Martin Huus Bjerge, Rope Robotics ApS, Denmark
Permission is hereby granted, free of charge, to any person obtaining a copy of this software
and associated documentation files (the "Software"), to deal in the Software without restriction,
including without limitation the rights to use, copy, modify, merge, publish, distribute,
sublicense, and/or sell copies of the Software, and to permit persons to whom the Software
is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies
or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM,
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used
in advertising or otherwise to promote the sale, use or other dealings in this Software
without prior written authorization from "Rope Robotics ApS".
zMartin Huus Bjergez*Copyright 2017, Rope Robotics ApS, Denmarkz MIT License� Ng @c � � e Zd ZdZdZdZdZdZy)�ConnectionStater � � � � N)�__name__�
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A Universal Robot can be controlled from remote by sending simple commands to the
GUI over a TCP/IP socket. This interface is called the "DashBoard server".
The server is running on port 29999 on the robots IP address.
See more at: http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-port-29999-15690/
https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/
The constructor takes a UR robot hostname as input, and optional a logger object.
Input parameters:
host (string): hostname or IP of UR Robot (RT CLient server)
Example:
rob = URBasic.realTimeClient.RT_CLient('192.168.56.101')
self.close_rtc()
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Constructor see class description for more info.
r NT)�
isinstance�URBasic�
robotModel�
RobotModel�_DashBoard__robotModel� _DashBoard__reconnectTimeoutr r
�_DashBoard__conn_state� last_respond�_DashBoard__stop_event� threading�Thread�__init__� Condition�_DashBoard__dataEvent�Lock�_DashBoard__dataAccess�_DashBoard__sock�startr �wait_dbs)�selfr s r r" zDashBoard.__init__C s� � � � &���"#�� � +� 8� 8��� ��� ������!�!�$�'�$�.�.�0��� %�N�N� ,����� � �
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� � � � �� 9� 9� 9� �M�M�O� :r c �2 � | j d|z dz � y)z�
Load the specified program. Return when loading has completed.
Return value to Log file:
"Loading program: <program.urp>" OR "File not found: <program.urp>"
zload �
N��_DashBoard__send)r* �files r �ur_loadzDashBoard.ur_loadY s � �
� � �G�d�N�T�)�*r c �& � | j d� y)z�
Starts program, if any program is loaded and robot is ready. Return when the program execution has been started.
Return value to Log file:
"Starting program"
zplay
Nr- �r* s r �ur_playzDashBoard.ur_playb � � �
� � �H� r c �& � | j d� y)z�
Stops running program and returns when stopping is completed.
Return value to Log file:
"Stopped"
zstop
Nr- r2 s r �ur_stopzDashBoard.ur_stopk r4 r c �& � | j d� y)z�
Pauses the running program and returns when pausing is completed.
Return value to Log file:
"Pausing program"
zpause
Nr- r2 s r �ur_pausezDashBoard.ur_pauseu s � �
� � �I� r c �& � | j d� y)z�
Shuts down and turns off robot and controller.
Return value to Log file:
"Shutting down"
z shutdown
Nr- r2 s r � ur_shutdownzDashBoard.ur_shutdown � � �
� � �L�!r c �& � | j d� y)z�
Execution state enquiry.
Return value to Log file:
"Robot running: True" OR "Robot running: False"
zrunning
Nr- r2 s r �
ur_runningzDashBoard.ur_running� s � �
� � �K� r c �& � | j d� y)a)
Robot mode enquiry
Return value to Log file:
"Robotmode: <mode>", where <mode> is:
NO_CONTROLLER
DISCONNECTED
CONFIRM_SAFETY
BOOTING
POWER_OFF
POWER_ON
IDLE
BACKDRIVE
RUNNING
z
robotmode
Nr- r2 s r � ur_robotmodezDashBoard.ur_robotmode� s � �
� � �M�"r c �& � | j d� y)z�
Which program is loaded.
Return value to Log file:
"Program loaded: <path to loaded program file>" OR "No program loaded"
zget loaded program
Nr- r2 s r �ur_get_loaded_programz DashBoard.ur_get_loaded_program� � � �
� � �*�+r c �2 � | j d|z dz � y)z�
The popup-text will be translated to the selected language, if the text exists in the language file.
Return value to Log file:
"showing popup"
zpopup r, Nr- )r* � popupTexts r �ur_popupzDashBoard.ur_popup� s � �
� � �H�y�(�4�/�0r c �& � | j d� y)zf
Closes the popup.
Return value to Log file:
"closing popup"
z close popup
Nr- r2 s r �ur_close_popupzDashBoard.ur_close_popup� s � �
� � �O�$r c �2 � | j d|z dz � y)z�
Adds log-message to the Log history.
Return value to Log file:
"Added log message" Or "No log message to add"
z addToLog r, Nr- )r* �
logMessages r � ur_addToLogzDashBoard.ur_addToLog� s � �
� � �K�*�,�t�3�4r c �2 � | j d|z dz � y)z�
Simple control of user privileges: controls the available options on the Welcome screen.
Return value to Log file:
"Setting user role: <role>" OR "Failed setting user role: <role>"
� setUserRole r, Nr- )r* �roles r �ur_setUserRolezDashBoard.ur_setUserRole� s � �
� � �N�T�)�D�0�1r c �& � | j d� y)z�
Returns the save state of the active program.
Return value to Log file:
"True" OR "False"
zisProgramSaved
Nr- r2 s r �ur_isProgramSavedzDashBoard.ur_isProgramSaved� s � �
� � �&�'r c �& � | j d� y)z�
Returns the state of the active program, or STOPPED if no program is loaded.
Return value to Log file:
"STOPPED" if no program is running OR "PLAYING" if program is running
z
programState
Nr- r2 s r �ur_programStatezDashBoard.ur_programState� s � �
� � �$�%r c �& � | j d� y)z�
Returns the version of the Polyscope software.
Return value to Log file:
version number, like "3.0.15547"
zpolyscopeVersion
Nr- r2 s r �ur_polyscopeVersionz DashBoard.ur_polyscopeVersion� s � �
� � �(�)r c �J � | j d|z dz |z dz |z dz � y)a�
"setUserRole <role>, where <role> is"
programmer = "SETUP Robot" button is disabled, "Expert Mode" is available (if correct password is supplied)
operator = Only "RUN Program" and "SHUTDOWN Robot" buttons are enabled, "Expert Mode" cannot be activated
none ( or send setUserRole) = All buttons enabled, "Expert Mode" is available (if correct password is supplied)
locked = All buttons disabled and "Expert Mode" cannot be activated
Control of user privileges: controls the available options on the Welcome screen.
Note: If the Welcome screen is not active when the command is sent,
the user privileges defined by the new user role will not be effective
until the user switches to the Welcome screen.
Return value to Log file:
"Setting user role: <role>" OR "Failed setting user role: <role>"
rL z, where z isr, Nr- )r* rM �levels r �ur_setUserRole_wherez DashBoard.ur_setUserRole_where� s. � �
� � �N�D�(�:�5��<�u�D�u�L�d�R�Sr c �& � | j d� y)zk
Powers on the robot arm.
Return value to Log file:
"Powering on"
z power on
Nr- r2 s r � ur_power_onzDashBoard.ur_power_on� r; r c �& � | j d� y)zm
Powers off the robot arm.
Return value to Log file:
"Powering off"
z
power off
Nr- r2 s r � ur_power_offzDashBoard.ur_power_off s � �
� � �M�"r c �& � | j d� y)zs
Releases the brakes.
Return value to Log file:
"Brake releasing"
zbrake release
Nr- r2 s r �ur_brake_releasezDashBoard.ur_brake_release s � �
� � �%�&r c �$ � | j d� S )aK
Safety mode enquiry.
Return value to Log file:
"safety mode: <mode>", where <mode> is
NORMAL
REDUCED
PROTECTIVE_STOP
RECOVERY
SAFEGUARD_STOP
SYSTEM_EMERGENCY_STOP
ROBOT_EMERGENCY_STOP
VIOLATION
FAULT
z safetymode
r- r2 s r �
ur_safetymodezDashBoard.ur_safetymode s � �" �{�{�>�*�*r c �& � | j d� y)z�
Closes the current popup and unlocks protective stop.
Return value to Log file:
"Protective stop releasing"
zunlock protective stop
Nr- r2 s r �ur_unlock_protective_stopz#DashBoard.ur_unlock_protective_stop+ s � �
� � �.�/r c �& � | j d� y)zz
Closes a safety popup.
Return value to Log file:
"closing safety popup"
zclose safety popup
Nr- r2 s r �ur_close_safety_popupz DashBoard.ur_close_safety_popup4 rB r c �2 � | j d|z dz � y)z�
Loads the specified installation file.
Return value to Log file:
"Loading installation: <default.installation>" OR "File not found: <default.installation>"
zload installation r, Nr- )r* �instals r �ur_load_installationz DashBoard.ur_load_installation= s � �
� � �(�&�0�$�6�7r c �& � | j d� y)zO
Return serial number:
"serial number: XXXXXXX" OR ""
zget serial number
Nr- r2 s r �ur_serial_numberzDashBoard.ur_serial_numberF s � �
� � �)�*r c �& � | j d� y)z�
Returns the remote-control status of the robot.
If the robot is in remote control it returns false and
if remote control is disabled or robot is in local control it returns false.
zis in remote control
Nr- r2 s r �ur_is_remote_controlz DashBoard.ur_is_remote_controlN s � �
� � �,�-r c �& � | j d� y)z)
Returns the robot model
zget robot model
Nr- r2 s r �ur_get_robot_modelz DashBoard.ur_get_robot_modelW s � �
� � �'�(r c � � | j ryt j � }t j � |z
| j k �rC| j t j
k �r% t
j t j t j � | _ | j j t j t j d� | j j t j t j d� | j j t � | j j! | j" j$ df� t j
| _ t j& d� yy# t j( t j* f$ r
d| _ Y nw xY wt j � |z
| j k s�V| j t j
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Initialize DashBoard connection to host.
Return value:
success (boolean)
Tr i/u g �?NF)r' �timer r r r �socket�AF_INET� SOCK_STREAM�
setsockopt� IPPROTO_TCP� TCP_NODELAY�
SOL_SOCKET� SO_REUSEADDR�
settimeout�DEFAULT_TIMEOUT�connectr � ipAddress�sleep�timeout�error)r* �t0s r � __connectzDashBoard.__connectb sR � � �;�;��
�Y�Y�[���y�y�{�2�~�d� 5� 5�5�4�;L�;L��Oh�Oh�;h�
#� $�m�m�F�N�N�F�<N�<N� O�� �� � �&�&�v�'9�'9�6�;M�;M�q�Q�� � �&�&�v�'8�'8�&�:M�:M�q�Q�� � �&�&��7�� � �#�#�T�%6�%6�%@�%@�%�$H�I�$3�$=�$=��!��
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Close the DashBoard connection.
Example:
rob = URBasic.dashboard.DashBoard('192.168.56.101', rtde_conf_filename='rtde_configuration.xml', logger=logger)
rob.close_dbs()
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r r2 s r r� zDashBoard.close~ sR � � � � �� %� $�D� � �I�I�K� �;�;� �K�K� � � � �D�K� +� 8� 8���r c �< � | j t j k\ S )z=
Return True if Dash Board server is running
)r r r r2 s r �dbs_is_runningzDashBoard.dbs_is_running� s � � � � �O�$;�$;�;�;r c � � d| _ t j � }t j � |z
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k\ r t d� n t d� Y ��.w xY w# 1 sw Y y xY w)NFz UR Dashboard connection failed!z9UR Dashboard interface not able to connect and timed out!z&Dashboard server interface reconnectedz%Dashboard server reconnection failed!)r rn r r r r �_DashBoard__connect�print�
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Send command to Robot Controller.
Input parameters:
cmd (str)
Return value:
success (boolean)
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rn r �bytes�selectr' rx �len�sendallr) r� )r* �cmdr~ �buf�_�writables r �__sendzDashBoard.__send� s� � � �Y�Y�[���y�y�{�2�~�d� 5� 5�5�
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Receive the respond a send command from the Robot Controller.
Return value:
Output from Robot controller (type is depended on the input parameters)
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