config to ENV from config.ini
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30
dual_ursim_control/config.py
Normal file
30
dual_ursim_control/config.py
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@ -0,0 +1,30 @@
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import os
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class Config:
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MASTER_IP = os.environ.get("MASTER_IP")
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SLAVE_IP = os.environ.get("SLAVE_IP")
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MASTER_GRIPPER_WIDTH_OPENED = int(os.environ.get("MASTER_GRIPPER_WIDTH_OPENED"))
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MASTER_GRIPPER_WIDTH_CLOSED = int(os.environ.get("MASTER_GRIPPER_WIDTH_CLOSED"))
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SLAVE_GRIPPER_IP = os.environ.get("SLAVE_GRIPPER_IP")
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SLAVE_GRIPPER_WIDTH_OPENED = int(os.environ.get("SLAVE_GRIPPER_WIDTH_OPENED"))
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SLAVE_GRIPPER_WIDTH_CLOSED = int(os.environ.get("SLAVE_GRIPPER_WIDTH_CLOSED"))
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MASTER_ENABLE = os.environ.get("MASTER_ENABLE", 'False').lower() in ('true', '1', 't')
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SLAVE_ENABLE = os.environ.get("SLAVE_ENABLE", 'False').lower() in ('true', '1', 't')
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JOGGING_ENABLE = os.environ.get("JOGGING_ENABLE", 'False').lower() in ('true', '1', 't')
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# SLOW / FAST
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EXECUTION = os.environ.get("EXECUTION")
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L_SPEED_SLOW = float(os.environ.get("L_SPEED_SLOW"))
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L_SPEED_FAST = float(os.environ.get("L_SPEED_FAST"))
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L_ACC_SLOW = float(os.environ.get("L_ACC_SLOW"))
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L_ACC_FAST = float(os.environ.get("L_ACC_FAST"))
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J_SPEED_SLOW = float(os.environ.get("J_SPEED_SLOW"))
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J_SPEED_FAST = float(os.environ.get("J_SPEED_FAST"))
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J_ACC_SLOW = float(os.environ.get("J_ACC_SLOW"))
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J_ACC_FAST = float(os.environ.get("J_ACC_FAST"))
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@ -15,15 +15,12 @@ import logging
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import logging.config
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from xmlrpc.server import SimpleXMLRPCServer
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from configparser import ConfigParser
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from config import Config
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# from pynput.keyboard import Listener, Key
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SCRIPT_DIR = os.path.dirname(__file__)
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config_object = ConfigParser()
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config_object.read(os.path.join(SCRIPT_DIR, 'config.ini'))
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config = config_object['DEFAULT']
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# TODO: export these to json?
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# Config file name
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# CONFIG_FILE = 'path.xlsx'
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@ -258,54 +255,18 @@ def read_path_waypoints_from_file():
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return path_master, path_slave
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# def on_press(key):
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# try:
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# # logging.debug("Key pressed: {0}".format(key))
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#
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# if hasattr(key, 'char'):
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# if key.char == 'f':
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# jogging_wait['Master'] = True
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#
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# elif key.char == 'e':
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# jogging_wait['Slave'] = True
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#
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# except AttributeError:
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# logging.debug("Special key pressed: {0}".format(key))
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#
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#
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# def on_release(key):
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# try:
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# # logging.debug("Key released: {0}".format(key))
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#
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# if hasattr(key, 'char'):
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# if key.char == 'f':
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# jogging_wait['Master'] = False
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#
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# elif key.char == 'e':
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# jogging_wait['Slave'] = False
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#
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# except AttributeError:
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# logging.debug("Special key pressed: {0}".format(key))
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def master_jogging_wait():
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if config.getboolean('JOGGING_ENABLE'):
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if Config.JOGGING_ENABLE:
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logging.debug("Master-Fred: Press 'f' to continue")
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# while not jogging_wait['Master']:
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# pass
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# jogging_wait['Master'] = False
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jogging_event['Master'].clear()
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jogging_event['Master'].wait()
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def slave_jogging_wait():
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if config.getboolean('JOGGING_ENABLE'):
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if Config.JOGGING_ENABLE:
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logging.debug("Slave-Erik: Press 'e' to continue")
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# while not jogging_wait['Slave']:
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# pass
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# jogging_wait['Slave'] = False
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jogging_event['Slave'].clear()
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jogging_event['Slave'].wait()
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@ -318,7 +279,7 @@ def master_operate_gripper(target_width):
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return
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port = 30001
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host = config['MASTER_IP']
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host = Config.MASTER_IP
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tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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tcp_socket.connect((host, port))
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@ -486,10 +447,10 @@ def master_gripper_toggle(state='Open'):
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# This function accepts either 'Open' or 'Close'
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if state == 'Open':
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master_operate_gripper(config.getint('MASTER_GRIPPER_WIDTH_OPENED'))
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master_operate_gripper(Config.MASTER_GRIPPER_WIDTH_OPENED)
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elif state == 'Close':
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master_operate_gripper(config.getint('MASTER_GRIPPER_WIDTH_CLOSED'))
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master_operate_gripper(Config.MASTER_GRIPPER_WIDTH_CLOSED)
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else:
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logging.info('Invalid gripper option given')
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@ -498,15 +459,15 @@ def master_gripper_toggle(state='Open'):
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def master_connect():
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try:
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robot = rtde_control.RTDEControlInterface(config['MASTER_IP'])
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robot = rtde_control.RTDEControlInterface(Config.MASTER_IP)
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except:
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text = f"Cannot connect to robot at: {config['MASTER_IP']}"
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text = f"Cannot connect to robot at: {Config.MASTER_IP}"
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logging.info(text)
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exit(text)
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logging.info(f"Connected to robot at: {config['MASTER_IP']}")
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logging.info(f"Connected to robot at: {Config.MASTER_IP}")
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# robot.setPayload(1, (0, 0, 0.01))
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return robot
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@ -514,15 +475,15 @@ def master_connect():
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def slave_connect():
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try:
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robot = rtde_control.RTDEControlInterface(config['SLAVE_IP'])
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robot = rtde_control.RTDEControlInterface(Config.SLAVE_IP)
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except:
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text = f"Cannot connect to robot at: {config['SLAVE_IP']}"
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text = f"Cannot connect to robot at: {Config.SLAVE_IP}"
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logging.info(text)
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exit(text)
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logging.info(f"Connected to robot at: {config['SLAVE_IP']}")
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logging.info(f"Connected to robot at: {Config.SLAVE_IP}")
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# robot.setPayload(1, (0, 0, 0.01))
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return robot
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@ -544,13 +505,13 @@ def slave_gripper_toggle(state='Open'):
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logging.info(f'Slave RG2-FT gripper state: {state} ')
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# This function accepts either 'Open' or 'Close'
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ip = config['SLAVE_GRIPPER_IP']
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ip = Config.SLAVE_GRIPPER_IP
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if state == 'Open':
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width = config.getint('SLAVE_GRIPPER_WIDTH_OPENED')
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width = Config.SLAVE_GRIPPER_WIDTH_OPENED
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elif state == 'Close':
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width = config.getint('SLAVE_GRIPPER_WIDTH_CLOSED')
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width = Config.SLAVE_GRIPPER_WIDTH_CLOSED
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else:
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# log error
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logging.info('Invalid gripper option given')
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@ -567,7 +528,7 @@ def master_movel_time_based(pose, a=1, v=0.06, t=2):
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message = f"movel(p{pose}, a={a}, v={v}, t={t}, r=0)\n"
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logging.info(f'Time-based movel: {message}')
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.connect((config['MASTER_IP'], 30001))
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s.connect((Config.MASTER_IP, 30001))
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s.send(str.encode(message))
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s.close()
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@ -579,7 +540,7 @@ def slave_movel_time_based(pose, a=1, v=0.06, t=2):
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message = f"movel(p{pose}, a={a}, v={v}, t={t}, r=0)\n"
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logging.info(f'Time-based movel: {message}')
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.connect((config['SlAVE_IP'], 30001))
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s.connect((Config.SLAVE_IP, 30001))
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s.send(str.encode(message))
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s.close()
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@ -587,32 +548,6 @@ def slave_movel_time_based(pose, a=1, v=0.06, t=2):
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return
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# def move_marcell_sync_begin():
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#
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# message = "movel(p[0.116, -0.394, 0.0, 0.608, -1.48, 0.621], a=1, v=0.06, t=5, r=0)\n"
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# logging.debug(message)
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# s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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# s.connect((config['MASTER_IP'], 30001))
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#
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# s.send(str.encode(message))
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# s.close()
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# time.sleep(5)
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# return
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#
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# def move_marcell_snync_end():
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# message = "movel(p[0.066, -0.444, 0.0, 0.572, -1.49, 0.585], a=1, v=0.06, t=5, r=0)\n"
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#
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# logging.debug(message)
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# s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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# s.connect((config['MASTER_IP'], 30001))
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#
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# s.send(str.encode(message))
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# s.close()
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# time.sleep(5)
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#
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# return
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def master_thread(sync_event, path):
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logging.info(f'Starting master')
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@ -658,7 +593,7 @@ def master_thread(sync_event, path):
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robot.moveJ(path['CM4_J'], j_speed, j_acc)
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logging.info(f'CM4: M Sync Begin')
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if config.getboolean('SLAVE_ENABLE'):
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if Config.SLAVE_ENABLE:
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sync_event['Master'].set()
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logging.info('Signaling to slave')
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@ -684,7 +619,7 @@ def master_thread(sync_event, path):
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# robot = master_connect()
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# return
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if config.getboolean('SLAVE_ENABLE'):
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if Config.SLAVE_ENABLE:
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logging.debug('Waiting for slave')
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sync_event['Slave'].wait()
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@ -753,7 +688,7 @@ def slave_thread(sync_event, path):
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time.sleep(0.5)
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if config.getboolean('MASTER_ENABLE'):
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if Config.MASTER_ENABLE:
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logging.debug('Waiting for master')
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sync_event['Master'].wait()
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@ -766,7 +701,7 @@ def slave_thread(sync_event, path):
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# robot = slave_connect()
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logging.info(f'CS5: S Sync End')
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if config.getboolean('MASTER_ENABLE'):
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if Config.MASTER_ENABLE:
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sync_event['Slave'].set()
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logging.debug('Signaling to master')
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@ -800,7 +735,7 @@ def slave_thread(sync_event, path):
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robot.moveJ(path['CS3_J'], j_speed, j_acc)
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logging.info(f'CS3: S Start Oriented')
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if config.getboolean('MASTER_ENABLE'):
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if Config.MASTER_ENABLE:
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sync_event['Slave'].set()
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logging.debug('Signaling to master')
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@ -853,28 +788,27 @@ class ServerThread(threading.Thread):
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if __name__ == '__main__':
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logging.config.fileConfig(os.path.join(SCRIPT_DIR, 'log_config.ini'))
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if config['EXECUTION'] == 'SLOW':
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j_speed = config.getfloat('J_SPEED_SLOW')
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l_speed = config.getfloat('L_SPEED_SLOW')
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if Config.EXECUTION == 'SLOW':
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j_speed = Config.J_SPEED_SLOW
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l_speed = Config.L_SPEED_SLOW
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j_acc = config.getfloat('J_ACC_SLOW')
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l_acc = config.getfloat('L_ACC_SLOW')
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j_acc = Config.J_ACC_SLOW
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l_acc = Config.L_ACC_SLOW
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logging.info("Execution speed: slow")
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elif config['EXECUTION'] == 'FAST':
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j_speed = config.getfloat('J_SPEED_FAST')
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l_speed = config.getfloat('L_SPEED_FAST')
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elif Config.EXECUTION == 'FAST':
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j_speed = Config.J_SPEED_FAST
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l_speed = Config.L_SPEED_FAST
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j_acc = config.getfloat('J_ACC_FAST')
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l_acc = config.getfloat('L_ACC_FAST')
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j_acc = Config.J_ACC_FAST
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l_acc = Config.L_ACC_FAST
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logging.info("Execution speed: fast")
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if config.getboolean('JOGGING_ENABLE'):
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if Config.JOGGING_ENABLE:
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logging.info('Jogging enabled')
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# TODO: eliminate excel
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@ -894,25 +828,18 @@ if __name__ == '__main__':
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xmlrpcServer = ServerThread()
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xmlrpcServer.start()
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# listener = Listener(on_press=on_press, on_release=on_release)
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# listener.start()
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if config.getboolean('MASTER_ENABLE'):
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if Config.MASTER_ENABLE:
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master_thread = threading.Thread(name='MasterThread', target=master_thread, args=(sync_event, path_master))
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master_thread.start()
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if config.getboolean('SLAVE_ENABLE'):
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if Config.SLAVE_ENABLE:
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slave_thread = threading.Thread(name='SlaveThread', target=slave_thread, args=(sync_event, path_slave))
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slave_thread.start()
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if config.getboolean('MASTER_ENABLE'):
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if Config.MASTER_ENABLE:
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master_thread.join()
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if config.getboolean('SLAVE_ENABLE'):
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if Config.SLAVE_ENABLE:
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slave_thread.join()
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# listener.stop()
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# listener.join()
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logging.info("Done")
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# TODO: export from ursimulator: root@xu:/var/snap/docker/common/var-lib-docker/volumes/dockursim/_data/programs.UR3#
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