docker compose for testing

XMLRPC client scripts added

Dockerfile

@@ -1,11 +1,14 @@
 FROM python:3.9
 
-ADD dual_ursim_control requirements.txt /dual_ursim_control/
-WORKDIR /dual_ursim_control/
-
+ADD requirements.txt requirements.txt
 RUN pip3 install -r requirements.txt
 
+ADD dual_ursim_control /dual_ursim_control/
+WORKDIR /dual_ursim_control/
+
 ARG RELEASE_ID
 ENV RELEASE_ID ${RELEASE_ID:-""}
 
+EXPOSE 8888/tcp
+
 CMD ["python3", "main.py"]

docker-compose.yml

@@ -0,0 +1,36 @@
+version: "3.9"
+services:
+  controller:
+    build: .
+    ports:
+      - "8888:8888"
+    environment:
+      - MASTER_IP=10.6.6.8
+      - SLAVE_IP=10.6.6.8
+      #BME lab Configuration
+      # Fred
+      #MASTER_IP=10.6.6.12
+      # Erik
+      #SLAVE_IP=10.6.6.10
+      # Master: RG2 Gripper
+      - MASTER_GRIPPER_WIDTH_OPENED=50
+      - MASTER_GRIPPER_WIDTH_CLOSED=28
+      # Slave: RG2FT Gripper
+      - SLAVE_GRIPPER_IP=10.6.6.11
+      - SLAVE_GRIPPER_WIDTH_OPENED=90
+      - SLAVE_GRIPPER_WIDTH_CLOSED=28
+      - MASTER_ENABLE=0
+      - SLAVE_ENABLE=0
+      - JOGGING_ENABLE=1
+      - EXECUTION=SLOW
+      #EXECUTION=FAST
+      #Used with moveL
+      - L_SPEED_SLOW=0.05
+      - L_SPEED_FAST=0.1
+      - L_ACC_SLOW=0.75
+      - L_ACC_FAST=0.75
+      #Used with moveJ
+      - J_SPEED_SLOW=1
+      - J_SPEED_FAST=1
+      - J_ACC_SLOW=4
+      - J_ACC_FAST=4

dual_ursim_control/config.py

@@ -0,0 +1,30 @@
+import os
+
+class Config:
+    MASTER_IP = os.environ.get("MASTER_IP")
+    SLAVE_IP = os.environ.get("SLAVE_IP")
+
+    MASTER_GRIPPER_WIDTH_OPENED = int(os.environ.get("MASTER_GRIPPER_WIDTH_OPENED"))
+    MASTER_GRIPPER_WIDTH_CLOSED = int(os.environ.get("MASTER_GRIPPER_WIDTH_CLOSED"))
+
+    SLAVE_GRIPPER_IP = os.environ.get("SLAVE_GRIPPER_IP")
+    SLAVE_GRIPPER_WIDTH_OPENED = int(os.environ.get("SLAVE_GRIPPER_WIDTH_OPENED"))
+    SLAVE_GRIPPER_WIDTH_CLOSED = int(os.environ.get("SLAVE_GRIPPER_WIDTH_CLOSED"))
+
+    MASTER_ENABLE = os.environ.get("MASTER_ENABLE", 'False').lower() in ('true', '1', 't')
+    SLAVE_ENABLE = os.environ.get("SLAVE_ENABLE", 'False').lower() in ('true', '1', 't')
+
+    JOGGING_ENABLE = os.environ.get("JOGGING_ENABLE", 'False').lower() in ('true', '1', 't')
+
+    # SLOW / FAST
+    EXECUTION = os.environ.get("EXECUTION")
+
+    L_SPEED_SLOW = float(os.environ.get("L_SPEED_SLOW"))
+    L_SPEED_FAST = float(os.environ.get("L_SPEED_FAST"))
+    L_ACC_SLOW = float(os.environ.get("L_ACC_SLOW"))
+    L_ACC_FAST = float(os.environ.get("L_ACC_FAST"))
+
+    J_SPEED_SLOW = float(os.environ.get("J_SPEED_SLOW"))
+    J_SPEED_FAST = float(os.environ.get("J_SPEED_FAST"))
+    J_ACC_SLOW = float(os.environ.get("J_ACC_SLOW"))
+    J_ACC_FAST = float(os.environ.get("J_ACC_FAST"))

dual_ursim_control/main.py

@@ -13,15 +13,14 @@ import openpyxl
 import json
 import logging
 import logging.config
+from xmlrpc.server import SimpleXMLRPCServer
 from configparser import ConfigParser
+from config import Config
+
 # from pynput.keyboard import Listener, Key
 
 SCRIPT_DIR = os.path.dirname(__file__)
 
-config_object = ConfigParser()
-config_object.read(os.path.join(SCRIPT_DIR, 'config.ini'))
-config = config_object['DEFAULT']
-
 # TODO: export these to json?
 # Config file name
 # CONFIG_FILE = 'path.xlsx'
@@ -38,7 +37,11 @@ j_acc = 0
 l_speed = 0
 l_acc = 0
 
-jogging_wait = {"Master": False, "Slave": False}
+# jogging_wait = {"Master": False, "Slave": False}
+jogging_event = {
+    'Master': threading.Event(),
+    'Slave': threading.Event()
+}
 
 path_master = {}
 path_slave = {}
@@ -252,50 +255,20 @@ def read_path_waypoints_from_file():
     return path_master, path_slave
 
 
-def on_press(key):
-    try:
-        # logging.debug("Key pressed: {0}".format(key))
-
-        if hasattr(key, 'char'):
-            if key.char == 'f':
-                jogging_wait['Master'] = True
-
-            elif key.char == 'e':
-                jogging_wait['Slave'] = True
-
-    except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
-
-
-def on_release(key):
-    try:
-        # logging.debug("Key released: {0}".format(key))
-
-        if hasattr(key, 'char'):
-            if key.char == 'f':
-                jogging_wait['Master'] = False
-
-            elif key.char == 'e':
-                jogging_wait['Slave'] = False
-
-    except AttributeError:
-        logging.debug("Special key pressed: {0}".format(key))
-
-
 def master_jogging_wait():
-    if config.getboolean('JOGGING_ENABLE'):
+    if Config.JOGGING_ENABLE:
         logging.debug("Master-Fred: Press 'f' to continue")
 
-        while not jogging_wait['Master']:
-            pass
+        jogging_event['Master'].clear()
+        jogging_event['Master'].wait()
 
 
 def slave_jogging_wait():
-    if config.getboolean('JOGGING_ENABLE'):
+    if Config.JOGGING_ENABLE:
         logging.debug("Slave-Erik: Press 'e' to continue")
 
-        while not jogging_wait['Slave']:
-            pass
+        jogging_event['Slave'].clear()
+        jogging_event['Slave'].wait()
 
 
 def master_operate_gripper(target_width):
@@ -306,7 +279,7 @@ def master_operate_gripper(target_width):
         return
 
     port = 30001
-    host = config['MASTER_IP']
+    host = Config.MASTER_IP
     tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     tcp_socket.connect((host, port))
 
@@ -474,10 +447,10 @@ def master_gripper_toggle(state='Open'):
     # This function accepts either 'Open' or 'Close'
 
     if state == 'Open':
-        master_operate_gripper(config.getint('MASTER_GRIPPER_WIDTH_OPENED'))
+        master_operate_gripper(Config.MASTER_GRIPPER_WIDTH_OPENED)
 
     elif state == 'Close':
-        master_operate_gripper(config.getint('MASTER_GRIPPER_WIDTH_CLOSED'))
+        master_operate_gripper(Config.MASTER_GRIPPER_WIDTH_CLOSED)
 
     else:
         logging.info('Invalid gripper option given')
@@ -486,15 +459,15 @@ def master_gripper_toggle(state='Open'):
 
 def master_connect():
     try:
-        robot = rtde_control.RTDEControlInterface(config['MASTER_IP'])
+        robot = rtde_control.RTDEControlInterface(Config.MASTER_IP)
 
     except:
-        text = f"Cannot connect to robot at: {config['MASTER_IP']}"
+        text = f"Cannot connect to robot at: {Config.MASTER_IP}"
 
         logging.info(text)
         exit(text)
 
-    logging.info(f"Connected to robot at: {config['MASTER_IP']}")
+    logging.info(f"Connected to robot at: {Config.MASTER_IP}")
 
     # robot.setPayload(1, (0, 0, 0.01))
     return robot
@@ -502,15 +475,15 @@ def master_connect():
 
 def slave_connect():
     try:
-        robot = rtde_control.RTDEControlInterface(config['SLAVE_IP'])
+        robot = rtde_control.RTDEControlInterface(Config.SLAVE_IP)
 
     except:
-        text = f"Cannot connect to robot at: {config['SLAVE_IP']}"
+        text = f"Cannot connect to robot at: {Config.SLAVE_IP}"
 
         logging.info(text)
         exit(text)
 
-    logging.info(f"Connected to robot at: {config['SLAVE_IP']}")
+    logging.info(f"Connected to robot at: {Config.SLAVE_IP}")
 
     # robot.setPayload(1, (0, 0, 0.01))
     return robot
@@ -532,13 +505,13 @@ def slave_gripper_toggle(state='Open'):
     logging.info(f'Slave RG2-FT gripper state: {state} ')
     # This function accepts either 'Open' or 'Close'
 
-    ip = config['SLAVE_GRIPPER_IP']
+    ip = Config.SLAVE_GRIPPER_IP
 
     if state == 'Open':
-        width = config.getint('SLAVE_GRIPPER_WIDTH_OPENED')
+        width = Config.SLAVE_GRIPPER_WIDTH_OPENED
 
     elif state == 'Close':
-        width = config.getint('SLAVE_GRIPPER_WIDTH_CLOSED')
+        width = Config.SLAVE_GRIPPER_WIDTH_CLOSED
     else:
         # log error
         logging.info('Invalid gripper option given')
@@ -555,7 +528,7 @@ def master_movel_time_based(pose, a=1, v=0.06, t=2):
     message = f"movel(p{pose}, a={a}, v={v}, t={t}, r=0)\n"
     logging.info(f'Time-based movel: {message}')
     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    s.connect((config['MASTER_IP'], 30001))
+    s.connect((Config.MASTER_IP, 30001))
 
     s.send(str.encode(message))
     s.close()
@@ -567,7 +540,7 @@ def slave_movel_time_based(pose, a=1, v=0.06, t=2):
     message = f"movel(p{pose}, a={a}, v={v}, t={t}, r=0)\n"
     logging.info(f'Time-based movel: {message}')
     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    s.connect((config['SlAVE_IP'], 30001))
+    s.connect((Config.SLAVE_IP, 30001))
 
     s.send(str.encode(message))
     s.close()
@@ -575,32 +548,6 @@ def slave_movel_time_based(pose, a=1, v=0.06, t=2):
     return
 
 
-# def move_marcell_sync_begin():
-#
-#     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"
-#     logging.debug(message)
-#     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-#     s.connect((config['MASTER_IP'], 30001))
-#
-#     s.send(str.encode(message))
-#     s.close()
-#     time.sleep(5)
-#     return
-#
-# def move_marcell_snync_end():
-#     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"
-#
-#     logging.debug(message)
-#     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-#     s.connect((config['MASTER_IP'], 30001))
-#
-#     s.send(str.encode(message))
-#     s.close()
-#     time.sleep(5)
-#
-#     return
-
-
 def master_thread(sync_event, path):
     logging.info(f'Starting master')
 
@@ -646,7 +593,7 @@ def master_thread(sync_event, path):
     robot.moveJ(path['CM4_J'], j_speed, j_acc)
     logging.info(f'CM4: M Sync Begin')
 
-    if config.getboolean('SLAVE_ENABLE'):
+    if Config.SLAVE_ENABLE:
         sync_event['Master'].set()
         logging.info('Signaling to slave')
 
@@ -672,7 +619,7 @@ def master_thread(sync_event, path):
     # robot = master_connect()
     # return
 
-    if config.getboolean('SLAVE_ENABLE'):
+    if Config.SLAVE_ENABLE:
         logging.debug('Waiting for slave')
 
         sync_event['Slave'].wait()
@@ -741,7 +688,7 @@ def slave_thread(sync_event, path):
 
     time.sleep(0.5)
 
-    if config.getboolean('MASTER_ENABLE'):
+    if Config.MASTER_ENABLE:
         logging.debug('Waiting for master')
 
         sync_event['Master'].wait()
@@ -754,7 +701,7 @@ def slave_thread(sync_event, path):
     # robot = slave_connect()
     logging.info(f'CS5: S Sync End')
 
-    if config.getboolean('MASTER_ENABLE'):
+    if Config.MASTER_ENABLE:
         sync_event['Slave'].set()
         logging.debug('Signaling to master')
 
@@ -788,7 +735,7 @@ def slave_thread(sync_event, path):
     robot.moveJ(path['CS3_J'], j_speed, j_acc)
     logging.info(f'CS3: S Start Oriented')
 
-    if config.getboolean('MASTER_ENABLE'):
+    if Config.MASTER_ENABLE:
         sync_event['Slave'].set()
         logging.debug('Signaling to master')
 
@@ -817,29 +764,51 @@ def slave_thread(sync_event, path):
     logging.info('Done')
 
 
-if __name__ == '__main__':
+class RemoteFuncs:
+    def signalMaster(self):
+        # jogging_wait['Master'] = True
+        jogging_event['Master'].set()
+        return 0
 
+    def signalSlave(self):
+        # jogging_wait['Slave'] = True
+        jogging_event['Slave'].set()
+        return 0
+
+
+class ServerThread(threading.Thread):
+    def __init__(self):
+        threading.Thread.__init__(self)
+        self.daemon = True
+        self.localServer = SimpleXMLRPCServer(('0.0.0.0', 8888))
+        self.localServer.register_instance(RemoteFuncs())
+
+    def run(self):
+        self.localServer.serve_forever()
+
+
+if __name__ == '__main__':
     logging.config.fileConfig(os.path.join(SCRIPT_DIR, 'log_config.ini'))
 
-    if config['EXECUTION'] == 'SLOW':
-        j_speed = config.getfloat('J_SPEED_SLOW')
-        l_speed = config.getfloat('L_SPEED_SLOW')
+    if Config.EXECUTION == 'SLOW':
+        j_speed = Config.J_SPEED_SLOW
+        l_speed = Config.L_SPEED_SLOW
 
-        j_acc = config.getfloat('J_ACC_SLOW')
-        l_acc = config.getfloat('L_ACC_SLOW')
+        j_acc = Config.J_ACC_SLOW
+        l_acc = Config.L_ACC_SLOW
 
         logging.info("Execution speed: slow")
 
-    elif config['EXECUTION'] == 'FAST':
-        j_speed = config.getfloat('J_SPEED_FAST')
-        l_speed = config.getfloat('L_SPEED_FAST')
+    elif Config.EXECUTION == 'FAST':
+        j_speed = Config.J_SPEED_FAST
+        l_speed = Config.L_SPEED_FAST
 
-        j_acc = config.getfloat('J_ACC_FAST')
-        l_acc = config.getfloat('L_ACC_FAST')
+        j_acc = Config.J_ACC_FAST
+        l_acc = Config.L_ACC_FAST
 
         logging.info("Execution speed: fast")
 
-    if config.getboolean('JOGGING_ENABLE'):
+    if Config.JOGGING_ENABLE:
         logging.info('Jogging enabled')
 
     # TODO: eliminate excel
@@ -855,28 +824,22 @@ if __name__ == '__main__':
         'Slave': threading.Event()
     }
 
-    logging.info('Starting keyboard listener')
+    logging.info('Spawning XMLRPC listener thread')
+    xmlrpcServer = ServerThread()
+    xmlrpcServer.start()
 
-    #listener = Listener(on_press=on_press, on_release=on_release)
-    #listener.start()
-
-    if config.getboolean('MASTER_ENABLE'):
+    if Config.MASTER_ENABLE:
         master_thread = threading.Thread(name='MasterThread', target=master_thread, args=(sync_event, path_master))
         master_thread.start()
 
-    if config.getboolean('SLAVE_ENABLE'):
+    if Config.SLAVE_ENABLE:
         slave_thread = threading.Thread(name='SlaveThread', target=slave_thread, args=(sync_event, path_slave))
         slave_thread.start()
 
-    if config.getboolean('MASTER_ENABLE'):
+    if Config.MASTER_ENABLE:
         master_thread.join()
 
-    if config.getboolean('SLAVE_ENABLE'):
+    if Config.SLAVE_ENABLE:
         slave_thread.join()
 
-    #listener.stop()
-    #listener.join()
     logging.info("Done")
-
-# TODO: export from ursimulator: root@xu:/var/snap/docker/common/var-lib-docker/volumes/dockursim/_data/programs.UR3#
-

signalMaster.py

@@ -0,0 +1,8 @@
+import xmlrpc.client
+
+if __name__ == '__main__':
+    IP = '127.0.0.1'
+    PORT = '8888'
+
+    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
+    print(s.signalMaster())

signalSlave.py

@@ -0,0 +1,8 @@
+import xmlrpc.client
+
+if __name__ == '__main__':
+    IP = '127.0.0.1'
+    PORT = '8888'
+
+    s = xmlrpc.client.ServerProxy("http://{0}:{1}".format(IP, PORT))
+    print(s.signalSlave())