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dobot.py
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dobot.py
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import serial
import struct
import time
import threading
import warnings
from .message import Message
from .enums import PTPMode
from .enums.CommunicationProtocolIDs import CommunicationProtocolIDs
from .enums.ControlValues import ControlValues
class Dobot:
def __init__(self, port, verbose=False):
threading.Thread.__init__(self)
self._on = True
self.verbose = verbose
self.lock = threading.Lock()
self.ser = serial.Serial(port,
baudrate=115200,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS)
is_open = self.ser.isOpen()
if self.verbose:
print('pydobot: %s open' % self.ser.name if is_open else 'failed to open serial port')
self._set_queued_cmd_start_exec()
self._set_queued_cmd_clear()
self._set_ptp_joint_params(200, 200, 200, 200, 10, 200, 200, 200)
self._set_ptp_coordinate_params(velocity=200, acceleration=200)
self._set_ptp_jump_params(20.0000, 200.000) #SETS HEIGHT AND LIMIT PARAMETERS
self._set_ptp_common_params(velocity=100, acceleration=100)
self._get_pose()
"""
Gets the current command index
"""
def _get_queued_cmd_current_index(self):
msg = Message()
msg.id = CommunicationProtocolIDs.GET_QUEUED_CMD_CURRENT_INDEX
response = self._send_command(msg)
idx = struct.unpack_from('L', response.params, 0)[0]
return idx
"""
Gets the real-time pose of the Dobot
"""
def _get_pose(self):
msg = Message()
msg.id = CommunicationProtocolIDs.GET_POSE
response = self._send_command(msg)
self.x = struct.unpack_from('f', response.params, 0)[0]
self.y = struct.unpack_from('f', response.params, 4)[0]
self.z = struct.unpack_from('f', response.params, 8)[0]
self.r = struct.unpack_from('f', response.params, 12)[0]
self.j1 = struct.unpack_from('f', response.params, 16)[0]
self.j2 = struct.unpack_from('f', response.params, 20)[0]
self.j3 = struct.unpack_from('f', response.params, 24)[0]
self.j4 = struct.unpack_from('f', response.params, 28)[0]
if self.verbose:
print("pydobot: x:%03.1f \
y:%03.1f \
z:%03.1f \
r:%03.1f \
j1:%03.1f \
j2:%03.1f \
j3:%03.1f \
j4:%03.1f" %
(self.x, self.y, self.z, self.r, self.j1, self.j2, self.j3, self.j4))
return response
def _read_message(self):
time.sleep(0.1)
b = self.ser.read_all()
if len(b) > 0:
msg = Message(b)
if self.verbose:
print('pydobot: <<', msg)
return msg
return
def _send_command(self, msg, wait=False):
self.lock.acquire()
self._send_message(msg)
response = self._read_message()
self.lock.release()
if not wait:
return response
expected_idx = struct.unpack_from('L', response.params, 0)[0]
if self.verbose:
print('pydobot: waiting for command', expected_idx)
while True:
current_idx = self._get_queued_cmd_current_index()
if current_idx != expected_idx:
time.sleep(0.1)
continue
if self.verbose:
print('pydobot: command %d executed' % current_idx)
break
return response
def _send_message(self, msg):
time.sleep(0.1)
if self.verbose:
print('pydobot: >>', msg)
self.ser.write(msg.bytes())
"""
Executes the CP Command
"""
def _set_cp_cmd(self, x, y, z):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_CP_CMD
msg.ctrl = ControlValues.THREE
msg.params = bytearray(bytes([0x01]))
msg.params.extend(bytearray(struct.pack('f', x)))
msg.params.extend(bytearray(struct.pack('f', y)))
msg.params.extend(bytearray(struct.pack('f', z)))
msg.params.append(0x00)
return self._send_command(msg)
"""
Sets the status of the gripper
"""
def _set_end_effector_gripper(self, enable=False):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_END_EFFECTOR_GRIPPER
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray([0x01]))
if enable is True:
msg.params.extend(bytearray([0x01]))
else:
msg.params.extend(bytearray([0x00]))
return self._send_command(msg)
"""
"""
def _set_end_effector_suction_cup(self, enable=False):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_END_EFFECTOR_SUCTION_CUP
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray([0x01]))
if enable is True:
msg.params.extend(bytearray([0x01]))
else:
msg.params.extend(bytearray([0x00]))
return self._send_command(msg)
"""
Sets the velocity ratio and the acceleration ratio in PTP mode
"""
def _set_ptp_joint_params(self, v_x, v_y, v_z, v_r, a_x, a_y, a_z, a_r):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_PTP_JOINT_PARAMS
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray(struct.pack('f', v_x)))
msg.params.extend(bytearray(struct.pack('f', v_y)))
msg.params.extend(bytearray(struct.pack('f', v_z)))
msg.params.extend(bytearray(struct.pack('f', v_r)))
msg.params.extend(bytearray(struct.pack('f', a_x)))
msg.params.extend(bytearray(struct.pack('f', a_y)))
msg.params.extend(bytearray(struct.pack('f', a_z)))
msg.params.extend(bytearray(struct.pack('f', a_r)))
return self._send_command(msg)
"""
Sets the velocity and acceleration of the Cartesian coordinate axes in PTP mode
"""
def _set_ptp_coordinate_params(self, velocity, acceleration):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_PTP_COORDINATE_PARAMS
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray(struct.pack('f', velocity)))
msg.params.extend(bytearray(struct.pack('f', velocity)))
msg.params.extend(bytearray(struct.pack('f', acceleration)))
msg.params.extend(bytearray(struct.pack('f', acceleration)))
return self._send_command(msg)
"""
Sets the lifting height and the maximum lifting height in JUMP mode
"""
def _set_ptp_jump_params(self, jump, limit):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_PTP_JUMP_PARAMS
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray(struct.pack('f', jump)))
msg.params.extend(bytearray(struct.pack('f', limit)))
return self._send_command(msg)
"""
Sets the velocity ratio, acceleration ratio in PTP mode
"""
def _set_ptp_common_params(self, velocity, acceleration):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_PTP_COMMON_PARAMS
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray(struct.pack('f', velocity)))
msg.params.extend(bytearray(struct.pack('f', acceleration)))
return (self._send_command(msg)).params
"""
Get and Set the Arm Orientation of the dobot
Functions added by Shaik Abdullah
"""
def _get_arm_orientation(self):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_ARM_ORIENTATION
msg.ctrl = ControlValues.ZERO
return self._send_command(msg)
def _set_arm_orientation(self, orientation):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_ARM_ORIENTATION
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
if orientation is 'L':
msg.params.extend(bytearray([0x00]))
elif orientation is 'R':
msg.params.extend(bytearray([0x01]))
else:
print('Arm Orientation is defined as L or R')
return self._send_command(msg)
"""Clear all alarms, by SHAIK ABDULLAH"""
def _Clear_All_Alarm_States(self):
msg = Message()
msg.id = 20
msg.ctrl = 0x01
return self._send_command(msg)
"""
Executes PTP command
"""
def _set_ptp_cmd(self, x, y, z, r, mode, wait):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_PTP_CMD
msg.ctrl = ControlValues.THREE
msg.params = bytearray([])
msg.params.extend(bytearray([mode.value]))
msg.params.extend(bytearray(struct.pack('f', x)))
msg.params.extend(bytearray(struct.pack('f', y)))
msg.params.extend(bytearray(struct.pack('f', z)))
msg.params.extend(bytearray(struct.pack('f', r)))
return self._send_command(msg, wait)
"""
Clears command queue
"""
def _set_queued_cmd_clear(self):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_QUEUED_CMD_CLEAR
msg.ctrl = ControlValues.ONE
return self._send_command(msg)
"""
Start command
"""
def _set_queued_cmd_start_exec(self):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_QUEUED_CMD_START_EXEC
msg.ctrl = ControlValues.ONE
return self._send_command(msg)
"""
Wait command
"""
def _set_wait_cmd(self, ms):
msg = Message()
msg.id = 110
msg.ctrl = 0x03
msg.params = bytearray(struct.pack('I', ms))
return self._send_command(msg)
"""
Stop command
"""
def _set_queued_cmd_stop_exec(self):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_QUEUED_CMD_STOP_EXEC
msg.ctrl = ControlValues.ONE
return self._send_command(msg)
def _get_eio_level(self, address):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_EIO
msg.ctrl = ControlValues.ZERO
msg.params = bytearray([])
msg.params.extend(bytearray([address]))
return self._send_command(msg)
def _set_eio_level(self, address, level):
msg = Message()
msg.id = CommunicationProtocolIDs.SET_GET_EIO
msg.ctrl = ControlValues.ONE
msg.params = bytearray([])
msg.params.extend(bytearray([address]))
msg.params.extend(bytearray([level]))
return self._send_command(msg)
def get_eio(self, addr):
return self._get_eio_level(addr)
def set_eio(self, addr, val):
return self._set_eio_level(addr, val)
def close(self):
self._on = False
self.lock.acquire()
self.ser.close()
if self.verbose:
print('pydobot: %s closed' % self.ser.name)
self.lock.release()
def go(self, x, y, z, r=0.):
warnings.warn('go() is deprecated, use move_to() instead')
self.move_to(x, y, z, r)
def move_to(self, x, y, z, r, wait=False):
self._set_ptp_cmd(x, y, z, r, mode=PTPMode.MOVJ_XYZ, wait=wait)
#function added by SHAIK ABDULLAH
def move_to_jump(self, x, y, z, r, wait=False):
self._set_ptp_cmd(x, y, z, r, mode=PTPMode.JUMP_XYZ, wait=wait)
"""
def suck(self, enable):
self._set_end_effector_suction_cup(enable)
def grip(self, enable):
self._set_end_effector_gripper(enable)
"""
def suck(self, enable):
self._set_eio_level(17,enable)
def grip(self, enable):
self._set_eio_level(18,not enable)
#changed such and grip function, by Shaik Abdullah
def speed(self, velocity=100., acceleration=100.):
self._set_ptp_common_params(velocity, acceleration)
self._set_ptp_coordinate_params(velocity, acceleration)
def wait(self, ms):
self._set_wait_cmd(ms)
def pose(self):
response = self._get_pose()
x = struct.unpack_from('f', response.params, 0)[0]
y = struct.unpack_from('f', response.params, 4)[0]
z = struct.unpack_from('f', response.params, 8)[0]
r = struct.unpack_from('f', response.params, 12)[0]
j1 = struct.unpack_from('f', response.params, 16)[0]
j2 = struct.unpack_from('f', response.params, 20)[0]
j3 = struct.unpack_from('f', response.params, 24)[0]
j4 = struct.unpack_from('f', response.params, 28)[0]
return x, y, z, r, j1, j2, j3, j4