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ur_parser.go
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/
ur_parser.go
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package universalrobots
import (
"bytes"
"context"
"encoding/binary"
"fmt"
"io"
"time"
"github.com/pkg/errors"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/utils"
)
type robotModeData struct {
Timestamp uint64
IsRealRobotConnected bool
IsRealRobotEnabled bool
IsRobotPowerOn bool
IsEmergencyStopped bool
IsProtectiveStopped bool
IsProgramRunning bool
IsProgramPaused bool
RobotMode byte
ControlMode byte
TargetSpeedFraction float64
SpeedScaling float64
TargetSpeedFractionLimit float64
}
type jointData struct {
Qactual float64 // angle currently in radians
Qtarget float64 // angle target in radians
QDactual float64
Iactual float32
Vactual float32
Tmotor float32
Tmicro float32
JointMode byte
}
func (j jointData) degrees() float64 {
return utils.RadToDeg(j.Qactual)
}
type toolData struct {
AnalogInputRange0 byte
AnalogInputRange1 byte
AnalogInput0 float64
AnalogInput1 float64
ToolVoltage48V float32
ToolOutputVoltage byte
ToolCurrent float32
ToolTemperature float32
ToolMode byte
}
type masterboardData struct {
DigitalInputBits int32
DigitalOutputBits int32
AnalogInputRange0 byte
AnalogInputRange1 byte
AnalogInput0 float64
AnalogInput1 float64
AnalogOutputDomain0 byte
AnalogOutputDomain1 byte
AnalogOutput0 float64
AnalogOutput1 float64
MasterBoardTemperature float32
RobotVoltage48V float32
RobotCurrent float32
MasterIOCurrent float32
SafetyMode byte
InReducedMode byte
Euromap67InterfaceInstalled byte
NotUsed1 uint32
OperationalModeSelectorInput byte
ThreePositionEnablingDeviceInput byte
NotUsed2 byte
}
type cartesianInfo struct {
X float64
Y float64
Z float64
Rx float64
Ry float64
Rz float64
TCPOffsetX float64
TCPOffsetY float64
TCPOffsetZ float64
TCPOffsetRx float64
TCPOffsetRy float64
TCPOffsetRz float64
}
func (c cartesianInfo) SimpleString() string {
return fmt.Sprintf("x: %f | y: %f | z: %f | Rx: %f | Ry: %f | Rz : %f",
c.X, c.Y, c.Z, c.Rx, c.Ry, c.Rz)
}
func (c cartesianInfo) NondelimitedString() string {
return fmt.Sprintf("%f %f %f %f %f %f",
c.X, c.Y, c.Z, c.Rx, c.Ry, c.Rz)
}
type kinematicInfo struct {
Cheksum int32
DHtheta float64
DHa float64
Dhd float64
Dhalpha float64
}
type forceModeData struct {
Fx float64
Fy float64
Fz float64
Frx float64
Fry float64
Frz float64
RobotDexterity float64
}
// additionalInfo contains additional info from ur arm.
type additionalInfo struct {
TpButtonState byte
FreedriveButtonEnabled bool
IOEnabledFreedrive bool
Reserved byte
}
type robotState struct {
robotModeData
Joints []jointData
toolData
masterboardData
cartesianInfo
Kinematics []kinematicInfo
forceModeData
additionalInfo
creationTime time.Time
}
func readRobotStateMessage(ctx context.Context, buf []byte, logger logging.Logger) (robotState, error) {
state := robotState{
creationTime: time.Now(),
}
for len(buf) > 0 {
sz := binary.BigEndian.Uint32(buf)
packageType := buf[4]
content := buf[5:sz]
buf = buf[sz:]
buffer := bytes.NewBuffer(content)
switch packageType {
case 0:
if err := binary.Read(buffer, binary.BigEndian, &state.robotModeData); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 1:
for {
d := jointData{}
err := binary.Read(buffer, binary.BigEndian, &d)
if err != nil {
if errors.Is(err, io.EOF) {
break
}
return state, err
}
state.Joints = append(state.Joints, d)
}
case 2:
if err := binary.Read(buffer, binary.BigEndian, &state.toolData); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 3:
if err := binary.Read(buffer, binary.BigEndian, &state.masterboardData); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 4:
if err := binary.Read(buffer, binary.BigEndian, &state.cartesianInfo); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 5:
for buffer.Len() > 4 {
d := kinematicInfo{}
err := binary.Read(buffer, binary.BigEndian, &d)
if err != nil {
if errors.Is(err, io.EOF) {
break
}
return state, err
}
state.Kinematics = append(state.Kinematics, d)
}
case 6:
// Configuration data, skipping, don't think we need
case 7:
if err := binary.Read(buffer, binary.BigEndian, &state.forceModeData); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 8:
if err := binary.Read(buffer, binary.BigEndian, &state.additionalInfo); err != nil && !errors.Is(err, io.EOF) {
return state, err
}
case 9:
// Calibration data, skipping, don't think we need
case 10:
// Safety data, skipping, don't think we need
case 11:
// Tool communication info, skipping, don't think we need
case 12:
// Tool mode info, skipping, don't think we need
default:
logger.CDebugf(ctx, "unknown packageType: %d size: %d content size: %d\n", packageType, sz, len(content))
}
}
return state, nil
}
// return userErr, error.
func readURRobotMessage(ctx context.Context, buf []byte, logger logging.Logger) error {
ts := binary.BigEndian.Uint64(buf[1:])
// messageSource := buf[9]
robotMessageType := buf[10]
buf = buf[11:]
switch robotMessageType {
case 0: // text?
logger.CDebugf(ctx, "ur log: %s\n", string(buf))
case 6: // error
robotMessageCode := binary.BigEndian.Uint32(buf)
robotMessageArgument := binary.BigEndian.Uint32(buf[4:])
robotMessageReportLevel := binary.BigEndian.Uint32(buf[8:])
robotMessageDataType := binary.BigEndian.Uint32(buf[12:])
robotMessageData := binary.BigEndian.Uint32(buf[16:])
robotCommTextMessage := string(buf[20:])
logger.CDebugf(ctx, "robot error! code: C%dA%d reportLevel: %d, dataType: %d, data: %d, msg: %s\n",
robotMessageCode, robotMessageArgument, robotMessageReportLevel, robotMessageDataType, robotMessageData, robotCommTextMessage)
case 3: // Version
projectNameSize := buf[0]
// projectName := string(buf[12:12+projectNameSize])
pos := projectNameSize + 1
majorVersion := buf[pos]
minorVersion := buf[pos+1]
bugFixVersion := binary.BigEndian.Uint32(buf[pos+2:])
buildNumber := binary.BigEndian.Uint32(buf[pos+8:])
logger.CDebugf(ctx, "UR version %v.%v.%v.%v\n", majorVersion, minorVersion, bugFixVersion, buildNumber)
case 12: // i have no idea what this is
if len(buf) != 9 {
logger.CDebugf(ctx, "got a weird robot message of type 12 with bad length: %d\n", len(buf))
} else {
a := binary.BigEndian.Uint64(buf)
b := buf[8]
if a != 0 || b != 1 {
logger.CDebugf(ctx, "got a weird robot message of type 12 with bad data: %v %v\n", a, b)
}
}
case 7: // KeyMessage
robotMessageCode := binary.BigEndian.Uint32(buf)
robotMessageArgument := binary.BigEndian.Uint32(buf[4:])
robotMessageTitleSize := buf[8]
robotMessageTitle := string(buf[9 : 9+robotMessageTitleSize])
keyTextMessage := string(buf[9+robotMessageTitleSize:])
if false {
// TODO(erh): this is better than sleeping in other code, be smart!!
logger.CDebugf(ctx, "KeyMessage robotMessageCode: %d robotMessageArgument: %d robotMessageTitle: %s keyTextMessage: %s\n",
robotMessageCode, robotMessageArgument, robotMessageTitle, keyTextMessage)
}
case 10: // ROBOT_MESSAGE_TYPE_RUNTIME_EXCEPTION
scriptLineNumber := binary.BigEndian.Uint32(buf)
scriptColumnNumber := binary.BigEndian.Uint32(buf[4:])
msg := string(buf[9:])
runtimeErr := errors.Errorf("runtime error at line: %d col: %d msg: %s", scriptLineNumber, scriptColumnNumber, msg)
return runtimeErr
default:
logger.CDebugf(ctx, "unknown robotMessageType: %d ts: %v %v\n", robotMessageType, ts, buf)
return nil
}
return nil
}