implement osc rtde output

requirements.txt

@@ -1,3 +1,5 @@
 ur_rtde
 numpy
 windows-curses
+python-osc
+netifaces

tests/rtdetest1.py

@@ -5,7 +5,7 @@ import math
 import rtde_control
 
 import rtde_receive
-rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")
+rtde_r = rtde_receive.RTDEReceiveInterface("192.168.2.165")
 
 
 
@@ -21,11 +21,12 @@ c=0
 
 scale=0.2
 
-rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
+rtde_c = rtde_control.RTDEControlInterface("192.168.2.165")
 #rtde_c.moveJ([-0.10, -0.5, 0.20, -0.001, 3.12, 0.04], 0.1, 0.1)
 #rtde_c.moveJ([-1.54, -1.83, -2.28, -0.59, 1.60, 0.023], 0.1, 0.1)
 rtde_c.moveJ([2.74, -1.45, -1.63, -1.63, 1.57, 4.31],0.1,0.1)
-rtde_c.moveJ(rtde_c.getInverseKinematics([-0.5,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0]), 0.1,0.1)
+rtde_c.moveJ([2.74, -1.27, -1.31, -1.68, 1.58, 4.31],0.1,0.1)
+#rtde_c.moveJ(rtde_c.getInverseKinematics([-0.5,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0]), 0.1,0.1)
 
 print("gefahren")
 

tests/servoj_circle.py

@@ -2,7 +2,7 @@ import rtde_control
 import time
 import math
 
-rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
+rtde_c = rtde_control.RTDEControlInterface("192.168.2.164")
 
 # Parameters
 velocity = 0.1   #0.5
@@ -47,7 +47,7 @@ for i in range(frequency*duration):
     cx=i/(frequency*duration) * 2 *3.1415 * 1
     cx%= (2*3.1415)
     
-    joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*0.2,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
+    joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*scale,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
     #print(joint_q)
     rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
     

urosc.py

@@ -0,0 +1,208 @@
+import argparse 
+from pythonosc import dispatcher 
+from pythonosc import osc_server 
+from pythonosc import udp_client 
+import threading 
+import time
+import math
+
+import curses
+
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+
+
+
+clients=None
+rtde_r=None
+
+
+
+
+def toRad(d):
+    return d/360*2*math.pi
+
+def toDeg(r):
+    return r*360/2/math.pi
+
+
+def mapFromTo(x,a,b,c,d):
+   y=(x-a)/(b-a)*(d-c)+c
+   return y
+
+def handle_received_osc(address, *args): 
+    print(f"Received OSC message on {address}") 
+    for arg in args: 
+        print(f"Data: {arg}") 
+ 
+def setupOSC(ip, port): 
+    # Set up the dispatcher for the server 
+    disp = dispatcher.Dispatcher() 
+    disp.map("/filter", handle_received_osc)  # You can change '/filter' to any address pattern you expect 
+ 
+    # Set up OSC server 
+    server = osc_server.ThreadingOSCUDPServer((ip, port), disp) 
+    print(f"Serving on {server.server_address}") 
+    server_thread = threading.Thread(target=server.serve_forever) 
+    server_thread.start() 
+ 
+    return server,server_thread
+
+def setupClients(clientips,port):
+    clients = []
+    
+    # Set up OSC client 
+    for cip in clientips:
+        print("connecting to "+str(cip))
+        client = udp_client.SimpleUDPClient(cip, port) 
+        clients.append(client)
+     
+    return clients
+
+
+def setupRTDE(robotip,frequency):
+    dt = 1 / frequency
+    rtde_r = RTDEReceive(robotip, frequency)
+
+    return rtde_r
+ 
+ 
+joint_min=[toRad(-360),toRad(-360),toRad(-360),toRad(-360),toRad(-360),toRad(0)]
+joint_max=[toRad(360),toRad(360),toRad(360),toRad(360),toRad(360),toRad(360)]
+
+
+
+
+def main(stdscr):
+    """Main entry point allowing external calls
+
+    Args:
+      args ([str]): command line parameter list
+    """
+
+    # Clear and refresh the screen for a blank canvas
+    stdscr.clear()
+    stdscr.refresh()
+
+    curses.cbreak()
+    stdscr.keypad(1)
+    stdscr.nodelay(1)
+
+    
+    # Start colors in curses
+    curses.start_color()
+    curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK)
+    curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
+    curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)
+
+    
+    height, width = stdscr.getmaxyx()
+    
+    dt = 1 / args.frequency
+    
+    
+    
+    key = ''
+    i = 0
+    try:
+        while key != ord('q'):
+            key = stdscr.getch()
+            stdscr.clear()
+            start = time.time()
+            
+            q=rtde_r.getActualQ()
+            for c in clients:
+            
+                
+                for jointi in range(6):
+                    c.send_message("/j"+str(jointi), toDeg(q[jointi]))
+                    #print("sent "+str(jointi)+" = "+str(q[jointi])) 
+                    #time.sleep(0.1)
+            #print(q)
+            #sys.stdout.write("\r")
+            #sys.stdout.write("{:3d} samples.".format(i))
+            #sys.stdout.flush()
+
+            stdscr.addstr(0, 0, "test "+str(i), curses.color_pair(1))
+
+
+            for j in range(6):
+                posx=mapFromTo(q[j],joint_min[j],joint_max[j],0,width) #scale to screen width
+                for px in range(width):
+                    diff=abs(posx-px)
+                    poschar=''
+                    if diff<3:
+                        poschar='.'
+                    if diff<2:
+                        poschar='i'
+                    if diff<0.5:
+                        poschar='|'
+                        
+                    if (len(poschar)>0):
+                        stdscr.addstr(2+j, px, poschar, curses.color_pair(1))
+                valuetext=str(round(q[j],2))
+                if q[j]>=0: #has no negative sign
+                    valuetext=" "+valuetext
+                stdscr.addstr(2+j, 0, valuetext, curses.color_pair(1))
+
+                
+            # Refresh the screen
+            stdscr.refresh()
+
+
+            end = time.time()
+            duration = end - start
+
+            if duration < dt:
+                time.sleep(dt - duration)
+            i += 1
+
+    except KeyboardInterrupt:
+        
+        print("\nData recording stopped.")
+        curses.endwin()
+        
+
+if __name__ == "__main__": 
+    parser = argparse.ArgumentParser() 
+    parser.add_argument("--listenip",
+        default="127.0.0.1", help="The ip to listen on")
+    parser.add_argument("--listenport",
+        type=int, default=5005, help="The port to listen on")
+
+    parser.add_argument("--clientip",
+        default="127.0.0.1", help="The ip to connect to")
+    parser.add_argument("--port",
+        type=int, default=5005, help="The port to connect to")
+    
+
+    parser.add_argument("--robotip",
+        default="127.0.0.1", help="The ip to connect to")
+    
+    parser.add_argument(
+        "-f",
+        "--frequency",
+        dest="frequency",
+        help="the frequency at which the data is recorded (default is 500Hz)",
+        type=float,
+        default=500.0,
+        metavar="<frequency>")
+    args = parser.parse_args()
+
+    clientips=[args.clientip]
+ 
+    server,server_thread=setupOSC(args.listenip, args.listenport) 
+
+    clients=setupClients(clientips,args.port)
+
+    rtde_r=setupRTDE(args.robotip,args.frequency)
+
+    
+    curses.wrapper(main)
+
+
+    input("Ended. Press Enter to shutdown")
+
+    
+    server.shutdown() 
+    server_thread.join() 
+