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finish classes

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Philipp Kramer 2024-05-10 11:17:19 +02:00
parent bf5a5a8509
commit 1cd7514ea0
5 changed files with 173 additions and 105 deletions
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65
urosc/oscreceive.py Normal file
View file

@ -0,0 +1,65 @@
#from helpfunctions import *
import numpy as np
import time
class OSCReceive:
from pythonosc import dispatcher
from pythonosc import osc_server
import threading
def handle_received_osc_joint(self,address, *args):
self.server=None
self.server_thread=None
self.oscreceiveintervals[self.oscreceiveintervals_pos]=time.time()-self.last_oscreceive
self.last_oscreceive=time.time()
self.oscreceiveintervals_pos+=1
self.oscreceiveintervals_pos%=np.size(self.oscreceiveintervals)
#print(f"Received OSC message on {address}")
joint_q_aim=[0,0,0,0,0,0]
try:
for iarg, arg in enumerate(args):
#print(f"Data: {arg}")
joint_q_aim[iarg]=float(arg)
except:
print("Data not in right format")
print("Data: "+str(args))
else:
if self.ur is not None:
self.ur.setJointQAim(joint_q_aim)
def getCurrentReceiveFrequency(self):
return 1.0/np.mean(self.oscreceiveintervals)
def __init__(self,ip,port,_ur=None):
#osc receive statistics
self.oscreceiveintervals = np.zeros(100)
self.oscreceiveintervals_pos=0
self.last_oscreceive=0
self.ur = _ur
# Set up the dispatcher for the server
disp = self.dispatcher.Dispatcher()
disp.map("/joint", self.handle_received_osc_joint) # You can change '/filter' to any address pattern you expect
# Set up OSC server
self.server = self.osc_server.ThreadingOSCUDPServer((ip, port), disp)
print(f"Serving on {self.server.server_address}")
self.server_thread = self.threading.Thread(target=self.server.serve_forever)
self.server_thread.start()
def disconnect(self):
self.server.shutdown()
self.server_thread.join()

2
urosc/oscsend.py
View file

@ -29,4 +29,4 @@ class OSCSend:
for c in self.oscreceivers:
for jointi,joint in enumerate(q):
c.send_message("/j"+str(jointi), toDeg(joint))
c.send_message("/j"+str(jointi), toDeg(joint))

2
urosc/ui.py
View file

@ -10,8 +10,6 @@ class UI:
self.debugtext=["","",""]
self.width=0
self.height=0
self.joint_min=None
self.joint_max=None
self.joint_min=_joint_min
self.joint_max=_joint_max
self.frequency_scr=_frequency_scr

81
urosc/ur.py Normal file
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@ -0,0 +1,81 @@
from helpfunctions import *
import time
class UR:
import rtde_receive
import rtde_control
def __init__(self,_joint_min,_joint_max,_frequency_rtde_send=500,_frequency_rtde_receive=500):
self.frequency_rtde_send=_frequency_rtde_send
self.frequency_rtde_receive=_frequency_rtde_receive
self.last_receivertde=0
self.last_sendrtde=0
self.joint_min=_joint_min
self.joint_max=_joint_max
self.rtde_r=None
self.rtde_c=None
# Parameters
self.velocity = 0.1
self.acceleration = 0.1
self.lookahead_time = 0.1
self.gain = 300
self.joint_q_aim=[0,0,0,0,0,0] #joint rotations aiming for
self.joint_q = [0,0,0,0,0,0] #joint rotation to be send
self.velocitylimit=[1,1,1,3,3,3] #joint velocity limits
self.joint_q_received=[0,0,0,0,0,0]
def connect(self,robotip):
rtde_r = self.rtde_receive.RTDEReceiveInterface(robotip, self.frequency_rtde_receive)
rtde_c = self.rtde_control.RTDEControlInterface(robotip)
def setJointQAim(self,q):
self.joint_q_aim=q
def send(self,looptime):
if looptime-self.last_sendrtde<1.0/self.frequency_rtde_send:
return
self.last_sendrtde=looptime
for i in range(6): #update joint_q with max speeds
self.joint_q[i] += constrain(self.joint_q_aim[i]-self.joint_q[i], -self.velocitylimit[i]/self.frequency_rtde_send,self.velocitylimit[i]/self.frequency_rtde_send) #constrain joint speeds
if self.rtde_c is not None:
self.rtde_c.servoJ(self.joint_q, self.velocity, self.acceleration, 1.0/self.frequency_rtde_send, self.lookahead_time, self.gain)
def receive(self,looptime):
#Get robot joint angles
if looptime-self.last_receivertde>=1.0/self.frequency_rtde_receive:
self.last_receivertde=looptime
if self.rtde_r is not None:
self.joint_q_received=self.rtde_r.getActualQ()
else:
_offsets=[12.2,5.3,0,6,12.4,612.91]
_factors=[1.2,1.14,1.214,0.9921,1,1.092]
for _i,_offset in enumerate(_offsets): #generate mockup values
self.joint_q_received[_i]=(math.sin(time.time()*_factors[_i]+_offset)/2.0+0.5)*(self.joint_max[_i]-self.joint_min[_i])+self.joint_min[_i]
def getReceivedQ(self):
return self.joint_q_received
def disconnect(self):
if self.rtde_c is not None:
self.rtde_c.servoStop()
self.rtde_c.stopScript()

128
urosc/urosc.py
View file

@ -1,93 +1,39 @@
import argparse
from pythonosc import dispatcher
from pythonosc import osc_server
import threading
import time
import math
import numpy as np
import curses
import rtde_receive
import rtde_control
from helpfunctions import *
from ui import UI
from oscsend import OSCSend
from oscreceive import OSCReceive
from ur import UR
rtde_r=None
rtde_c=None
server=None
#Looptimings
frequency_loop=500
frequency_rtde=None
#Robot Control Parameters
# Parameters
velocity = 0.1
acceleration = 0.1
lookahead_time = 0.1
gain = 300
joint_q_aim=[0,0,0,0,0,0] #joint rotations aiming for
joint_q = [0,0,0,0,0,0] #joint rotation to be send
velocitylimit=[1,1,1,3,3,3] #joint velocity limits
#osc receive statistics
oscreceiveintervals = np.zeros(100)
oscreceiveintervals_pos=0
last_oscreceive=0
def handle_received_osc_joint(address, *args):
oscreceiveintervals[oscreceiveintervals_pos]=time.time()-last_oscreceive
last_oscreceive=time.time()
oscreceiveintervals_pos+=1
oscreceiveintervals_pos%=np.size(oscreceiveintervals)
print(f"Received OSC message on {address}")
for iarg, arg in enumerate(args):
#print(f"Data: {arg}")
joint_q_aim[iarg]=float(arg)
def setupOSC(ip, port):
# Set up the dispatcher for the server
disp = dispatcher.Dispatcher()
disp.map("/joint", handle_received_osc_joint) # 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 setupRTDE(robotip,frequency):
dt = 1 / frequency
rtde_r = rtde_receive.RTDEReceiveInterface(robotip, frequency)
rtde_c = rtde_control.RTDEControlInterface(robotip)
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)]
ui = UI(joint_min,joint_max)
oscsend = OSCSend()
oscsend = OSCSend()
oscreceive = None
ur = UR(joint_min,joint_max)
def main(stdscr):
@ -103,12 +49,8 @@ def main(stdscr):
loopcounter = 0
loopdurations = np.zeros(100)
loopdurations_pos=0
last_receivertde=0
last_sendrtde=0
q=[0,0,0,0,0,0]
try:
while ui.getKey() != ord('q'):
@ -116,36 +58,16 @@ def main(stdscr):
start = time.time()
#Get robot joint angled
if looptime-last_receivertde>=1.0/frequency_receivertde:
last_receivertde=looptime
if rtde_r is not None:
q=rtde_r.getActualQ()
else:
_offsets=[12.2,5.3,0,6,12.4,612.91]
_factors=[1.2,1.14,1.214,0.9921,1,1.092]
for _i,_offset in enumerate(_offsets):
q[_i]=(math.sin(time.time()*_factors[_i]+_offset)/2.0+0.5)*(joint_max[_i]-joint_min[_i])+joint_min[_i]
ur.receive(looptime)
#send data to all osc receivers
oscsend.send(looptime,q)
if looptime-last_sendrtde>=1.0/frequency_sendrtde:
last_sendrtde=looptime
for i in range(6): #update joint_q with max speeds
joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -velocitylimit[i]/frequency_sendrtde,velocitylimit[i]/frequency_sendrtde) #constrain joint speeds
if rtde_c is not None:
rtde_c.servoJ(joint_q, velocity, acceleration, 1.0/frequency_sendrtde, lookahead_time, gain)
oscsend.send(looptime,ur.getReceivedQ())
if ur is not None:
ur.send(looptime)
#Display
ui.update(q,looptime)
ui.update(ur.getReceivedQ(),looptime)
#Looptiming
end = time.time()
@ -156,7 +78,8 @@ def main(stdscr):
ui.setDebugtext(0,"loopcounter="+str(loopcounter))
ui.setDebugtext(1,"loop usage="+str(round(np.mean(loopdurations)/loop_dt,3)))
ui.setDebugtext(2,"osc receive frequency="+str(round(1.0/np.mean(oscreceiveintervals),0))+" \t pos="+str(oscreceiveintervals_pos))
if oscreceive is not None:
ui.setDebugtext(2,"osc receive frequency="+str(round(oscreceive.getCurrentReceiveFrequency(),0)))
@ -190,6 +113,7 @@ if __name__ == "__main__":
parser.add_argument("--test", action='store_true', default=False, help="Disable network and robot communication")
'''
parser.add_argument(
"-fs",
"--frequencysend",
@ -207,29 +131,29 @@ if __name__ == "__main__":
type=float,
default=500.0,
metavar="<frequency>")
'''
args = parser.parse_args()
frequency_receivertde=args.frequencyreceive
frequency_sendrtde=args.frequencysend
if args.test is not True:
server,server_thread=setupOSC(args.listenip, args.listenport)
ur.connect(args.robotip)
oscreceive = OSCReceive(args.listenip, args.listenport,ur)
oscsend.setupReceivers([args.clientip],args.port)
rtde_r=setupRTDE(args.robotip,frequency_rtde)
curses.wrapper(main)
if server is not None:
input("Ended. Press Enter to shutdown")
server.shutdown()
server_thread.join()
if rtde_c is not None:
rtde_c.servoStop()
rtde_c.stopScript()
if oscreceive is not None:
oscreceive.disconnect()
if ur is not None:
ur.disconnect()