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implement enable disable control via keyboard

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This commit is contained in:
Philipp Kramer 2024-05-10 13:14:17 +02:00
parent 1cd7514ea0
commit 7899b73f40
3 changed files with 93 additions and 38 deletions
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15
urosc/oscreceive.py
View file

@ -1,4 +1,4 @@
#from helpfunctions import *
from helpfunctions import *
import numpy as np
import time
@ -12,6 +12,7 @@ class OSCReceive:
def handle_received_osc_joint(self,address, *args):
self.server=None
self.server_thread=None
@ -25,7 +26,7 @@ class OSCReceive:
try:
for iarg, arg in enumerate(args):
#print(f"Data: {arg}")
joint_q_aim[iarg]=float(arg)
joint_q_aim[iarg]=toRad(float(arg))
except:
print("Data not in right format")
print("Data: "+str(args))
@ -36,7 +37,11 @@ class OSCReceive:
def getCurrentReceiveFrequency(self):
return 1.0/np.mean(self.oscreceiveintervals)
_mean=np.mean(self.oscreceiveintervals)
if _mean>0:
return 1.0/_mean
else:
return 0
def __init__(self,ip,port,_ur=None):
@ -50,7 +55,7 @@ class OSCReceive:
# 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
disp.map("/joints", 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)
@ -61,5 +66,7 @@ class OSCReceive:
def disconnect(self):
if self.server is not None:
self.server.shutdown()
if self.server_thread is not None:
self.server_thread.join()

51
urosc/ur.py
View file

@ -10,6 +10,7 @@ class UR:
self.frequency_rtde_send=_frequency_rtde_send
self.frequency_rtde_receive=_frequency_rtde_receive
self.controlEnabled=False
self.last_receivertde=0
self.last_sendrtde=0
@ -27,21 +28,35 @@ class UR:
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 = [0,0,0,0,0,0] #joint rotation last sent
#self.velocitylimit=[1,1,1,3,3,3] #joint velocity limits
self.velocitylimit=[0.2,0.2,0.2,0.2,0.2,0.2] #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)
self.rtde_r = self.rtde_receive.RTDEReceiveInterface(robotip, self.frequency_rtde_receive)
rtde_c = self.rtde_control.RTDEControlInterface(robotip)
self.rtde_c = self.rtde_control.RTDEControlInterface(robotip)
def setJointQAim(self,q):
self.joint_q_aim=q
def isJointsWithinSafetyLimits(self,q):
return self.rtde_c.isJointsWithinSafetyLimits(q)
def enableControl(self):
if time.time()-self.last_receivertde<0.1: #if received position is recent
self.joint_q=self.joint_q_received #update current position to received position
self.joint_q_aim=self.joint_q_received
self.controlEnabled=True
def disableControl(self):
self.controlEnabled=False
def isControlEnabled(self):
return self.controlEnabled
def send(self,looptime):
@ -49,16 +64,18 @@ class UR:
return
self.last_sendrtde=looptime
if self.controlEnabled:
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):
def receiveJoints(self,looptime):
#Get robot joint angles
if looptime-self.last_receivertde>=1.0/self.frequency_rtde_receive:
if looptime-self.last_receivertde<1.0/self.frequency_rtde_receive:
return
self.last_receivertde=looptime
if self.rtde_r is not None:
@ -70,6 +87,27 @@ class UR:
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 receiveStatus(self,looptime):
if looptime-self.last_receivertde<1.0/self.frequency_rtde_receive:
return
self.last_receivertde=looptime
self.status_connected=self.rtde_r.isConnected()
self.status_timestamp=self.rtde_r.getTimestamp()
self.status_protectivestopped=self.rtde_r.isProtectiveStopped()
self.status_emergencystopped=self.rtde_r.isEmergencyStopped()
self.status_robotstatus=self.rtde_c.getRobotStatus()
'''
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
self.status_=self.rtde_r.()
'''
def getReceivedQ(self):
return self.joint_q_received
@ -79,3 +117,4 @@ class UR:
self.rtde_c.stopScript()

29
urosc/urosc.py
View file

@ -15,7 +15,6 @@ from oscreceive import OSCReceive
from ur import UR
#Looptimings
frequency_loop=500
@ -51,6 +50,7 @@ def main(stdscr):
loopdurations_pos=0
keyDown=False
try:
while ui.getKey() != ord('q'):
@ -58,7 +58,8 @@ def main(stdscr):
start = time.time()
ur.receive(looptime)
ur.receiveJoints(looptime)
ur.receiveStatus(looptime)
#send data to all osc receivers
oscsend.send(looptime,ur.getReceivedQ())
@ -76,11 +77,20 @@ def main(stdscr):
loopdurations_pos+=1
loopdurations_pos%=np.size(loopdurations)
ui.setDebugtext(0,"loopcounter="+str(loopcounter))
ui.setDebugtext(0,"loopcounter="+str(loopcounter)+"\tControlEnabled="+str(ur.isControlEnabled()))
ui.setDebugtext(1,"loop usage="+str(round(np.mean(loopdurations)/loop_dt,3)))
if oscreceive is not None:
ui.setDebugtext(2,"osc receive frequency="+str(round(oscreceive.getCurrentReceiveFrequency(),0)))
if ui.getKey() == ord('e') and keyDown==False:
keyDown=True
ur.enableControl()
if ui.getKey() == ord('d') and keyDown==False:
keyDown=True
ur.disableControl()
if ui.getKey()==-1:
keyDown=False
@ -88,9 +98,10 @@ def main(stdscr):
time.sleep(loop_dt - loopduration)
loopcounter += 1
except KeyboardInterrupt:
except (KeyboardInterrupt):
print("\nKeyboardInterrupt")
except Exception as e:
pass
curses.endwin()
@ -101,9 +112,9 @@ if __name__ == "__main__":
parser.add_argument("--listenport",
type=int, default=5005, help="The port to listen on")
parser.add_argument("--clientip",
parser.add_argument("--oscsendip",
default="127.0.0.1", help="The ip to connect to")
parser.add_argument("--port",
parser.add_argument("--oscsendport",
type=int, default=5005, help="The port to connect to")
@ -144,14 +155,12 @@ if __name__ == "__main__":
oscreceive = OSCReceive(args.listenip, args.listenport,ur)
oscsend.setupReceivers([args.clientip],args.port)
oscsend.setupReceivers([args.oscsendip],args.oscsendport)
curses.wrapper(main)
if oscreceive is not None:
oscreceive.disconnect()
if ur is not None: