-
Notifications
You must be signed in to change notification settings - Fork 114
/
3005-task_feedback.py
117 lines (103 loc) · 4.06 KB
/
3005-task_feedback.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2023, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <[email protected]> <[email protected]>
"""
Description: task feedback example
1. requires firmware 2.1.0 and above support
"""
import os
import sys
import time
import datetime
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
from xarm.core.utils import convert
#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip, is_radian=False, max_cmdnum=1000)
arm.set_state(4)
time.sleep(1)
arm.set_mode(0)
arm.set_state(0)
# arm.set_cgpio_digital(0, 0)
def feedback_callback(data):
cmd_id = convert.bytes_to_u16(data[0:2])
feedback_type = data[8]
feedback_funcode = data[9]
feedback_taskid = convert.bytes_to_u16(data[10:12])
feedback_code = data[12]
feedback_us = convert.bytes_to_u64(data[13:21])
if feedback_type == 1:
# motion start
print('[FB] motion task {} starts executing, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))
elif feedback_type == 2:
if feedback_code == 0:
# motion finish
print('[FB] motion task {} execution completed, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))
elif feedback_code == 2:
# motion discard
print('[FB] motion task {} is discarded, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))
elif feedback_type == 4:
# trigger
print('[FB] task {} is triggered, funcode={}, cmd_id={}, us={}, {}'.format(feedback_taskid, feedback_funcode, cmd_id, feedback_us, datetime.datetime.now()))
elif feedback_type == 32:
# other cmd start
print('[FB] other cmd {} starts executing, funcode={}, us={}, {}'.format(cmd_id, feedback_funcode, feedback_us, datetime.datetime.now()))
elif feedback_type == 64:
if feedback_code == 0:
# other cmd success
print('[FB] other cmd {} execution success, funcode={}, us={}, {}'.format(cmd_id, feedback_funcode, feedback_us, datetime.datetime.now()))
elif feedback_code == 1:
# other cmd failure
print('[FB] other cmd {} execution failure, funcode={}, us={}, {}'.format(cmd_id, feedback_funcode, feedback_us, datetime.datetime.now()))
arm.register_feedback_callback(feedback_callback)
arm.set_feedback_type(14)
radius = 0
code = 0
while arm.connected and arm.state < 4 and code == 0:
code = arm.set_cgpio_digital(0, 0)
if code != 0:
break
code = arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, radius=radius, speed=100)
if code != 0:
break
code = arm.set_cgpio_digital_with_xyz(0, 1, xyz=[495, 100, 200], fault_tolerance_radius=2)
if code != 0:
break
code = arm.set_position(x=300, y=100, z=200, roll=180, pitch=0, yaw=0, radius=radius)
if code != 0:
break
code = arm.set_position(x=500, y=100, z=200, roll=180, pitch=0, yaw=0, radius=radius)
if code != 0:
break
code = arm.set_position(x=500, y=-100, z=200, roll=180, pitch=0, yaw=0, radius=radius)
if code != 0:
break
code = arm.set_position(x=300, y=-100, z=200, roll=180, pitch=0, yaw=0, radius=radius)
if code != 0:
break
code = arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, radius=radius)
if code != 0:
break
while arm.connected:
time.sleep(1)