diff --git a/ur_py_ctl/__init__.py b/ur_py_ctl/__init__.py
index 550c0592c9c8a7e429c955dfbc6a45553802c63f..6c89e01d155f90a8c0580981969b868434168c47 100644
--- a/ur_py_ctl/__init__.py
+++ b/ur_py_ctl/__init__.py
@@ -1,7 +1,5 @@
import pathlib
-from .send_script import send_script # noqa: F401,F402
-
__version__ = "0.1.0"
HERE = pathlib.Path(__file__).parent
diff --git a/ur_py_ctl/__main__.py b/ur_py_ctl/__main__.py
index ae66b4b69d78f62261e228f8e81183d66a75f49a..fadc25664e9b9867a547ed25758754a1de704a54 100644
--- a/ur_py_ctl/__main__.py
+++ b/ur_py_ctl/__main__.py
@@ -1,16 +1,15 @@
import argparse
-import pathlib
-from ur_py_ctl import send_script
+from ur_py_ctl.send_script import send_script as send_script_func
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Send program to UR")
- parser.add_argument("path", type=pathlib.Path, help="script file")
+ # parser.add_argument("path", type=pathlib.Path, help="script file")
- args = parser.parse_args()
+ # args = parser.parse_args()
- if not args.path.exists():
- raise FileNotFoundError()
+ # if not args.path.exists():
+ # raise FileNotFoundError()
- send_script()
+ send_script_func()
diff --git a/ur_py_ctl/send_script.py b/ur_py_ctl/send_script.py
index 7dc271bee5a3e3be2bcbf7a48efd71f56e06bfd2..544fbff372e414c2370dbd973cb84c45e3b83427 100644
--- a/ur_py_ctl/send_script.py
+++ b/ur_py_ctl/send_script.py
@@ -6,20 +6,20 @@ import socket
import ur_py_ctl.urscript_commands as ur_cmd
from ur_py_ctl import LOG_DIR
-SERVER_ADRESS = "192.168.10.11"
+SERVER_ADRESS = "192.168.101.102"
SERVER_PORT = 30003
-UR_IP = "192.168.10.10"
+UR_IP = "192.168.101.101"
UR_SERVER_PORT = 30002
# TOOL_ANGLE_AXIS = [-68.7916, -1.0706, 100, 3.1416, 0.0, 0.0]
# New tool angle
-TOOL_ANGLE_AXIS = [-26.25, 71.64, 125.2, 3.1416, 0.0, 0.0]
+TOOL_ANGLE_AXIS = [0, 0, 0, 0, 0.0, 0.0]
# UTIL
-LOG_FILE = LOG_DIR / "send_script.log"
-
-logging.basicConfig(filename=LOG_FILE, filemode="a", level=logging.DEBUG)
+logging.basicConfig(
+ filename=LOG_DIR / "send_script.log", filemode="a", level=logging.DEBUG
+)
def start_log() -> None:
@@ -41,7 +41,7 @@ def get_script() -> bytes:
for i in range(10):
- script += ur_cmd.movel(i * 0.2, 0, 0, 0, 0, 0, 50 / 1000, 5 / 1000)
+ script += ur_cmd.move_to_pose(i * 0.2, 0, 500, 0, 0, 0, v=50 / 1000, r=5 / 1000)
script += ur_cmd.textmsg(f"Sending command number: {i}")
script += f'\tsocket_open("{SERVER_ADRESS}", {SERVER_PORT})\n'
@@ -51,12 +51,10 @@ def get_script() -> bytes:
script += "end\n"
script += "program()\n\n\n"
- script = script.encode()
-
- return script
+ return script.encode()
-def send_script(script_path) -> None:
+def send_script() -> None:
start_log()
send_socket = socket.create_connection((UR_IP, UR_SERVER_PORT), timeout=2)
diff --git a/ur_py_ctl/urscript_commands.py b/ur_py_ctl/urscript_commands.py
index 3f07af389034255baccdc94272e0ee215a7a5b18..d14711900d58c3edcfc5d67b97da7b13a04cee22 100644
--- a/ur_py_ctl/urscript_commands.py
+++ b/ur_py_ctl/urscript_commands.py
@@ -1,35 +1,91 @@
-def _add_whitespace(string: str) -> str:
- return "\t" + string + "\n"
+from functools import wraps
-def set_tcp(x, y, z, ax, ay, az) -> str:
- cmd = "set_tcp(p[{:.5f}, {:.5f}, {:.5f}, {:.5f}, {:.5f}, {:.5f}])".format(
- x / 1000.0, y / 1000.0, z / 1000.0, ax, ay, az
- )
- return _add_whitespace(cmd)
+def _add_whitespace(func):
+ @wraps(func)
+ def wrapper(*args, **kwargs):
+ return f"\t{func(*args, **kwargs)}\n"
+ return wrapper
-def movel(x, y, z, ax, ay, az, speed, radius) -> str:
- cmd = f"movel(p[{x:.5f}, {y:.5f}, {z:.5f}, {ax:.5f}, {ay:.5f}, {z:.5f}], v={speed:.3f}, r={radius:.3f})" # noqa: E501
- return _add_whitespace(cmd)
+class Motion(object):
+ LINEAR = 0
+ JOINT = 1
+
+def _get_func(func_name, urscript_args, urscript_kwargs=None):
+ args = urscript_args
+ if urscript_kwargs:
+ args += f", {urscript_kwargs}"
+
+ return f"{func_name}({args})"
+
+
+def _get_pose(x: float, y: float, z: float, ax: float, ay: float, az: float) -> str:
+ return f"p[{x:.5f}, {y:.5f}, {z:.5f}, {ax:.5f}, {ay:.5f}, {az:.5f}]"
+
+
+def _get_conf(j1, j2, j3, j4, j5, j6):
+ return f"[{j1:.5f}, {j2:.5f}, {j3:.5f}, {j4:.5f}, {j5:.5f}, {j6:.5f}]"
+
+
+def _get_move_kwargs(**kwargs) -> str:
+ ok_keywords = ("v", "a", "t", "r")
+
+ urscript_kwargs = []
+
+ for key in kwargs:
+ if key in ok_keywords:
+ urscript_kwargs.append(f"{key}={kwargs[key]:.5f]}")
+ else:
+ raise RuntimeError(f"Keyword name {key} not recognized.")
+
+ if len(urscript_kwargs) == 0:
+ return ""
+ else:
+ return " ,".join(kwargs)
+
+
+@_add_whitespace
+def set_tcp(*args) -> str:
+ return _get_func("set_tcp", _get_pose(*args))
+
+
+@_add_whitespace
+def move_to_pose(*pose_args, mode=Motion.JOINT, **kwargs):
+ func_name = "movel" if mode == Motion.LINEAR else "movej"
+
+ pose = _get_pose(*pose_args)
+ move_kwargs = _get_move_kwargs(**kwargs)
+
+ return _get_func(func_name, pose, move_kwargs)
+
+
+@_add_whitespace
+def move_to_conf(*conf_args, **kwargs):
+ conf = _get_conf(*conf_args)
+ move_kwargs = _get_move_kwargs(**kwargs)
+
+ return _get_func("movej", conf, move_kwargs)
+
+
+@_add_whitespace
def textmsg(string: str) -> str:
- cmd = f'textmsg("{string}")'
- return _add_whitespace(cmd)
+ return f'textmsg("{string}")'
+@_add_whitespace
def set_DO(pin: int, state: bool) -> str:
- cmd = f"set_digital_out({pin:d}, {state})"
- return _add_whitespace(cmd)
+ return f"set_digital_out({pin:d}, {state})"
+@_add_whitespace
def sleep(seconds: int) -> str:
- cmd = "sleep({})".format(seconds)
- return _add_whitespace(cmd)
+ return "sleep({})".format(seconds)
+@_add_whitespace
def popup(string: str) -> str:
# Popup title not implemented, neither is error or warning flags
- cmd = 'popup("{}")'.format(string)
- return _add_whitespace(cmd)
+ return f'popup("{string}")'