From ae7d4a393ee0bc5d2953c7187b04cc514116eb00 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Mon, 3 Oct 2022 20:48:18 +0200
Subject: [PATCH] KISS
---
tests/__init__.py | 0
tests/test_urscript_commands.py | 31 ++----------
ur_py_ctl/__main__.py | 15 ------
ur_py_ctl/send_script.py | 88 ---------------------------------
ur_py_ctl/urscript_commands.py | 19 -------
5 files changed, 4 insertions(+), 149 deletions(-)
delete mode 100644 tests/__init__.py
delete mode 100644 ur_py_ctl/__main__.py
delete mode 100644 ur_py_ctl/send_script.py
diff --git a/tests/__init__.py b/tests/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/tests/test_urscript_commands.py b/tests/test_urscript_commands.py
index 80155dc..b6da9a8 100644
--- a/tests/test_urscript_commands.py
+++ b/tests/test_urscript_commands.py
@@ -3,13 +3,7 @@ from random import random
import pytest
-from ur_py_ctl.urscript_commands import (
- _add_whitespace,
- _get_conf,
- _get_func,
- _get_pose,
- move_to_conf,
-)
+from ur_py_ctl.urscript_commands import _get_conf, _get_func, _get_pose, move_to_conf
@pytest.fixture()
@@ -51,21 +45,6 @@ def kwargs_input_output():
return input_, output
-def test__add_whitespace():
- def func(input_):
- return input_[::-1]
-
- wrapped_func = _add_whitespace(func)
-
- input_ = "polyscope"
-
- output = wrapped_func(input_)
-
- assert output[0] == "\t"
- assert output[-1] == "\n"
- assert output.strip() == func(input_)
-
-
def test_get_func():
func_name = "func"
urscript_args = "args"
@@ -88,7 +67,7 @@ def test__get_pose(pose_list, pose_str):
def test_move_to_conf(conf_list, conf_str):
ur_func = move_to_conf(conf_list)
- assert ur_func == f"\tmovej({conf_str})\n"
+ assert ur_func == f"movej({conf_str})"
def test_move_to_conf_kwargs(conf_list, conf_str, kwargs_input_output):
@@ -96,10 +75,8 @@ def test_move_to_conf_kwargs(conf_list, conf_str, kwargs_input_output):
ur_func = move_to_conf(conf_list, **input_kwargs)
- assert ur_func == f"\tmovej({conf_str}, {', '.join(output_kwargs.values())})\n"
+ assert ur_func == f"movej({conf_str}, {', '.join(output_kwargs.values())})"
ur_func = move_to_conf(conf_list, v=input_kwargs["v"], t=input_kwargs["t"])
- assert (
- ur_func == f"\tmovej({conf_str}, {output_kwargs['v']}, {output_kwargs['t']})\n"
- )
+ assert ur_func == f"movej({conf_str}, {output_kwargs['v']}, {output_kwargs['t']})"
diff --git a/ur_py_ctl/__main__.py b/ur_py_ctl/__main__.py
deleted file mode 100644
index fadc256..0000000
--- a/ur_py_ctl/__main__.py
+++ /dev/null
@@ -1,15 +0,0 @@
-import argparse
-
-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")
-
- # args = parser.parse_args()
-
- # if not args.path.exists():
- # raise FileNotFoundError()
-
- send_script_func()
diff --git a/ur_py_ctl/send_script.py b/ur_py_ctl/send_script.py
deleted file mode 100644
index f6b7e8d..0000000
--- a/ur_py_ctl/send_script.py
+++ /dev/null
@@ -1,88 +0,0 @@
-import logging
-import socket
-
-import ur_py_ctl.urscript_commands as ur_cmd
-from ur_py_ctl import LOG_DIR
-
-SERVER_ADRESS = "192.168.101.102"
-SERVER_PORT = 30003
-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 = [0, 0, 0, 0, 0.0, 0.0]
-
-# UTIL
-
-logging.basicConfig(
- filename=LOG_DIR / "send_script.log", filemode="a", level=logging.DEBUG
-)
-
-
-def start_log() -> None:
- logging.debug("Start script")
- logging.debug("GLOBALS")
- logging.debug("SERVER_ADRESS: {}".format(SERVER_ADRESS))
- logging.debug("SERVER_PORT: {}".format(SERVER_PORT))
- logging.debug("UR_IP: {}".format(UR_IP))
- logging.debug("UR_SERVER_PORT: {}".format(UR_SERVER_PORT))
- logging.debug("TOOL_ANGLE_AXIS: {}".format(TOOL_ANGLE_AXIS))
-
-
-def get_script() -> bytes:
- script = ""
- script += "def program():\n"
- script += ur_cmd.set_tcp(0, 0, 0, 0, 0, 0)
-
- script += ur_cmd.textmsg("Starting")
-
- for i in range(10):
-
- 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'
- script += ur_cmd.textmsg("End program")
- script += '\tsocket_send_string("c")\n'
- script += "\tsocket_close()\n"
- script += "end\n"
- script += "program()\n\n\n"
-
- return script.encode()
-
-
-def send_script() -> None:
- start_log()
-
- send_socket = socket.create_connection((UR_IP, UR_SERVER_PORT), timeout=2)
- send_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-
- logging.debug("Sockets setup")
-
- script = get_script()
- print("Sending commands")
-
- # send file
- send_socket.send(script)
- logging.debug("File sent")
-
- # make server
- recv_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- recv_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-
- # Bind the socket to the port
- recv_socket.bind((SERVER_ADRESS, SERVER_PORT))
-
- # Listen for incoming connections
- recv_socket.listen(1)
- while True:
- logging.debug("Waiting for accept")
- _, client_address = recv_socket.accept()
- logging.debug(f"Recieved accept from: {client_address}")
- break
-
- recv_socket.close()
-
- send_socket.close()
- print("Program done ...")
diff --git a/ur_py_ctl/urscript_commands.py b/ur_py_ctl/urscript_commands.py
index 51bf3b6..a53e29e 100644
--- a/ur_py_ctl/urscript_commands.py
+++ b/ur_py_ctl/urscript_commands.py
@@ -1,13 +1,4 @@
from collections.abc import Sequence
-from functools import wraps
-
-
-def _add_whitespace(func):
- @wraps(func)
- def wrapper(*args, **kwargs):
- return f"\t{func(*args, **kwargs)}\n"
-
- return wrapper
def _get_func(func_name, urscript_args, urscript_kwargs=None):
@@ -54,7 +45,6 @@ class Motion(object):
JOINT = 1
-@_add_whitespace
def set_tcp(x: float, y: float, z: float, rx: float, ry: float, rz: float) -> str:
"""Create a set TCP function call
@@ -81,7 +71,6 @@ def set_tcp(x: float, y: float, z: float, rx: float, ry: float, rz: float) -> st
return _get_func("set_tcp", _get_pose(x, y, z, rx, ry, rz))
-@_add_whitespace
def move_to_pose(
x: float,
y: float,
@@ -136,7 +125,6 @@ def move_to_pose(
return _get_func(func_name, pose, move_kwargs)
-@_add_whitespace
def move_to_conf(
joint_conf: Sequence[float],
v: float = None,
@@ -170,7 +158,6 @@ def move_to_conf(
return _get_func("movej", conf, move_kwargs)
-@_add_whitespace
def text_msg(string: str) -> str:
"""Create a log function call
@@ -187,7 +174,6 @@ def text_msg(string: str) -> str:
return f'textmsg("{string}")'
-@_add_whitespace
def popup(string: str) -> str:
"""Construct a function call that opens a popup on the teach pendant.
@@ -203,7 +189,6 @@ def popup(string: str) -> str:
return f'popup("{string}")'
-@_add_whitespace
def set_DO(pin: int, state: bool) -> str:
"""Construct a function call that sets the state of a digital out.
@@ -224,22 +209,18 @@ def set_DO(pin: int, state: bool) -> str:
return _get_func("set_digital_out", f"{pin:d}, {bool(state)}")
-@_add_whitespace
def read_DO(pin: int) -> bool:
raise NotImplementedError()
-@_add_whitespace
def set_AO(pin: int, value: float) -> str:
raise NotImplementedError()
-@_add_whitespace
def read_AO(pin: int) -> float:
raise NotImplementedError()
-@_add_whitespace
def sleep(seconds: int) -> str:
"""Construct a function call that instructs the controller to sleep."""
return _get_func("sleep", str(seconds))
--
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