From 405a24112d6e5262f0b0bc09361a06df5a6ea43d Mon Sep 17 00:00:00 2001 From: Girts Linde Date: Sat, 21 Jul 2018 18:35:13 -0700 Subject: [PATCH] new UI, gripper autodetection --- pom.xml | 2 +- ...EzgripperInstallationNodeContribution.java | 89 ++++---- .../EzgripperProgramNodeContribution.java | 210 +++++++++++------- .../ur/impl/XmlRpcEzgripperInterface.java | 35 +++ .../ur/impl/daemon/ezgripper_xmlrpc.py | 45 +++- .../ur/impl/daemon/libezgripper/__init__.py | 2 +- .../daemon/libezgripper/ezgripper_base.py | 26 ++- .../impl/daemon/libezgripper/lib_robotis.py | 40 +++- .../daemon/serial/tools/list_ports_posix.py | 1 + .../ezgripper/ur/impl/img/EZGripper0.png | Bin 0 -> 18659 bytes .../ezgripper/ur/impl/img/EZGripper1.png | Bin 0 -> 19999 bytes .../ezgripper/ur/impl/img/EZGripper10.png | Bin 0 -> 20025 bytes .../ezgripper/ur/impl/img/EZGripper11.png | Bin 0 -> 20367 bytes .../ezgripper/ur/impl/img/EZGripper12.png | Bin 0 -> 20193 bytes .../ezgripper/ur/impl/img/EZGripper13.png | Bin 0 -> 20299 bytes .../ezgripper/ur/impl/img/EZGripper14.png | Bin 0 -> 20158 bytes .../ezgripper/ur/impl/img/EZGripper15.png | Bin 0 -> 20004 bytes .../ezgripper/ur/impl/img/EZGripper16.png | Bin 0 -> 19581 bytes .../ezgripper/ur/impl/img/EZGripper17.png | Bin 0 -> 19389 bytes .../ezgripper/ur/impl/img/EZGripper18.png | Bin 0 -> 18975 bytes .../ezgripper/ur/impl/img/EZGripper19.png | Bin 0 -> 18923 bytes .../ezgripper/ur/impl/img/EZGripper2.png | Bin 0 -> 20110 bytes .../ezgripper/ur/impl/img/EZGripper20.png | Bin 0 -> 18615 bytes .../ezgripper/ur/impl/img/EZGripper3.png | Bin 0 -> 19967 bytes .../ezgripper/ur/impl/img/EZGripper4.png | Bin 0 -> 20215 bytes .../ezgripper/ur/impl/img/EZGripper5.png | Bin 0 -> 20619 bytes .../ezgripper/ur/impl/img/EZGripper6.png | Bin 0 -> 20944 bytes .../ezgripper/ur/impl/img/EZGripper7.png | Bin 0 -> 21432 bytes .../ezgripper/ur/impl/img/EZGripper8.png | Bin 0 -> 19867 bytes .../ezgripper/ur/impl/img/EZGripper9.png | Bin 0 -> 20061 bytes .../ezgripper/ur/impl/installation.html | 12 +- .../ezgripper/ur/impl/programnode.html | 27 +-- 32 files changed, 314 insertions(+), 175 deletions(-) create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper0.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper1.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper10.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper11.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper12.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper13.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper14.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper15.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper16.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper17.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper18.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper19.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper2.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper20.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper3.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper4.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper5.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper6.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper7.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper8.png create mode 100644 src/main/resources/com/sakerobotics/ezgripper/ur/impl/img/EZGripper9.png diff --git a/pom.xml b/pom.xml index eb41fe6..c3451c3 100755 --- a/pom.xml +++ b/pom.xml @@ -8,7 +8,7 @@ com.sakerobotics ezgripper-ur - 1.4.1 + 1.5.1 ezgripper-ur bundle diff --git a/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperInstallationNodeContribution.java b/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperInstallationNodeContribution.java index 142c86a..34d46eb 100755 --- a/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperInstallationNodeContribution.java +++ b/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperInstallationNodeContribution.java @@ -42,9 +42,12 @@ import com.ur.urcap.api.contribution.InstallationNodeContribution; import java.awt.*; +import java.util.Arrays; import java.util.Timer; import java.util.TimerTask; +import org.apache.xmlrpc.XmlRpcException; + public class EzgripperInstallationNodeContribution implements InstallationNodeContribution { private static final String XMLRPC_VARIABLE = "ezgripper_daemon"; private static final String ENABLED_KEY = "enabled"; @@ -53,6 +56,8 @@ public class EzgripperInstallationNodeContribution implements InstallationNodeCo private final EzgripperDaemonService daemonService; private XmlRpcEzgripperInterface xmlRpcDaemonInterface; private Timer uiTimer; + private String servoIds = ""; + private String devName = ""; public EzgripperInstallationNodeContribution(EzgripperDaemonService daemonService, DataModel model) { this.daemonService = daemonService; @@ -61,12 +66,12 @@ public EzgripperInstallationNodeContribution(EzgripperDaemonService daemonServic applyDesiredDaemonStatus(); } - @Input(id = "btnEnableDaemon") - private InputButton enableDaemonButton; - @Input(id = "btnDisableDaemon") - private InputButton disableDaemonButton; - @Label(id = "lblDaemonStatus") - private LabelComponent daemonStatusLabel; +// @Input(id = "btnEnableDaemon") +// private InputButton enableDaemonButton; +// @Input(id = "btnDisableDaemon") +// private InputButton disableDaemonButton; + @Label(id = "lblStatus") + private LabelComponent lblStatus; @Input(id = "btnCalibrate") private InputButton calibrateButton; @@ -85,21 +90,21 @@ public EzgripperInstallationNodeContribution(EzgripperDaemonService daemonServic private InputButton execButton; - @Input(id = "btnEnableDaemon") - public void onStartClick(InputEvent event) { - if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { - setDaemonEnabled(true); - applyDesiredDaemonStatus(); - } - } - - @Input(id = "btnDisableDaemon") - public void onStopClick(InputEvent event) { - if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { - setDaemonEnabled(false); - applyDesiredDaemonStatus(); - } - } +// @Input(id = "btnEnableDaemon") +// public void onStartClick(InputEvent event) { +// if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { +// setDaemonEnabled(true); +// applyDesiredDaemonStatus(); +// } +// } +// +// @Input(id = "btnDisableDaemon") +// public void onStopClick(InputEvent event) { +// if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { +// setDaemonEnabled(false); +// applyDesiredDaemonStatus(); +// } +// } @Input(id = "btnCalibrate") public void onCalibrateClick(InputEvent event) { @@ -168,6 +173,12 @@ public void onExecClick(InputEvent event) { @Override public void openView() { + try { + servoIds = Arrays.toString(xmlRpcDaemonInterface.get_ids()); + devName = xmlRpcDaemonInterface.get_devname(); + } catch (XmlRpcException e) { + e.printStackTrace(); + } try { outputField.setText(xmlRpcDaemonInterface.get_last_message()); } catch (Exception e) {} @@ -188,29 +199,15 @@ public void run() { } private void updateUI() { - DaemonContribution.State state = getDaemonState(); - - if (state == DaemonContribution.State.RUNNING) { - enableDaemonButton.setEnabled(false); - disableDaemonButton.setEnabled(true); - } else { - enableDaemonButton.setEnabled(true); - disableDaemonButton.setEnabled(false); - } - - String text = ""; - switch (state) { - case RUNNING: - text = "Daemon runs"; - break; - case STOPPED: - text = "Daemon stopped"; - break; - case ERROR: - text = "Daemon failed"; - break; + String statusString=""; + try { + int[] pos = xmlRpcDaemonInterface.get_positions(); + int[] temps = xmlRpcDaemonInterface.get_temperatures(); + statusString = devName + " ids="+servoIds+" positions="+Arrays.toString(pos)+" temperatures="+Arrays.toString(temps); + } catch (XmlRpcException e) { + e.printStackTrace(); } - daemonStatusLabel.setText(text); + lblStatus.setText("Status: "+statusString); } @Override @@ -255,9 +252,9 @@ private Boolean isDaemonEnabled() { return model.get(ENABLED_KEY, true); //This daemon is enabled by default } - private void setDaemonEnabled(Boolean enable) { - model.set(ENABLED_KEY, enable); - } +// private void setDaemonEnabled(Boolean enable) { +// model.set(ENABLED_KEY, enable); +// } public String getXMLRPCVariable(){ return XMLRPC_VARIABLE; diff --git a/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperProgramNodeContribution.java b/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperProgramNodeContribution.java index c8ab323..c5adc96 100755 --- a/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperProgramNodeContribution.java +++ b/src/main/java/com/sakerobotics/ezgripper/ur/impl/EzgripperProgramNodeContribution.java @@ -30,6 +30,13 @@ */ package com.sakerobotics.ezgripper.ur.impl; +import java.awt.EventQueue; +import java.util.Arrays; +import java.util.Timer; +import java.util.TimerTask; + +import javax.imageio.ImageIO; + import org.apache.xmlrpc.XmlRpcException; import com.ur.urcap.api.contribution.ProgramNodeContribution; @@ -37,8 +44,13 @@ import com.ur.urcap.api.domain.data.DataModel; import com.ur.urcap.api.domain.script.ScriptWriter; import com.ur.urcap.api.ui.annotation.Input; +import com.ur.urcap.api.ui.annotation.Label; +import com.ur.urcap.api.ui.annotation.Img; import com.ur.urcap.api.ui.component.InputButton; import com.ur.urcap.api.ui.component.InputEvent; +import com.ur.urcap.api.ui.component.InputTextField; +import com.ur.urcap.api.ui.component.LabelComponent; +import com.ur.urcap.api.ui.component.ImgComponent; public class EzgripperProgramNodeContribution implements ProgramNodeContribution { @@ -60,6 +72,10 @@ public void execute() throws XmlRpcException { getInstallation().getXmlRpcDaemonInterface().gripperMove(extractNumber(), 100); } else if (opString.contains("close")) { getInstallation().getXmlRpcDaemonInterface().gripperMove(0, extractNumber()); + } else if (opString.contains("goto")) { + String[] s = opString.split("\\s+"); + getInstallation().getXmlRpcDaemonInterface().gripperMove( + Integer.parseInt(s[1]), Integer.parseInt(s[2])); } } public String getScriptLine() { @@ -77,6 +93,11 @@ public String getScriptLine() { return getInstallation().getXMLRPCVariable() + String.format(".ezg_move(0, %d)", extractNumber()); } + if (opString.contains("goto")) { + String[] s = opString.split("\\s+"); + return getInstallation().getXMLRPCVariable() + + String.format(".ezg_move(%s, %s)", s[1], s[2]); + } return "# Unknown operation: " + opString; } } @@ -85,101 +106,79 @@ public String getScriptLine() { private final DataModel model; private final URCapAPI api; + private Timer uiTimer; + private String servoIds = ""; public EzgripperProgramNodeContribution(URCapAPI api, DataModel model) { this.api = api; this.model = model; } + @Label(id = "lblStatus") + private LabelComponent lblStatus; + + @Img(id = "liveImage") + private ImgComponent liveImage; + + @Input(id = "btnGoto") + private InputButton gotoButton; + @Input(id = "btnClose") + private InputButton closeButton; + + @Input(id = "txtGoto1") + private InputTextField goto1Field; + @Input(id = "txtGoto2") + private InputTextField goto2Field; + @Input(id = "txtClose") + private InputTextField closeField; + + @Input(id = "btnCalibrate") private InputButton calibrateButton; - @Input(id = "btnRelease") - private InputButton releaseButton; - @Input(id = "btnOpen10") - private InputButton open10Button; - @Input(id = "btnOpen20") - private InputButton open20Button; - @Input(id = "btnOpen30") - private InputButton open30Button; - @Input(id = "btnOpen40") - private InputButton open40Button; - @Input(id = "btnOpen50") - private InputButton open50Button; - @Input(id = "btnOpen60") - private InputButton open60Button; - @Input(id = "btnOpen70") - private InputButton open70Button; - @Input(id = "btnOpen80") - private InputButton open80Button; - @Input(id = "btnOpen90") - private InputButton open90Button; - @Input(id = "btnOpen100") - private InputButton open100Button; - @Input(id = "btnClose10") - private InputButton close10Button; - @Input(id = "btnClose50") - private InputButton close50Button; - @Input(id = "btnClose100") - private InputButton close100Button; - @Input(id = "btnCalibrate") - public void onCalibrateClick(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnRelease") - public void onReleaseClick(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen10") - public void onOpen10Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen20") - public void onOpen20Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen30") - public void onOpen30Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen40") - public void onOpen40Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen50") - public void onOpen50Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen60") - public void onOpen60Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen70") - public void onOpen70Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen80") - public void onOpen80Click(InputEvent event) throws Exception { - newOperation(event); + public void showPic(int n) { + String picName = "/com/sakerobotics/ezgripper/ur/impl/img/EZGripper"+n+".png"; + try{ + liveImage.setImage(ImageIO.read(getClass().getResource(picName))); + } catch (java.io.IOException e) { + e.printStackTrace(); + } } - @Input(id = "btnOpen90") - public void onOpen90Click(InputEvent event) throws Exception { - newOperation(event); - } - @Input(id = "btnOpen100") - public void onOpen100Click(InputEvent event) throws Exception { - newOperation(event); + + @Input(id = "txtGoto1") + public void txtGoto1Event(InputEvent event) throws Exception { + if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { + showPic(Integer.parseInt(goto1Field.getText())/5); + } } - @Input(id = "btnClose10") - public void onClose10Click(InputEvent event) throws Exception { - newOperation(event); + + + @Input(id = "btnGoto") + public void onGotoClick(InputEvent event) throws Exception { + if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { + String text = "GoTo " + goto1Field.getText() + " " + goto2Field.getText(); + model.set(OPERATION, text); + Operation op = new Operation(text); + op.execute(); + } } - @Input(id = "btnClose50") - public void onClose50Click(InputEvent event) throws Exception { - newOperation(event); + @Input(id = "btnClose") + public void onCloseNewClick(InputEvent event) throws Exception { + if (event.getEventType() == InputEvent.EventType.ON_CHANGE) { + String text = "Close " + closeField.getText(); + model.set(OPERATION, text); + Operation op = new Operation(text); + op.execute(); + + goto1Field.setText("0"); + goto2Field.setText(closeField.getText()); + showPic(0); + } } - @Input(id = "btnClose100") - public void onCloseClick(InputEvent event) throws Exception { + + + @Input(id = "btnCalibrate") + public void onCalibrateClick(InputEvent event) throws Exception { newOperation(event); } @@ -195,10 +194,57 @@ private void newOperation(InputEvent event) throws Exception { @Override public void openView() { + String opString = model.get(OPERATION, "goto 50 50").toLowerCase(); + if (opString.contains("goto")) { + String[] s = opString.split("\\s+"); + goto1Field.setText(s[1]); + goto2Field.setText(s[2]); + } else if (opString.contains("open")) { + goto1Field.setText(opString.replaceAll("\\D", "")); + goto2Field.setText("100"); + } else if (opString.contains("close")) { + goto1Field.setText("0"); + goto2Field.setText(opString.replaceAll("\\D", "")); + closeField.setText(opString.replaceAll("\\D", "")); + } + showPic(Integer.parseInt(goto1Field.getText())/5); + + try { + servoIds = Arrays.toString(getInstallation().getXmlRpcDaemonInterface().get_ids()); + } catch (XmlRpcException e) { + e.printStackTrace(); + } + + // UI updates from non - GUI threads must use EventQueue.invokeLater ( or SwingUtilities.invokeLater ) + uiTimer = new Timer ( true ) ; + uiTimer.schedule( new TimerTask () { + @Override + public void run () { + EventQueue.invokeLater( new Runnable () { + @Override + public void run () { + updateUI (); + } + }) ; + } + } , 0 , 1000) ; } + private void updateUI() { + String statusString=""; + try { + int[] pos = getInstallation().getXmlRpcDaemonInterface().get_positions(); + int[] temps = getInstallation().getXmlRpcDaemonInterface().get_temperatures(); + statusString = "ids="+servoIds+" positions="+Arrays.toString(pos)+" temperatures="+Arrays.toString(temps); + } catch (XmlRpcException e) { + e.printStackTrace(); + } + lblStatus.setText("Status: "+statusString); + } + @Override public void closeView() { + uiTimer.cancel(); } @Override diff --git a/src/main/java/com/sakerobotics/ezgripper/ur/impl/XmlRpcEzgripperInterface.java b/src/main/java/com/sakerobotics/ezgripper/ur/impl/XmlRpcEzgripperInterface.java index 30c072d..5c1e42c 100755 --- a/src/main/java/com/sakerobotics/ezgripper/ur/impl/XmlRpcEzgripperInterface.java +++ b/src/main/java/com/sakerobotics/ezgripper/ur/impl/XmlRpcEzgripperInterface.java @@ -104,11 +104,46 @@ public int get_position() throws XmlRpcException { return processInt(result); } + public int[] get_positions() throws XmlRpcException { + Object result = client.execute("ezg_get_positions", Collections.emptyList()); + return processIntArray(result); + } + + public int[] get_temperatures() throws XmlRpcException { + Object result = client.execute("ezg_get_temperatures", Collections.emptyList()); + return processIntArray(result); + } + + public int[] get_ids() throws XmlRpcException { + Object result = client.execute("ezg_get_ids", Collections.emptyList()); + return processIntArray(result); + } + + public String get_devname() throws XmlRpcException { + Object result = client.execute("ezg_get_devname", Collections.emptyList()); + return processString(result); + } + public String init_connection() throws XmlRpcException { Object result = client.execute("ezg_init_connection", Collections.emptyList()); return processString(result); } + private int[] processIntArray(Object response) { + if (response instanceof Object[]) { + Object[] objs = (Object[]) response; + int[] intres = new int[objs.length]; + for(int i=0; i= 32768: servo_position -= 65536 return self.down_scale(servo_position, self.GRIP_MAX) + def get_positions(self): + positions = [] + for servo in self.servos: + positions.append(self.get_position(servo)) + return positions + def goto_position(self, position, closing_torque): # Using the 0-100% range allows the user to define the definition of where the gap is measured. # position: 0..100, 0 - close, 100 - open @@ -159,6 +167,12 @@ def release(self): def open(self): self.goto_position(100, 100) + def get_temperatures(self): + temperatures = [] + for servo in self.servos: + temperatures.append(servo.read_temperature()) + return temperatures + if __name__ == '__main__': # Sample code connection = create_connection(dev_name='/dev/ttyUSB0', baudrate=57600) @@ -167,15 +181,17 @@ def open(self): gripper = Gripper(connection, 'gripper1', [1]) #gripper = Gripper(connection, 'gripper1', [1,2]) + print "temperatures:", gripper.get_temperatures() + gripper.calibrate() gripper.goto_position(100, 100) # open - time.sleep(2.0) + print "positions:", gripper.get_positions() gripper.goto_position(0, 50) # close time.sleep(2.0) + print "positions:", gripper.get_positions() gripper.goto_position(100, 50) # open time.sleep(2.0) gripper.goto_position(70, 100) # position 70 - print "get_position:", gripper.get_position() + print "positions:", gripper.get_positions() print "DONE" - diff --git a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/libezgripper/lib_robotis.py b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/libezgripper/lib_robotis.py index 762c22d..e9fd412 100644 --- a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/libezgripper/lib_robotis.py +++ b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/libezgripper/lib_robotis.py @@ -34,6 +34,7 @@ ## Updated by: Girts Linde import serial +import serial.tools.list_ports import time import thread import sys, optparse @@ -165,13 +166,14 @@ def _open_serial(self, baudrate): class Robotis_Servo(): ''' Class to use a robotis RX-28 or RX-64 servo. ''' - def __init__(self, USB2Dynamixel, servo_id ): + def __init__(self, USB2Dynamixel, servo_id, retry_count=3 ): ''' USB2Dynamixel - USB2Dynamixel_Device object to handle serial port. Handles threadsafe operation for multiple servos servo_id - servo ids connected to USB2Dynamixel 1,2,3,4 ... (1 to 253) [0 is broadcast if memory serves] ''' + self.retry_count = retry_count # Error Checking if USB2Dynamixel == None: raise RuntimeError('lib_robotis: Robotis Servo requires USB2Dynamixel!\n') @@ -183,6 +185,8 @@ def __init__(self, USB2Dynamixel, servo_id ): try: self.read_address(3) except Exception as e: + if self.retry_count == 0: + raise print "Exception:", e.message print "Get ID failed once, retrying" self.dyn.flush_input() @@ -369,7 +373,7 @@ def send_instruction(self, instruction, exceptionOnErrorResponse = True): break except (CommunicationError, serial.SerialException, socket.timeout) as e: failures += 1 - if failures > 3: + if failures > self.retry_count: raise warning("send_instruction retry %d, error: %s"%(failures, e.message)) except: @@ -447,21 +451,38 @@ def check_overload_and_recover(self): else: print "Servo %d: recovery failed, status code %d"%(self.servo_id, e) -def find_servos(dyn): +def find_servos(dyn, max_id=252, print_progress=False): ''' Finds all servo IDs on the USB2Dynamixel ''' - print 'Scanning for Servos.' servos = [] + prev_timeout = dyn.servo_dev.getTimeout() dyn.servo_dev.setTimeout( 0.03 ) # To make the scan faster - for i in xrange(254): + for i in xrange(max_id+1): # 0..max_id try: - _ = Robotis_Servo( dyn, i ) - print '\n FOUND A SERVO @ ID %d\n' % i + _ = Robotis_Servo( dyn, i, retry_count=0 ) + if print_progress: + print ' FOUND A SERVO @ ID %d' % i servos.append( i ) except: pass - dyn.servo_dev.setTimeout( 1.0 ) # Restore to original + dyn.servo_dev.setTimeout( prev_timeout ) return servos +def find_servos_on_all_ports(max_id=252, baudrate=57600, print_progress=False): + ports = serial.tools.list_ports.comports() + result = [] + for port in ports: + device_name = port[0] + if 'ttyUSB' in device_name or 'ttyACM' in device_name or 'COM' in device_name: + if print_progress: + print "device:", device_name + try: + connection = create_connection(device_name, 57600) + servo_ids = find_servos(connection, max_id=max_id, print_progress=print_progress) + if servo_ids: + result.append( (device_name, servo_ids) ) + except: + pass + return result def recover_servo(dyn): ''' Recovers a bricked servo by booting into diagnostic bootloader and resetting ''' @@ -524,7 +545,8 @@ def recover_servo(dyn): dyn = USB2Dynamixel_Device(opt.dev_name, opt.baud) if opt.scan: - find_servos( dyn ) + print 'Scanning for Servos...' + find_servos( dyn, print_progress=True ) if opt.recover: recover_servo( dyn ) diff --git a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/serial/tools/list_ports_posix.py b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/serial/tools/list_ports_posix.py index 8d2357e..1df8f4e 100644 --- a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/serial/tools/list_ports_posix.py +++ b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/daemon/serial/tools/list_ports_posix.py @@ -64,6 +64,7 @@ def usb_sysfs_hw_string(sysfs_path): ) def usb_lsusb_string(sysfs_path): + 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- - -
 
- - -

Try operations:


 

 
+ +
 
+ - + +
\ No newline at end of file diff --git a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/programnode.html b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/programnode.html index 2102ee0..1f86231 100755 --- a/src/main/resources/com/sakerobotics/ezgripper/ur/impl/programnode.html +++ b/src/main/resources/com/sakerobotics/ezgripper/ur/impl/programnode.html @@ -1,7 +1,6 @@ - EZGripper +
- + +        + Position + Force
 
- + +        + Force
 
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- - - - - +