AUBO.py

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# Copyright 2018 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs 
# for an AUBO robot with RoboDK
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
#    1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
#    2- Make the necessary changes
#    3- Run the file to open Python Shell: Run -> Run module (F5 by default)
#    4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
#    1- Open the robot panel (double click a robot)
#    2- Select "Parameters"
#    3- Select "Unlock advanced options"
#    4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
#     http://www.robodk.com/help#PostProcessor
#     http://www.robodk.com/doc/PythonAPI/postprocessor.html
# ----------------------------------------------------


# ----------------------------------------------------
# Import RoboDK tools
from robodk import *

XML_HEADER = '''<?xml version="1.0" encoding="UTF-8"?>
<ProcedureProgram>
    <Condition ConditionType="Procedure_Program" ConditionAlias="Procedure_Program" ConditionUuid="%s">
        <Attribute/>
'''

XML_CLOSING = '''    </Condition>
</ProcedureProgram>
'''

XML_MOVEJ = '''        <Condition ConditionType="Move" ConditionAlias="HOME" ConditionUuid="%s">
            <Attribute>
                <MoveConditionMode>MoveJoint</MoveConditionMode>
                <ArrivalAheadThreshold>0</ArrivalAheadThreshold>
                <ArrivalAheadType>None</ArrivalAheadType>
                <EnableArrivalAhead>false</EnableArrivalAhead>
                <EnableOffset>false</EnableOffset>
                <JointAcc>%s,%s,%s,%s,%s,%s</JointAcc>
                <JointSpeed>%s,%s,%s,%s,%s,%s</JointSpeed>
                <OffsetCoordName></OffsetCoordName>
                <OffsetX></OffsetX>
                <OffsetY></OffsetY>
                <OffsetZ></OffsetZ>
            </Attribute>
            <Condition ConditionType="Waypoint" ConditionAlias="Waypoint" ConditionUuid="%s">
                <Attribute>
                    <WaypointConditionMode>FixedPoint</WaypointConditionMode>
                    <FixedPoint>%s</FixedPoint>
                </Attribute>
            </Condition>
        </Condition>'''
        
XML_MOVEL = '''        <Condition ConditionType="Move" ConditionAlias="Move" ConditionUuid="%s">
            <Attribute>
                <MoveConditionMode>MoveJoint</MoveConditionMode>
                <ArrivalAheadThreshold>0</ArrivalAheadThreshold>
                <ArrivalAheadType>None</ArrivalAheadType>
                <EnableArrivalAhead>false</EnableArrivalAhead>
                <EnableOffset>false</EnableOffset>
                <JointAcc>%s,%s,%s,%s,%s,%s</JointAcc>
                <JointSpeed>%s,%s,%s,%s,%s,%s</JointSpeed>
                <OffsetCoordName></OffsetCoordName>
                <OffsetX></OffsetX>
                <OffsetY></OffsetY>
                <OffsetZ></OffsetZ>
            </Attribute>
            <Condition ConditionType="Waypoint" ConditionAlias="Waypoint" ConditionUuid="%s">
                <Attribute>
                    <WaypointConditionMode>FixedPoint</WaypointConditionMode>
                    <FixedPoint>%s</FixedPoint>
                </Attribute>
            </Condition>
        </Condition>'''

def new_uuid():
    import uuid
    return str(uuid.uuid4()).replace('-','')

# ----------------------------------------------------

def pose_2_ur(pose):
    """Calculate the p[x,y,z,rx,ry,rz] position for a pose target"""
    def saturate_1(value):
        return min(max(value,-1.0),1.0)
        
    angle = acos(  saturate_1((pose[0,0]+pose[1,1]+pose[2,2]-1)/2)   )    
    rxyz = [pose[2,1]-pose[1,2], pose[0,2]-pose[2,0], pose[1,0]-pose[0,1]]

    if angle == 0:
        rxyz = [0,0,0]
    else:
        rxyz = normalize3(rxyz)
        rxyz = mult3(rxyz, angle)
    return [pose[0,3], pose[1,3], pose[2,3], rxyz[0], rxyz[1], rxyz[2]]

def pose_2_str(pose):
    """Prints a pose target"""
    [x,y,z,w,p,r] = pose_2_ur(pose)
    M_2_MM = 0.001
    return ('p[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]' % (x*M_2_MM,y*M_2_MM,z*M_2_MM,w,p,r))
    
def joints_2_str(angles):
    """Prints a joint target"""
    njoints = len(angles)
    d2r = pi/180.0
    if njoints == 6:
        return ('%.6f, %.6f, %.6f, %.6f, %.6f, %.6f' % (angles[0]*d2r, angles[1]*d2r, angles[2]*d2r, angles[3]*d2r, angles[4]*d2r, angles[5]*d2r))
    else:
        return 'this post only supports 6 joints'

# ----------------------------------------------------    
# Object class that handles the robot instructions/syntax
class RobotPost(object):
    """Robot post object"""
    PROG_EXT = 'aubo'       # set the program extension
    SPEED_MS       = 0.25   # default speed for linear moves in m/s
    SPEED_RADS     = 0.3    # default speed for joint moves in rad/s
    ACCEL_MSS      = 0.25   # default acceleration for lineaer moves in m/ss
    ACCEL_RADSS    = 1.1    # default acceleration for joint moves in rad/ss

    SPEED_MS_CURR    = SPEED_MS    # current speed set by user
    SPEED_RADS_CURR  = SPEED_RADS  # current speed set by user
    ACCEL_MSS_CURR   = ACCEL_MSS   # current acceleration set by user
    ACCEL_RADSS_CURR = ACCEL_RADSS # current acceleration set by user

    BLEND_RADIUS_M = 0.001  # default blend radius in meters (corners smoothing)
    REF_FRAME      = eye(4) # default reference frame (the robot reference frame)
    LAST_POS = None # last XYZ position
    
    # other variables
    ROBOT_POST = 'unset'
    ROBOT_NAME = 'generic'
    PROG_FILES = []
    MAIN_PROGNAME = 'unknown'
    
    XML_UUID_MAIN = None
    XML_TARGETS = ''
    
    nPROGS = 0
    PROG = []
    PROG_XML = []
    SUBPROG = []
    TAB = ''
    LOG = ''    
    
    def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
        self.ROBOT_POST = robotpost
        self.ROBOT_NAME = robotname
        
    def ProgStart(self, progname):
        self.nPROGS = self.nPROGS + 1
        if self.nPROGS <= 1:
            self.TAB = '  '
            self.MAIN_PROGNAME = progname    
        else:
            self.addline('  # Subprogram %s' % progname)   
            self.addline('  def %s():' % progname)
            self.TAB = '    '         
        
    def ProgFinish(self, progname):
        self.TAB = ''
        if self.nPROGS <= 1:
            self.addline('--End of main program')
        else:
            self.addline('--End of main program')
            
        self.addline('')
                
    def ProgSave(self, folder, progname, ask_user = False, show_result = False):
        self.PROG.append('%s()' % self.MAIN_PROGNAME)
        progname = progname + '.' + self.PROG_EXT
        if ask_user or not DirExists(folder):
            filesave = getSaveFile(folder, progname, 'Save program as...')
            if filesave is not None:
                filesave = filesave.name
            else:
                return
        else:
            filesave = folder + '/' + progname        
            
        fid = open(filesave, "w")
        #for line in self.SUBPROG:
        #    fid.write(line)

        fid.write('--Main program:\n')
        for line in self.PROG:
            fid.write(line)
            
        fid.close()
        print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file

        filesave_xml = filesave[:-4] + 'xml'
        fid2 = open(filesave_xml, "w")
        fid2.write(XML_HEADER)
        for block in self.PROG_XML:
            fid2.write(block)
            
        fid2.close()
        #print('SAVED: %s\n' % filesave_xml) # tell RoboDK the path of the saved file

        self.PROG_FILES = [filesave, filesave_xml]
        
        # open file with default application
        if show_result:
            if type(show_result) is str:
                # Open file with provided application
                import subprocess
                p = subprocess.Popen([show_result, filesave, filesave_xml])
            else:
                # open file with default application
                import os
                os.startfile(filesave)
            if len(self.LOG) > 0:
                mbox('Program generation LOG:\n\n' + self.LOG)
    
    def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
        """Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
        The connection parameters must be provided in the robot connection menu of RoboDK"""
        UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
        return
        
        with open(self.PROG_FILES, 'rb') as progfile:
            import socket
            print("POPUP: Connecting to robot...")
            sys.stdout.flush()
            robot_socket = socket.create_connection((robot_ip, 30002))
            file_str = progfile.read()
            print("POPUP: Sending program...")
            sys.stdout.flush()
            robot_socket.send(file_str)
            received = robot_socket.recv(4096)
            robot_socket.close()
            print("POPUP: Program sent. The program should be running on the robot.")
            sys.stdout.flush()
            if received:
                print("POPUP: Program running")
                sys.stdout.flush()
            else:
                print("POPUP: Problems running program...")
                sys.stdout.flush()
            
            pause(2)
            
    def MoveJ(self, pose, joints, conf_RLF=None):
        """Add a joint movement"""
        if pose is None:
            self.LAST_POS = None
        
        randid = new_uuid()  # Instruction
        randid2 = new_uuid() # waypoint        
        
        aj = round(self.ACCEL_RADSS_CURR/17.296*100)
        sj = round(self.SPEED_RADS_CURR/2.618*100)
        self.addxml(XML_MOVEJ % (randid, aj, aj, aj, aj, aj, aj, sj, sj, sj, sj, sj, sj, randid2, joints_2_str(joints)))

        self.addline('--(Logic tree item : Move) Move')
        self.addline('init_global_move_profile()')
        j_vel = self.SPEED_RADS_CURR
        j_acc = self.ACCEL_RADSS_CURR
        self.addline('set_joint_maxvelc({%f,%f,%f,%f,%f,%f})' % (j_vel,j_vel,j_vel,j_vel*121/101,j_vel*121/101,j_vel*121/101))
        self.addline('set_joint_maxacc({%f,%f,%f,%f,%f,%f})' % (j_acc,j_acc,j_acc,j_acc*121/101,j_acc*121/101,j_acc*121/101))
        self.addline('  --(Logic tree item : Waypoint) Waypoint')
        self.addline('  set_current_logic_tree_item("%s")' % randid2)
        self.addline('  move_joint({%s}, true)' % joints_2_str(joints))
        self.addline('  set_step_breakpoint()')
        
        
    def MoveL(self, pose, joints, conf_RLF=None):
        """Add a linear movement"""
        # Movement in joint space or Cartesian space should give the same result:
        # pose_wrt_base = self.REF_FRAME*pose
        
        randid = new_uuid()  # Instruction
        randid2 = new_uuid() # waypoint
        
        if pose is None:
            self.LAST_POS = None
            target = joints_2_str(joints)
        else:
            target = pose_2_str(self.REF_FRAME*pose)
        al = round(self.ACCEL_MSS_CURR/2*100)
        sl = round(self.SPEED_MS_CURR/2*100)
        self.addxml(XML_MOVEL % (randid, al, al, al, al, al, al, sl, sl, sl, sl, sl, sl, randid2, joints_2_str(joints)))

        self.addline('--(Logic tree item : Move) Move')
        self.addline('init_global_move_profile()')
        l_vel = self.SPEED_MS_CURR
        l_acc = self.ACCEL_MSS_CURR
        self.addline('set_end_maxvelc(%s)' % l_vel)
        self.addline('set_end_maxacc(%s)' % l_acc)
        self.addline('  set_current_logic_tree_item("%s")' % randid2)
        self.addline('  move_line({%s}, true)' % joints_2_str(joints))
        self.addline('  set_step_breakpoint()')
        
        
    def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
        """Add a circular movement"""
        def circle_radius(p0,p1,p2):
            a = norm(subs3(p0,p1))
            b = norm(subs3(p1,p2))
            c = norm(subs3(p2,p0))
            radius = a*b*c/sqrt(pow(a*a+b*b+c*c,2)-2*(pow(a,4)+pow(b,4)+pow(c,4)))            
            return radius
            
        def distance_p1_p02(p0,p1,p2):
            v01 = subs3(p1, p0)
            v02 = subs3(p2, p0)
            return dot(v02,v01)/dot(v02,v02)
            
        p0 = self.LAST_POS
        p1 = pose1.Pos()
        p2 = pose2.Pos()
        if p0 is None:
            self.MoveL(pose2, joints2, conf_RLF_2)
            return
            
        radius = circle_radius(p0, p1, p2)        
        if radius < 1 or radius > 100000:
            self.MoveL(pose2, joints2, conf_RLF_2)
            return
        
        d_p1_p02 = distance_p1_p02(p0, p1, p2)
        if d_p1_p02 < 1:
            self.MoveL(pose2, joints2, conf_RLF_2)
            return      
            
        self.LAST_POS = pose2.Pos()
        self.addline('movec(%s,%s,accel_mss,speed_ms,%s)' % (pose_2_str(self.REF_FRAME*pose1),pose_2_str(self.REF_FRAME*pose2), blend_radius))
        
    def setFrame(self, pose, frame_id=None, frame_name=None):
        """Change the robot reference frame"""
        # the reference frame is not needed if we use joint space for joint and linear movements
        # the reference frame is also not needed if we use cartesian moves with respect to the robot base frame
        # the cartesian targets must be pre-multiplied by the active reference frame
        self.REF_FRAME = pose    
        #self.addline('# set_reference(%s)' % pose_2_str(pose))
        
    def setTool(self, pose, tool_id=None, tool_name=None):
        """Change the robot TCP"""
        self.addline('set_tcp(%s)' % pose_2_str(pose))
        
    def Pause(self, time_ms):
        """Pause the robot program"""
        if time_ms <= 0:
            self.addline('halt() # reimplement this function to force stop')
        else:
            self.addline('--(Logic tree item : Wait) Wait')
            self.addline('set_current_logic_tree_item("")')
            self.addline('sleep(%.3f)' % (time_ms*0.001))
            self.addline('set_step_breakpoint()')
        
    def setSpeed(self, speed_mms):
        """Changes the robot speed (in mm/s)"""
        if speed_mms >= 2000:
            speed_mms = 2000
        self.SPEED_MS_CURR = speed_mms/1000.0
        
    def setAcceleration(self, accel_mmss):
        """Changes the robot acceleration (in mm/s2)"""
        if accel_mmss >= 2000:
            accel_mmss = 2000
        self.ACCEL_MSS_CURR = accel_mmss/1000.0
        
    def setSpeedJoints(self, speed_degs):
        """Changes the robot joint speed (in deg/s)"""
        if speed_degs >= 150:
            speed_degs = 150        
        self.SPEED_RADS_CURR = speed_degs*pi/180
    
    def setAccelerationJoints(self, accel_degss):
        """Changes the robot joint acceleration (in deg/s2)"""
        if accel_degss >= 991:
            accel_degss = 991
        self.ACCEL_RADSS_CURR = accel_degss*pi/180
        
    def setZoneData(self, zone_mm):
        """Changes the zone data approach (makes the movement more smooth)"""
        if zone_mm < 0:
            zone_mm = 0            
        self.BLEND_RADIUS_M = zone_mm / 1000.0
                
    def RunCode(self, code, is_function_call = False):
        """Adds code or a function call"""
        if is_function_call:
            code.replace(' ','_')
            if not code.endswith(')'):
                code = code + '()'
            self.addline(code)
        else:
            #self.addline(code)
            self.addline('# ' + code) #generate custom code as a comment
        
    def RunMessage(self, message, iscomment = False):
        """Show a message on the controller screen"""
        if iscomment:
            self.addline('# ' + message)
        else:
            self.addline('popup("%s","Message",False,False,blocking=True)' % message)
        
# ------------------ private ----------------------                
    def addline(self, newline):
        """Add a program line"""
        if self.nPROGS <= 1:
            self.PROG.append(self.TAB + newline + '\n')
        else:
            self.SUBPROG.append(self.TAB + newline + '\n')
            
    def addxml(self, newblock):
        """Add a program line"""
        if self.nPROGS <= 1:
            self.PROG_XML.append(newblock + '\n')
        else:
            raise Exception("This post does not support automatic program splitting")
        
    def addlog(self, newline):
        """Add a log message"""
        self.LOG = self.LOG + newline + '\n'

# -------------------------------------------------
# ------------ For testing purposes ---------------   
def Pose(xyzrpw):
    [x,y,z,r,p,w] = xyzrpw
    a = r*math.pi/180
    b = p*math.pi/180
    c = w*math.pi/180
    ca = math.cos(a)
    sa = math.sin(a)
    cb = math.cos(b)
    sb = math.sin(b)
    cc = math.cos(c)
    sc = math.sin(c)
    return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])

def test_post():
    """Test the post with a basic program"""

    robot = RobotPost('Universal Robotics', 'Generic UR robot')

    robot.ProgStart("Program")
    robot.RunMessage("Program generated by RoboDK", True)
    robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
    robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
    robot.setSpeed(100) # set speed to 100 mm/s
    robot.setAcceleration(3000) # set speed to 3000 mm/ss    
    robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
    robot.RunMessage("Setting air valve 1 on")
    robot.RunCode("TCP_On", True)
    robot.Pause(1000)
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
    robot.RunMessage("Setting air valve off")
    robot.RunCode("TCP_Off", True)
    robot.Pause(1000)
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
    robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
    robot.ProgFinish("Program")
    # robot.ProgSave(".","Program",True)
    for line in robot.PROG:
        print(line[:-1])
    if len(robot.LOG) > 0:
        mbox('Program generation LOG:\n\n' + robot.LOG)

    input("Press Enter to close...")

if __name__ == "__main__":
    """Function to call when the module is executed by itself: test"""
    test_post()