"""A basic script to store points from a cb2 robot
Basic Usage: Run the script, with commandline args. Press `c` to capture a
point. Press `s` to save and exit."""
# The MIT License (MIT)
#
# Copyright (c) 2016 GTRC.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
import socket
import time
import argparse
import cb2_receive
import json
import sys
from contextlib import closing
[docs]def main():
# Parse in arguments
parser = argparse.ArgumentParser(
description='Save Points',
epilog="This software is designed to save points from a cb2 robot to a"
" file for future use. Points are saved as both joint and"
" cartesian points to the designated file. Once the program is "
"running, press [c] to capture a point and press [s] to save"
" the file and exit.")
parser.add_argument("-f", "--file", metavar="file", type=str,
help='The file to save data to.',
default="cb2points.json")
parser.add_argument("--ip", metavar="ip", type=str,
help='IP address of the robot', default="192.168.1.100")
parser.add_argument("--port", metavar="port", type=int,
help='IP port on the robot', default=30003)
args = parser.parse_args()
# Check to make sure that we can access the file
try:
f = open(args.file, 'w')
print "Able to access file, closing it now until we are ready for it."
except IOError:
print "Unable to access file, bailing out."
sys.exit("Unable to access file")
f.close()
host = args.ip # The remote host
port = args.port # The same port as used by the server
print 'trying to connect to: {}:{}'.format(host, port)
with closing(socket.socket(socket.AF_INET, socket.SOCK_STREAM))\
as robot_socket:
robot_socket.connect((host, port))
with cb2_receive.URReceiver(robot_socket, False) as my_ur_receiver:
my_ur_receiver.start()
run = True
point_count = 0
json_dict = dict()
json_dict['time'] = time.time()
json_dict['points'] = dict()
while run:
try:
key_input = str(raw_input('Input:'))
except ValueError:
print ("Input was not valid. You must input either [c] or"
" [s]")
key_input = None
if key_input is not None:
if key_input in ('c', 'C'):
with my_ur_receiver.lock:
json_dict['points'][point_count] = \
{'cartesian': my_ur_receiver.position,
'joint': my_ur_receiver.actual_joint_positions}
point_count += 1
elif key_input in ('s', 'S'):
run = False
else:
print ("Input was not valid. You must input either [c]"
" or [s]")
with open(args.file, 'w') as f:
json.dump(json_dict, f, indent=4)
if __name__ == "__main__":
main()
