xarm-python-sdk 1.15.2__py3-none-any.whl

xarm/x3/servo.py

@@ -0,0 +1,485 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2019, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+from ..core.config.x_config import XCONF
+from ..core.config.x_code import ServoError
+from ..core.utils.log import logger, pretty_print
+from .base import Base
+from .decorator import xarm_is_connected
+
+
+class Servo(Base):
+    def __init__(self):
+        super(Servo, self).__init__()
+
+    @xarm_is_connected(_type='get')
+    def get_servo_debug_msg(self, show=False, lang='en'):
+        ret = self.arm_cmd.servo_get_dbmsg()
+        dbmsg = []
+        lang = lang if lang == 'cn' else 'en'
+        if self._check_code(ret[0]) == 0:
+            for i in range(1, 9):
+                servo_error = ServoError(ret[i * 2], status=ret[i * 2 - 1])
+                name = ('伺服-{}'.format(i) if lang == 'cn' else 'Servo-{}'.format(i)) if i < 8 else ('机械爪' if lang == 'cn' else 'Gripper')
+                dbmsg.append({
+                    'name': name,
+                    'servo_id': i,
+                    'status': servo_error.status,
+                    'code': servo_error.code,
+                    'title': servo_error.title[lang],
+                    'desc': servo_error.description[lang]
+                })
+        if show:
+            pretty_print('************* {}, {}: {} **************'.format(
+                '获取伺服信息' if lang == 'cn' else 'GetServoDebugMsg',
+                '状态' if lang == 'cn' else 'Status',
+                ret[0]), color='light_blue')
+            for servo_info in dbmsg:
+                color = 'red' if servo_info['code'] != 0 or servo_info['status'] != 0 else 'white'
+                pretty_print('* {}, {}: {}, {}: {}, {}: {}'.format(
+                    servo_info['name'],
+                    '状态' if lang == 'cn' else 'Status',
+                    servo_info['status'],
+                    '错误码' if lang == 'cn' else 'Code',
+                    servo_info['code'],
+                    '信息' if lang == 'cn' else 'Info',
+                    servo_info['title']), color=color)
+            pretty_print('*' * 50, color='light_blue')
+        return ret[0], dbmsg
+
+    @xarm_is_connected(_type='set')
+    def set_servo_zero(self, servo_id=None):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :return: 
+        """
+        assert isinstance(servo_id, int) and 1 <= servo_id <= 8, 'The value of parameter servo_id can only be 1-8.'
+        ret = self.arm_cmd.servo_set_zero(servo_id)
+        self.log_api_info('API -> set_servo_zero(servo_id={}) -> code={}'.format(servo_id, ret[0]), code=ret[0])
+        return ret[0]
+
+    @xarm_is_connected(_type='set')
+    def set_servo_addr_16(self, servo_id=None, addr=None, value=None, id_check=True):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :param addr: 
+        :param value: 
+        :param id_check:
+        :return: 
+        """
+        if id_check:
+            assert isinstance(servo_id, int) and 1 <= servo_id <= 7, 'The value of parameter servo_id can only be 1-7.'
+        assert addr is not None, 'The value of parameter addr cannot be None.'
+        assert value is not None, 'The value of parameter value cannot be None.'
+        ret = self.arm_cmd.servo_addr_w16(servo_id, addr, value)
+        self.log_api_info('API -> set_servo_addr_16(servo_id={}, addr={}, value={}) -> code={}'.format(servo_id, addr, value, ret[0]), code=ret[0])
+        return ret[0]
+
+    @xarm_is_connected(_type='get')
+    def get_servo_addr_16(self, servo_id=None, addr=None, id_check=True):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :param addr: 
+        :return: 
+        """
+        if id_check:
+            assert isinstance(servo_id, int) and 1 <= servo_id <= 7, 'The value of parameter servo_id can only be 1-7.'
+        assert addr is not None, 'The value of parameter addr cannot be None.'
+        ret = self.arm_cmd.servo_addr_r16(servo_id, addr)
+        return ret[0], ret[1]
+
+    @xarm_is_connected(_type='set')
+    def set_servo_addr_32(self, servo_id=None, addr=None, value=None, id_check=True):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :param addr: 
+        :param value: 
+        :return: 
+        """
+        if id_check:
+            assert isinstance(servo_id, int) and 1 <= servo_id <= 7, 'The value of parameter servo_id can only be 1-7.'
+        assert addr is not None, 'The value of parameter addr cannot be None.'
+        assert value is not None, 'The value of parameter value cannot be None.'
+        ret = self.arm_cmd.servo_addr_w32(servo_id, addr, value)
+        self.log_api_info('API -> set_servo_addr_32(servo_id={}, addr={}, value={}) -> code={}'.format(servo_id, addr, value, ret[0]), code=ret[0])
+        return ret[0]
+
+    @xarm_is_connected(_type='get')
+    def get_servo_addr_32(self, servo_id=None, addr=None, id_check=True):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :param addr: 
+        :return: 
+        """
+        if id_check:
+            assert isinstance(servo_id, int) and 1 <= servo_id <= 7, 'The value of parameter servo_id can only be 1-7.'
+        assert addr is not None, 'The value of parameter addr cannot be None.'
+        ret = self.arm_cmd.servo_addr_r32(servo_id, addr)
+        return ret[0], ret[1]
+
+    @xarm_is_connected(_type='set')
+    def clean_servo_error(self, servo_id=None):
+        """
+        Danger, do not use, may cause the arm to be abnormal,  just for debugging
+        :param servo_id: 
+        :return: 
+        """
+        return self.set_servo_addr_16(servo_id, 0x0109, 1)
+
+    @xarm_is_connected(_type='get')
+    def get_servo_state(self, servo_id):
+        """
+        获取运行状态
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0000)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_rotate_speed(self, servo_id):
+        """
+        获取转速
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0001)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_current_percentage(self, servo_id):
+        """
+        获取电流百分比
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0002)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_current(self, servo_id):
+        """
+        获取电流
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0003)
+        return ret[0], ret[1] / 100
+
+    @xarm_is_connected(_type='get')
+    def get_servo_command_position(self, servo_id):
+        """
+        获取指令位置
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_32(servo_id, 0x0004)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_position(self, servo_id):
+        """
+        获取电机位置
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_32(servo_id, 0x0006)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_position_deviation(self, servo_id):
+        """
+        获取位置误差
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_32(servo_id, 0x0008)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_electrical_angle(self, servo_id):
+        """
+        获取电角度
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x000B)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_drv8323_sr0_register(self, servo_id):
+        """
+        获取DRV8323_SR0状态寄存器
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x000C)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_drv8323_sr1_register(self, servo_id):
+        """
+        获取DRV8323_SR1状态寄存器
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x000D)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_temperature(self, servo_id):
+        """
+        获取当前温度
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x000E)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_alarm_code(self, servo_id):
+        """
+        获取当前报警代码
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x000F)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_alarm_current(self, servo_id):
+        """
+        获取报警发生时的电流值
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0010)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_alarm_speed(self, servo_id):
+        """
+        获取报警发生时的速度值
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0011)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_alarm_voltage(self, servo_id):
+        """
+        获取报警发生时的输入电压值
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0012)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_bus_voltage(self, servo_id):
+        """
+        获取母线电压
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x0018)
+        return ret[0], ret[1] / 100
+
+    @xarm_is_connected(_type='get')
+    def get_servo_mu_state(self, servo_id):
+        """
+        获取MU当前状态
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x001E)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_mu_alarm_count(self, servo_id):
+        """
+        获取MU上电后报警次数
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_16(servo_id, 0x001F)
+        return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_feedback_position(self, servo_id):
+        """
+        获取关节反馈位置
+        :param servo_id: 
+        :return: 
+        """
+        ret = self.get_servo_addr_32(servo_id, 0x0040)
+        return ret
+
+    # @xarm_is_connected(_type='get')
+    # def get_servo_current(self, servo_id):
+    #     """
+    #     获取电流
+    #     :param servo_id:
+    #     :return:
+    #     """
+    #     ret = self.get_servo_addr_16(servo_id, 0x0042)
+    #     return ret
+
+    @xarm_is_connected(_type='get')
+    def get_servo_version(self, servo_id=1):
+        """
+        获取关节版本
+        :param servo_id: 
+        :return: 
+        """
+        assert isinstance(servo_id, int) and 1 <= servo_id <= 8, 'The value of parameter servo_id can only be 1-8.'
+
+        def _get_servo_version(id_num):
+            versions = ['*', '*', '*']
+            ret1 = self.get_servo_addr_16(id_num, 0x0801)
+            ret2 = self.get_servo_addr_16(id_num, 0x0802)
+            ret3 = self.get_servo_addr_16(id_num, 0x0803)
+            code = 0
+            if ret1[0] == 0:
+                versions[0] = ret1[1]
+            else:
+                code = ret1[0]
+            if ret2[0] == 0:
+                versions[1] = ret2[1]
+            else:
+                code = ret2[0]
+            if ret3[0] == 0:
+                versions[2] = ret3[1]
+            else:
+                code = ret3[0]
+            # if code != 0:
+            #     _, err_warn = self.get_err_warn_code()
+            #     if _ in [0, 1, 2]:
+            #         if err_warn[0] not in [10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 28]:
+            #             versions = [ret1[1], ret2[1], ret3[1]]
+            return code, '.'.join(map(str, versions))
+
+        if servo_id > self.axis:
+            code = 0
+            versions = []
+            for i in range(1, self.axis + 1):
+                ret = _get_servo_version(i)
+                if ret[0] != 0:
+                    code = ret[0]
+                versions.append(ret[1])
+            return code, versions
+        else:
+            return _get_servo_version(servo_id)
+
+    @xarm_is_connected(_type='get')
+    def get_harmonic_type(self, servo_id=1):
+        """
+        获取关节版本
+        :param servo_id: 
+        :return: 
+        """
+        assert isinstance(servo_id, int) and 1 <= servo_id <= 8, 'The value of parameter servo_id can only be 1-8.'
+
+        if servo_id > self.axis:
+            code = 0
+            types = []
+            for i in range(1, self.axis + 1):
+                ret = self.get_servo_addr_16(i, 0x081F)
+                if ret[0] != 0:
+                    code = ret[0]
+                types.append(ret[1])
+            return code, types
+        else:
+            return self.get_servo_addr_16(servo_id, 0x081F)
+
+    @xarm_is_connected(_type='get')
+    def get_servo_error_code(self, servo_id=None):
+        assert servo_id is None or (isinstance(servo_id, int) and servo_id >= 1), \
+            'The value of parameter servo_id must be greater than 1 or None.'
+        code = 0
+        if servo_id is None or servo_id > self.axis:
+            count = 7 if servo_id == 8 else self.axis
+            errcodes = [0] * count
+            for i in range(count):
+                ret = self.get_servo_addr_32(i + 1, XCONF.ServoConf.CURR_POS)
+                if ret[0] == XCONF.UxbusState.ERR_CODE:
+                    _, err_warn = self.get_err_warn_code()
+                    if _ == 0:
+                        if i + 11 == err_warn[0]:
+                            errcodes[i] = ret[1]
+                        else:
+                            errcodes[i] = 0
+                    else:
+                        code = _
+                        logger.error('Get controller errwarn: ret={}, errwarn={}'.format(code, err_warn))
+                        errcodes[i] = ret[1]
+        else:
+            errcodes = 0
+            ret = self.get_servo_addr_32(servo_id, XCONF.ServoConf.CURR_POS)
+            if ret[0] == XCONF.UxbusState.ERR_CODE:
+                _, err_warn = self.get_err_warn_code()
+                if _ == 0:
+                    if servo_id + 10 == err_warn[0]:
+                        errcodes = ret[1]
+                    else:
+                        errcodes = 0
+                else:
+                    code = _
+                    logger.error('Get controller errwarn: ret={}, errwarn={}'.format(code, err_warn))
+                    errcodes = ret[1]
+        return code, errcodes
+
+    @xarm_is_connected(_type='set')
+    def clean_servo_pvl_err(self, servo_id=None):
+        assert servo_id is None or (isinstance(servo_id, int) and servo_id >= 1), \
+            'The value of parameter servo_id must be greater than 1 or None.'
+        if servo_id is None or servo_id > self.axis:
+            count = 7 if servo_id == 8 else self.axis
+            ids = range(count)
+        else:
+            ids = [servo_id - 1]
+        _, errcode = self.get_servo_error_code()
+        for i in ids:
+            if errcode[i] == 0x12:
+                self.set_servo_addr_16(i + 1, XCONF.ServoConf.RESET_PVL, 0x0002)
+                self.set_servo_addr_16(i + 1, XCONF.ServoConf.RESET_ERR, 1)
+        return 0
+
+    @xarm_is_connected(_type='get')
+    def get_servo_all_pids(self, servo_id=None):
+        assert servo_id is None or (isinstance(servo_id, int) and servo_id >= 1), \
+            'The value of parameter servo_id must be greater than 1 or None.'
+        self.clean_error()
+        self.clean_warn()
+        addrs = [
+            XCONF.ServoConf.POS_KP, XCONF.ServoConf.POS_FWDKP, XCONF.ServoConf.POS_PWDTC,
+            XCONF.ServoConf.SPD_KP, XCONF.ServoConf.SPD_KI, XCONF.ServoConf.CURR_KP,
+            XCONF.ServoConf.CURR_KI, XCONF.ServoConf.SPD_IFILT, XCONF.ServoConf.SPD_OFILT,
+            XCONF.ServoConf.CURR_IFILT, XCONF.ServoConf.POS_KD, XCONF.ServoConf.POS_CMDILT,
+            XCONF.ServoConf.GET_TEMP, XCONF.ServoConf.OVER_TEMP
+        ]
+        if servo_id is None or servo_id > self.axis:
+            count = 7 if servo_id == 8 else self.axis
+            pids = [[9999] * len(addrs) for _ in range(count)]
+            for i in range(count):
+                for j, addr in enumerate(addrs):
+                    _, data = self.get_servo_addr_16(i + 1, addr)
+                    if _ == 0:
+                        pids[i][j] = data
+        else:
+            pids = [9999] * len(addrs)
+            for j, addr in enumerate(addrs):
+                _, data = self.get_servo_addr_16(servo_id, addr)
+                pids[j] = data
+        return 0, pids

xarm/x3/studio.py

@@ -0,0 +1,138 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2021, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+import json
+import warnings
+from ..core.utils.log import logger
+from .code import APIState
+
+try:
+    from requests import Session
+except:
+    import urllib.request
+
+    class Session(object):
+        class Request:
+            def __init__(self, url, data, **kwargs):
+                req = urllib.request.Request(url, data.encode('utf-8'))
+                self.r = urllib.request.urlopen(req)
+                self._data = self.r.read()
+
+            @property
+            def status_code(self):
+                return self.r.code
+
+            def json(self):
+                return json.loads(self._data.decode('utf-8'))
+
+        def post(self, url, data=None, **kwargs):
+            return self.Request(url, data)
+
+        def close(self):
+            pass
+
+
+class Studio(object):
+    def __init__(self, ip, ignore_warnning=False):
+        super(Studio, self).__init__()
+        if not ignore_warnning:
+            warnings.warn("don't use it for now, just for debugging")
+        self.__ip = ip
+        self.__session = Session()
+
+    def __del__(self):
+        self.__session.close()
+
+    def run_blockly_app(self, name, **kwargs):
+        try:
+            self.call_studio_api({}, api_name='Core.command.xarm_set_blockly_init', show_fail_log=False)
+        except:
+            pass
+        kwargs['appName'] = name
+        ret = self.call_studio_api(kwargs, api_name='Core.command.run_blockly')
+        if ret:
+            return ret['code']
+        return APIState.API_EXCEPTION
+
+    def delete_blockly_app(self, name):
+        ret = self.call_studio_api({
+            'parentPath': name,
+            'selectNode': {
+                'type': 'file'
+            }
+        }, api_name='Core.command.app_delete_item')
+        if ret:
+            return ret['code']
+        return APIState.API_EXCEPTION
+
+    def playback_trajectory(self, filename, times=1, wait=False, double_speed=1):
+        ret = self.call_studio_api({
+            'filename': filename,
+            'times': times,
+            'speed': double_speed,
+            'wait': wait,
+        }, api_name='Core.command.xarm_playback_traj')
+        if ret:
+            return ret['code']
+        return APIState.API_EXCEPTION
+
+    def delete_trajectory(self, filename):
+        ret = self.call_studio_api({
+            'filename': filename,
+        }, api_name='Core.command.xarm_delete_traj')
+        if ret:
+            return ret['code']
+        return APIState.API_EXCEPTION
+
+    def set_initial_point(self, point):
+        ret = self.call_studio_api({'point': point}, api_name='Core.command.xarm_set_initial_point')
+        if ret:
+            return ret['code']
+        return APIState.API_EXCEPTION
+
+    def get_initial_point(self):
+        ret = self.call_studio_api(api_name='XArm.xarm_initial_point')
+        if ret:
+            return ret['code'], ret['data']
+        return APIState.API_EXCEPTION, [0] * 7
+
+    def call_sdk_api(self, *args, **kwargs):
+        kwargs['api_name'] = 'XArm.xarm.{}'.format(kwargs['api_name'])
+        return self.call_studio_api(*args, **kwargs)
+
+    def call_studio_api(self, *args, **kwargs):
+        kwargs['path'] = 'v2/api'
+        return self.__call_remote_api(*args, **kwargs)
+
+    def __call_remote_api(self, *args, **kwargs):
+        api_name = kwargs.pop('api_name', None)
+        show_fail_log = kwargs.pop('show_fail_log', True)
+        path = kwargs.pop('path')
+        if self.__ip and api_name:
+            r = self.__session.post('http://{}:18333/{}'.format(self.__ip, path), data=json.dumps({
+                'cmd': api_name, 'args': args, 'kwargs': kwargs
+            }), timeout=(5, None))
+            if r.status_code == 200:
+                res = r.json()
+                if res['code'] != 0:
+                    if show_fail_log:
+                        logger.error(res['data'])
+                return res
+            else:
+                if show_fail_log:
+                    logger.error('request failed, http_status_code={}'.format(r.status_code))
+        else:
+            if show_fail_log:
+                logger.error('ip or api_name is empty, ip={}, api_name={}'.format(self.__ip, api_name))
+
+    def get_mount_direction(self):
+
+        ret = self.call_studio_api(api_name='XArm.xarm_mount_degrees')
+        if ret:
+            return ret['code'], ret['data']
+        return APIState.API_EXCEPTION, [0, 0]