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Commit 9c4ef4c0 authored by Claudio Gomes's avatar Claudio Gomes
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change thread comm mechanism and more documentation

parent b05b3575
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.gitignore
View file @ 9c4ef4c0
*.egg-info
.tox
.idea
__pycache__
.coverage
.coverage.*
htmlcov
*.pyc
docs/_build
venv
dist
.pytest_cache
.mypy_cache
build
\ No newline at end of file
README.md
View file @ 9c4ef4c0
......@@ -44,3 +44,25 @@ Signed image's hash is not allowed (DB).
![image-20200908172518929](assets/image-20200908172518929.png)
The solution is to follow this guide: https://www.thomasmaurer.ch/2018/06/how-to-install-ubuntu-in-a-hyper-v-generation-2-virtual-machine/
## Error when running the unit tests from PyCharm
Similar error:
```
Testing started at 08:54 ...
H:\srcctrl\gitlab\urinterface\venv\Scripts\python.exe "C:\Program Files\JetBrains\PyCharm Community Edition 2020.1.1\plugins\python-ce\helpers\pycharm\_jb_pytest_runner.py" --target robot_connection_tests.py::MyTestCase.test_dummy_start_stop_record
Traceback (most recent call last):
File "C:\Program Files\JetBrains\PyCharm Community Edition 2020.1.1\plugins\python-ce\helpers\pycharm\_jb_pytest_runner.py", line 4, in <module>
import pytest
ModuleNotFoundError: No module named 'pytest'
Process finished with exit code 1
```
Solution:
1. Clear all run configurations, and create a new one using unittest.
robot_live_tests/robot_connection_live_tests.py
View file @ 9c4ef4c0
import logging
import math
import time
import unittest
......
src/urinterface/__init__.py
View file @ 9c4ef4c0
from urinterface.robot_connection import RobotConnection
# if somebody does "from somepackage import *", this is what they will
# be able to access:
__all__ = [
'RobotConnection',
]
src/urinterface/recording.py 0 → 100644
View file @ 9c4ef4c0
import logging
import os
import sys
from queue import Queue
from third_party.rtde import rtde_config, csv_writer, rtde
STOP_REQUEST = 1
def _start_recording(rtde_con, config_file, frequency, log):
# Connect to RTDE
rtde_con.connect()
# get controller version
rtde_con.get_controller_version()
# check existence of config file
if not os.path.isfile(config_file):
log.error(f"Config file does not exists. Expected to find it in {config_file}. Exiting...")
sys.exit(1)
conf = rtde_config.ConfigFile(config_file)
output_names, output_types = conf.get_recipe('out')
# setup recipes
if not rtde_con.send_output_setup(output_names, output_types, frequency=frequency):
log.error('Unable to configure output')
sys.exit(1)
# start data synchronization
if not rtde_con.send_start():
log.error('Unable to start synchronization')
sys.exit(1)
return rtde_con, output_names, output_types
def _read_csv_stream(filename, samples, output_names, output_types, read_row_function, _thread_log):
write_mode = 'w'
with open(filename, write_mode) as csvfile:
writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
writer.writeheader()
i = 1
keep_running = True
while keep_running:
if samples > 0:
_thread_log.debug("{:.2%} done.".format(float(i) / float(samples)))
else:
_thread_log.debug("{:3d} samples.".format(i))
state, should_continue = read_row_function()
_thread_log.debug(f"Sample received: {state}")
if samples>0:
keep_running = i < samples
else:
keep_running = should_continue
writer.writerow(state)
i += 1
def _recording_thread(rtde_con, config_file, filename, frequency, samples, communication_queue: Queue):
_thread_log = logging.getLogger("Recording")
rtde_con, output_names, output_types = _start_recording(rtde_con, config_file, frequency, _thread_log)
def read_row_function():
try:
state = rtde_con.receive(binary=False)
assert state is not None, state
except rtde.RTDEException:
_thread_log.error("Disconnected")
rtde_con.disconnect()
sys.exit(1)
# Check if logging should be stopped.
# This does not lead to race conditions because of Python's GIL
keep_running = communication_queue.qsize() == 0
if not keep_running:
signal = communication_queue.get_nowait()
assert signal == STOP_REQUEST, f"Strange signal received: {signal}."
_thread_log.info("Stop record signal received.")
return state, keep_running
_read_csv_stream(filename, samples, output_names, output_types, read_row_function, _thread_log)
rtde_con.send_pause()
rtde_con.disconnect()
src/urinterface/robot_connection.py
View file @ 9c4ef4c0
import logging
import socket
import sys
import threading
import time
import os
from queue import Queue
import numpy as np
import logging
from third_party.rtde import rtde_config, rtde, csv_writer
from third_party.rtde import rtde
from urinterface.recording import _recording_thread, STOP_REQUEST
_log = logging.getLogger("RobotConnection")
_stop_recording = False
def _start_recording(rtde_con, config_file, frequency, log):
# Connect to RTDE
rtde_con.connect()
# get controller version
rtde_con.get_controller_version()
# check existence of config file
if not os.path.isfile(config_file):
log.error('Config file does not exists. Exiting...')
sys.exit(1)
conf = rtde_config.ConfigFile(config_file)
output_names, output_types = conf.get_recipe('out')
# setup recipes
if not rtde_con.send_output_setup(output_names, output_types, frequency=frequency):
log.error('Unable to configure output')
sys.exit(1)
# start data synchronization
if not rtde_con.send_start():
log.error('Unable to start synchronization')
sys.exit(1)
return rtde_con, output_names, output_types
def _read_csv_stream(filename, samples, output_names, output_types, read_row_function, _thread_log):
write_mode = 'w'
with open(filename, write_mode) as csvfile:
writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
writer.writeheader()
i = 1
keep_running = True
while keep_running:
if samples > 0:
_thread_log.debug("{:.2%} done.".format(float(i) / float(samples)))
else:
_thread_log.debug("{:3d} samples.".format(i))
state, should_continue = read_row_function()
_thread_log.debug(f"Sample received: {state}")
if samples>0:
keep_running = i < samples
else:
keep_running = should_continue
writer.writerow(state)
i += 1
def _recording_thread(rtde_con, config_file, filename, frequency, samples):
_thread_log = logging.getLogger("Recording")
rtde_con, output_names, output_types = _start_recording(rtde_con, config_file, frequency, _thread_log)
def read_row_function():
state = None
keep_running = True
try:
state = rtde_con.receive(binary=False)
assert state is not None, state
except rtde.RTDEException:
_thread_log.error("Disconnected")
rtde_con.disconnect()
sys.exit(1)
# Check if logging should be stopped.
# This does not lead to race conditions because of Python's GIL
global _stop_recording
keep_running = not _stop_recording
if not keep_running:
_thread_log.info("Stop record signal received.")
return state, keep_running
_read_csv_stream(filename, samples, output_names, output_types, read_row_function, _thread_log)
rtde_con.send_pause()
rtde_con.disconnect()
class RobotConnection:
# ip_adr: <string>
# controller_socket, dashboard_socket: <socket>
......@@ -109,6 +21,7 @@ class RobotConnection:
dashboard_socket=socket.socket(socket.AF_INET, socket.SOCK_STREAM)):
self.ip_adr = ip_adr
self.recording_thread = None
self.recording_thread_queue = Queue()
self.logging_process = None
controller_port = 30002
dashboard_port = 29999
......@@ -190,8 +103,6 @@ class RobotConnection:
connection = RtdeConstructor(self.ip_adr, rtde_port)
_stop_recording = False
self.recording_thread = threading.Thread(target=_recording_thread,
args=
[
......@@ -199,7 +110,8 @@ class RobotConnection:
config_file,
filename,
frequency,
samples
samples,
self.recording_thread_queue
]
)
self.recording_thread.start()
......@@ -209,9 +121,8 @@ class RobotConnection:
_log.debug(f"Stop recording requested.")
global _stop_recording
_stop_recording = True
assert self.recording_thread_queue.empty(), "Expected this queue to be empty"
self.recording_thread_queue.put(STOP_REQUEST)
_log.debug(f"Waiting for thread to finish.")
self.recording_thread.join()
......
tests/resources/record_configuration.xml 0 → 100644
View file @ 9c4ef4c0
<?xml version="1.0"?>
<rtde_config>
<recipe key="out">
<field name="timestamp" type="DOUBLE"/>
<field name="target_q" type="VECTOR6D"/>
<field name="target_qd" type="VECTOR6D"/>
<field name="target_qdd" type="VECTOR6D"/>
<field name="target_current" type="VECTOR6D"/>
<field name="target_moment" type="VECTOR6D"/>
<field name="actual_q" type="VECTOR6D"/>
<field name="actual_qd" type="VECTOR6D"/>
<field name="actual_current" type="VECTOR6D"/>
<field name="joint_control_output" type="VECTOR6D"/>
<field name="actual_TCP_pose" type="VECTOR6D"/>
<field name="actual_TCP_speed" type="VECTOR6D"/>
<field name="actual_TCP_force" type="VECTOR6D"/>
<field name="target_TCP_pose" type="VECTOR6D"/>
<field name="target_TCP_speed" type="VECTOR6D"/>
<field name="actual_digital_input_bits" type="UINT64"/>
<field name="joint_temperatures" type="VECTOR6D"/>
<field name="actual_execution_time" type="DOUBLE"/>
<field name="robot_mode" type="INT32"/>
<field name="joint_mode" type="VECTOR6INT32"/>
<field name="safety_mode" type="INT32"/>
<field name="actual_tool_accelerometer" type="VECTOR3D"/>
<field name="speed_scaling" type="DOUBLE"/>
<field name="target_speed_fraction" type="DOUBLE"/>
<field name="actual_momentum" type="DOUBLE"/>
<field name="actual_main_voltage" type="DOUBLE"/>
<field name="actual_robot_voltage" type="DOUBLE"/>
<field name="actual_robot_current" type="DOUBLE"/>
<field name="actual_joint_voltage" type="VECTOR6D"/>
<field name="actual_digital_output_bits" type="UINT64"/>
<field name="runtime_state" type="UINT32"/>
<!--
<field name="script_control_line" type="UINT32"/>
<field name="output_bit_registers0_to_31" type="UINT32"/>
<field name="output_bit_registers32_to_63" type="UINT32"/>
<field name="output_int_register_0" type="INT32"/>
<field name="output_int_register_1" type="INT32"/>
<field name="output_int_register_2" type="INT32"/>
<field name="output_int_register_3" type="INT32"/>
<field name="output_int_register_4" type="INT32"/>
<field name="output_int_register_5" type="INT32"/>
<field name="output_int_register_6" type="INT32"/>
<field name="output_int_register_7" type="INT32"/>
<field name="output_int_register_8" type="INT32"/>
<field name="output_int_register_9" type="INT32"/>
<field name="output_int_register_10" type="INT32"/>
<field name="output_int_register_11" type="INT32"/>
<field name="output_int_register_12" type="INT32"/>
<field name="output_int_register_13" type="INT32"/>
<field name="output_int_register_14" type="INT32"/>
<field name="output_int_register_15" type="INT32"/>
<field name="output_int_register_16" type="INT32"/>
<field name="output_int_register_17" type="INT32"/>
<field name="output_int_register_18" type="INT32"/>
<field name="output_int_register_19" type="INT32"/>
<field name="output_int_register_20" type="INT32"/>
<field name="output_int_register_21" type="INT32"/>
<field name="output_int_register_22" type="INT32"/>
<field name="output_int_register_23" type="INT32"/>
<field name="output_double_register_0" type="DOUBLE"/>
<field name="output_double_register_1" type="DOUBLE"/>
<field name="output_double_register_2" type="DOUBLE"/>
<field name="output_double_register_3" type="DOUBLE"/>
<field name="output_double_register_4" type="DOUBLE"/>
<field name="output_double_register_5" type="DOUBLE"/>
<field name="output_double_register_6" type="DOUBLE"/>
<field name="output_double_register_7" type="DOUBLE"/>
<field name="output_double_register_8" type="DOUBLE"/>
<field name="output_double_register_9" type="DOUBLE"/>
<field name="output_double_register_10" type="DOUBLE"/>
<field name="output_double_register_11" type="DOUBLE"/>
<field name="output_double_register_12" type="DOUBLE"/>
<field name="output_double_register_13" type="DOUBLE"/>
<field name="output_double_register_14" type="DOUBLE"/>
<field name="output_double_register_15" type="DOUBLE"/>
<field name="output_double_register_16" type="DOUBLE"/>
<field name="output_double_register_17" type="DOUBLE"/>
<field name="output_double_register_18" type="DOUBLE"/>
<field name="output_double_register_19" type="DOUBLE"/>
<field name="output_double_register_20" type="DOUBLE"/>
<field name="output_double_register_21" type="DOUBLE"/>
<field name="output_double_register_22" type="DOUBLE"/>
<field name="output_double_register_23" type="DOUBLE"/>
-->
</recipe>
</rtde_config>
tests/robot_connection_tests.py
View file @ 9c4ef4c0
......@@ -6,7 +6,7 @@ from urinterface.robot_connection import RobotConnection
from utils.robot_connection_mockup import DummySocket, DummyDashboardSocket, DummyRTDE
class MyTestCase(unittest.TestCase):
class RobotConnectionTests(unittest.TestCase):
def test_dummy_record(self):
logging.basicConfig(level=logging.DEBUG)
ur5e = RobotConnection("192.168.56.101",
......
tests/robotdata.csv 0 → 100644
View file @ 9c4ef4c0
timestamp target_q_0 target_q_1 target_q_2 target_q_3 target_q_4 target_q_5 target_qd_0 target_qd_1 target_qd_2 target_qd_3 target_qd_4 target_qd_5 target_qdd_0 target_qdd_1 target_qdd_2 target_qdd_3 target_qdd_4 target_qdd_5 target_current_0 target_current_1 target_current_2 target_current_3 target_current_4 target_current_5 target_moment_0 target_moment_1 target_moment_2 target_moment_3 target_moment_4 target_moment_5 actual_q_0 actual_q_1 actual_q_2 actual_q_3 actual_q_4 actual_q_5 actual_qd_0 actual_qd_1 actual_qd_2 actual_qd_3 actual_qd_4 actual_qd_5 actual_current_0 actual_current_1 actual_current_2 actual_current_3 actual_current_4 actual_current_5 joint_control_output_0 joint_control_output_1 joint_control_output_2 joint_control_output_3 joint_control_output_4 joint_control_output_5 actual_TCP_pose_0 actual_TCP_pose_1 actual_TCP_pose_2 actual_TCP_pose_3 actual_TCP_pose_4 actual_TCP_pose_5 actual_TCP_speed_0 actual_TCP_speed_1 actual_TCP_speed_2 actual_TCP_speed_3 actual_TCP_speed_4 actual_TCP_speed_5 actual_TCP_force_0 actual_TCP_force_1 actual_TCP_force_2 actual_TCP_force_3 actual_TCP_force_4 actual_TCP_force_5 target_TCP_pose_0 target_TCP_pose_1 target_TCP_pose_2 target_TCP_pose_3 target_TCP_pose_4 target_TCP_pose_5 target_TCP_speed_0 target_TCP_speed_1 target_TCP_speed_2 target_TCP_speed_3 target_TCP_speed_4 target_TCP_speed_5 actual_digital_input_bits joint_temperatures_0 joint_temperatures_1 joint_temperatures_2 joint_temperatures_3 joint_temperatures_4 joint_temperatures_5 actual_execution_time robot_mode joint_mode_0 joint_mode_1 joint_mode_2 joint_mode_3 joint_mode_4 joint_mode_5 safety_mode actual_tool_accelerometer_0 actual_tool_accelerometer_1 actual_tool_accelerometer_2 speed_scaling target_speed_fraction actual_momentum actual_main_voltage actual_robot_voltage actual_robot_current actual_joint_voltage_0 actual_joint_voltage_1 actual_joint_voltage_2 actual_joint_voltage_3 actual_joint_voltage_4 actual_joint_voltage_5 actual_digital_output_bits runtime_state
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