# Copyright 2017 - RoboDK Software S.L. - https://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 a Staubli (VAL3) 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:
# https://robodk.com/help#PostProcessor
# https://robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------
# ----------------------------------------------------
# Import RoboDK tools
from robodk import *
from robolink import *
# Program.pjx file (references data file as %s.dtx)
PROGRAM_PJX = '''
'''
PROGRAM_PJX_MAIN = '''
'''
DATA_DTX = '''
%s
%s
%s
%s
%s
'''
DATA_DTX_MAIN = '''
%s
%s
'''
# start.pjx file (references data file as %s.dtx)
START_PGX = '''
Connecting to %s using user name %s and password ****
Please wait...
" % (server_ip, username))
#print("POPUP: Trying to connect. Please wait...")
sys.stdout.flush()
if robot is not None:
robot.setConnectionParams(server_ip, port, remote_path, username, password)
pause(2)
try:
myFTP = ftplib.FTP(server_ip, username, password)
break;
except:
error_str = sys.exc_info()[1]
print("POPUP: Connection to %s failed: %s
" % (server_ip,error_str))
sys.stdout.flush()
contin = mbox("Connection to %s failed. Reason:\n%s\n\nRetry?" % (server_ip,error_str))
if not contin:
return
remote_path_prog = remote_path + '/' + self.MAIN_FOLDER
myPath = r'%s' % localpath
print("POPUP: Connected. Deleting existing files on %s..." % remote_path_prog)
sys.stdout.flush()
self.RemoveDirFTP(myFTP, remote_path_prog)
print("POPUP: Connected. Uploading program to %s..." % server_ip)
sys.stdout.flush()
try:
myFTP.cwd(remote_path)
myFTP.mkd(self.MAIN_FOLDER)
myFTP.cwd(remote_path_prog)
#print('asdf')
except:
error_str = sys.exc_info()[1]
print("POPUP: Remote path not found or can't be created: %s" % (remote_path))
sys.stdout.flush()
contin = mbox("Remote path\n%s\nnot found or can't create folder.\n\nChange path and permissions and retry." % remote_path)
return
def uploadThis(path):
files = os.listdir(path)
os.chdir(path)
for f in files:
if os.path.isfile(path + r'\{}'.format(f)):
print(' Sending file: %s' % f)
print("POPUP: Sending file: %s" % f)
sys.stdout.flush()
fh = open(f, 'rb')
myFTP.storbinary('STOR %s' % f, fh)
fh.close()
elif os.path.isdir(path + r'\{}'.format(f)):
print(' Sending folder: %s' % f)
myFTP.mkd(f)
myFTP.cwd(f)
uploadThis(path + r'\{}'.format(f))
myFTP.cwd('..')
os.chdir('..')
uploadThis(myPath) # now call the recursive function
def ProgSave(self, folder, progname, ask_user = False, show_result = False):
self.close_module()
if ask_user or not DirExists(folder):
foldersave = getSaveFolder(folder, 'Save program as...')
if foldersave is not None and len(foldersave) > 0:
foldersave = foldersave
else:
return
else:
foldersave = folder
nprogs = len(self.PROG_NAME_LIST)
print("Saving %i programs..." % nprogs)
main_progname = 'Main' + progname
if True: #nprogs > 1: # always create a main program
folderprog = foldersave + '/' + main_progname
self.MAIN_FOLDER = main_progname
else:
folderprog = foldersave + '/' + progname
self.MAIN_FOLDER = progname
if not DirExists(folderprog):
import os
os.makedirs(folderprog)
show_file_list = []
if True: #nprogs > 1: # always create a main program
call_sequence = ''
for i in range(nprogs):
call_sequence+=(' if prog:libLoad("./%s")!=0\n' % self.PROG_NAME_LIST[i])
call_sequence+=(' logMsg("Error Loading RoboDK library")\n')
call_sequence+=(' popUpMsg("Error Loading RoboDK library")\n')
call_sequence+=(' endIf\n')
call_sequence+=(' wait(taskStatus("loading")==-1)\n')
if i < nprogs-1:
call_sequence+=(' taskCreate "loading",10,loadNextOne("./%s")\n' % self.PROG_NAME_LIST[i+1])
call_sequence+=(' prog:fPartReal.trsf=fPartCad.trsf*fCadToReal.trsf\n')
call_sequence+=(' prog:tCad.trsf=prog:tCad.trsf*{0,0,tooldata:nLength,0,0,0}\n')
call_sequence+=(' call prog:start()\n')
call_sequence+=(' \n')
#-----------------------------------
# start.pgx
start_file = folderprog + '/start.pgx'
show_file_list.append(start_file)
fid = open(start_file, "w")
fid.write(START_PGX % call_sequence)
fid.close()
#-----------------------------------
# mainprog.pjx
project_file = folderprog + '/%s.pjx' % main_progname
#show_file_list.append(project_file)
fid = open(project_file, "w")
dummy_folder = self.PROG_NAME_LIST[0] + '/' + self.PROG_NAME_LIST[0]
fid.write(PROGRAM_PJX_MAIN % (main_progname, dummy_folder, dummy_folder))
fid.close()
print('SAVED: %s\n' % project_file)
#-----------------------------------
# mainprog.dtx
program_data = folderprog + '/%s.dtx' % main_progname
show_file_list.append(project_file)
fid = open(program_data, "w")
fid.write(DATA_DTX_MAIN % (self.REF_DATA, self.TOOL_DATA))
fid.close()
#-----------------------------------
# stop.pgx
stop_file = folderprog + '/stop.pgx'
fid = open(stop_file, "w")
fid.write(STOP_PGX)
fid.close()
#-----------------------------------
# loadNextOne.pgx
program_data = folderprog + '/loadNextOne.pgx'
fid = open(program_data, "w")
fid.write(LOAD_NEXT_ONE)
fid.close()
#-----------------------------------
for i in range(nprogs):
if True: # nprogs > 1: # Always create a main program loading sub programs
folderprog_final = folderprog + '/' + self.PROG_NAME_LIST[i]
else:
folderprog_final = folderprog
if not DirExists(folderprog_final):
import os
os.makedirs(folderprog_final)
#-----------------------------------
# start.pgx
start_file = folderprog_final + '/start.pgx'
#show_file_list.append(start_file)
fid = open(start_file, "w")
fid.write(self.PROG_PGX_LIST[i])
fid.close()
#-----------------------------------
# stop.pgx
stop_file = folderprog_final + '/stop.pgx'
fid = open(stop_file, "w")
fid.write(STOP_PGX)
fid.close()
#-----------------------------------
# program.pjx
project_file = folderprog_final + '/%s.pjx' % self.PROG_NAME_LIST[i]
#show_file_list.append(project_file)
fid = open(project_file, "w")
fid.write(self.PROG_PJX_LIST[i])
fid.close()
print('SAVED: %s\n' % project_file)
#-----------------------------------
# program.dtx
program_data = folderprog_final + '/%s.dtx' % self.PROG_NAME_LIST[i]
#show_file_list.append(project_file)
fid = open(program_data, "w")
fid.write(self.PROG_DTX_LIST[i])
fid.close()
#-----------------------------------
#self.UploadFTP(folderprog)
self.PROG_FILES = folderprog
if show_result:
if type(show_result) is str:
# Open file with provided application
import subprocess
for file_i in show_file_list:
p = subprocess.Popen([show_result, file_i])
#p = subprocess.Popen([show_result, start_file])
#p = subprocess.Popen([show_result, program_data])
elif type(show_result) is list:
import subprocess
p = subprocess.Popen(show_result + [filesave])
else:
# open file with default application
import os
os.startfile(start_file)
os.startfile(program_data)
if len(self.LOG) > 0:
mbox('Program generation LOG:\n\n' + self.LOG)
# attempt FTP upload
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)
def MoveJ(self, pose, joints, conf_RLF=None):
"""Add a joint movement"""
self.control_ProgSize()
#nTraj=movej(jJoints[0],tTool[0],mSpeed[0])
#waitEndMove()
#
variable = '%s[%i]' % (self.JOINT_NAME, self.JOINT_COUNT)
self.JOINT_DATA = self.JOINT_DATA + ' \n' % (self.JOINT_COUNT, angles_2_str(joints))
self.JOINT_COUNT = self.JOINT_COUNT + 1
self.addline('nTraj=movej(%s,%s,%s)' % (variable, self.TOOL_CURRENT, self.SPEED_CURRENT))
#self.addline('waitEndMove()')
def MoveL(self, pose, joints, conf_RLF=None):
"""Add a linear movement"""
self.control_ProgSize()
#nTraj=movej(jJoints[0],tTool[0],mSpeed[0])
#waitEndMove()
#
# Configuration needs to be checked for older RoboDK versions
if conf_RLF == None:
str_config = 'shoulder="lefty" elbow="epositive" wrist="wpositive"'
else:
[rear, lowerarm, flip] = conf_RLF
str_config = 'shoulder="%s" elbow="%s" wrist="%s"' % ("righty" if rear>0 else "lefty", "enegative" if lowerarm>0 else "epositive", "wnegative" if flip>0 else "wpositive")
variable = '%s[%i]' % (self.POINT_NAME, self.POINT_COUNT)
self.POINT_DATA = self.POINT_DATA + ' \n' % (self.POINT_COUNT, pose_2_str(pose), str_config, self.REF_CURRENT)
self.POINT_COUNT = self.POINT_COUNT + 1
self.addline('nTraj=movel(%s,%s,%s)' % (variable, self.TOOL_CURRENT, self.SPEED_CURRENT))
def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
"""Add a circular movement"""
self.control_ProgSize()
# Configuration needs to be checked for older RoboDK versions
if conf_RLF_1 == None:
str_config = 'shoulder="lefty" elbow="epositive" wrist="wpositive"'
else:
[rear, lowerarm, flip] = conf_RLF_1
str_config = 'shoulder="%s" elbow="%s" wrist="%s"' % ("righty" if rear>0 else "lefty", "enegative" if lowerarm>0 else "epositive", "wnegative" if flip>0 else "wpositive")
variable1 = '%s[%i]' % (self.POINT_NAME, self.POINT_COUNT)
variable2 = '%s[%i]' % (self.POINT_NAME, self.POINT_COUNT+1)
self.POINT_DATA = self.POINT_DATA + ' \n' % (self.POINT_COUNT, pose_2_str(pose1), str_config, self.REF_CURRENT)
self.POINT_DATA = self.POINT_DATA + ' \n' % (self.POINT_COUNT+1, pose_2_str(pose2), str_config, self.REF_CURRENT)
self.POINT_COUNT = self.POINT_COUNT + 2
self.addline('nTraj=movec(%s,%s,%s,%s)' % (variable1, variable2, self.TOOL_CURRENT, self.SPEED_CURRENT))
def setFrame(self, pose, frame_id=None, frame_name=None):
"""Change the robot reference frame"""
if self.REF_COUNT > 1:
self.RunMessage('Warning: This post processor is meant to use one reference frame. Errors might follow.', True)
self.log('This post processor is meant to use one reference frame. Errors might follow.')
self.control_ProgSize()
self.REF = pose
#
self.REF_CURRENT = '%s[%i]' % (self.REF_NAME, self.REF_COUNT)
self.REF_DATA = self.REF_DATA + ' \n' % (self.REF_COUNT, pose_2_str(pose))
self.REF_COUNT = self.REF_COUNT + 1
def setTool(self, pose, tool_id=None, tool_name=None):
"""Change the robot TCP"""
if self.TOOL_COUNT > 1:
self.RunMessage('Warning: Only one tool allowed per program. Tool change skipped.', True)
self.log('Only one tool allowed per program')
return
self.control_ProgSize()
self.TOOL = pose
#
self.TOOL_CURRENT = '%s[%i]' % (self.TOOL_NAME, self.TOOL_COUNT)
self.TOOL_DATA = self.TOOL_DATA + ' \n' % (self.TOOL_COUNT, pose_2_str(pose))
self.TOOL_COUNT = self.TOOL_COUNT + 1
def Pause(self, time_ms):
"""Pause the robot program"""
self.control_ProgSize()
if time_ms < 0:
self.addline('popUpMsg("Paused. Press OK to continue")')
else:
self.addline('delay(%.3f)' % (time_ms*0.001))
def setSpeed(self, speed_mms):
"""Changes the robot speed (in mm/s)"""
#
self.SPEED = speed_mms
self.SPEED_CURRENT = '%s[%i]' % (self.SPEED_NAME, self.SPEED_COUNT)
# blend = "off" / "joint" / "Cartesian"
#self.SPEED_DATA = self.SPEED_DATA + ' \n' % (self.SPEED_COUNT, speed_mms, self.SMOOTH, self.SMOOTH)
self.SPEED_DATA = self.SPEED_DATA + ' \n' % (self.SPEED_COUNT, speed_mms, self.SMOOTH, self.SMOOTH)
self.SPEED_COUNT = self.SPEED_COUNT + 1
def setAcceleration(self, accel_mmss):
"""Changes the robot acceleration (in mm/s2)"""
self.ACCEL_MMSS = accel_mmss
def setSpeedJoints(self, speed_degs):
"""Changes the robot joint speed (in deg/s)"""
self.SPEED_DEGS = speed_degs
def setAccelerationJoints(self, accel_degss):
"""Changes the robot joint acceleration (in deg/s2)"""
self.ACCEL_DEGSS = accel_degss
def setZoneData(self, zone_mm):
"""Changes the zone data approach (makes the movement more smooth)"""
self.control_ProgSize()
self.SMOOTH = zone_mm
def setDO(self, io_var, io_value):
"""Sets a variable (output) to a given value"""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = 'OUT[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
self.addline('%s=%s' % (io_var, io_value))
def waitDI(self, io_var, io_value, timeout_ms=-1):
"""Waits for an input io_var to attain a given value io_value. Optionally, a timeout can be provided."""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = 'IN[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
if timeout_ms < 0:
self.addline('WAIT FOR %s==%s' % (io_var, io_value))
else:
self.addline('WAIT FOR %s==%s TIMEOUT=%.1f' % (io_var, io_value, timeout_ms))
def RunCode(self, code, is_function_call = False):
"""Adds code or a function call"""
self.control_ProgSize()
if is_function_call:
code.replace(' ','_')
if not code.endswith(')'):
code = code + '()'
#call prog:start()
#self.addline('call prog:%s' % code)# add as a call
self.addline('//call prog:%s' % code)# add as a comment
else:
self.addline(code)
def RunMessage(self, message, iscomment = False):
"""Display a message in the robot controller screen (teach pendant)"""
self.control_ProgSize()
if iscomment:
self.addline('// ' + message)
else:
self.addline('popUpMsg("%s")' % message)
# ------------------ private ----------------------
def addline(self, newline):
"""Add a program line"""
self.PROG_PGX = self.PROG_PGX + self.TAB_PGX + newline + '\n'
def addlog(self, newline):
"""Add a log message"""
self.LOG = self.LOG + newline + '\n'
def control_ProgSize(self):
self.PROG_MOVE_COUNT = self.PROG_MOVE_COUNT + 1
if self.PROG_MOVE_COUNT > self.PROG_MOVE_COUNT_MAX:
self.close_module()
def close_module(self):
if self.PROG_MOVE_COUNT == 0:
return
progname = self.PROG_NAME
nprogs = len(self.PROG_NAME_LIST)
if nprogs > 0:
progname = progname + ('%i' % (nprogs+1))
self.PROG_PGX_LIST.append(START_PGX % self.PROG_PGX)
# Important! the Staubli controller does not like it if we have 0 index
self.PROG_DTX_LIST.append(DATA_DTX % (self.REF_NAME, max(1,self.REF_COUNT), self.REF_DATA, self.JOINT_NAME, max(1,self.JOINT_COUNT), self.JOINT_DATA, self.SPEED_NAME, max(1,self.SPEED_COUNT), self.SPEED_DATA, self.POINT_NAME, max(1,self.POINT_COUNT), self.POINT_DATA, self.TOOL_NAME, max(1,self.TOOL_COUNT), self.TOOL_DATA))
self.PROG_PJX_LIST.append(PROGRAM_PJX % progname)
self.PROG_NAME_LIST.append(progname)
self.PROG_PGX = ''
self.REF_DATA = ''
self.REF_COUNT = 0
self.TOOL_DATA = ''
self.TOOL_COUNT = 0
self.SPEED_DATA = ''
self.SPEED_COUNT = 0
self.JOINT_DATA = ''
self.JOINT_COUNT = 0
self.POINT_DATA = ''
self.POINT_COUNT = 0
self.PROG_MOVE_COUNT = 0
# initialise next program
self.setFrame(self.REF)
self.setTool(self.TOOL)
self.setSpeed(self.SPEED)
self.PROG_MOVE_COUNT = 0 # very important to avoid writting two programs
# -------------------------------------------------
# ------------ 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()
robot.ProgStart("Program")
robot.RunMessage("Program generated by RoboDK using a custom post processor", 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.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)
print(robot.PROG_PGX)
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()