From e8b8d0fb71cf3719e5788f74f6f5107eccf87a1c Mon Sep 17 00:00:00 2001 From: "DESKTOP-KURBC96\\Adam Morgan" Date: Sat, 25 Mar 2023 18:56:31 +0000 Subject: [PATCH] Initial commit --- LICENSE | 674 +++++++++++++++++++++++++++++++++++++++++++ README.rst | 17 ++ RSIRI/__init__.py | 0 RSIRI/client.py | 232 +++++++++++++++ RSIRI/echo_server.py | 77 +++++ RSIRI/examples.py | 53 ++++ RSIRI/log.py | 48 +++ RSIRI/network.py | 38 +++ RSIRI/robots.py | 59 ++++ RSIRI/server.py | 105 +++++++ RSIRI/tools.py | 262 +++++++++++++++++ 11 files changed, 1565 insertions(+) create mode 100644 LICENSE create mode 100644 README.rst create mode 100644 RSIRI/__init__.py create mode 100644 RSIRI/client.py create mode 100644 RSIRI/echo_server.py create mode 100644 RSIRI/examples.py create mode 100644 RSIRI/log.py create mode 100644 RSIRI/network.py create mode 100644 RSIRI/robots.py create mode 100644 RSIRI/server.py create mode 100644 RSIRI/tools.py diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.rst b/README.rst new file mode 100644 index 0000000..e748184 --- /dev/null +++ b/README.rst @@ -0,0 +1,17 @@ +# RSI-RI + +A Python3 layer to simplify utilising Kuka Robot Sensor Interface version X + + +Examples + +- Connecting +- Variables +- Running +- Changing +- Movement + + + + + diff --git a/RSIRI/__init__.py b/RSIRI/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/RSIRI/client.py b/RSIRI/client.py new file mode 100644 index 0000000..95035d3 --- /dev/null +++ b/RSIRI/client.py @@ -0,0 +1,232 @@ +from multiprocessing import Process, Manager +from time import sleep + +from src.RSIRI.log import log_process +from src.RSIRI.server import rsi_process +from src.RSIRI.tools import \ + convert_rsi_config_to_dict, \ + extract_config_from_rsi_config, \ + check_position_values + + +class RSIClient: + """ RSI Client Object """ + + def __init__(self, file, cycle_rate=4): + """RSI Client Object + + Object used to provide interface to RSI Variables. + :param file: RSI Config File + :param ip: Local IP address + :param port: Port used in RSI Config file + """ + self.file = file + self.ip, self.port, self.sen_type, self.only_send = extract_config_from_rsi_config(file) + self.manager = Manager() + self.send = self.manager.dict(convert_rsi_config_to_dict(file, "send")) + self.receive = self.manager.dict(convert_rsi_config_to_dict(file, "receive")) + self.status = self.manager.dict({"State": False, "Logging": False, "Error": ""}) + self.movement_type = None + self.rsi = Process(target=rsi_process, args=(self.file, + self.receive, + self.send, + self.status)) + if cycle_rate == 4: + self.cycle_rate = 0.004 + elif cycle_rate == 12: + self.cycle_rate = 0.012 + self.log_location = "" + self.logging = False + + def set_log_location(self, location): + """ + + Args: + location: + + Returns: + + """ + self.log_location = location + + def enable_logging(self): + self.logging = Process(target=log_process, args=(self.send, + self.receive, + self.status, + self.log_location, + self.cycle_rate)) + + def display_variables(self): + """ + :return: + """ + print("Receive Variables") + for key, value in self.receive.items(): + print(key, ' : ', value) + + print("Send Variables") + for key, value in self.send.items(): + print(key, ' : ', value) + + def start(self): + """ + Start RSI Network process + :return: + """ + self.rsi.start() + if self.logging is not False: + self.logging.start() + self.status["State"] = True + # self.rsi.join() + + def stop(self): + """ + Stop RSI Network process + :return: + """ + self.status["State"] = False + sleep(1) + self.rsi.terminate() + sleep(1) + self.rsi.kill() + sleep(1) + self.rsi = Process(target=rsi_process, args=(self.file, + self.ip, + self.port, + self.receive, + self.send, + self.status)) + + def check_receive_value(self, key): + try: + return self.receive[key] + except NameError: + return "Key does not exist" + + def check_send_value(self, key): + try: + return self.send[key] + except NameError: + return "Key does not exist" + + def update_pendant(self, value): + try: + self.send["EStr"] = value + except ValueError: + return "EStr internal variable not present in config file" + + def set_value(self, key, value): + """ + :param key: + :param value: + :return: + """ + try: + self.send[key] = value + except ValueError: + return "{} not present in config file".format(key) + + def set_value_attribute(self, key, axis, value): + """Sets the value of a multi value variable. + + :param key: + :param axis: + :param value: + :return: + """ + try: + send_value = self.send + values = send_value[key] + values[axis] = str(value) + send_value[key] = values + self.send = send_value + return "OK" + except ValueError: + return "{} is not present in config file".format(key) + + def set_axis(self, axis, value): + """ + + :param axis: + :param value: + :return: + """ + try: + self.set_value_attribute("RKorr", axis, value) + except NameError: + return "RKorr is not present in config file" + + def set_joint(self, joint, value): + """ + + :param joint: + :param value: + :return: + """ + try: + self.set_value_attribute("AKorr", joint, value) + except NameError: + return "AKorr is not present in config file" + + def check_send_values(self, key): + """ + + :param key: + :return: + """ + return self.send[key] + + def check_receive_values(self, key): + """ + + :param key: + :return: + """ + return self.receive[key] + + def test(self, key, value): + """ + + :param key: + :param value: + :return: + """ + try: + self.send[key] = value + except ValueError: + return "{} not present in config file".format(key) + + def move_basic_ptp(self, coord, rate): + """ + + :param coord: + :param rate: + :return: + """ + values = {"X": coord[0], "Y": coord[1], "Z": coord[2], "A": coord[3], "B": coord[4], "C": coord[5]} + send_values = self.check_send_values("RKorr") + rec_values = self.check_receive_values("RIst") + + self.send["RKorr"] = check_position_values(values, send_values, rec_values, rate) + + def move_joints(self, a1, a2, a3, a4, a5, a6, rate): + """ + + :param a1: + :param a2: + :param a3: + :param a4: + :param a5: + :param a6: + :param rate: + :return: + """ + values = {"A1": a1, "A2": a2, "A3": a3, "A4": a4, "A5": a5, "A6": a6} + send_values = self.check_send_values("RKorr") + rec_values = self.check_receive_values("RIst") + + self.send["AKorr"] = check_position_values(values, send_values, rec_values, rate) + + +if __name__ == '__main__': + pass diff --git a/RSIRI/echo_server.py b/RSIRI/echo_server.py new file mode 100644 index 0000000..f58e8cd --- /dev/null +++ b/RSIRI/echo_server.py @@ -0,0 +1,77 @@ +import logging +from time import sleep + +from src.RSI-RI.network import Network +from src.RSI-RI.tools import \ + get_ipoc, \ + update_ipoc, \ + convert_xml_string_to_dict, \ + convert_config_to_xml_string, \ + convert_rsi_config_to_dict, \ + extract_config_from_rsi_config, \ + add_ipoc + +# Log file location +# Define the log format +log_format = '[%(asctime)s] %(levelname)-8s %(name)-12s %(funcName)20s() %(lineno)s %(message)s' +# Define basic configuration +logging.basicConfig(level=logging.DEBUG, format=log_format, handlers=[logging.StreamHandler()]) +logger = logging.getLogger(__name__) + + +class RSIEchoServer: + def __init__(self, config_file, cycle_rate): + self.network = Network("", int(extract_config_from_rsi_config(config_file)[1]), True) + # RSI Variables + self.send_string = convert_config_to_xml_string(config_file, "receive") + self.send_values = convert_rsi_config_to_dict(config_file, "receive") + self.receive_string = convert_config_to_xml_string(config_file, "send") + self.receive_values = convert_rsi_config_to_dict(config_file, "send") + # Status (State": "Inactive", "Status": "", "Config": "") + self.status = {"State": False, "Error": ""} + self.ipoc = 0 + self.cycle_rate = cycle_rate + self.send_string = add_ipoc(self.send_string) + + def run(self): + """ Operates RSI communication loop. + + Main method that runs a continuous loop polling the network socket, + polling client pipe, processing data _working sending a reply + """ + while True: + self.send_data() + logger.debug("Echo Send: {}".format(self.send_string)) + try: + self.receive_data() + self.send_string = update_ipoc(self.send_string, self.ipoc) + self.process_data() + logger.debug("Echo receive: {}".format(self.receive_string)) + except(TimeoutError, ConnectionResetError): + pass + + def send_data(self): + # self.send_values.update(convert_xml_string_to_dict(self.send_string)) + self.network.send(self.send_string) + sleep(self.cycle_rate / 1000) + + def receive_data(self): + """ Get RSI data from robot _working process. + + Polls network socket _working then updates RSIValues.values + Gets IPOC from message _working updates self.ipoc + """ + # Polls network, returns a string of XML + self.receive_string = self.network.receive() + # Get IPOC + self.ipoc = int(get_ipoc(self.receive_string)) + self.cycle_rate + + # Convert XML string into Dict + self.receive_values.update(convert_xml_string_to_dict(self.receive_string)) + + def process_data(self): + pass + + +if __name__ == '__main__': + pass diff --git a/RSIRI/examples.py b/RSIRI/examples.py new file mode 100644 index 0000000..76aac8e --- /dev/null +++ b/RSIRI/examples.py @@ -0,0 +1,53 @@ +from time import sleep + +from client import RSIClient +from echo_server import RSIEchoServer + +if __name__ == '__main__': + + config_file = "../../resources/Example Files/ConfigFiles/rsi examples/RSI_EthernetConfig.xml" + # Create RSI Client + client = RSIClient(config_file) + + # Start Server + client.start() + + # Show variables created from config file + client.display_variables() + + # Set cartesian correction + client.set_axis("X", 0.1) + + # Set joint correction + client.set_joint("A1", 0.1) + + # Move axis specific distance + # TODO if this works, turn into a procedure + target = 3 + rate = 0.1 + client.set_axis("X", rate) + current = 0 + while current < target: + sleep(client.cycle_rate) + current += rate + client.set_axis("X", 0) + + # Send message to Teach Pendent + client.update_pendant("This is a message that will be shown on the pendant") + + # Set individual value + client.set_value("EStr", "This is a test message") + + # Stop server + client.stop() + + # Log session + client.enable_logging() + + # Run echo server + config_file = "RSI_EthernetConfig.xml" + + # Create RSI Client + client = RSIEchoServer(config_file, 4) + client.state = True + client.run() diff --git a/RSIRI/log.py b/RSIRI/log.py new file mode 100644 index 0000000..d649ce4 --- /dev/null +++ b/RSIRI/log.py @@ -0,0 +1,48 @@ +import csv +from time import sleep + + +def log_process(send, receive, status, location, rate): + location = "{}/log.csv".format(location) + output_file = open(location, "w+") + + file_writer = csv.writer(output_file, lineterminator='\n') + file_writer.writerow(create_log(send, receive, "header")) + status["Logging"] = "Logging active" + while status["State"] is True: + file_writer.writerow(create_log(send, receive, "row")) + sleep(rate) + else: + status["Logging"] = "Logging complete" + + +def open_csv(file_name): + with open(file_name) as csv_file: + reader = csv.reader(csv_file) + next(reader) + data = [row for row in reader] + return data + + +def create_log(send, receive, entry_type): + row = [] + for direction in (send, receive): + for item, value in direction.items(): + if item == "IPOC": + if entry_type == "row": + row.insert(0, value) + elif entry_type == "header": + row.insert(0, item) + else: + if type(value) is dict: + for items, values in value.items(): + if entry_type == "row": + row.append(values) + elif entry_type == "header": + row.append("{}.{}".format(item, items)) + else: + if entry_type == "row": + row.append(value) + elif entry_type == "header": + row.append(item) + return row diff --git a/RSIRI/network.py b/RSIRI/network.py new file mode 100644 index 0000000..8b4c847 --- /dev/null +++ b/RSIRI/network.py @@ -0,0 +1,38 @@ +import logging +from socket import socket, AF_INET, SOCK_DGRAM, SOL_SOCKET, SO_RCVBUF + +from src.RSIRI.tools import change_config_port + + +class Network: + """Network class for RSI networking. + + Keyword arguments: + client_ip - IP address of the local network socket (default None) + client_port - Port of the local network socket (default None) + """ + + def __init__(self, client_ip, client_port, echo=False): + self.client_address = (client_ip, change_config_port(client_port) if echo is True else client_port) + self.udp_socket = socket(AF_INET, SOCK_DGRAM) + self.udp_socket.bind(self.client_address) + self.udp_socket.setsockopt(SOL_SOCKET, SO_RCVBUF, 1) + self.controller_ip = ("127.0.0.1", client_port) + logging.debug("Network Socket Established") + + def receive(self): + """Polls network, returns output an XML string.""" + data, self.controller_ip = self.udp_socket.recvfrom(400) + return data + + def send(self, message): + """Send message to controller IP. + + Keyword arguments: + message - binary message (default binary) + """ + self.udp_socket.sendto(bytes(message, "utf8"), self.controller_ip) + + +if __name__ == '__main__': + pass diff --git a/RSIRI/robots.py b/RSIRI/robots.py new file mode 100644 index 0000000..e0e02d0 --- /dev/null +++ b/RSIRI/robots.py @@ -0,0 +1,59 @@ +import PyKDL + + +def vec(vals): + return PyKDL.Vector(vals[0], vals[1], vals[2]) + + +joints = [{'segment': 'link1', 'joint': 'joint_a1', 'RotAxis': vec([0, 0, -1]), 'origin': vec([0, 0, 0.4])}, + {'segment': 'link2', 'joint': 'joint_a2', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.025, 0, 0])}, + {'segment': 'link3', 'joint': 'joint_a3', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.455, 0, 0])}, + {'segment': 'link4', 'joint': 'joint_a4', 'RotAxis': vec([-1, 0, 0]), 'origin': vec([0, 0, 0.035])}, + {'segment': 'link5', 'joint': 'joint_a5', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.42, 0, 0])}, + {'segment': 'link6', 'joint': 'joint_a6', 'RotAxis': vec([-1, 0, 0]), 'origin': vec([0.08, 0, 0])}] + + +def jntarray(q): + qjnt = PyKDL.JntArray(6) + for i in range(6): + qjnt[i] = q[i] + return qjnt + + +q_lower = jntarray([-2.96705972839, -3.31612557879, -2.09439510239, -3.22885911619, -2.09439510239, -6.10865238198]) +q_upper = jntarray([2.96705972839, 0.785398163397, 2.72271363311, 3.22885911619, 2.09439510239, 6.10865238198]) + + +def make_segment(joint): + jt = PyKDL.Joint(joint['joint'], joint['origin'], joint['RotAxis'], PyKDL.Joint.RotAxis) + seg = PyKDL.Segment(joint['segment'], jt, PyKDL.Frame(joint['origin'])) + return seg + + +chain = PyKDL.Chain() + +for joint in joints: + chain.addSegment(make_segment(joint)) + +fk_kdl = PyKDL.ChainFkSolverPos_recursive(chain) +ik_v_kdl = PyKDL.ChainIkSolverVel_pinv(chain) +ik_p_kdl = PyKDL.ChainIkSolverPos_NR_JL(chain, q_lower, q_upper, fk_kdl, ik_v_kdl) + + +def fk(q): + frame = PyKDL.Frame() + fk_kdl.JntToCart(q, frame) + return frame + + +def ik(frame, q_guess): + q_res = PyKDL.JntArray(6) + ik_p_kdl.CartToJnt(q_guess, frame, q_res) + return q_res + + +if __name__ == '__main__': + q = jntarray([0.1, 0.0, 0.0, 0.0, 0.0, 0.0]) + frame = fk(q) + q_guess = jntarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) + print(ik(frame, q_guess)) diff --git a/RSIRI/server.py b/RSIRI/server.py new file mode 100644 index 0000000..db5cee6 --- /dev/null +++ b/RSIRI/server.py @@ -0,0 +1,105 @@ +import logging + +from src.RSIRI.network import Network +from src.RSIRI.tools import \ + get_ipoc, \ + update_ipoc, \ + convert_xml_string_to_dict, \ + merge_dict_with_xml_string, \ + convert_config_to_xml_string, \ + extract_config_from_rsi_config + +# Log file location +# Define the log format +log_format = '[%(asctime)s] %(levelname)-8s %(name)-12s %(funcName)20s() %(lineno)s %(message)s' +# Define basic configuration +logging.basicConfig(level=logging.DEBUG, format=log_format, handlers=[logging.StreamHandler()]) +logger = logging.getLogger(__name__) + + +def rsi_process(file, send, receive, status): + """Process containing the RSI networking functions + + This process operates the networking side of the RSI RI Functions. + :param file: RSI config file + :param send: Variable containing Manager.Dict variable with RSI values + :param receive: Variable containing Manager.Dict variable with RSI values + :param status: Variable containing Manager.Dict variable with RSI status values + :return: + """ + rsi_server = RSIServer(file, receive, send, status) + rsi_server.state = True + rsi_server.run() + + +class RSIServer: + def __init__(self, config_file, receive, send, status): + """ RSI Communication Object. + + Main Object for operating an RSI connection. + + Keyword arguments: + config_file - *.rsi.xml config file (default None) + client_ip - IP address of the local network socket (default None) + client_port - Port of the local network socket (default None) + """ + # Network connection Object + self.network = Network("", int(extract_config_from_rsi_config(config_file)[1])) + # RSI Variables + self.send_string = convert_config_to_xml_string(config_file, "send") + self.send_values = receive + + self.receive_string = convert_config_to_xml_string(config_file, "receive") + self.receive_values = send + + # Status (State": "Inactive", "Status": "", "Config": "") + self.status = status + self.ipoc = 0 + + def stop(self): + """ + + :return: + """ + self.network.udp_socket.close() + + def run(self): + """ Operates RSI communication loop. + + Main method that runs a continuous loop polling the network socket, + polling client pipe, processing data _working sending a reply + """ + logger.debug("RSI Server Waiting") + + while True: + self.get_robot_data() + self.send_reply() + else: + self.stop() + + def get_robot_data(self): + """ Get RSI data from robot _working process. + + Polls network socket _working then updates RSIValues.values + Gets IPOC from message _working updates self.ipoc + """ + # Polls network, returns a string of XML + self.receive_string = self.network.receive() + # Get IPOC + self.ipoc = get_ipoc(self.receive_string) + # Convert XML string into Dict + self.receive_values.update(convert_xml_string_to_dict(self.receive_string)) + + def send_reply(self): + """ Send RSI Message. + + Updates IPOC of message _working sends the RSIValues Object .xml values + """ + new_string = merge_dict_with_xml_string(self.send_values, self.send_string) + new_string = update_ipoc(new_string, self.ipoc) + self.send_string = new_string + self.network.send(self.send_string) + + +if __name__ == '__main__': + pass diff --git a/RSIRI/tools.py b/RSIRI/tools.py new file mode 100644 index 0000000..46a1318 --- /dev/null +++ b/RSIRI/tools.py @@ -0,0 +1,262 @@ +from lxml import etree + + +def convert_rsi_config_to_dict(rsi_file, direction): + return convert_xml_string_to_dict(convert_config_to_xml_string(rsi_file, direction)) + + +def convert_xml_string_to_dict(xml): + """ Convert RSI XML string to dict variables. + + Converts an RSI XML string to RSIValue Object values. + Either takes an XML String or reads from Object.xml value + + Keyword arguments: + xml - RSI XML String (default None) + """ + # Convert string to XML object + xml_string = etree.fromstring(xml) + new_values = {} + # Cycle through XML object converting each attribute/value + # to dict _working storing in the shared value variable + for xml_row in xml_string: + if xml_row.text is None: + new_values[xml_row.tag] = {} + for a, v in xml_row.items(): + # new_values[xml_row.tag].insert(a, str(v)) + new_values[xml_row.tag][a] = str(v) + else: + new_values[xml_row.tag] = xml_row.text + # logging.debug(new_values) + return new_values + + +def get_ipoc(message): + x = etree.fromstring(message) + ipoc = x[len(x) - 1].text + return ipoc + + +def add_ipoc(xml_string): + xml = etree.fromstring(xml_string) + ipoc = etree.Element("IPOC") + ipoc.text = "0" + xml.append(ipoc) + return etree.tostring(xml, encoding="unicode") + + +def update_ipoc(xml_string, ipoc): + """ Updates IPOC of send message. """ + xml_val = etree.fromstring(xml_string) + xml_val[len(xml_val) - 1].text = str(ipoc) + send_string = etree.tostring(xml_val, encoding="unicode") + return send_string + + +def merge_dict_with_xml_string(dict_value, xml_string): + """ Convert to Object variables to RSI XML string. """ + xml = etree.fromstring(xml_string) + + for xml_row in xml: + # Iterate each item + if xml_row.text is None: + + for a, v in xml_row.items(): + xml.find(xml_row.tag).attrib[a] = dict_value[xml_row.tag][a] + else: + xml_row.text = dict_value[xml_row.tag] + xml_string = etree.tostring(xml).decode() + + return xml_string + + +def load_xml(file): + """ Load Send XML template _working returns XML root to object """ + parser = etree.XMLParser(remove_blank_text=True) + tree = etree.parse(file, parser=parser) + return tree.getroot() + + +def convert_config_to_xml_string(file, direction): + """Opens the KUKA RobotSensorInterface XML config file _working creates the XML template + for sending _working receiving messages""" + + internal = { + "ComStatus": "String", + "RIst": ["X", "Y", "Z", "A", "B", "C"], + "RSol": ["X", "Y", "Z", "A", "B", "C"], + "AIPos": ["A1", "A2", "A3", "A4", "A5", "A6"], + "ASPos": ["A1", "A2", "A3", "A4", "A5", "A6"], + "ELPos": ["E1", "E2", "E3", "E4", "E5", "E6"], + "ESPos": ["E1", "E2", "E3", "E4", "E5", "E6"], + "MaCur": ["A1", "A2", "A3", "A4", "A5", "A6"], + "MECur": ["E1", "E2", "E3", "E4", "E5", "E6"], + "IPOC": 000000, + "BMode": "Status", + "IPOSTAT": "", + "Delay": ["D"], + "EStr": "EStr Test", + "Tech.C1": ["C11", "C12", "C13", "C14", "C15", "C16", "C17", "C18", "C19", "C110"], + "Tech.C2": ["C21", "C22", "C23", "C24", "C25", "C26", "C27", "C28", "C29", "C210"], + "Tech.C3": ["C31", "C32", "C33", "C34", "C35", "C36", "C37", "C38", "C39", "C310"], + "Tech.C4": ["C41", "C42", "C43", "C44", "C45", "C46", "C47", "C48", "C49", "C410"], + "Tech.C5": ["C51", "C52", "C53", "C54", "C55", "C56", "C57", "C58", "C59", "C510"], + "Tech.C6": ["C61", "C62", "C63", "C64", "C65", "C66", "C67", "C68", "C69", "C610"], + "Tech.T1": ["T11", "T12", "T13", "T14", "T15", "T16", "T17", "T18", "T19", "T110"], + "Tech.T2": ["T21", "T22", "T23", "T24", "T25", "T26", "T27", "T28", "T29", "T210"], + "Tech.T3": ["T31", "T32", "T33", "T34", "T35", "T36", "T37", "T38", "T39", "T310"], + "Tech.T4": ["T41", "T42", "T43", "T44", "T45", "T46", "T47", "T48", "T49", "T410"], + "Tech.T5": ["T51", "T52", "T53", "T54", "T55", "T56", "T57", "T58", "T59", "T510"], + "Tech.T6": ["T61", "T62", "T63", "T64", "T65", "T66", "T67", "T68", "T69", "T610"], + } + + # Sets variables for new xml structure + config_root = load_xml(file) + new_root_name = None + root_type = None + root_index = None + + for i, c in enumerate(config_root): + # Cycle through root of config file to get values + if c.tag == "SEND" and direction == "receive": + root_index = i + root_type = "KUKA" + new_root_name = "Rob" + if c.tag == "RECEIVE" and direction == "send": + root_index = i + for item in config_root[0]: + if item.tag == "SENTYPE": + root_type = item.text + new_root_name = "Sen" + # Create new XML object _working set the root name _working type + new_root = etree.Element(new_root_name, Type=root_type) + new_root_count = -1 + temp_multi_value = {} + + # Cycle through elements of each item in config_root + for i, item in enumerate(config_root[root_index][0]): + tag = item.values()[0] + # Future use type = item.values()[1] + indx = item.values()[2] + # Internal variable check + if indx == "INTERNAL": + # Strip off the def_ + tag = tag[4:] + # Get values out of internal catalogue + values = internal[tag] + # Create elements for tag in new root + new_root.append(etree.Element(str(tag))) + new_root_count += 1 + # Checks value type _working set default values + if isinstance(values, list): + for a in values: + new_root[i].set(a, "0") + else: + new_root[i].text = values + + elif tag.__contains__("."): + # Finds the suffix _working tag + suffix = tag[tag.find(".") + 1:] + tag = tag[:tag.find(".")] + # if temp value exists + if temp_multi_value.__contains__(tag): + values = temp_multi_value[tag] + values.append(suffix) + temp_multi_value[tag] = values + new_root[new_root_count].set(suffix, "") + else: + # Create the temp value _working add initial value + new_root_count += 1 + temp_multi_value = {tag: [suffix]} + new_root.append(etree.Element(str(tag))) + new_root[new_root_count].set(suffix, "") + else: + # Remove any blank lines + if tag.startswith("FREE"): + new_root_count += 1 + else: + # Add single value elements + new_root.append(etree.Element(str(tag))) + temp_multi_count = len(new_root) + new_root[temp_multi_count - 1].text = "0" + new_root_count += 1 + # If send values add IPOC + if direction == "send": + new_root.append(etree.Element("IPOC")) + new_root[len(new_root) - 1].text = str("0") + + return etree.tostring(new_root, pretty_print=True, encoding='unicode') + + +def change_config_port(file): + return file + 1 + + +def extract_config_from_rsi_config(file): + xml_root = load_xml(file) + ip, port, sen_type, only_send = None, None, None, None + + for item in xml_root[0]: + if item.tag == "IP_NUMBER": + ip = item.text + if item.tag == "PORT": + port = item.text + if item.tag == "SENTYPE": + sen_type = item.text + if item.tag == "ONLYSEND": + if item.text == "FALSE": + only_send = False + else: + only_send = True + + return str(ip), int(port), str(sen_type), only_send + + +def extract_hold_values_from_config(file): + xml_root = load_xml(file) + hold = {} + send_index = 0 + + for index, value in enumerate(xml_root): + if value.tag == "RECEIVE": + send_index = index + + for index, item in enumerate(xml_root[send_index][0]): + try: + hold[item.values()[0]] = bool(int(item.values()[3])) + except IndexError: + pass + return hold + + +def merge_send_receive(send, receive): + for item in receive.keys(): + if item in send: + if item == "IPOC": + pass + else: + send[item] = receive[item] + return send + + +def check_position_values(values, send_values, rec_values, rate): + """Checks + + :param values: + :param send_values: + :param rec_values: + :param rate: + :return: + """ + for key, val in values.items(): + if float(rec_values[key]) > val: + send_values[key] = str(rate) + if float(rec_values[key]) < val: + send_values[key] = str(rate * -1) + if float(rec_values[key]) == val: + send_values[key] = 0 + return send_values + + +if __name__ == '__main__': + pass