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udpPacket.py
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# coding=utf-8
from collections import OrderedDict
class UdpPacket():
"""
UdpPacket
Abstract Class represent packet structure used in communication protocol between dx200 or YRC server and
client (host PC) application
"""
def __init__(self, procDiv=1):
"""
constructor method
:return: None
"""
self.identifier = 'YERC' #Identifier 4 Byte (fixed to YERC)
self.headSize = [0x20, 0x00] #Header part size 2 Byte Size of header part (fixed to 0x20)
self.dataSize = [0x00, 0x00] #Data part size 2 Byte Size of data part (variable)
self.reserve1 = 3 #Reserve 1 1 Byte Fixed to “3”
self.procDiv = procDiv #Processing div 1 Byte 1: robot control, 2: file control
self.ACK = 0 #ACK 1 Byte 0: Request, 1: Other than request
self.reqID = 0 #Request ID 1 Byte Identifying ID for command session
# (increment this ID every time the client side outputs a
# command. In reply to this, server side answers the received
# value.)
self.blockNo = [0, 0, 0, 0] #Block No. 4 Byte Request: 0
# Answer: add 0x8000_0000 to the last packet.
# Data transmission other than above: add 1
# (max: 0x7fff_ffff)
self.reserve2 = '99999999' #Reserve 2 8 Byte Fixed to “99999999”
class UdpPacket_Req(UdpPacket):
def __init__(self, subHeader, data=[], procDiv=1):
"""
constructor method
:param subHeader: sub header part of packet ( depend on each request/answer )
:param data: data part of the packet ( optional, depend of the request/answer )
:return: None
"""
UdpPacket.__init__(self)
self.cmdNo = subHeader['cmdNo']
self.inst = subHeader['inst']
self.attr = subHeader['attr']
self.service = subHeader['service']
self.padding = subHeader['padding']
self.dataSize[0]=len(data)
self.data=data
def __str__(self):
"""
:return: string representation of the packet
"""
#Prepare request packet
# print(self.reqID)ab
l_str = (self.identifier + # Identifier 4 Byte Fixed to “YERC”
chr( self.headSize[0] ) + #Header part size 2Byte Size of header part (fixed to 0x20)
chr( self.headSize[1] ) +
chr( self.dataSize[0] ) + #Data part size 2Byte Size of data part (variable)
chr( self.dataSize[1] ) +
chr( self.reserve1 ) + #Reserve 1 1Byte Fixed to “3”
chr( self.procDiv ) + #Processing division 1Byte 1: robot control, 2: file control
chr( self.ACK ) +
#ACK 1Byte 0: Reques 1: Other than request
chr( self.reqID ) + #Request ID 1Byte Identifying ID for command session
#(increment this ID every time the client side outputs a
#command. In reply to this, server side answers the received
#value.)
chr( self.blockNo[0]) + #Block No. 4Byte Request: 0
chr( self.blockNo[1]) + # Answer: add 0x8000_0000 to the last packet.
chr( self.blockNo[2]) + # Data transmission other than above: add 1
chr( self.blockNo[3]) + # (max: 0x7fff_ffff)
self.reserve2 + #Reserve 2 8 Byte Fixed to “99999999”
chr( self.cmdNo[0] ) +
chr( self.cmdNo[1] ) +
chr( self.inst[0] ) +
chr( self.inst[1] ) +
chr( self.attr ) +
chr( self.service ) +
chr( self.padding[0] ) +
chr( self.padding[1] )
)
if (isinstance(self.data, str)):
#data is string
l_str = (l_str + self.data)
else:
for i in range(self.dataSize[0]):
l_str = (l_str +
chr(self.data[i]) )
# print(l_str)
return (l_str)
class UdpPacket_Ans(UdpPacket):
def __init__(self, ans_str, l_procDiv):
UdpPacket.__init__(self, l_procDiv)
ans_str = str(ans_str)
# print("answer", ans_str)
self.identifier = ans_str[0:4]
self.headSize[0] = ord(ans_str[4])
self.headSize[1] = ord(ans_str[5])
self.dataSize[0] = ord(ans_str[6])
self.dataSize[1] = ord(ans_str[7])
self.reserve1 = ord(ans_str[8])
self.procDiv = ord(ans_str[9])
self.ACK = ord(ans_str[10])
self.reqID = ord(ans_str[11])
self.blockNo[0] = ord(ans_str[12])
self.blockNo[1] = ord(ans_str[13])
self.blockNo[2] = ord(ans_str[14])
self.blockNo[3] = ord(ans_str[15])
self.reserve2 = ans_str[16:24]
self.service = ord(ans_str[24])
self.status = ord(ans_str[25])
self.add_status_size = ord(ans_str[26])
self.padding1 = ord(ans_str[27])
self.add_status=[0,0]
self.add_status[0] = ord(ans_str[28])
self.add_status[1] = ord(ans_str[29])
self.padding2=[0,0]
self.padding2[0] = ord(ans_str[30])
self.padding2[1] = ord(ans_str[31])
size = 4 * self.dataSize[1] * 256 + self.dataSize[0]
# print("data size = {}, {}, Calculated size = {} ".format(self.dataSize[0],self.dataSize[1], size))
# size = min(size, 512-32)
self.data = [0] * size
for i in range(size):
self.data[i] = ord(ans_str[32 + i])
class UdpPacket_StrAns(UdpPacket):
def __init__(self, ans_str, l_procDiv):
UdpPacket.__init__(self, l_procDiv)
ans_str = str(ans_str)
self.identifier = ans_str[0:4]
self.headSize[0] = ord(ans_str[4])
self.headSize[1] = ord(ans_str[5])
self.dataSize[0] = ord(ans_str[6])
self.dataSize[1] = ord(ans_str[7])
self.reserve1 = ord(ans_str[8])
self.procDiv = ord(ans_str[9])
self.ACK = ord(ans_str[10])
self.reqID = ord(ans_str[11])
self.blockNo[0] = ord(ans_str[12])
self.blockNo[1] = ord(ans_str[13])
self.blockNo[2] = ord(ans_str[14])
self.blockNo[3] = ord(ans_str[15])
self.reserve2 = ans_str[16:24]
self.service = ord(ans_str[24])
self.status = ord(ans_str[25])
self.add_status_size = ord(ans_str[26])
self.padding1 = ord(ans_str[27])
self.add_status=[0,0]
self.add_status[0] = ord(ans_str[28])
self.add_status[1] = ord(ans_str[29])
self.padding2=[0,0]
self.padding2[0] = ord(ans_str[30])
self.padding2[1] = ord(ans_str[31])
size = 4 * self.dataSize[1] * 256 + self.dataSize[0]
# print("size = ", self.dataSize)
self.data = ans_str[32:]
# utility function of axis position data decoding
def datatype(x):
if x==0:
return "pulse"
elif x==16:
return "cartesian"
else:
return "unknown"
def decode32bits(data):
wordLow=data[1]*(1<<8) + data[0]
wordHigh=data[3]*(1<<8) +data[2]
return toSint(wordHigh*(1<<16) + wordLow, 32)
def batch_decode(data):
length = int(len(data)/4)
return [decode32bits(data[i*4: i*4+4]) for i in range(length)]
def axisPosition(data):
# decoder for batch axis position reading
data = batch_decode(data)
axis = OrderedDict()
axis["Data Type"] = datatype(data[0])
axis["Form"] = data[1]
axis["Tool Number"] = data[2]
axis["User Coordinate"] = data[3]
axis["Extended Form"] = data[4]
if axis['Data Type']== "pulse":
axis["q1"] = data[5]
axis["q2"] = data[6]
axis["q3"] = data[7]
axis["q4"] = data[8]
axis["q5"] = data[9]
axis["q6"] = data[10]
else:
axis["X"] = data[5]/1000 # X
axis["Y"] = data[6]/1000 # Y
axis["Z"] = data[7]/1000 # Z
axis["Rx"] = data[8]/10000 # Rx
axis["Ry"] = data[9]/10000 # Ry
axis["Rz"] = data[10]/10000 # Rz
return axis
def axisTorque(data):
# decoder for batch torque reading
data = batch_decode(data)
torque = OrderedDict()
torque["q1"] = data[0]
torque["q2"] = data[1]
torque["q3"] = data[2]
torque["q4"] = data[3]
torque["q5"] = data[4]
torque["q6"] = data[5]
return torque
def two_comp(val, nbits):
return (val + (1 << nbits)) % (1 << nbits)
#convert number to signed integer
def toSint (val, nbits):
if ( val >= (1 << nbits-1) ):
val = val - (1 << nbits)
return val