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RSI_Communicator.py
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RSI_Communicator.py
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#!usr/bin/env python3
"""
Author: Yandong Wang ([email protected])
Date: March 09, 2022
Description: This is an RSI Communicator, which can send and receive messages (commands) to the Robot Controller,
in our case it is the KRC4 and KUKA KR16-2.
Status: Working
Dependencies: socket, multiprocessing
Known bugs: -
License:
"""
"""
ISSUES:
-- Multiple threads have data syncing problem. 0.05s refresh rate might be too slow.
"""
#from cmath import inf
from Env_extend import MEM_DATA_LEN
import re
import numpy as np
import socket, os
import settings, Env_extend
from multiprocessing import Process, Pipe
import sys, signal, time
from math import floor
from decimal import Decimal
#from waiting import wait
import xml.etree.ElementTree as ET
#for class server and client
HEADER = settings.HEADER
FOOTER = settings.FOOTER
DEFAULT_RKORR = settings.DEFAULT_RKORR
DEFAULT_AKORR = settings.DEFAULT_AKORR
def isfloat(num):
try:
float(num)
return True
except ValueError:
return False
class client:
def __init__(self):
self.invalid_count = 0
def initialize_socket(self):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((settings.SERVER_IP, settings.CLIENT_PORT))
s.listen(1)
conn, addr = s.accept()
return conn
def is_terminate_command(self, input_text):
if input_text == 'q' or input_text == 'Q':
return True
else:
return False
def process_text(self, input_text): #TODO This is not robust at all, regex?
text_without_spaces = input_text.replace(' ', '') #get rid of the spaces
string_list = text_without_spaces.split(',')
if '' in string_list: #to drop extra ',', get num between all ','
string_list = list(filter(lambda x: x!='', string_list))
if len(string_list) == 7:
if string_list[0] == 'r' or string_list[0] == 'a':
coordinates = []
for i in range(1, len(string_list)):
coordinates.append(float(string_list[i]))
return string_list[0], coordinates
else: # Erroneous command
return None, []
def get_rkorr_string(self, command_list):
command_list = map(lambda x: str(x), command_list) #map useses Iterator in py3
return '<RKorr X=\"' + next(command_list) + '\" Y=\"' + next(command_list) + '\" Z=\"' + next(command_list) + '\" A=\"' + \
next(command_list) + '\" B=\"' + next(command_list) + '\" C=\"' + next(command_list) + '\" />'
def get_akorr_string(self, command_list):
command_list = map(lambda x: str(x), command_list) #map useses Iterator in py3
return '<AKorr A1=\"' + next(command_list) + '\" A2=\"' + next(command_list) + '\" A3=\"' + next(command_list) + '\" A4=\"' + \
next(command_list) + '\" A5=\"' + next(command_list) + '\" A6=\"' + next(command_list) + '\" />'
def create_command_string(self, type, command_list):
if type == 'r':
return HEADER + self.get_rkorr_string(command_list) + FOOTER
elif type == 'a':
return HEADER + self.get_akorr_string(command_list) + FOOTER
def run_client(self, connection):
sock = self.initialize_socket()
a = ''
print_time = 0
while True:
input_text = sock.recv(settings.BUFFER_SIZE)
sock.send(b'sent')
if input_text:
input_text = input_text.decode('utf-8') #IPA: input text into strings, for process_text function
type, command_list = self.process_text(input_text)
if type is not None and len(command_list) == 6:
string_to_send = self.create_command_string(type, command_list)
string_to_send = bytes(string_to_send, 'utf-8') #IPA: stringtosend into bytes, for socket
print_time +=1
if print_time%5000 == 0:
a += '.'
if len(a) >= 6:
a = ''
#print('Sending'+a+' ', end='\r')
#print (string_to_send)
connection.send(string_to_send)
elif self.is_terminate_command(input_text):
print ("Terminating...")
#sock.shutdown(socket.SHUT_RDWR) # Don't allow reads & writes
sock.close()
return
else:
print ("The command is not valid.")
self.invalid_count += 1
print(input_text)
class server:
def __init__(self):
self.robot_state = []
def send_robot_data(self, sock, data):
if settings.BROADCAST_ROBOT_POSITION is False:
pass
else:
sock.sendto(bytes(data), (settings.RECEIVER_IP, settings.RECEIVER_PORT)) #IPA: changed data type
def run_server(self, connection):
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # Create a UDP socket
sock.bind((settings.SERVER_IP, settings.SERVER_PORT))
default_a_command = HEADER + DEFAULT_AKORR + FOOTER
default_a_command = bytes(default_a_command, 'utf-8') # IPA: default joints correction xml
default_r_command = HEADER + DEFAULT_RKORR + FOOTER
default_r_command = bytes(default_r_command, 'utf-8') # IPA: default cartesian correction xml
#IPA: Get and store informations from robot
state_log = []
a = ''
print_timer = 0
while True:
received_data, socket_of_krc = sock.recvfrom(settings.BUFFER_SIZE)
##to check socket_of_krc
#print("socket_of_krc: ",socket_of_krc)
self.send_robot_data(sock, received_data)
if connection.poll():
print_timer += 1
if print_timer%5000 == 0:
a += '.'
if len(a) >= 6:
a = ''
#print('Data receiving'+a+' ', end='\r')
data_to_send = connection.recv()
else: # send the default
data_to_send = default_r_command #IPA: depends on correction type (Joints or Cartesian)
#state_log.append(received_data.decode('utf-8'))
data_to_send = self.mirror_timestamp(received_data.decode('utf-8'), data_to_send.decode('utf-8'))
#print("data_to_send final: ",data_to_send)#check data2send format
#IPA: convert received_data and data2send from bytes to strings, so that the mirror_timestamp function can work fine.
sock.sendto(data_to_send, socket_of_krc)
# Updates the timestamp of the data to send based on the timestamp of the received data
def mirror_timestamp(self, received_data, data_to_send):
ipoc_begin_index = received_data.index("<IPOC>")
ipoc_end_index = received_data.index("</IPOC>")
received_ipoc = str(received_data[ipoc_begin_index + 6: ipoc_end_index])
self.robot_state.append(received_data)
#print(received_data) #IPA: print current state of robot
old_ipoc_begin_index = data_to_send.index("<IPOC>")
old_ipoc_end_index = data_to_send.index("</IPOC>")
old_ipoc = data_to_send[old_ipoc_begin_index + 6: old_ipoc_end_index]
return bytes(data_to_send.replace("<IPOC>" + old_ipoc + "</IPOC>", "<IPOC>" + received_ipoc + "</IPOC>"), 'utf-8')#IPA: convert datatosend into bytes before sending to socket
class RSI_Communicator:
def __init__( self,
PACE = 0.025,
PACE_MAX = 0.05,
refresh_rate = 0.004, #tested for tcp_sender
buffer_size = settings.BUFFER_SIZE,
server_ip = settings.SERVER_IP,
server_port = settings.SERVER_PORT,
client_port = settings.CLIENT_PORT,
dataLoader = None,
data_method = 'memcache',
CS = 'BASE', #Reference Coordinate System: BASE (WORLD), TCP
len_avg_data = 5,
):
if dataLoader is None:
from DataLoader import DataLoader as dataLoader
self.dataloader = dataLoader(method=data_method, len_avg_data=len_avg_data)
self.CURRENT_PATH = os.path.dirname(os.path.abspath(__file__))
self.LOG_PATH = os.path.join(self.CURRENT_PATH, 'Data')
if not os.path.exists(self.LOG_PATH):
os.mkdir(self.LOG_PATH)
self.robot_state_file_location = os.path.join(self.LOG_PATH, 'end_pos.json')
#print(os.path.join(self.LOG_PATH, 'end_pos.txt'))
#print(self.robot_state_file_location)
self.CS = CS
self.PACE = PACE
self.PACE_MAX = PACE_MAX
self.refresh_rate = refresh_rate
self.isdone = False
self.ROBOT_STATE = self.process_robot_state(self.robot_state_file_location) if os.path.exists(self.robot_state_file_location) else False
self.state_length = 10000
#cartesian start state
self.RKORR = Env_extend.RKORR #list
self.START_STATE = Env_extend.START_STATE #dict
#server and client
self.parent_connection, self.child_connection = Pipe()
self.server, self.client = server(), client()
self.server_port, self.client_port = server_port, client_port
self.server_ip = server_ip
self.buffer_size = buffer_size #defines the rate of communication between PC and robot
def quit(self,signum, frame):
print("\nKillng Everything...")
print('\nInvalid commands: %d'%self.client.invalid_count)
#print('Start pos:\n', self.start_pos)
#print('End_pos:\n', self.end_pos)
sys.exit()
def connect(self):
#Need to be able to pass the state of robotand ROS sensors (force torque) data to the Enviroment
try:
signal.signal(signal.SIGINT, self.quit)
signal.signal(signal.SIGTERM, self.quit)
server_process = Process(target=self.server.run_server, args=(self.parent_connection, ))
server_process.start()
#server_thread = threading.Thread(target=self.server.run_server, args=(self.parent_connection, ))
#server_thread.setDaemon(True)
#server_thread.start()
print("Build RSI Connection successfully! ")
self.client.run_client(self.child_connection)
#client_process = Process(target=self.run_client)
# client_thread = threading.Thread(target=self.client.run_client,args=(self.child_connection, self.refresh_rate,))
# client_thread.setDaemon(True)
# client_thread.start()
server_process.terminate()
except Exception as exc:
print(exc)
def tcp_sender(self, target_move=[0,0,0,0,0,0], test= True): #command should be strings or list in the right format
TCP_IP = self.server_ip
TCP_PORT = self.client_port
BUFFER_SIZE = self.buffer_size
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((TCP_IP, TCP_PORT))
try:
while True:
if test:
confirm = input('[0]-Enter yourself \n[1]-Run Test \n[2]-Reset \n-->') #could be done state from env
if confirm == '0':
command = input("Enter a command: ") #cartesian r,x,y,z,a,b,c
if '[' in list(command) or ']' in list(command):
command = command.split(',')
elif confirm == '1':
if isinstance(target_move, str):
target_move = [float(s) for s in re.split(',', target_move) if isfloat(s)]
print(target_move) #still has bugs
self.ROBOT_STATE = self.process_robot_state(self.robot_state_file_location)
command = self.get_reset_corr(current_state=self.ROBOT_STATE, target_move=target_move)
elif confirm == '2':
self.ROBOT_STATE = self.process_robot_state(self.robot_state_file_location)
#print(self.ROBOT_STATE)
command = self.get_reset_corr(current_state=self.ROBOT_STATE, reset=True)
#command = False
else:
command = False
else:
#action
command = target_move #
if not command:
print('Waiting for command...')
time.sleep(1)
else:
if isinstance(command, str):
command = bytes(command, 'utf-8') #IPA: turn input text into bytes, for socket
s.send(command)
message = s.recv(BUFFER_SIZE) #IPA: to receive message sent from client (b'sent')
#print ("Sending data...")
#print ('receice message: ', self.server.robot_state)
elif isinstance(command, list):
print('Sending multiplle data...')
for i in range(len(command)):
command_i = bytes(command[i], 'utf-8')
#check if command_i contains only 6 cartesian values
time.sleep(self.refresh_rate) #if invalid commands show up should change this
s.send(command_i)
else:
print('Command type wrong. Need to be strings to list.')
except KeyboardInterrupt or self.isdone:
print('\nClosing socket...')
s.close() #We don't need this for training
def get_reset_corr(self, current_state, target_move=[], reset = False, reset_wait_time = 0.5): #,target_state
"""
bring tcp back to start position using RSI_MOVECORR.
for now no change of orientations of robot.
current_state be like ['1100.1234',-698.2333,'920.324',0,0,0]
target_move be like [10.0, -10.0, 0.0, 0.0, 0.0, 0.0]
get current state, xo-xi... , create a command in r,x,x,x,x,x,x
When reset = True, the movement in z-axis direction should be executed first.
"""
pace = self.PACE
null_element = 0.000
if reset:
if not current_state or float('inf') in current_state or float('-inf') in current_state:
n, nmax = 0, 3
while n < nmax:
current_state = self.ROBOT_STATE = self.process_robot_state(self.robot_state_file_location) #update current state
if not current_state or float('inf') in current_state or float('-inf') in current_state:
print('Current state is not valid. Retrying for %d more times.'%(nmax-n))
time.sleep(reset_wait_time)
else:
print('Got valid state.')
break
n += 1
if n >= nmax:
print('Cannot get valid state. No reset move executed.')
return 'r,0,0,0,0,0,0'
else:
target = self.START_STATE#list(self.START_STATE.values())
#print('TARGET: ',target)
#print('CSTATE: ',current_state)
diff = []
abs_diff = []
#print('Target length: ',len(target), self.START_STATE)
for j in range(len(target)-3):
diff_j = float(target[j])-float(current_state[j])
abs_diff_j = abs(float(target[j])-float(current_state[j]))
#diff_j = '%.4f'%diff_j
diff.append(diff_j)
abs_diff.append(abs_diff_j)
for h in range(3):# Now cut of change of abc
diff.append(0.0)
abs_diff.append(0.0)
#print('diff: ',diff)
#sys.exit()
else:
diff = target_move #list of floats for move distance in each axis
abs_diff = [abs(i) for i in diff]
#print('diff: ',diff)
#process current state, extract current cartesian coodinates, put them into list
max_diff = max(abs_diff) #see if max diff is bigger than max pace
if max_diff <= self.PACE_MAX:
reset_corr = 'r,'
#print('diff length: ',len(diff))
for i in range(len(diff)):
corr_i = '%.4f'%diff[i] + ','
reset_corr += corr_i
else: #command will be list, each element represents the move command with set pace
ex_reminder = Decimal(str(max_diff))%Decimal(str(pace))
ex_len = 0 if float(ex_reminder) == 0.0 else 1 #extra length of command list
comm_len = floor(max_diff/pace) + ex_len #len of command list
#print('Command Length: ',ex_reminder,comm_len)
reset_corr = []
comm_dict = {} #each step value change for the whole movement
for i in range(len(diff)):
r_i = [] #each axis change every step
r_len = floor(float(Decimal(str(abs_diff[i]))/Decimal(str(pace)))) #length of actual comm
r_rest = float(Decimal(str(diff[i]))%Decimal(str(pace))) #reminder
r_pace = -pace if diff[i]<0 else pace
#print(r_len)
for j in range(r_len):
r_i.append(r_pace)
if r_rest != 0.0 or r_rest != 0:
r_i.append(r_rest)
rest_len = comm_len-len(r_i)
if rest_len > 0:
for k in range(rest_len):
r_i.append(null_element)
dict_i = {i:r_i}
comm_dict.update(dict_i)
#print(comm_dict)
for i in range(comm_len):
corr_i = 'r,'
for j in range(len(comm_dict.keys())):
corr_i += '%.4f'%comm_dict[j][i] + ','
reset_corr.append(corr_i)
return reset_corr
# else:
# print('No current state found.')
# return 'r,0,0,0,0,0,0'
def state_sock_connect(self):#, connection): #connection using Pipe for environment
rstate = []
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((self.server_ip, settings.RECEIVER_PORT))
#file_location = os.path.join(self.LOG_PATH, 'end_pos.txt')
print('RSI State Process connected!')
try:
signal.signal(signal.SIGINT, self.quit)
signal.signal(signal.SIGTERM, self.quit)
n = 0
while True:
n+=1
received_data, sock_of_krc = sock.recvfrom(settings.BUFFER_SIZE) #59152
#received_data = self.process_robot_state(received_data)
#rstate.append(received_data.decode())
tree = ET.ElementTree(ET.fromstring(received_data.decode()))
root = tree.getroot()
tags = []
values = []
for child in root:
tags.append(child.tag)
if tree.find('./'+child.tag).text != None:
#print(tree.find('./'+child.tag).tag, tree.find('./'+child.tag).text)
values.append(tree.find('./'+child.tag).text)
else:
#print(child.tag, child.attrib)
values.append(child.attrib)
rstate.append(dict(zip(tags, values)))
if len(rstate)==1:
self.start_pos = rstate[0]
if len(rstate) > self.state_length:
for i in range(len(rstate)-self.state_length):
rstate.pop(0)
self.end_pos = rstate[len(rstate)-1]
#print(len(rstate))
if n%500 == 0:
print('Start pos:\n', self.start_pos, '\n')
print('End_pos:\n', self.end_pos, '\n')
print('Log: ',n/500,' State length:',len(rstate), '\n')
if len(rstate) <= MEM_DATA_LEN:
self.dataloader.store_data(rstate, self.robot_state_file_location, tag='end_pos')
else:
self.dataloader.store_data(rstate[-MEM_DATA_LEN:], self.robot_state_file_location, tag='end_pos')
except Exception as e:
print(e)
sock.close()
def process_robot_state(self, end_pos):#returns a list of x,y,z,a,b,c in float
#end_pos = open(end_pos, 'r').read()#.decode('utf-8').split(' |" |< |> |= |\n')
# cstate = []
# tags = ['RIst', 'RSol', 'Delay', 'Tech', 'Digout']
# tag = ''
# count = 0
# #time.sleep(self.refresh_rate)
# with open(end_pos,'r') as end_pos_file:
# ff = end_pos_file.read()#.split('"')
# ff = re.split(' |"|<|>|=|\n',ff)
# for ist in ff:
# #print(ist)
# if ist in tags:
# tag = ist
# if ist == 'RIst':
# count += 1
# try:
# if tag == 'RIst':
# if count < 2:
# cstate.append(float(ist))
# global arr
# arr = np.array(cstate)
# else:
# cstate.append(float(ist))
# if len(cstate)%6 == 0 and len(cstate)>6:
# arr2 = np.array(cstate[(count-1)*6:])
# arr += arr2
# #print('added')
# else:
# continue
# except ValueError:
# continue
# arr_avr = arr/count
#cstate
# arr = np.array(6*[0.])#[]
# with open(end_pos, 'r') as f:
# try:
# end_state = json.load(f)
# except:
# return False
# for item in end_state:
# rist = np.array([float(val) for val in item['RIst'].values()])
# arr += rist
# avr_arr = arr/len(end_state)
data = self.dataloader.load_data(tag='end_pos')
if data != None:
avr_arr = np.append(data['tcp_pos'], 3*[0.])
cstate = avr_arr.tolist()
return cstate
else:
return False