diff --git a/01_Code/physical_computing_interface/assembly/app.js b/01_Code/physical_computing_interface/assembly/app.js
index 11b959505cc14e14a776a218efcc7f4f78e255e2..e692e8e90a205cf27e8c87fdd6b3127ea183020e 100644
--- a/01_Code/physical_computing_interface/assembly/app.js
+++ b/01_Code/physical_computing_interface/assembly/app.js
@@ -20,43 +20,198 @@ initEditor();// todo enclose into class
/////////////assmebly////////////////////
-var assembler= new Assembler(three,GLOBALS,1,50,[new THREE.Vector3(0,0,0)],[new THREE.Vector3(GLOBALS.gridSize/2.0*GLOBALS.voxelSpacing,0,0)]);
+var assembler= new Assembler(three,GLOBALS,1,50,[new THREE.Vector3(10,10,10)],[new THREE.Vector3(GLOBALS.gridSize/2.0*GLOBALS.voxelSpacing,0,0)]);
assembler.run();
//////////////////////////////python-urx//////////////////
+
+
+
var ur10Setup={
- run:true,
- pythonFileName: "script2", //in ./assembly/python-urx/
- ip: "192.168.1.52",
- pickup:{
- x: 0.043008387088775635,
- y: -1.296274487172262,
- z: 2.373403787612915,
- rx:-1.3105805555926722,
- ry:0.04273087903857231,
- rz:-1.3469165007220667
- },
- locations:[
- {
- x: 0.02622373215854168,
- y: -1.2583287397967737,
- z: 2.196824550628662,
- rx:-1.2858575026141565,
- ry:0.026594867929816246,
- rz:-1.2329323927508753,
+ globals:{
+ run:true,
+ pythonFileName: "ur10test", //in ./assembly/python-urx/
+ ipNode: "192.168.1.52",
+ ipEdge: "192.168.1.53",
+ latticePitch:{
+ x:0.031,
+ y:0.031,
+ z:0.006,
+ },
+ nodePickupRobotHome:{
+ x: -1.5394771734820765,
+ y: -1.6685369650470179,
+ z: -2.495819155369894,
+ rx:-2.1159094015704554,
+ ry:-1.5422142187701624,
+ rz:-1.5874159971820276,
+ },
+ edgePickupRobotHome:{
+ x: -0.21965343156923467,
+ y: -1.5261443297015589,
+ z: 2.5553131103515625,
+ rx:-1.0277064482318323,
+ ry:1.3498035669326782,
+ rz:-1.5769990126239222,
+ },
+ programmingRelativeDistance:{
+ x: -0.203,
+ y: 0.0127,
+ z: 0.013,
+ rx:0,
+ ry:0,
+ rz:0,
+ },
+ nodeRelativeDistance:{
+ x: -0.4417,
+ y: 0.005,
+ z: 0.04,
+ rx:0,
+ ry:0,
+ rz:0
},
- {
- x:0.02478637360036373,
- y:-1.2227914969073694,
- z:2.1424121856689453,
- rx:-1.2808602491961878,
- ry:0.02525300905108452,
- rz:-1.218954865132467,
+ edgeRelativeDistance:{
+ x: 0,
+ y: 0,
+ z: 0.04,
+ rx:0,
+ ry:0,
+ rz:0
},
+ v:0.5,
+ a:0.5,
+ v1:0.05,
+ a1:0.05,
+ sleep:0.2,
+ sleep1:0.1,
+
+
+ },
+ nodes:[ //relative to the pickup
+ ],
+ edges:[ //relative to the pickup
],
};
-$.post("/", { data : { foo : JSON.stringify(ur10Setup) } }, function(temp) {
- // temp === "I am done";
-});
\ No newline at end of file
+
+GLOBALS.selectedjson=ur10Setup.globals;
+GLOBALS.editor.set(GLOBALS.selectedjson);
+
+document.addEventListener('runNode', function (e) {
+ startAssembler(ur10Setup);
+}, false);
+
+document.addEventListener('addNode', function (e) {
+ assembleNode(e,ur10Setup);
+}, false);
+
+
+function assembleNode(e,ur10Setup){
+ var x=e.detail.x;
+ var y=e.detail.y;
+ var z=e.detail.z;
+ //
+ ur10Setup.nodes.push({
+ y: x,
+ x: (GLOBALS.gridSize-y-1),
+ z: z,
+ rx:0,
+ ry:0,
+ rz:0,
+
+ });
+ //add edges
+ console.log("x:"+x+", y:"+y+", z:"+z)
+ var list=utils.getNeighborsList(GLOBALS.grid,x,y,z);
+ console.log(list)
+
+ for(var i=0;i<list.length;i++){
+ var i1,j1,k1;
+ [i1,j1,k1]=list[i];
+ if ( !GLOBALS.occupancy[i1][j1][k1] && k1==z ) {
+ ur10Setup.edges.push({
+ y: (x+0.5*(j1-y)),
+ x: (GLOBALS.gridSize-y-1+0.5*(i1-x)),
+ z: z*ur10Setup.globals.latticePitch.z,
+ rx:0,
+ ry:0,
+ rz:((j1-y)==0)? 0:Math.PI/2.0,
+
+ });
+ }
+ }
+
+ //add boundary
+ var i=x-1;
+ if ( i<0 ){
+ //build
+ ur10Setup.edges.push({
+ y: (x),
+ x: (GLOBALS.gridSize-y-1-0.5),
+ z: z,
+ rx:0,
+ ry:0,
+ rz:0,
+
+ });
+ }
+
+ var i=x+1;
+ if ( i==GLOBALS.gridSize ){
+ //build
+ ur10Setup.edges.push({
+ y: (x),
+ x: (GLOBALS.gridSize-y-1+0.5),
+ z: z,
+ rx:0,
+ ry:0,
+ rz:0,
+
+ });
+ }
+
+ var j=y-1;
+ if ( j<0 ){
+ //build
+ ur10Setup.edges.push({
+ y: (x-0.5),
+ x: (GLOBALS.gridSize-y-1),
+ z: z,
+ rx:0,
+ ry:0,
+ rz:Math.PI/2.0,
+
+ });
+ }
+
+ var j=y+1;
+ if ( j==GLOBALS.gridSize ){
+ //build
+ ur10Setup.edges.push({
+ y: (x+0.5),
+ x: (GLOBALS.gridSize-y-1),
+ z: z,
+ rx:0,
+ ry:0,
+ rz:Math.PI/2.0,
+
+ });
+ }
+
+
+}
+
+function startAssembler(ur10Setup){
+ console.log("Run Assembler to assemble "+ur10Setup.nodes.length+ " node(s) and "+ur10Setup.edges.length+ " edge(s)!");
+ console.log(ur10Setup.edges)
+ $.post("/", { data : { setup : JSON.stringify(ur10Setup) } }, function(temp) {
+ });
+ //todo change that to message down
+
+ //delete list of nodes in setup
+ ur10Setup.nodes=[];
+ ur10Setup.edges=[];
+
+}
+
diff --git a/01_Code/physical_computing_interface/assembly/assembly.js b/01_Code/physical_computing_interface/assembly/assembly.js
index 2130a44342a6e872f6f60a862f213184e0ab487d..0337e2d4cd67dfe97f67060ef9c020f47ffb1be7 100644
--- a/01_Code/physical_computing_interface/assembly/assembly.js
+++ b/01_Code/physical_computing_interface/assembly/assembly.js
@@ -164,6 +164,7 @@ Assembler.prototype.declareGlobals=function(){
this.IK.push([]);
}
+
// //starting positions and pickup stations
// if(numberOfRobots>1){
// robotState[1].leg1Pos=new THREE.Vector3((GLOBALS.gridSize-1),(GLOBALS.gridSize-2),0);
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/script1.py b/01_Code/physical_computing_interface/assembly/python-urx/script1.py
index 13cc681c5b43b2815e4be28fb470ab54b6243927..62a7689547993a3906ccf7043dfd5da411b57c70 100644
--- a/01_Code/physical_computing_interface/assembly/python-urx/script1.py
+++ b/01_Code/physical_computing_interface/assembly/python-urx/script1.py
@@ -1 +1,14 @@
-print('Hello from python')
\ No newline at end of file
+print('Hello from python')
+
+import json
+
+# import os
+
+# path = os.getcwd()
+
+# print(path)
+
+
+with open('../assembly/python-urx/setup.json') as f:
+ data = json.load(f)
+print(data["setup"]["globals"]["ipNode"])
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/setup.json b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
new file mode 100644
index 0000000000000000000000000000000000000000..f775e0769d4c6b83b3d31f4b5ca9c33661827d7d
--- /dev/null
+++ b/01_Code/physical_computing_interface/assembly/python-urx/setup.json
@@ -0,0 +1,137 @@
+{
+ "setup": {
+ "globals": {
+ "run": true,
+ "pythonFileName": "ur10test",
+ "ipNode": "192.168.1.52",
+ "ipEdge": "192.168.1.53",
+ "latticePitch": {
+ "x": 0.031,
+ "y": 0.031,
+ "z": 0.006
+ },
+ "nodePickupRobotHome": {
+ "x": -1.5394771734820765,
+ "y": -1.6685369650470179,
+ "z": -2.495819155369894,
+ "rx": -2.1159094015704554,
+ "ry": -1.5422142187701624,
+ "rz": -1.5874159971820276
+ },
+ "edgePickupRobotHome": {
+ "x": -0.21965343156923467,
+ "y": -1.5261443297015589,
+ "z": 2.5553131103515625,
+ "rx": -1.0277064482318323,
+ "ry": 1.3498035669326782,
+ "rz": -1.5769990126239222
+ },
+ "programmingRelativeDistance": {
+ "x": -0.203,
+ "y": 0.0127,
+ "z": 0.013,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ "nodeRelativeDistance": {
+ "x": -0.4417,
+ "y": 0.005,
+ "z": 0.04,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ "edgeRelativeDistance": {
+ "x": 0,
+ "y": 0,
+ "z": 0.04,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ "v": 0.5,
+ "a": 0.5,
+ "v1": 0.05,
+ "a1": 0.05,
+ "sleep": 0.2,
+ "sleep1": 0.1
+ },
+ "nodes": [
+ {
+ "y": 0,
+ "x": 0,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ {
+ "y": 0,
+ "x": 1,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ }
+ ],
+ "edges": [
+ {
+ "y": 0,
+ "x": 0.5,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ {
+ "y": -0.5,
+ "x": 0,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 1.5707963267948966
+ },
+ {
+ "y": 0,
+ "x": -0.5,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ {
+ "y": 0.5,
+ "x": 0,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 1.5707963267948966
+ },
+ {
+ "y": 0,
+ "x": 1.5,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ },
+ {
+ "y": -0.5,
+ "x": 1,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 1.5707963267948966
+ },
+ {
+ "y": 0,
+ "x": 0.5,
+ "z": 0,
+ "rx": 0,
+ "ry": 0,
+ "rz": 0
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
new file mode 100644
index 0000000000000000000000000000000000000000..c31fa7e0a4f6f46f03a8204999f312c14f9003b0
--- /dev/null
+++ b/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py
@@ -0,0 +1,136 @@
+import sys
+import urx
+from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+import time
+import math3d as m3d
+import json
+
+
+# roy = nodes
+# siegfried = struts
+
+print("")
+print("")
+print('Hello from python!')
+print("")
+
+
+with open('../assembly/python-urx/setup.json') as f:
+ data = json.load(f)
+# print(data)
+
+
+# set values
+setup=data["setup"]
+globalSetup=data["setup"]["globals"]
+reference_roy=globalSetup["nodePickupRobotHome"]
+reference_siegfried=globalSetup["edgePickupRobotHome"]
+latticePitch=globalSetup["latticePitch"]
+sleepTime=globalSetup["sleep"]
+sleepTime1=globalSetup["sleep1"]
+
+
+# # reference locations are 40 mm above pickup points
+# reference_roy_j = (reference_roy["x"], reference_roy["y"], reference_roy["z"], reference_roy["rx"], reference_roy["ry"], reference_roy["rz"])
+# reference_siegfried_j = (reference_siegfried["x"], reference_siegfried["y"], reference_siegfried["z"], reference_siegfried["rx"], reference_siegfried["ry"], reference_siegfried["rz"])
+
+# roy = urx.Robot(globalSetup["ipNode"])
+# roy.set_tcp((0, 0, 0.1, 0, 0, 0))
+# roy.set_payload(2, (0, 0, 0.1))
+# time.sleep(sleepTime) #leave some time to robot to process the setup commands
+
+
+# siegfried = urx.Robot(globalSetup["ipEdge"])
+# siegfried.set_tcp((0, 0, 0.1, 0, 0, 0))
+# siegfried.set_payload(2, (0, 0, 0.1))
+# time.sleep(sleepTime) #leave some time to robot to process the setup commands
+
+
+
+# placement location reference (top view)
+# [S1] [S2]
+#
+#[S3] [N1] [S4] [N2] [S5]
+#
+# [S6] [S7]
+
+
+for node in setup["nodes"]:
+ print("Build Node:")
+ print(node)
+
+ # v = globalSetup["v"]
+ # a = globalSetup["a"]
+
+ # # move to reference locations and get current transformation matrices
+ # roy.movej(reference_roy_j, acc = a, vel = v)
+ # roy_trans = roy.get_pose()
+ # time.sleep(sleepTime)
+
+ # v = globalSetup["v1"]
+ # a = globalSetup["a1"]
+
+ # # move to pickup locations from reference
+ # roy_trans.pos.z += globalSetup["nodeRelativeDistance"]["z"]
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+ # time.sleep(sleepTime)
+
+
+ # # close and open grippers
+ # roy.send_program('set_tool_digital_out(0, True)') #close node tool
+ # time.sleep(sleepTime1)
+ # roy.send_program('set_tool_digital_out(0, False)') #open node tool
+ # time.sleep(sleepTime1)
+
+ # # move roy (nodes) to programming location from reference, drops to program, then lifts to reference height
+ # roy_trans.pos.x += globalSetup["programmingRelativeDistance"]["x"]
+ # roy_trans.pos.y += globalSetup["programmingRelativeDistance"]["y"]
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+ # roy_trans.pos.z -= globalSetup["programmingRelativeDistance"]["z"]
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+ # time.sleep(1) # programming time!
+ # roy_trans.pos.z += globalSetup["programmingRelativeDistance"]["z"]
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+
+ # # move roy (nodes) to node from reference location
+ # roy_trans.pos.x += ((globalSetup["nodeRelativeDistance"]["x"])+node["x"]*latticePitch["x"])
+ # roy_trans.pos.y += ((globalSetup["nodeRelativeDistance"]["y"])+node["y"]*latticePitch["y"])
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+ # roy_trans.pos.z -= (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ # roy.set_pose(roy_trans, acc = a, vel = v)
+ # roy_trans.pos.z += (globalSetup["nodeRelativeDistance"]["z"]-node["z"]*latticePitch["z"])
+ # time.sleep(sleepTime)
+
+
+
+print("")
+
+
+for edge in setup["edges"]:
+
+ print("Build Edge:")
+ print(edge)
+
+ # v = globalSetup["v"]
+ # a = globalSetup["a"]
+
+ # # move to reference locations and get current transformation matrices
+ # siegfried.movej(reference_siegfried_j, acc = a, vel = v)
+ # siegfried_trans = siegfried.get_pose()
+ # time.sleep(sleepTime)
+
+ # # move to pickup locations from reference
+ # siegfried_trans.pos.z += globalSetup["edgeRelativeDistance"]["z"]
+ # siegfried.set_pose(siegfried_trans, acc = a, vel = v)
+ # time.sleep(sleepTime)
+
+ # # close and open grippers
+ # siegfried.send_program('set_tool_digital_out(0, True)') #close strut tool
+ # time.sleep(sleepTime1)
+ # siegfried.send_program('set_tool_digital_out(0, False)') #open strut tool
+ # time.sleep(sleepTime1)
+
+
+
+# print ("roy's current pose: ", roy.getj())
+# print ("siegfried's current pose: ", siegfried.getj())
diff --git a/01_Code/physical_computing_interface/json/json.js b/01_Code/physical_computing_interface/json/json.js
index 207e6cd0aef7f8ae5ae84f79dae7afaa0695fead..4a4034aa8d504b1e89b87c218f29099f92fd2310 100644
--- a/01_Code/physical_computing_interface/json/json.js
+++ b/01_Code/physical_computing_interface/json/json.js
@@ -200,37 +200,42 @@ function initEditor(){
// console.log(jsonString);
// const json = editor.get();
var json=JSON.parse(jsonString);
- GLOBALS.updateNode(json);
+ if(json.ipNode === undefined){
+ GLOBALS.updateNode(json);
+ }else{
+ ur10Setup.globals=json; //todo remove from here
+ }
+
}
};
- var editor = new JSONEditor(container, options);
-
+ GLOBALS.editor = new JSONEditor(container, options);
+ GLOBALS.editor.set({bla:"hi"});
document.addEventListener('selectNode', function (e) {
- editor.set(GLOBALS.selectedjson);
+ GLOBALS.editor.set(GLOBALS.selectedjson);
}, false);
document.addEventListener('selectEdge', function (e) {
- editor.set(GLOBALS.selectedjson);
+ GLOBALS.editor.set(GLOBALS.selectedjson);
}, false);
// get json //set info
// document.getElementById('getJSON').onclick = function () {
- // var json = editor.get();
+ // var json = GLOBALS.editor.get();
// // alert(JSON.stringify(json, null, 2));
// GLOBALS.updateNode(json);
// };
- // editor.on('onChangeJson',function() {
+ // GLOBALS.editor.on('onChangeJson',function() {
// console.log("hiii");
// });
- // editor.onChangeJson= function(json){
+ // GLOBALS.editor.onChangeJson= function(json){
// // console.log(json);
// console.log("hiii");
// };
- // document.addEventListener('onChangeJson', function (e) {
+ // GLOBALS.document.addEventListener('onChangeJson', function (e) {
// console.log("hissssii");
// }, false);
diff --git a/01_Code/physical_computing_interface/setup/globals.js b/01_Code/physical_computing_interface/setup/globals.js
index 449727bbeb577273f8b2579395389905dfbb49de..4a425114bcafaeeb2aa8764cdccc4a40e91e7fd7 100644
--- a/01_Code/physical_computing_interface/setup/globals.js
+++ b/01_Code/physical_computing_interface/setup/globals.js
@@ -280,6 +280,7 @@ function globals(utils){
this.totalTimeSteps=0;
this.timeline=[];
this.selectedjson;
+ this.editor;
}
diff --git a/01_Code/physical_computing_interface/setup/package-lock.json b/01_Code/physical_computing_interface/setup/package-lock.json
index 85651edbada6fc06c119ef5fd4578467b92bfa2d..932e96a53aad315e56578f451f560954de7d2a7c 100644
--- a/01_Code/physical_computing_interface/setup/package-lock.json
+++ b/01_Code/physical_computing_interface/setup/package-lock.json
@@ -79,6 +79,18 @@
"resolved": "https://registry.npmjs.org/destroy/-/destroy-1.0.4.tgz",
"integrity": "sha1-l4hXRCxEdJ5CBmE+N5RiBYJqvYA="
},
+ "edit-json-file": {
+ "version": "1.4.1",
+ "resolved": "https://registry.npmjs.org/edit-json-file/-/edit-json-file-1.4.1.tgz",
+ "integrity": "sha512-YqnKYc2+F+j4Y0qGVKY36Qzb7zusQnQU3JFyqDAZU+vVdtPPqrFtVytsTsCC2kMej5I0BkUCCfPMQq6w5j+cBg==",
+ "requires": {
+ "find-value": "^1.0.3",
+ "iterate-object": "^1.3.2",
+ "r-json": "^1.2.5",
+ "set-value": "^3.0.1",
+ "w-json": "^1.3.5"
+ }
+ },
"ee-first": {
"version": "1.1.1",
"resolved": "https://registry.npmjs.org/ee-first/-/ee-first-1.1.1.tgz",
@@ -150,6 +162,11 @@
"unpipe": "~1.0.0"
}
},
+ "find-value": {
+ "version": "1.0.12",
+ "resolved": "https://registry.npmjs.org/find-value/-/find-value-1.0.12.tgz",
+ "integrity": "sha512-OCpo8LTk8eZ2sdDCwbU2Lc3ivYsdM6yod6jP2jHcNEFcjPhkgH0+POzTIol7xx1LZgtbI5rkO5jqxsG5MWtPjQ=="
+ },
"forwarded": {
"version": "0.1.2",
"resolved": "https://registry.npmjs.org/forwarded/-/forwarded-0.1.2.tgz",
@@ -190,6 +207,24 @@
"resolved": "https://registry.npmjs.org/ipaddr.js/-/ipaddr.js-1.9.1.tgz",
"integrity": "sha512-0KI/607xoxSToH7GjN1FfSbLoU0+btTicjsQSWQlh/hZykN8KpmMf7uYwPW3R+akZ6R/w18ZlXSHBYXiYUPO3g=="
},
+ "is-plain-object": {
+ "version": "2.0.4",
+ "resolved": "https://registry.npmjs.org/is-plain-object/-/is-plain-object-2.0.4.tgz",
+ "integrity": "sha512-h5PpgXkWitc38BBMYawTYMWJHFZJVnBquFE57xFpjB8pJFiF6gZ+bU+WyI/yqXiFR5mdLsgYNaPe8uao6Uv9Og==",
+ "requires": {
+ "isobject": "^3.0.1"
+ }
+ },
+ "isobject": {
+ "version": "3.0.1",
+ "resolved": "https://registry.npmjs.org/isobject/-/isobject-3.0.1.tgz",
+ "integrity": "sha1-TkMekrEalzFjaqH5yNHMvP2reN8="
+ },
+ "iterate-object": {
+ "version": "1.3.4",
+ "resolved": "https://registry.npmjs.org/iterate-object/-/iterate-object-1.3.4.tgz",
+ "integrity": "sha512-4dG1D1x/7g8PwHS9aK6QV5V94+ZvyP4+d19qDv43EzImmrndysIl4prmJ1hWWIGCqrZHyaHBm6BSEWHOLnpoNw=="
+ },
"media-typer": {
"version": "0.3.0",
"resolved": "https://registry.npmjs.org/media-typer/-/media-typer-0.3.0.tgz",
@@ -265,6 +300,11 @@
"resolved": "https://registry.npmjs.org/qs/-/qs-6.7.0.tgz",
"integrity": "sha512-VCdBRNFTX1fyE7Nb6FYoURo/SPe62QCaAyzJvUjwRaIsc+NePBEniHlvxFmmX56+HZphIGtV0XeCirBtpDrTyQ=="
},
+ "r-json": {
+ "version": "1.2.10",
+ "resolved": "https://registry.npmjs.org/r-json/-/r-json-1.2.10.tgz",
+ "integrity": "sha512-hu9vyLjSlHXT62NAS7DjI9WazDlvjN0lgp3n431dCVnirVcLkZIpzSwA3orhZEKzdDD2jqNYI+w0yG0aFf4kpA=="
+ },
"range-parser": {
"version": "1.2.1",
"resolved": "https://registry.npmjs.org/range-parser/-/range-parser-1.2.1.tgz",
@@ -329,6 +369,14 @@
"send": "0.17.1"
}
},
+ "set-value": {
+ "version": "3.0.2",
+ "resolved": "https://registry.npmjs.org/set-value/-/set-value-3.0.2.tgz",
+ "integrity": "sha512-npjkVoz+ank0zjlV9F47Fdbjfj/PfXyVhZvGALWsyIYU/qrMzpi6avjKW3/7KeSU2Df3I46BrN1xOI1+6vW0hA==",
+ "requires": {
+ "is-plain-object": "^2.0.4"
+ }
+ },
"setprototypeof": {
"version": "1.1.1",
"resolved": "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.1.1.tgz",
@@ -367,6 +415,11 @@
"version": "1.1.2",
"resolved": "https://registry.npmjs.org/vary/-/vary-1.1.2.tgz",
"integrity": "sha1-IpnwLG3tMNSllhsLn3RSShj2NPw="
+ },
+ "w-json": {
+ "version": "1.3.10",
+ "resolved": "https://registry.npmjs.org/w-json/-/w-json-1.3.10.tgz",
+ "integrity": "sha512-XadVyw0xE+oZ5FGApXsdswv96rOhStzKqL53uSe5UaTadABGkWIg1+DTx8kiZ/VqTZTBneoL0l65RcPe4W3ecw=="
}
}
}
diff --git a/01_Code/physical_computing_interface/setup/package.json b/01_Code/physical_computing_interface/setup/package.json
index e2b3129ab4c8cae36451d2e66d4c61775fedc30e..d8106c81c434d0991f2795b1878c8d9d8e2b0ff0 100644
--- a/01_Code/physical_computing_interface/setup/package.json
+++ b/01_Code/physical_computing_interface/setup/package.json
@@ -218,18 +218,7 @@
"resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-1.0.3.tgz",
"version": "1.0.3"
},
- "edit-json-file": {
- "integrity": "sha512-0I7+oa195vpuiO/pOvO0F+ngoFLyU5dn0Zbr56D9lER1lwxq0ZM1jhCtTUqs4lvEPBUopnK9CHszRkfnqNi2Rg==",
- "requires": {
- "find-value": "^1.0.3",
- "iterate-object": "^1.3.2",
- "r-json": "^1.2.5",
- "set-value": "^3.0.1",
- "w-json": "^1.3.5"
- },
- "resolved": "https://registry.npmjs.org/edit-json-file/-/edit-json-file-1.3.2.tgz",
- "version": "1.3.2"
- },
+ "edit-json-file": "^1.4.1",
"ee-first": {
"integrity": "sha1-WQxhFWsK4vTwJVcyoViyZrxWsh0=",
"resolved": "https://registry.npmjs.org/ee-first/-/ee-first-1.1.1.tgz",
diff --git a/01_Code/physical_computing_interface/setup/serve.js b/01_Code/physical_computing_interface/setup/serve.js
index 9af3904f9c328236b2ad2081ceec866d89036786..01a20a616396528fe345bb4dd4cda2131d088030 100644
--- a/01_Code/physical_computing_interface/setup/serve.js
+++ b/01_Code/physical_computing_interface/setup/serve.js
@@ -11,6 +11,9 @@ var fs = require('fs');
var app = express();
var path = require('path');
+var fs = require('fs');
+const editJsonFile = require("edit-json-file");
+
var setup;
// will parse incoming JSON data and convert it into an object literal for you
@@ -24,15 +27,12 @@ app.use(express.static(__dirname + '/../')); // exposes index.html, per below
app.post("/", function(req, res) {
// each key in req.body will match the keys in the data object that you passed in
var myObject = req.body.data;
- setup=JSON.parse(myObject.foo);
- console.log(setup.ip)
+ setup=JSON.parse(myObject.setup);
+
+ console.log("run python_urx!");
+ runPython_urx(setup);
+
- if(setup.run){
- console.log("run python_urx!");
- runPython_urx(setup.pythonFileName);
- }else{
- console.log("reading data");
- }
res.send("I am done");
});
@@ -42,55 +42,28 @@ port = 8080;
app.listen(port);
console.log(`Open http://localhost:${port}/demos/indexUR10.html in your browser`);
-
-
-function runPython_urx(fileName){
- console.log("here")
+function runPython_urx(setup){
// var dataToSend;
// const python = exec('python', ['./assembly/python-urx/script1.py']);
// const exec = spawn(‘python’, [‘script2.py’,’node.js’,’python’]);
var root="../assembly/python-urx/";
- var commands=[];
- commands.push("python " + root+fileName +".py"+ " hi"+ " hello");
- commands.push("python " + root+"script1" +".py")
-
- runListCommand(commands,0);
-
-
- // var command= "python " + root+fileName +".py"+ " hi"+ " hello";
- // // var command= "ls";
-
- // const python =exec(command, (error, stdout, stderr) => {
- // if (error) {
- // console.log(`error: ${error.message}`);
- // return;
- // }
- // if (stderr) {
- // console.log(`stderr: ${stderr}`);
- // return;
- // }
- // console.log(`stdout: ${stdout}`);
- // });
-
-
- // var command= "python " + root+"script1" +".py";
-
-
-
- // python.stdout.on('data', function (data) {
- // console.log('Pipe data from python script ...');
- // dataToSend = data.toString();
- // console.log(dataToSend)
- // });
- // // in close event we are sure that stream from child process is closed
- // python.on('close', (code) => {
- // console.log(`child process close all stdio with code ${code}`);
- // // send data to browser
- // res.send(dataToSend)
- // });
-
+ let outputFile = editJsonFile(`${__dirname}/`+root+`setup.json`);
+ outputFile.set("setup", setup);
+ outputFile.save();
+ console.log("saved the setup in ../assembly/python-urx/setup.json");
+ console.log();
+
+ if(setup.globals.run){
+ console.log("Call python script:")
+ var commands=[];
+ commands.push("python " + root+setup.globals.pythonFileName +".py");
+ runListCommand(commands,0);
+
+ }else{
+ console.log("didn't run the UR10");
+ }
}
function runListCommand(commands,index){
@@ -105,7 +78,8 @@ function runListCommand(commands,index){
console.log(`stderr: ${stderr}`);
return;
}
- console.log(`stdout: ${stdout}`);
+ console.log(`stdout:`);
+ console.log(`${stdout}`);
runListCommand(commands,index+1);
});
}