UGA-Innovation-Factory
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UR10-Sentry
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dockerfile ready

This commit is contained in:
Tomás L 2024-07-25 18:17:36 -04:00
parent 913af71226
commit 993385f809
4 changed files with 12 additions and 8 deletions
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10
Robot/UR/URModbusServer.py
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@ -58,9 +58,9 @@ class URModbusServer:
Connects with the Modbus server to requests the angles of each joint, in radians Connects with the Modbus server to requests the angles of each joint, in radians
:return: Readable angle values of each joint in radials :return: Readable angle values of each joint in radials
""" """
if tries>10: if tries>50:
print("[Angles] Modbus Error: Failed") raise Exception("[Angles] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0 #return 0, 0, 0, 0, 0, 0
packet = self.modbusTCP.read_holding_registers(270, quantity=6) packet = self.modbusTCP.read_holding_registers(270, quantity=6)
time.sleep(0.001) time.sleep(0.001)
@ -89,9 +89,9 @@ class URModbusServer:
Connects with the Modbus server to requests the speed of each joint, in radians per second Connects with the Modbus server to requests the speed of each joint, in radians per second
:return: Readable angle speeds of each joint in radians per second :return: Readable angle speeds of each joint in radians per second
""" """
if tries>10: if tries>50:
print("[Speeds] Modbus Error: Failed") print("[Speeds] Modbus Error: Failed")
return 0, 0, 0, 0, 0, 0 #raise Exception("[Speeds] Modbus Error: Failed")
packet = self.modbusTCP.read_holding_registers(280, quantity=6) packet = self.modbusTCP.read_holding_registers(280, quantity=6)

3
URSentry.py
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@ -17,7 +17,7 @@ class URSentry:
# Flags # Flags
self.ESTOP = False self.ESTOP = False
self.await_stop = False self.await_stop = True
self.await_stop_ticks = 0 self.await_stop_ticks = 0
self.send_to_zero_on_stop = False self.send_to_zero_on_stop = False
@ -35,6 +35,7 @@ class URSentry:
self.await_stop = True self.await_stop = True
self.sentry_position() self.sentry_position()
self.has_initialized = True self.has_initialized = True
self.is_on_sentry_mode = True
def get_joint_angles(self) -> "list[float]": def get_joint_angles(self) -> "list[float]":
""" """

5
UnifiWebsockets/Unifi.py
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@ -68,7 +68,10 @@ def find_coords(message: str) -> list[str]:
def run(q: queue.Queue, passwrd : str | None = None) -> None: def run(q: queue.Queue, passwrd : str | None = None) -> None:
base_url = "https://172.22.114.176" # Replace with your UniFi Protect base URL base_url = "https://172.22.114.176" # Replace with your UniFi Protect base URL
username = "engr-ugaif" # Replace with your username username = "engr-ugaif" # Replace with your username
password = dotenv.get_key(dotenv.find_dotenv(), "UNIFI_PASSWORD") if passwrd is None else passwrd if passwrd is None:
password = dotenv.get_key(dotenv.find_dotenv(), "UNIFI_PASSWORD")
else:
password = passwrd
ws_url = "wss://172.22.114.176/proxy/protect/ws/liveDetectTrack?camera=668daa1e019ce603e4002d31" # Replace with your WebSocket URL ws_url = "wss://172.22.114.176/proxy/protect/ws/liveDetectTrack?camera=668daa1e019ce603e4002d31" # Replace with your WebSocket URL
cookies = get_token(base_url, username, password) cookies = get_token(base_url, username, password)

2
dockerfile
View File

@ -17,6 +17,6 @@ COPY BBoxProcessor.py .
COPY URSentry.py . COPY URSentry.py .
COPY dockermain.py . COPY dockermain.py .
ENV UNIFI_PASSWORD = '' ENV UNIFI_PASSWORD=''
CMD [ "python", "./dockermain.py" ] CMD [ "python", "./dockermain.py" ]