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committedJul 24, 2024
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‎README.md

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# CRI-Python-Lib
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Library to use Python to interact with the iRC igus Robot Control via the CRI interface
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# Introduction
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Python package to interface an igus Robot Control via the CRI protocol.
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# Current Features
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- Robot State
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- Basic functions
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- Reset
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- Enable / Disable
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- Acquisition of active control
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- Override
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- Referencing of
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- single axis
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- all axes
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- Set joints to zero
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- Direct movements
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- Joint and relative joint
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- Cartesian
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- Cartesian base and tool relative
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- Live jog
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- Digital IO and global signals
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- Programs
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- Upload
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- Start / Pause / Stop
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- CAN Bridge
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# Getting Started
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## Installation
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Using the library requires no additional libraries, only testing has external dependencies.
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In the top directory of this repository execute `pip install .`
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## Examples
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See `examples` directory.
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# Tests
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This repository provides pytests for the message parser. They require `pytest` and `pytest-cov`, which can be installed via `pip install -r requirements.txt`. To run the tests (including coverage) execute the following command: `pytest -vv --cov=cri_lib --cov-report term-missing tests`.
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‎cri_lib/__init__.py

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"""
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.. include:: ../README.md
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"""
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from .robot_state import (
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RobotMode,
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KinematicsState,
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OperationMode,
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RunState,
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ReplayMode,
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ErrorStates,
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RobotCartesianPosition,
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PlatformCartesianPosition,
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JointsState,
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RobotState,
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PosVariable,
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OperationInfo,
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ReferencingAxisState,
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ReferencingState,
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)
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from .cri_controller import CRIController
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from .cri_protocol_parser import CRIProtocolParser
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from .cri_errors import CRIError, CRIConnectionError, CRICommandTimeOutError

‎cri_lib/cri_controller.py

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‎cri_lib/cri_errors.py

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class CRIError(Exception):
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pass
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class CRIConnectionError(CRIError):
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def __init__(self, message="Not connected to iRC or connection lost."):
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self.message = message
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super().__init__(self.message)
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class CRICommandTimeOutError(CRIError):
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def __init__(self, message="Time out waiting for command response."):
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self.message = message
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super().__init__(self.message)

‎cri_lib/cri_protocol_parser.py

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‎cri_lib/robot_state.py

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from dataclasses import dataclass, field
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from enum import Enum
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class RobotMode(Enum):
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JOINT = "joint"
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CARTBASE = "cartbase"
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CARTTOOL = "carttool"
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PLATFORM = "platform"
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FSM = "fsm"
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class KinematicsState(Enum):
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NO_ERROR = 0
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JOINT_MIN = 13
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JOINT_MAX = 14
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SIGULARITY_CENTER = 21
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SIGULARITY_REACH = 23
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SIGULARITY_WRIST = 24
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VIRTUAL_BOX0 = 30
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VIRTUAL_BOX1 = 31
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VIRTUAL_BOX2 = 32
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VIRTUAL_BOX3 = 33
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VIRTUAL_BOX4 = 34
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VIRTUAL_BOX5 = 35
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MOTION_NOT_ALLOWED = 99
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class OperationMode(Enum):
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NOT_ENABLED = -1
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NORMAL = 0
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MANUAL = 1
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MOTION_NOT_ALLOWED = 2
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class RunState(Enum):
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STOPPED = 0
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PAUSED = 1
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RUNNING = 2
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class ReplayMode(Enum):
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SINGLE = 0
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REPEAT = 1
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STEP = 2
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FAST = 3
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@dataclass
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class ErrorStates:
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over_temp: bool = False
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estop_lowv: bool = False
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motor_not_enabled: bool = False
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com: bool = False
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position_lag: bool = False
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ENC: bool = False
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overcurrent: bool = False
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driver: bool = False
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@dataclass
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class RobotCartesianPosition:
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X: float = 0.0
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Y: float = 0.0
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Z: float = 0.0
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A: float = 0.0
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B: float = 0.0
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C: float = 0.0
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@dataclass
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class PlatformCartesianPosition:
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X: float = 0.0
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Y: float = 0.0
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RZ: float = 0.0
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@dataclass
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class JointsState:
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A1: float = 0.0
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A2: float = 0.0
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A3: float = 0.0
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A4: float = 0.0
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A5: float = 0.0
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A6: float = 0.0
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E1: float = 0.0
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E2: float = 0.0
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E3: float = 0.0
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G1: float = 0.0
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G2: float = 0.0
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G3: float = 0.0
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P1: float = 0.0
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P2: float = 0.0
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P3: float = 0.0
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P4: float = 0.0
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@dataclass
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class PosVariable:
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X: float = 0.0
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Y: float = 0.0
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Z: float = 0.0
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A: float = 0.0
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B: float = 0.0
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C: float = 0.0
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A1: float = 0.0
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A2: float = 0.0
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A3: float = 0.0
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A4: float = 0.0
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A5: float = 0.0
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A6: float = 0.0
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E1: float = 0.0
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E2: float = 0.0
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E3: float = 0.0
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@dataclass
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class OperationInfo:
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program_starts_total: int = 0
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up_time_complete: float = 0.0
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up_time_enabled: float = 0.0
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up_time_motion: float = 0.0
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up_time_last: float = 0.0
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last_programm_duration: int = 0
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num_program_starts_since_startup: int = 0
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class ReferencingAxisState(Enum):
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NOT_REFERENCED = 0
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REFERENCED = 1
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REFERENCING = 2
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@dataclass
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class ReferencingState:
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global_state:ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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mandatory: bool = True
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ref_prog_enabled: bool = False
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ref_prog_running: bool = False
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A1: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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A2: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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A3: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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A4: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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A5: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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A6: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E1: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E2: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E3: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E4: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E5: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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E6: ReferencingAxisState = ReferencingAxisState.NOT_REFERENCED
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@dataclass
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class RobotState:
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"""
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Dataclass which holds the current state of the robot.
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"""
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mode: RobotMode = RobotMode.JOINT
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joints_set_point: JointsState = field(default_factory=JointsState)
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joints_current: JointsState = field(default_factory=JointsState)
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position_robot: RobotCartesianPosition = field(
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default_factory=RobotCartesianPosition
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)
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position_platform: PlatformCartesianPosition = field(
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default_factory=PlatformCartesianPosition
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)
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cart_speed_mm_per_s: float = 0.0
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override: float = 100.0
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din: list[bool] = field(default_factory=lambda: [False] * 64)
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dout: list[bool] = field(default_factory=lambda: [False] * 64)
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emergency_stop_ok = False
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main_relay = False
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supply_voltage: float = 0.0
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battery_percent: float = 0.0
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current_total = 0.0
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current_joints: list[float] = field(default_factory=lambda: [0.0] * 16)
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kinematics_state: KinematicsState = KinematicsState.MOTION_NOT_ALLOWED
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operation_mode: OperationMode = OperationMode.NOT_ENABLED
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global_signals: list[bool] = field(default_factory=lambda: [False] * 128)
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frame_name: str = ""
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frame_position_current: RobotCartesianPosition = field(
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default_factory=RobotCartesianPosition
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)
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main_main_program: str = ""
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main_current_program: str = ""
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logic_main_program: str = ""
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logic_current_program: str = ""
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main_commands_count: int = 0
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logic_commands_count: int = 0
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main_current_command: int = 0
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logic_current_command: int = 0
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main_runstate: RunState = RunState.STOPPED
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logic_runstate: RunState = RunState.STOPPED
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main_replay_mode: ReplayMode = ReplayMode.SINGLE
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logic_replay_mode: ReplayMode = ReplayMode.SINGLE
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error_states: list[ErrorStates] = field(
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default_factory=lambda: [ErrorStates()] * 16
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)
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cycle_time: float = 0.0
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workload: float = 0.0
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gripper_state: float = 0.0
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variabels: dict[str : [PosVariable | float]] = field(default_factory=dict)
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operation_info: OperationInfo = field(default_factory=OperationInfo)
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active_control: bool = False
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robot_control_version: str = ""
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robot_configuration: str = ""
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robot_type: str = ""
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gripper_type: str = ""
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project_file: str = ""
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referencing_state: ReferencingState = field(default_factory=ReferencingState)

‎examples/relative_move.py

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from cri_lib import CRIController
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# CRIController is the main interface for controlling the iRC
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controller = CRIController()
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#connect to default iRC IP
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#controller.connect("192.168.3.11")
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if not controller.connect("127.0.0.1", 3921):
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print("Unable to connect")
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quit()
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#acquire active control.
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controller.set_active_control(True)
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print("enable")
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#enable motors
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controller.enable()
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print("waiting")
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#wait until kinematics are ready to move
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controller.wait_for_kinematics_ready(10)
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controller.set_override(100.0)
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print("move")
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#relative move x +10mm
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controller.move_base_relative(20.0, 20.0, 20.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, wait_move_finished=True, move_finished_timeout= 1000)
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controller.move_base_relative(-20.0, -20.0, -20.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, wait_move_finished=True, move_finished_timeout= 1000)
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#Disable motors and disconnect
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controller.disable()
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controller.close()

‎examples/start_program.py

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from time import sleep
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from cri_lib import CRIController
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# CRIController is the main interface for controlling the iRC
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controller = CRIController()
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#connect to default iRC IP
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#if not controller.connect("127.0.0.1", 3921):
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if not controller.connect("192.168.3.11"):
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print("Unable to connect")
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quit()
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#acquire active control.
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controller.set_active_control(True)
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print("enable")
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#enable motors
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controller.enable()
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print("waiting")
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#wait until kinematics are ready to move
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controller.wait_for_kinematics_ready(10)
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controller.set_override(50.0)
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print("Load program")
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if not controller.load_programm("ReBeL_6DOF_01_Tischtest.xml"):
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print("unable to load programm")
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controller.disable()
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controller.close()
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quit()
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print("Start program")
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if not controller.start_programm():
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print("Unable to start programm")
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controller.disable()
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controller.close()
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quit()
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sleep(5)
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print("Pause program")
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if not controller.pause_programm():
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print("Unable to pause programm")
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controller.disable()
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controller.close()
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quit()
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sleep(5)
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print("Start programm again")
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if not controller.start_programm():
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print("Unable to start programm")
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controller.disable()
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controller.close()
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quit()
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sleep(5)
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print("Stop program")
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if not controller.stop_programm():
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print("Unable to stop programm")
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controller.disable()
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controller.close()
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quit()
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#Disable motors and disconnect
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controller.disable()
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controller.close()

‎pyproject.toml

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[project]
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name = "cri_lib"
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dynamic = ["version"]
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description = "Client library for accessing igus Robot Control via CRI network interface."
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readme = "README.md"
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requires-python = ">=3.10"
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authors = [
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{ name = "Bastian Richter", email = "brichter@igus.net" },
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]
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dependencies = []
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[tool.setuptools]
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packages = ["cri_lib"]

‎requirements.txt

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pytest
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pytest-cov

‎tests/__init__.py

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‎tests/test_cri_parser.py

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