Flattened enums to root level, corrected some use of enums

pydobot/dobot.py

@@ -4,11 +4,8 @@
 import threading
 import warnings
 
-from message import Message
-from enums.PTPMode import PTPMode
-from enums.CommunicationProtocolIDs import CommunicationProtocolIDs
-from enums.ControlValues import ControlValues
-
+from .message import Message
+from .enums import ControlValues, PTPMode, CommunicationProtocolIDs
 
 class Dobot:
 
@@ -73,14 +70,15 @@ def _get_pose(self):
                   (self.x, self.y, self.z, self.r, self.j1, self.j2, self.j3, self.j4))
         return response
 
-    def _read_message(self):
-        time.sleep(0.1)
-        b = self.ser.read_all()
-        if len(b) > 0:
-            msg = Message(b)
-            if self.verbose:
-                print('pydobot: <<', msg)
-            return msg
+    def _read_message(self,retries=5):
+        for x in range(retries):
+            time.sleep(0.1)
+            b = self.ser.read_all()
+            if len(b) > 0:
+                msg = Message(b)
+                if self.verbose:
+                    print('pydobot: <<', msg)
+                return msg
         return
 
     def _send_command(self, msg, wait=False):
@@ -224,7 +222,7 @@ def _set_ptp_cmd(self, x, y, z, r, mode, wait):
         msg.id = CommunicationProtocolIDs.SET_PTP_CMD
         msg.ctrl = ControlValues.THREE
         msg.params = bytearray([])
-        msg.params.extend(bytearray([mode]))
+        msg.params.extend(bytearray([mode.value]))
         msg.params.extend(bytearray(struct.pack('f', x)))
         msg.params.extend(bytearray(struct.pack('f', y)))
         msg.params.extend(bytearray(struct.pack('f', z)))
@@ -258,6 +256,15 @@ def _set_queued_cmd_stop_exec(self):
         msg.ctrl = ControlValues.ONE
         return self._send_command(msg)
 
+    """
+        Home command
+    """
+    def _set_home_cmd(self):
+        msg = Message()
+        msg.id = CommunicationProtocolIDs.SET_HOME_CMD
+        msg.ctrl = ControlValues.THREE
+        return self._send_command(msg, wait=True)
+
     def close(self):
         self._on = False
         self.lock.acquire()
@@ -294,3 +301,6 @@ def pose(self):
         j3 = struct.unpack_from('f', response.params, 24)[0]
         j4 = struct.unpack_from('f', response.params, 28)[0]
         return x, y, z, r, j1, j2, j3, j4
+
+    def home(self):
+        self._set_home_cmd()

pydobot/enums/ptpMode.py → pydobot/enums.py

@@ -1,52 +1,87 @@
 from enum import Enum
 
+class CommunicationProtocolIDs(Enum):
+
+    GET_SET_DEVICE_SN = 0
+    GET_SET_DEVICE_NAME = 1
+    GET_POSE = 10
+    RESET_POSE = 11
+    GET_ALARMS_STATE = 20
+    CLEAR_ALL_ALARMS_STATE = 21
+    SET_GET_HOME_PARAMS = 30
+    SET_HOME_CMD = 31
+    SET_GET_HHTTRIG_MODE = 40
+    SET_GET_HHTTRIG_OUTPUT_ENABLED = 41
+    GET_HHTTRIG_OUTPUT = 42
+    SET_GET_ARM_ORIENTATION = 50
+    SET_GET_END_EFFECTOR_PARAMS = 60
+    SET_GET_END_EFFECTOR_LAZER = 61
+    SET_GET_END_EFFECTOR_SUCTION_CUP = 62
+    SET_GET_END_EFFECTOR_GRIPPER = 63
+    SET_GET_JOG_JOINT_PARAMS = 70
+    SET_GET_JOG_COORDINATE_PARAMS = 71
+    SET_GET_JOG_COMMON_PARAMS = 72
+    SET_GET_PTP_JOINT_PARAMS = 80
+    SET_GET_PTP_COORDINATE_PARAMS = 81
+    SET_GET_PTP_JUMP_PARAMS = 82
+    SET_GET_PTP_COMMON_PARAMS = 83
+    SET_PTP_CMD = 84
+    SET_CP_CMD = 91
+    SET_QUEUED_CMD_START_EXEC = 240
+    SET_QUEUED_CMD_STOP_EXEC = 241
+    SET_QUEUED_CMD_CLEAR = 245
+    GET_QUEUED_CMD_CURRENT_INDEX = 246
+
+class ControlValues(Enum):
+
+    ZERO = 0x00
+    ONE = 0x01
+    TWO = 0x02
+    THREE = 0x03
+    FOUR = 0x04
+    FIVE = 0x05
+    SIX = 0x06
+    SEVEN = 0x07
+    EIGHT = 0x08
+    NINE = 0x09
 
 class PTPMode(Enum):
     """
     0. JUMP_XYZ, ]
         Jump mode,
         (x,y,z,r)
         is the target point in Cartesian coordinate system
-
     1. MOVJ_XYZ,
         Joint movement,
         (x,y,z,r)
         is the target point in Cartesian coordinate system
-
     2. MOVL_XYZ,
         Linear movement,
         (x,y,z,r)
         is the target point in Cartesian coordinate system
-
     3. JUMP_ANGLE,
         Jump mode, (x,y,z,r)
         is the target point in Jointcoordinate system
-
     4. MOVJ_ANGLE,
         Joint movement,
         (x,y,z,r)
         is the target point in Joint coordinate system
-
     5. MOVL_ANGLE,
         Linear movement,
         (x,y,z,r)
         is the target point in Joint coordinate system
-
     6. MOVJ_INC,
         Joint movement increment mode,
         (x,y,z,r)
         is the angle increment in Joint coordinate system
-
     7. MOVL_INC,
         Linear movement increment mode,
         (x,y,z,r)
         is the Cartesian coordinate increment in Joint coordinate system
-
     8. MOVJ_XYZ_INC,
         Joint movement increment mode,
         (x,y,z,r)
         is the Cartesian coordinate increment in Cartesian coordinate system
-
     9. JUMP_MOVL_XYZ,
         Jump movement,
         (x,y,z,r)
@@ -61,4 +96,4 @@ class PTPMode(Enum):
     MOVJ_INC = 0x06
     MOVL_INC = 0x07
     MOVJ_XYZ_INC = 0x08
-    JUMP_MOVL_XYZ = 0x09
+    JUMP_MOVL_XYZ = 0x09

pydobot/message.py

@@ -1,16 +1,18 @@
+from .enums import PTPMode, CommunicationProtocolIDs, ControlValues
+
 class Message:
     def __init__(self, b=None):
         if b is None:
             self.header = bytes([0xAA, 0xAA])
             self.len = 0x00
-            self.ctrl = 0x00
+            self.ctrl = ControlValues.ZERO
             self.params = bytes([])
             self.checksum = None
         else:
             self.header = b[0:2]
             self.len = b[2]
-            self.id = b[3]
-            self.ctrl = b[4]
+            self.id = CommunicationProtocolIDs(b[3])
+            self.ctrl = ControlValues(b[4])
             self.params = b[5:-1]
             self.checksum = b[-1:][0]
 
@@ -21,12 +23,12 @@ def __str__(self):
         self.refresh()
         hexHeader = " ".join("%02x" % b for b in self.header)
         hexParams = " ".join("%02x" % b for b in self.params)
-        ret = "%s:%d:%d:%d:%s:%s" % (hexHeader, self.len, self.id, self.ctrl, hexParams, self.checksum)
+        ret = "%s:%d:%d:%d:%s:%s" % (hexHeader, self.len, self.id.value, self.ctrl.value, hexParams, self.checksum)
         return ret.upper()
 
     def refresh(self):
         if self.checksum is None:
-            self.checksum = self.id + self.ctrl
+            self.checksum = self.id.value + self.ctrl.value
             for i in range(len(self.params)):
                 if isinstance(self.params[i], int):
                     self.checksum += self.params[i]
@@ -40,9 +42,9 @@ def refresh(self):
     def bytes(self):
         self.refresh()
         if len(self.params) > 0:
-            command = bytearray([0xAA, 0xAA, self.len, self.id, self.ctrl])
+            command = bytearray([0xAA, 0xAA, self.len, self.id.value, self.ctrl.value])
             command.extend(self.params)
             command.append(self.checksum)
         else:
-            command = bytes([0xAA, 0xAA, self.len, self.id, self.ctrl, self.checksum])
+            command = bytes([0xAA, 0xAA, self.len, self.id.value, self.ctrl.value, self.checksum])
         return command