diff --git a/jsonparse.py b/jsonparse.py
index 1d2d3c15f174c039fc137ab4e237d94f56ccd9ea..827c175cd37c83d48a87d9e5e5d97c0317edb450 100644
--- a/jsonparse.py
+++ b/jsonparse.py
@@ -1,30 +1,63 @@
import json
from collections import namedtuple
-#from json import JSONEncoder
def measurementJsonDecod(measurementdict):
return namedtuple('Measurement', measurementdict.keys())(*measurementdict.values())
+def parameterJsonDecod(parameterdict):
+ return namedtuple('Parameter', parameterdict.keys())(*parameterdict.values())
+
class Measurement:
- def __init__(self, name, description, datatype,dimension, unit = None, range=None) :
+ def __init__(self, name, description, datatype, value, dimension, unit=None, range=None):
self.name = name
self.description = description
self.datatype = datatype
self.range = range
self.dimension = dimension
self.unit = unit
- #self.value = value
array = []
- # calculate a start value
- if self.dimension != 0:
- for i in range(self.dimension):
- array.append(self.datatype((self.range[0] + self.range[1]) / 2))
- self.value = array
+ if self.datatype == "float":
+ self.value = float(value)
else:
- self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
+ self.value = value
+ # calculate a start value
+ # if self.dimension != 0:
+ # for i in range(self.dimension):
+ # arrayval = self.datatype((self.range[0] + self.range[1]) / 2)
+ # if self.datatype == "float" or self.datatype == "double":
+ # arrayval = float(arrayval)
+ # array.append(arrayval)
+ # self.value = [0.0, 0.0, 0.0]
+ # else:
+ # self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
+class Parameter:
+ def __init__(self, name, description, datatype, dimension, value, rangevar=None, unit=None, default=None, constant=False):
+ self.name = name
+ self.description = description
+ self.datatype = datatype
+ # if range == [None, None]:
+ # self.range = None
+ # else:
+ self.range = rangevar
+ self.dimension = dimension
+ self.unit = unit
+ self.default = default
+ self.constant = constant
+ self.value = value
+ # array = []
+ # calculate a start value
+ # if self.default == False:
+ # if self.dimension != 0:
+ # for i in range(self.dimension):
+ # array.append(self.datatype((self.range[0] + self.range[1]) / 2))
+ # self.value = array
+ # else:
+ # self.value = self.datatype(((self.range[0] + self.range[1]) / 2))
+ # else:
+ # self.value = self.datatype(default)
def dimensionchange(string):
dimarr = string["dimension"]
@@ -37,31 +70,52 @@ def dimensionchange(string):
def changerange(string):
- range = string["range"]
- rangetuple = (range[0], range[1])
- string.update({"range": rangetuple})
+ #print(type(string["range"][0]))
+ if string["range"] != "[None, None]":
+ rangeval = string["range"]
+ rangetuple = (rangeval[0], rangeval[1])
+ #print(rangetuple)
+ string.update({"range": rangetuple})
+ print(string["range"])
+ else:
+ del string["range"]
+ print(string)
-with open ("soil-dummies/src/robot/model.json") as file:
+with open("soil-dummies/src/robot/model.json") as file:
#robot = json.dumps(file.read())
robotload = json.loads(file.read())
measurements = robotload["measurements"]
- measurementobj = []
- for i in measurements:
- obj = i
- #del obj["value"]
- del obj["uuid"]
- dimensionchange(obj)
- if i["range"]:
+ if len(measurements) > 0:
+ measurementobj = []
+ for i in measurements:
+ obj = i
+ #del obj["value"]
+ del obj["uuid"]
+ dimensionchange(obj)
+ #if i["range"]:
changerange(obj)
- obj = json.dumps(i)
- measurementobji = json.loads(obj, object_hook=measurementJsonDecod)
- measurementobj.append(measurementobji)
- #measurementobj[2].value = [0.0, 0.0, 0.0]
- # print(measurements)
- # print(measurementobj[0].value)
- # for i in measurementobj:
- # print(i)
+ obj = json.dumps(i)
+ measurementobji = json.loads(obj, object_hook=measurementJsonDecod)
+ measurementobj.append(measurementobji)
+
+ print(measurementobj)
+ parameters = robotload["parameters"]
+
+ if len(parameters) > 0:
+ parameterobj = []
+ for i in parameters:
+ obj = i
+ # del obj["value"]
+ del obj["uuid"]
+ dimensionchange(obj)
+ if i["range"]:
+ changerange(obj)
+ obj = json.dumps(i)
+ parameterobji = json.loads(obj, object_hook=parameterJsonDecod)
+ parameterobj.append(parameterobji)
+
+ print(parameterobj)
diff --git a/robot.py b/robot.py
index 5e774c7b2d2a0c0897d39c8ca1cef89fe859d3fc..720b90ba328e6d2daf68a3e57479218b23d8a5b1 100644
--- a/robot.py
+++ b/robot.py
@@ -11,8 +11,8 @@ from asyncua.common import node
logging.basicConfig(level=logging.INFO)
_logger = logging.getLogger('asyncua')
-def getobj(name):
- for i in jsonparse.measurementobj:
+def getobj(name, list):
+ for i in list:
if i.name == name:
return i
@@ -82,15 +82,16 @@ async def main():
# batteryobject = Measurement("Battery level", "Battery level", int , 0 ,(0, 100), "percent")
# measureobjectlist = [tcpobject , positionobject, batteryobject]
- tcpobject = getobj("Tool Center Point")
- positionobject = getobj("Position")
- batteryobject = getobj("Battery level")
+ tcpobject = getobj("Tool Center Point", jsonparse.measurementobj)
+ positionobject = getobj("Position", jsonparse.measurementobj)
+ batteryobject = getobj("Battery level", jsonparse.measurementobj)
measureobjectlist = jsonparse.measurementobj
#parameterobjekte
- openobject = Parameter("Open", "Flag to specify if something is open.", bool, 0, default = True)
- automoveobject = Parameter("Autonomous Movement", "If true, the robot moves around freely autonomously.", bool, 0, default = True)
- paraobjectlist = [openobject, automoveobject]
+ openobject = getobj("Autonomous Movement", jsonparse.parameterobj)
+ #automoveobject = Parameter("Autonomous Movement", "If true, the robot moves around freely autonomously.", bool, 0, default = True)
+ # paraobjectlist = [openobject, automoveobject]
+ paraobjectlist = jsonparse.parameterobj
#hauptobjekt
myobjtype = await server.nodes.base_object_type.add_object_type(idx, "Robot")
@@ -113,7 +114,7 @@ async def main():
name = await myobjtype.add_variable(idx, a.name, a.value, varianttype=varianttype, datatype=vartype.nodeid)
await name.set_modelling_rule(True)
#namelist = namelist + name
- if a.range is not None:
+ if a.range is not None and a.range is not [None, None]:
rangeprop = await name.add_property(idx, "range", ua.Range(a.range[0], a.range[1]))
await rangeprop.set_modelling_rule(True)
if a.unit is not None:
@@ -126,9 +127,14 @@ async def main():
#parameters
for a in paraobjectlist:
- para = await myobjtype.add_variable(idx, a.name, a.value, datatype=paratype.nodeid)
+ varianttype = ua.VariantType.Int64
+ if a.datatype == "float" or a.datatype == "double":
+ varianttype = ua.VariantType.Double
+ elif a.datatype == "boolean":
+ varianttype = ua.VariantType.Boolean
+ para = await myobjtype.add_variable(idx, a.name, a.value, varianttype=varianttype, datatype=paratype.nodeid)
await para.set_modelling_rule(True)
- if a.range is not None:
+ if (a.range is not None) and (a.range != [None, None]):
rangeprop = await para.add_property(idx, "range", ua.Range(a.range[0], a.range[1]))
await rangeprop.set_modelling_rule(True)
if a.unit is not None:
@@ -156,7 +162,7 @@ async def main():
#getting node ids of battery and position
robotposname = "2:" + positionobject.name
positionrobot = await mobilerobot.get_child([robotposname])
- positionrobot.set_writable(True)
+ await positionrobot.set_writable(True)
@uamethod
def goTo(parent, position):
@@ -173,7 +179,7 @@ async def main():
# tcprobmeas = await robot.get_child([tcpvarname])
#adding function goTo to robot
- goTofunc = await mobilerobot.add_method(idx, "goToset", goTo, [ua.VariantType.Float], [ua.VariantType.Float])
+ goTofunc = await mobilerobot.add_method(idx, "goTo", goTo, [ua.VariantType.Float], [ua.VariantType.Float])
#batterylow warning event
batterywarning = await server.create_custom_event_type(idx, "BatteryLowWarning", ua.ObjectIds.SystemEventType)
@@ -200,6 +206,7 @@ async def main():
async with server:
print("Server läuft!")
+ print(paraobjectlist)
time = 0
while True: