GH components

.gitignore

@@ -109,3 +109,6 @@ ENV/
 
 # autogenerated sphinx
 docs/reference/generated/
+
+# ghcomponents
+src/compas_rrc/ghpython/components/ghuser/*.ghuser

CHANGELOG.rst

@@ -8,6 +8,7 @@ Unreleased
 **Added**
 
 * Added `to_configuration` and `to_configuration_primitive` to `compas_rrc.ExternalAxes` and `compas_rrc.RobotJoints`
+* Added Grasshopper components for RRC
 
 **Changed**
 

src/compas_rrc/__init__.py

@@ -138,7 +138,10 @@
     StopWatch
 )
 
-__all_plugins__ = ['compas_rrc.__install']
+__all_plugins__ = [
+    'compas_rrc.rhino.install',
+    'compas_rrc.ghpython.install'
+]
 __all__ = [
     '__url__',
     '__version__',

src/compas_rrc/ghpython/__init__.py

@@ -0,0 +1,16 @@
+from __future__ import absolute_import
+
+
+def create_id(component, name):
+    return '{}_{}'.format(name, component.InstanceGuid)
+
+
+def coerce_frame(plane):
+    import Rhino
+    from compas.geometry import Frame
+    if isinstance(plane, Rhino.Geometry.Plane):
+        return Frame(plane.Origin, plane.XAxis, plane.YAxis)
+    elif isinstance(plane, Frame):
+        return plane
+    else:
+        return Frame(*plane)

src/compas_rrc/ghpython/components/CompasRrc_ExecuteBatch/code.py

@@ -0,0 +1,81 @@
+"""
+Execute a batch of instructions.
+"""
+from ghpythonlib.component import add_error
+from ghpythonlib.component import add_warning
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+import compas_rrc as rrc
+from compas_rrc.ghpython import create_id
+
+
+class CompasRrcExecuteBatch(component):
+    TIMEOUT = 60
+
+    def __init__(self):
+        super(CompasRrcExecuteBatch, self).__init__()
+        self.wait_for_completion = True
+
+    def RunScript(self, rrc_client, instructions, run):
+        if not rrc_client:
+            add_warning('rrc_client is not assigned. The component did not run.')
+            self.Message = ''
+            return False, None
+
+        if len(instructions) == 0:
+            self.Message = 'No instructions'
+            return False, None
+
+        run_key = create_id(self, 'run_status')
+        res_key = create_id(self, 'results')
+
+        # TODO: Add checks for rrc_client.ros.is_connected before attempting to execute
+        if run:
+            futures = []
+            for instruction in instructions[:-1]:
+                future = rrc_client.send(instruction)
+                if instruction.feedback_level > rrc.FeedbackLevel.NONE:
+                    futures.append(future)
+
+            last_instruction = instructions[-1]
+
+            if not self.wait_for_completion:
+                future = rrc_client.send(last_instruction)
+                if last_instruction.feedback_level > rrc.FeedbackLevel.NONE:
+                    futures.append(future)
+
+                # In the non-wait mode, the results are futures
+                results = futures
+            else:
+                feedback = rrc_client.send_and_wait(last_instruction, timeout=self.TIMEOUT)
+
+                # Since we wait for the last instruction, all previous ones
+                # must have completed as well, so we can collect their futures
+                results = [future.result(timeout=self.TIMEOUT) for future in futures]
+                results.append(feedback)
+
+            self.Message = 'Executed {} actions'.format(len(instructions))
+            st[run_key] = True
+            st[res_key] = results
+
+        done = st.get(run_key)
+        results = st.get(res_key)
+        return done, results
+
+    def OnTextMenuClick(self, _sender, _args):
+        try:
+            self.wait_for_completion = not self.wait_for_completion
+            self.ExpireSolution(True)
+        except Exception as ex:
+            add_error(str(ex))
+
+    def AppendAdditionalMenuItems(self, items):
+        component.AppendAdditionalMenuItems(self, items)
+
+        try:
+            image = None
+            item = items.Items.Add('Wait for completion', image, self.OnTextMenuClick)
+            item.Checked = self.wait_for_completion
+        except Exception as ex:
+            add_error(str(ex))

src/compas_rrc/ghpython/components/CompasRrc_ExecuteBatch/metadata.json

@@ -0,0 +1,39 @@
+{
+    "name": "Execute Batch",
+    "nickname": "Execute",
+    "category": "COMPAS RRC",
+    "subcategory": "Execute",
+    "description": "Execute a batch of instructions.",
+    "exposure": 2,
+
+    "ghpython": {
+        "isAdvancedMode": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "rrc_client",
+                "description": "The RRC client."
+            },
+            {
+                "name": "instructions",
+                "description": "List or tree of instructions to be executed as a batch",
+                "scriptParamAccess": "list"
+            },
+            {
+                "name": "run",
+                "description": "If True, executes the batch of instruction on the robot.",
+                "typeHintID": "bool"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "done",
+                "description": "Confirmation that the instructions have been executed on the robot."
+            },
+            {
+                "name": "results",
+                "description": "Feedback received from the batch of instructions, or future result objects if the option to wait for completion is deactivated."
+            }
+        ]
+    }
+}

src/compas_rrc/ghpython/components/CompasRrc_GetFrame/code.py

@@ -0,0 +1,11 @@
+"""
+Request the current frame of the robot.
+"""
+from ghpythonlib.componentbase import executingcomponent as component
+
+import compas_rrc as rrc
+
+
+class CompasRrcGetFrame(component):
+    def RunScript(self):
+        return rrc.GetFrame()

src/compas_rrc/ghpython/components/CompasRrc_GetFrame/metadata.json

@@ -0,0 +1,21 @@
+
+{
+    "name": "Get Frame",
+    "nickname": "Get Frame",
+    "category": "COMPAS RRC",
+    "subcategory": "Utility instructions",
+    "description": "Request the current frame of the robot.",
+    "exposure": 2,
+
+    "ghpython": {
+        "isAdvancedMode": true,
+        "iconDisplay": 2,
+        "inputParameters": [],
+        "outputParameters": [
+            {
+                "name": "ins",
+                "description": "Instruction instance."
+            }
+        ]
+    }
+}

src/compas_rrc/ghpython/components/CompasRrc_MoveToFrame/code.py

@@ -0,0 +1,51 @@
+"""
+Move robot to the specified frame in cartesian space.
+"""
+from ghpythonlib.component import add_error
+from ghpythonlib.component import add_warning
+from ghpythonlib.componentbase import executingcomponent as component
+
+import compas_rrc as rrc
+from compas_rrc.ghpython import coerce_frame
+
+
+class CompasRrcMoveToFrame(component):
+    def __init__(self):
+        super(CompasRrcMoveToFrame, self).__init__()
+        self.motion_type = rrc.Motion.JOINT
+
+    def RunScript(self, frame, speed, zone, feedback):
+        if not frame:
+            add_warning('Frame is not defined. The component did not run.')
+            return None
+
+        if not speed or speed < 0.01:
+            add_warning('Speed must be greater or equal to 0.01 mm/s.')
+            return None
+
+        if not zone:
+            zone = rrc.Zone.FINE
+
+        frame = coerce_frame(frame)
+        feedback = feedback or rrc.FeedbackLevel.NONE
+        instruction = rrc.MoveToFrame(frame, speed, zone, motion_type=self.motion_type, feedback_level=feedback)
+        self.Message = '{} Motion'.format('Joint' if self.motion_type == rrc.Motion.JOINT else 'Linear')
+
+        return instruction
+
+    def OnTextMenuClick(self, _sender, _args):
+        try:
+            self.motion_type = rrc.Motion.JOINT if self.motion_type == rrc.Motion.LINEAR else rrc.Motion.LINEAR
+            self.ExpireSolution(True)
+        except Exception as ex:
+            add_error(str(ex))
+
+    def AppendAdditionalMenuItems(self, items):
+        component.AppendAdditionalMenuItems(self, items)
+
+        try:
+            image = None
+            item = items.Items.Add('Move in joint space', image, self.OnTextMenuClick)
+            item.Checked = self.motion_type == rrc.Motion.JOINT
+        except Exception as ex:
+            add_error(str(ex))

src/compas_rrc/ghpython/components/CompasRrc_MoveToFrame/metadata.json

@@ -0,0 +1,41 @@
+
+{
+    "name": "Move To Frame",
+    "nickname": "To Frame",
+    "category": "COMPAS RRC",
+    "subcategory": "Motion instructions",
+    "description": "Move robot to the specified frame in cartesian space.",
+    "exposure": 2,
+
+    "ghpython": {
+        "isAdvancedMode": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "frame",
+                "description": "Target frame."
+            },
+            {
+                "name": "speed",
+                "description": "Integer specifying TCP translational speed in mm/s.",
+                "typeHintID": "int"
+            },
+            {
+                "name": "zone",
+                "description": "Zone data, either an integer or Zone.FINE. Defaults to Zone.FINE.",
+                "typeHintID": "int"
+            },
+            {
+                "name": "feedback",
+                "description": "Feedback level. Defaults to DONE. Use together with Zone.FINE to ensure the motion planner has executed the instruction fully.",
+                "typeHintID": "int"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "ins",
+                "description": "Instruction instance."
+            }
+        ]
+    }
+}

src/compas_rrc/ghpython/components/CompasRrc_MoveToRobtarget/code.py

@@ -0,0 +1,55 @@
+"""
+Move robot to the specified robtarget in cartesian space.
+"""
+from ghpythonlib.component import add_error
+from ghpythonlib.component import add_warning
+from ghpythonlib.componentbase import executingcomponent as component
+
+import compas_rrc as rrc
+from compas_rrc.ghpython import coerce_frame
+
+
+class CompasRrcMoveToRobtarget(component):
+    def __init__(self):
+        super(CompasRrcMoveToRobtarget, self).__init__()
+        self.motion_type = rrc.Motion.JOINT
+
+    def RunScript(self, frame, external_axes, speed, zone, feedback):
+        if not frame:
+            add_warning('Frame is not defined. The component did not run.')
+            return None
+
+        if not external_axes:
+            add_warning('External axes is not defined. The component did not run.')
+            return None
+
+        if not speed or speed < 0.01:
+            add_warning('Speed must be greater or equal to 0.01 mm/s.')
+            return None
+
+        if not zone:
+            zone = rrc.Zone.FINE
+
+        frame = coerce_frame(frame)
+        feedback = feedback or rrc.FeedbackLevel.NONE
+        instruction = rrc.MoveToRobtarget(frame, external_axes, speed, zone, motion_type=self.motion_type, feedback_level=feedback)
+        self.Message = '{} Motion'.format('Joint' if self.motion_type == rrc.Motion.JOINT else 'Linear')
+
+        return instruction
+
+    def OnTextMenuClick(self, _sender, _args):
+        try:
+            self.motion_type = rrc.Motion.JOINT if self.motion_type == rrc.Motion.LINEAR else rrc.Motion.LINEAR
+            self.ExpireSolution(True)
+        except Exception as ex:
+            add_error(str(ex))
+
+    def AppendAdditionalMenuItems(self, items):
+        component.AppendAdditionalMenuItems(self, items)
+
+        try:
+            image = None
+            item = items.Items.Add('Move in joint space', image, self.OnTextMenuClick)
+            item.Checked = self.motion_type == rrc.Motion.JOINT
+        except Exception as ex:
+            add_error(str(ex))

src/compas_rrc/ghpython/components/CompasRrc_MoveToRobtarget/metadata.json

@@ -0,0 +1,46 @@
+
+{
+    "name": "Move To Robtarget",
+    "nickname": "To Robtarget",
+    "category": "COMPAS RRC",
+    "subcategory": "Motion instructions",
+    "description": "Move robot to the specified robtarget in cartesian space.",
+    "exposure": 2,
+
+    "ghpython": {
+        "isAdvancedMode": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "frame",
+                "description": "Target frame."
+            },
+            {
+                "name": "external_axes",
+                "description": "External axes.",
+                "scriptParamAccess": "list"
+            },
+            {
+                "name": "speed",
+                "description": "Integer specifying TCP translational speed in mm/s.",
+                "typeHintID": "int"
+            },
+            {
+                "name": "zone",
+                "description": "Zone data, either an integer or Zone.FINE. Defaults to Zone.FINE.",
+                "typeHintID": "int"
+            },
+            {
+                "name": "feedback",
+                "description": "Feedback level. Defaults to DONE. Use together with Zone.FINE to ensure the motion planner has executed the instruction fully.",
+                "typeHintID": "int"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "ins",
+                "description": "Instruction instance."
+            }
+        ]
+    }
+}