https://github.com/gramaziokohler/clamp_controller
High-level controller to monitor and command a network of distributed clamps.
https://github.com/gramaziokohler/clamp_controller
270 clamps timber
Last synced: 3 months ago
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High-level controller to monitor and command a network of distributed clamps.
- Host: GitHub
- URL: https://github.com/gramaziokohler/clamp_controller
- Owner: gramaziokohler
- License: mit
- Created: 2020-04-16T16:31:15.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2022-06-24T13:19:56.000Z (over 3 years ago)
- Last Synced: 2025-06-27T09:10:02.613Z (4 months ago)
- Topics: 270, clamps, timber
- Language: Python
- Size: 8.12 MB
- Stars: 3
- Watchers: 6
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# clamp_controller
Python-based high-level controller to monitor and command a network of distributed clamps.
This repo is part of the [Robotic Assembled Timber Structures with Integral Timber Joints](https://github.com/gramaziokohler/integral_timber_joints) project.
## Repo folder structure
**/src/clamp_controller** - Contains all the import-able class and functions.
**/src/controller_instances** - Contains instances of customized controllers for different projects.
**/src/serial_radio_transport_driver** - A light weight library for transporting Serial Message to the [USB Dongle](https://github.com/gramaziokohler/clamp_electronics/blob/master/00_USBRadioDongle/00_USBRadioDongle.md), the message format is described in the [radio firmware](https://github.com/gramaziokohler/clamp_firmware/tree/master/serial_radio).
## Design Goals
**ClampModel**
Digital twin of a clamp. Contains all the properties (e.g. step/mm conversion, soft limit, address) of a clamp and the telemetry reading.
Also contain functions to:
- Decode received telemetry
- Conversion between linear position and step position.
**SerialCommander**
The main model of the application. Contains:
- Instance of all available `ClampModel`
- Instance of the `SerialPort` that connects to the USBRadioDongle
- Instance of the `RosClampCommandListener` that connects to a ROS core via roslibpy
Functions to:
- Accept high-level synchronized move command for multiple clamps.
- Create low level move, home, speed-set and stop command.
- Send low level command to clamp with resend-on-Nack option.
**RosClampCommandListener**
A class that maintains the connection with ROS via roslibpy and listens-for (and replies-to) commands received as a rostopic.
**CommanderGUI**
A long function that create the tkinter UI for monitoring and control. This UI
Alternatively, it is possible to run the `SerialCommander` directly without UI, all the connections and settings can be accessed by code.
**RemoteClampFunctionCall**
A class for calling the clamp function from a remote process via roslibpy and ROS.
## Installation
1. Clone the [this repository](https://github.com/gramaziokohler/clamp_controller).
2. Change directory `cd` to the local location of this repository.
3. Activate your virtual environment (optional).
4. Install the packages in the /src folder and the dependencies:
```
pip install -r requirements-dev.txt
```
## Network Setup
Multiple devices need to cooperate with each other during robotic execution. A number of networks are present to connect the devices to the control computer (which is my Laptop) running the Process Execution Controller. Below is a typical network configuration for the devices on the network.
**Laptop (Ethernet Port)** - connection to RFL ethernet network (192.168.0.0/24 subnet)
- Linux Virtual Machine running [ROS Master, ROS Bridge and ROS RRC_Driver](https://compas-rrc.github.io/compas_rrc/latest/reference/index.html) (192.168.0.117)
- ABB Robot Controller running RRC
- Routable Internet via ETH guest network
**Laptop (Wireless Adapter)** - connection to ESP32 camera network (192.168.1.0/24 subnet)
- 4 (or more) ESP32 cameras (192.168.1.100 to 192.168.1.103)
**Laptop (USB COM Port)** - connection to USB Radio Dongle (proprietary network)
- 4 Clamps (address 1-4)
- 4 Screwdrivers (address 5-8)
(there are alternative network setup possible, for example using USB-Ethernet Adapter for connecting to the Wireless AP)
(the ROS instances can also be run from my Laptop's VMware Workstation Ubuntu 16 Virtual Machine bridged to the RFL network)
## Usage
### Controller with front end user interface:
1. To start the controller UI. Change directory to where you want the log files to be placed.
2. Run one of the controller UI instance, for example:
```
cd local_directory_for_log_files
python local_path_to_repo\src\controller_instances\08_TokyoCommander_UI+ROS.py
python -m controller_instances.10_Commander4Clamps4Screws
```
UI like this should appear:
### Remote calling clamp functions
To remotely call clamp functions from a separate python execution/process (e.g. [itj_process](https://github.com/gramaziokohler/itj_process) controllers), you need to import **RemoteClampFunctionCall**. The following things should be started before making calls:
- ros and ros_bridge is started on the linux machine, for example: ` roslaunch rosbridge_server rosbridge_websocket.launch`
- the calling machine and the ros machine is on the same local network.
- a clamp_controller Controller Instance has started and is already connected to ROS
Example code:
```
# Connect to ROS via roslibpy
hostip = '192.168.43.141'
clamps_connection = RemoteClampFunctionCall(hostip)
# Command to send clamp to target (non-blocking)
clamps_connection.sendD(ROS_VEL_GOTO_COMMAND)
# Command to send clamp to target (blocking)
success = clamps_connection.send_and_wait(ROS_VEL_GOTO_COMMAND, 1000)
# Command to stop clamps (non-blocking)
self.
clamps_connection.send(ROS_STOP_COMMAND(['1','2']))
```
Read the [RemoteClampFunctionCall.py](src\clamp_controller\RemoteClampFunctionCall.py) for available functions.
Addresses
-------------
In the latest use case, 4 Clamps and 4 Screwdrivers are used, also including 4 cameras on Clamps and 1 camera on Toolcanger. The addresses are as follows:
| Type | id | radio address | camera address |
| ---------- | ---- | ------------- | -------------- |
| CL3 | c1 | 1 | 192.168.1.101 |
| CL3 | c2 | 2 | 192.168.1.102 |
| CL3M | c3 | 3 | 192.168.1.103 |
| CL3M | c4 | 4 | 192.168.1.104 |
| SL1 | s1 | 5 | |
| SL1 | s2 | 6 | |
| SL1 | s3 | 7 | |
| SL1_G200 | s4 | 8 | |
| TC4_Camera | | | 192.168.1.100 |
Credits
-------------
This repository was created by Pok Yin Victor Leung [@yck011522 ](https://github.com/yck011522) at [@gramaziokohler](https://github.com/gramaziokohler)