I have prepared a urcap titled “ CapSens ” which consists of a Daemon (Python script running as an executable in the background ) process along with the Program Node and Installation Node. Inside the Python script the following tasks are performed.
- Task 1 => Acquiring data from the sensors
- Task 2 => Setting a certain register in the robot control unit to 1 or 0 depending upon the acquired data from the sensors
To do the above-mentioned tasks, i implemented two individual threads. To perform task 1, i have defined the class “SensorEvaluationBoard(Thread)” and for performing task 2 i have defined the class “UR_RTDE(Thread)”. Part of the Python script where it contains the threads and the XMLRPC server way of registering class objects as individual instances is specified in the following way.
#!/usr/bin/env python
import time
from time import sleep
import sys
import string
import traceback
import logging
import socket
import struct
import copy
import xmlrpclib
# xmlrpclib.Marshaller.dispatch[type(0L)] = lambda _, v, w: w("<value><i8>%d</i8></value>" % v)
# xmlrpclib.dumps((2**63-1,))
xmlrpclib.Binary
from SimpleXMLRPCServer import SimpleXMLRPCServer, SimpleXMLRPCRequestHandler
import threading
from threading import Thread, Lock
# "https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/"
import rtde.rtde as rtde
import rtde.rtde_config as rtde_config
urHost = "10.0.2.15" # UR robot's Offline Simulator IP address
# "https://www.universal-robots.com/articles/ur-articles/remote-control-via-tcpip/"
urPort = 30004 # Port number dedicated for UR robot's secondary interface
config_filename = 'control_loop_configuration.xml'
mutexFreedriveMode = Lock()
loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3 = "", "", ""
c1, c2, c3 = 0, 0, 0
cnt = 0
data = bytearray()
sensEvalBoard_ipAddr = "" # IP address of sensor evaluation board
sensEvalBoard_port = 0 # Port number of of sensor evaluation board
DEFAULT_TIMEOUT = 1
mutexSensVal = Lock()
sebSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # initializing the socket object
mutexSEBSocket = Lock()
# seed the pseudorandom number generator
from random import seed
from random import random
title = ""
tmp = ""
def set_title(new_title):
global title
title = new_title
return title
def get_title():
tmp = ""
if str(title):
tmp = title
else:
tmp = "No title set"
return tmp + " (Python)"
def get_message(name):
if str(name):
return "Hello " + str(name) + ", welcome to PolyScope!"
else:
return "No name set"
def set_ipaddr(new_daemon_host):
global sensEvalBoard_ipAddr
sensEvalBoard_ipAddr = new_daemon_host
return sensEvalBoard_ipAddr
def get_ipaddr():
tmp = ""
if str(sensEvalBoard_ipAddr):
tmp = sensEvalBoard_ipAddr
else:
tmp = "No ip address set"
return tmp
def set_portnum(new_daemon_port):
global sensEvalBoard_port
sensEvalBoard_port = int (new_daemon_port)
return sensEvalBoard_port
def get_portnum():
tmp = 0
if sensEvalBoard_port != 0:
tmp = sensEvalBoard_port
else:
tmp = 0
return tmp
def set_led(sid, val):
global data, sebSocket
data = bytearray()
data.append(0x2)
data.append(int (sid))
data.append(int (val))
mutexSEBSocket.acquire()
sebSocket.send(data)
mutexSEBSocket.release()
def set_rgb(sid, r, g, b):
global data, sebSocket
data = bytearray()
data.append(0x4)
data.append(int (sid))
data.append(int (r))
data.append(int (g))
data.append(int (b))
mutexSEBSocket.acquire()
sebSocket.send(data)
mutexSEBSocket.release()
def get_loadingCycleOfCapSen1():
global loadCycleOfSensor1
return loadCycleOfSensor1
def get_loadingCycleOfCapSen2():
global loadCycleOfSensor2
return loadCycleOfSensor2
def get_loadingCycleOfCapSen3():
global loadCycleOfSensor3
return loadCycleOfSensor3
def acq_loading_cycles():
global loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3
mutexSensVal.acquire()
retString = loadCycleOfSensor1
retString += ","
retString += loadCycleOfSensor2
retString += ","
retString += loadCycleOfSensor3
mutexSensVal.release()
return retString
class ConnectionState:
DISCONNECTED = 0
CONNECTED = 1
STARTED = 2
PAUSED = 3
class SensorEvaluationBoardException(Exception):
def __init__(self, msg):
self.msg = msg
def __str__(self):
return repr(self.msg)
class SensorEvaluationBoard(Thread):
def __init__(self, hostname, port):
# Call the Thread class's init function
Thread.__init__(self)
self.__hostname = hostname
self.__port = port
self.__conn_state = ConnectionState.DISCONNECTED
self.__sock = None
logging.basicConfig(level=logging.DEBUG)
self.__logger = logging.getLogger(self.__class__.__name__)
# self.__streamHandler = logging.StreamHandler()
# self.__streamHandler.setLevel(logging.DEBUG)
# self.__formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
# self.__streamHandler.setFormatter(self.__formatter)
# self.__logger.addHandler(self.__streamHandler)
def connect(self):
global sebSocket
if self.__sock:
return
self.__buf = b''
try:
self.__sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.__sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.__sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
self.__sock.settimeout(DEFAULT_TIMEOUT)
self.__sock.connect((self.__hostname, self.__port))
self.__conn_state = ConnectionState.CONNECTED
sebSocket = copy.deepcopy(self.__sock)
except (socket.timeout, socket.error):
self.__sock = None
raise
def disconnect(self):
if self.__sock:
self.__sock.close()
self.__sock = None
self.__conn_state = ConnectionState.DISCONNECTED
def is_connected(self):
return self.__conn_state is not ConnectionState.DISCONNECTED
def get_connection_state(self):
return self.__conn_state
def send_input_data(self, data):
self.__sock.send(data)
def receive_output_data(self, input_data):
self.send_input_data(input_data)
self.__rcvData = self.__sock.recv(1024)
return self.__rcvData
def run(self):
global loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3
self.connect()
while True:
if self.is_connected:
# print("Socket => connection state: " + str(self.get_connection_state()) + " means CONNECTED")
self.__input_data = bytearray()
self.__input_data.append(0x1)
self.__rcvData = self.receive_output_data(self.__input_data)
self.__unpacker_string = 3*'I I I I I B B B B'
self.__unpacker = struct.Struct('<B '+ self.__unpacker_string)
self.__unpacked = self.__unpacker.unpack(self.__rcvData)
# print("Slave 1: "+ repr(self.__unpacked[1:10]))
# print("Slave 2: "+ repr(self.__unpacked[10:19]))
# print("Slave 3: "+ repr(self.__unpacked[19:28]))
mutexSensVal.acquire()
loadCycleOfSensor1 = str(self.__unpacked[1])
loadCycleOfSensor2 = str(self.__unpacked[12])
loadCycleOfSensor3 = str(self.__unpacked[20])
# print("Load cycle of sensors 1, 2 and 3: ["+ loadCycleOfSensor1 + ", " + loadCycleOfSensor2 + ", " + loadCycleOfSensor3 + "]")
mutexSensVal.release()
sleep(0.1)
else:
print("Socket => connection state: " + str(self.get_connection_state()) + " means DISCONNECTED")
class UR_RTDE(Thread):
def __init__(self, host, port, config_filename):
# Call the Thread class's init function
Thread.__init__(self)
self.__host = host
self.__port = port
self.__config_filename = config_filename
logging.basicConfig(level=logging.DEBUG)
self.__logger = logging.getLogger(self.__class__.__name__)
# self.__streamHandler = logging.StreamHandler()
# self.__streamHandler.setLevel(logging.INFO)
# self.__formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
# self.__streamHandler.setFormatter(self.__formatter)
# self.__logger.addHandler(self.__streamHandler)
self.__con = None
self._rtde_ok = False
self._recept_ok = False
self._dataAccessConfig = Lock()
self.__keep_running = True
def init_rtde(self):
self.__logger.debug("init_rtde")
if not self._rtde_ok :
if self.__con is None:
self.connect_rtde()
if not self._recept_ok:
self.init_conf()
self.send_conf_to_robot()
self.start_communication()
self._rtde_ok = True
def connect_rtde(self):
self.__logger.debug("connect_rtde")
try:
self.__con = rtde.RTDE(self.__host, self.__port)
self.__con.connect()
except socket.timeout as e:
self.__logger.error("failed to connect with robot", exc_info=True)
self.__controller_info = None
self.__con = None
self.__controller_info = self.__con.get_controller_version()
self.__logger.info("connected with UR established")
self.__logger.info(self.__controller_info)
return True
def disconnect_rtde(self):
self.__con.send_pause()
self.__con.disconnect()
self.__logger.debug("disconnect_rtde")
def init_conf(self):
self.__logger.debug("init_conf")
with self._dataAccessConfig:
self._conf = rtde_config.ConfigFile(self.__config_filename)
self._state_names, self._state_types = self._conf.get_recipe('state')
self._set_freedrive_name, self._set_freedrive_type = self._conf.get_recipe('set_freedrive')
def send_conf_to_robot(self):
self.__logger.debug("send_conf_to_robot")
print("in send conf")
try:
self.__con.send_output_setup(self._state_names, self._state_types)
self.__set_freedrive = self.__con.send_input_setup(self._set_freedrive_name, self._set_freedrive_type)
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 0
self._recept_ok = True
except Exception as e:
self.__set_freedrive = None
self.__logger.error("rtde recepts error", exc_info=True)
self._recept_ok = False
def start_communication(self):
self.__logger.debug("start_communication")
if not self.__con.is_connected():
self.__logger.warning("no connection established")
if not self.__con.send_start():
self.__logger.warning("starting data_sync failed")
sys.exit()
self.__logger.info("started communication")
return True
def run(self):
global loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3
global c1, c2, c3
lowerThr_loadCycleOfSensor1, upperThr_loadCycleOfSensor1 = 400, 700
lowerThr_loadCycleOfSensor2, upperThr_loadCycleOfSensor2 = 100, 400
lowerThr_loadCycleOfSensor3, upperThr_loadCycleOfSensor3 = 200, 425
lTh_c1 = lowerThr_loadCycleOfSensor1
uTh_c1 = upperThr_loadCycleOfSensor1
lTh_c2 = lowerThr_loadCycleOfSensor2
uTh_c2 = upperThr_loadCycleOfSensor2
lTh_c3 = lowerThr_loadCycleOfSensor3
uTh_c3 = upperThr_loadCycleOfSensor3
self.init_rtde()
# Set the 'input_bit_register_64' to 0 by default
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 0
if self.__con.is_connected():
while self.__keep_running:
# receive the current state
self.__state = self.__con.receive()
if self.__state is None:
break
mutexSensVal.acquire()
c1 = int (loadCycleOfSensor1)
self.__logger.info("Loading cycle of CapSen1 is " + str(c1))
c2 = int (loadCycleOfSensor2)
self.__logger.info("Loading cycle of CapSen2 is " + str(c2))
c3 = int (loadCycleOfSensor3)
self.__logger.info("Loading cycle of CapSen3 is " + str(c3))
mutexSensVal.release()
mutexFreedriveMode.acquire()
# input_bit_register_64 refers to "general purpose input register 64"
# if "general purpose input register 64" variable is set to 1 => Freedrive mode is activated
if ((lTh_c1 < c1 < uTh_c1) and (lTh_c2 < c2 < uTh_c2)):
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 1
self.__logger.info("Capacitive sensors 1 and 2 are touched by the human operator, Freedrive mode activated")
elif ((lTh_c2 < c2 < uTh_c2) and (lTh_c3 < c3 < uTh_c3)):
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 1
self.__logger.info("Capacitive sensors 2 and 3 are touched by the human operator, Freedrive mode activated")
elif ((lTh_c3 < c3 < uTh_c3) and (lTh_c1 < c1 < uTh_c1)):
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 1
self.__logger.info("Capacitive sensors 1 and 3 are touched by the human operator, Freedrive mode activated")
else:
self.__set_freedrive.__dict__[b"input_bit_register_64"] = 0
self.__logger.info("No two capacitive sensors are touched by the human operator, Freedrive mode deactivated")
self.__con.send(self.__set_freedrive)
mutexFreedriveMode.release()
sleep(0.1)
self.disconnect_rtde()
def main():
try:
# threadevent = threading.Event()
# Create an object of Thread
th_sensevalboard = SensorEvaluationBoard(sensEvalBoard_ipAddr, sensEvalBoard_port)
# start the SensorEvaluationBoard thread
th_sensevalboard.start()
sleep(1)
# Create an object of Thread
th_rtde = UR_RTDE(urHost, urPort, config_filename)
# start the RTDE thread
th_rtde.start()
return "SensorEvaluationBoard and RTDE threads has started..."
except KeyboardInterrupt:
print("Terminating communication with the sensor evaluation board... ")
th_sensevalboard.disconnect()
print("Socket => connection state: " + str(th_sensevalboard.get_connection_state()) + " means DISCONNECTED")
th_sensevalboard.join()
print ("SensorEvaluationBoard thread successfully closed")
print("Terminating communication with the RTDE server... ")
th_rtde.disconnect()
th_rtde.join()
print ("RTDE thread successfully closed")
return "SensorEvaluationBoard and RTDE threads has stopped..."
sys.stdout.write("CapSens daemon started")
sys.stderr.write("CapSens daemon started with caught exception")
# server_addr = ("127.0.0.1", 40405)
# server = SimpleXMLRPCServer(server_addr, SimpleXMLRPCRequestHandler, allow_none=True)
server = SimpleXMLRPCServer(("127.0.0.1", 40405), allow_none=True)
server.register_function(set_title, "set_title")
server.register_function(get_title, "get_title")
server.register_function(get_message, "get_message")
server.register_function(set_ipaddr, "set_ipaddr")
server.register_function(get_ipaddr, "get_ipaddr")
server.register_function(set_portnum, "set_portnum")
server.register_function(get_portnum, "get_portnum")
server.register_function(set_led, "set_led")
server.register_function(set_rgb, "set_rgb")
server.register_function(get_loadingCycleOfCapSen1, "get_loadingCycleOfCapSen1")
server.register_function(get_loadingCycleOfCapSen2, "get_loadingCycleOfCapSen2")
server.register_function(get_loadingCycleOfCapSen3, "get_loadingCycleOfCapSen3")
server.register_instance(UR_RTDE(urHost, urPort, config_filename), allow_dotted_names=True)
server.register_instance(SensorEvaluationBoard(sensEvalBoard_ipAddr, sensEvalBoard_port), allow_dotted_names=True)
server.register_function(main, "main")
server.serve_forever()
In the main() function of the above-mentioned Python script, i initialize the two threads ‘th_sensevalboard’ and ‘th_rtde’ and start them one after the other. After the main() function, i tried to register the class objects which are individual threads as instances to the XMLRPC server.
The Daemon process is called via remote-procedure-call from the Installation Node of “CapSens” urcap.
Problem => Python Daemon status always results failed whenever the Daemon is started from the installation tab of the Polyscope GUI programming environment (UR control software). This is before i use the “CapSens” urcap in a given .urp robot program. I am facing difficulty in figuring out the cause behind the Python Daemon’s status being resulted as fail.
Probabale cause behind the problem => May be the way in which i register multiple class objects which are individual threads as instances to an XMLRPC server is not appropriately done. I am not sure if this is the case.
Can anyone of you have a look at the above-mentioned Python script and give me your invaluable suggestions to resolve the above-mentioned problem?
The following are the technical details of “CapSens” urcap.
Virtual Machine => URCapsStarterPackage (https://plus.universal-robots.com/download-center/urcaps-starter-package/?f=1.9.0) which is included with URCaps SDK version 1.9.0
URCap API version utilized to develop “CapSens” urcap => 1.8.0
UR10 Universal Robot Control Software => URSoftware 3.12.0.90886 (Nov 15, 2019) & URSoftware 3.11.0.82155 (Aug 20, 2019)
“CapSens” urcap => com.profactor.capsens.zip (332.9 KB)
I removed the two individual Classes which run as threads before. I implemented relevant functions to perform the above-mentioned Task 1 and then these functions are registered as methods to the XMLRPC server. Now, when i click the ‘Start Daemon’ button the in the InstallationView of the “CapSens” urcap the python Daemon runs.
The revised Python Daemon script is as follows.
#!/usr/bin/env python
import time
import sys
import string
import traceback
import logging
import socket
import struct
from time import sleep
# seed the pseudorandom number generator
from random import seed
from random import random
import xmlrpclib
# xmlrpclib.Marshaller.dispatch[type(0L)] = lambda _, v, w: w("<value><i8>%d</i8></value>" % v)
# xmlrpclib.dumps((2**63-1,))
xmlrpclib.Binary
from SimpleXMLRPCServer import SimpleXMLRPCServer
import threading
from threading import Thread, Lock
sensEvalBoard_ipAddr = "" # IP address of sensor evaluation board
sensEvalBoard_port = 0 # Port number of of sensor evaluation board
DEFAULT_TIMEOUT = 1
sebSocket = None # initializing the socket object for sensor evaluation board
sebSocketConnState = 0
send_data_on_socket_flag, receive_data_on_socket_flag = False, False
mutexSEBSocket = Lock()
mutexSensVal = Lock()
loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3 = "", "", ""
c1, c2, c3 = 0, 0, 0
inputData, receivedData = None, None
sensevalboard_stop_flag = False
cnt = 0
title = ""
tmp = ""
def set_title(new_title):
global title
title = new_title
return title
def get_title():
tmp = ""
if str(title):
tmp = title
else:
tmp = "No title set"
return tmp + " (Python)"
def get_message(name):
if str(name):
return "Hello " + str(name) + ", welcome to PolyScope!"
else:
return "No name set"
def set_ipaddr(new_daemon_host):
global sensEvalBoard_ipAddr
sensEvalBoard_ipAddr = new_daemon_host
return sensEvalBoard_ipAddr
def get_ipaddr():
tmp = ""
if str(sensEvalBoard_ipAddr):
tmp = sensEvalBoard_ipAddr
else:
tmp = "No ip address set"
return tmp
def set_portnum(new_daemon_port):
global sensEvalBoard_port
sensEvalBoard_port = int (new_daemon_port)
return sensEvalBoard_port
def get_portnum():
tmp = 0
if sensEvalBoard_port != 0:
tmp = sensEvalBoard_port
else:
tmp = 0
return tmp
def set_led(sid, val):
global inputData
inputData = bytearray()
inputData.append(0x2)
inputData.append(int (sid))
inputData.append(int (val))
send_dataOnSocket(inputData)
def set_rgb(sid, r, g, b):
global inputData
inputData = bytearray()
inputData.append(0x4)
inputData.append(int (sid))
inputData.append(int (r))
inputData.append(int (g))
inputData.append(int (b))
send_dataOnSocket(inputData)
class ConnectionState:
DISCONNECTED = 0
CONNECTED = 1
STARTED = 2
PAUSED = 3
def connect_socket():
global sebSocket
global sebSocketConnState
try:
sebSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# sebSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# sebSocket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
sebSocket.settimeout(DEFAULT_TIMEOUT)
sebSocket.connect((sensEvalBoard_ipAddr, sensEvalBoard_port))
sebSocketConnState = ConnectionState.CONNECTED
except (socket.timeout, socket.error):
sebSocket = None
raise
def send_dataOnSocket(data):
global sebSocket
global send_data_on_socket_flag
# client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# client_socket.connect((daemon_host, daemon_port))
# client_socket.send(data)
# client_socket.close()
if sebSocket != None:
sebSocket.send(data)
send_data_on_socket_flag = True
else:
send_data_on_socket_flag = False
print("socket connection not established")
print("socket reconnecting")
connect_socket()
return send_data_on_socket_flag
def receive_dataOnSocket(data):
global sebSocket
global receive_data_on_socket_flag
global receivedData
# client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# client_socket.connect((daemon_host, daemon_port))
# client_socket.send(data);
# receivedData = client_socket.recv(1024)
# client_socket.close()
if (send_dataOnSocket(data)):
receivedData = sebSocket.recv(1024)
receive_data_on_socket_flag = True
else:
receivedData = None
receive_data_on_socket_flag = False
print("socket connection not established")
print("socket reconnecting...")
connect_socket()
return receivedData
def get_loadingCycleOfCapSen1():
global loadCycleOfSensor1
return loadCycleOfSensor1
def get_loadingCycleOfCapSen2():
global loadCycleOfSensor2
return loadCycleOfSensor2
def get_loadingCycleOfCapSen3():
global loadCycleOfSensor3
return loadCycleOfSensor3
def acq_loading_cycles():
global cnt, loadCycleOfSensor1, loadCycleOfSensor2, loadCycleOfSensor3
global inputData, receivedData
global loadingCycles
while True:
inputData = bytearray()
inputData.append(0x1)
receivedData = receive_dataOnSocket(inputData)
if (receivedData != None):
unpacker_string = 3*'I I I I I B B B B'
unpacker = struct.Struct('<B '+ unpacker_string)
unpacked = unpacker.unpack(receivedData)
loadCycleOfSensor1 = str(unpacked[1])
loadCycleOfSensor2 = str(unpacked[12])
loadCycleOfSensor3 = str(unpacked[20])
cnt = cnt + 1
retString = loadCycleOfSensor1
retString += ","
retString += loadCycleOfSensor2
retString += ","
retString += loadCycleOfSensor3
if (cnt == 1):
cnt = 0
return retString
else:
print("Received data on the socket is invalid")
return loadCycleOfSensor1 + "," + loadCycleOfSensor2 + "," + loadCycleOfSensor3
def generate_random_values():
global cnt
while True:
cnt = cnt + 1
# seed random number generator
seed(1)
# generate some random numbers
val1 = round(random(), 3)
val2 = round(random(), 3)
val3 = round(random(), 3)
if (cnt == 1):
cnt = 0
return str(val1) + ", " + str(val2) + ", " + str(val3)
sys.stdout.write("CapSens daemon started")
sys.stderr.write("CapSens daemon started with caught exception")
# server = SimpleXMLRPCServer(("127.0.0.1", 40405))
server = SimpleXMLRPCServer(("127.0.0.1", 40405), allow_none=True)
# server = SimpleXMLRPCServer(("127.0.0.1", 40405), logRequests=True, allow_none=True)
server.register_introspection_functions()
server.register_function(set_title, "set_title")
server.register_function(get_title, "get_title")
server.register_function(get_message, "get_message")
server.register_function(set_ipaddr, "set_ipaddr")
server.register_function(get_ipaddr, "get_ipaddr")
server.register_function(set_portnum, "set_portnum")
server.register_function(get_portnum, "get_portnum")
server.register_function(set_led, "set_led")
server.register_function(set_rgb, "set_rgb")
server.register_instance(ConnectionState())
server.register_function(connect_socket, "connect_socket")
server.register_function(send_dataOnSocket, "send_dataOnSocket")
server.register_function(receive_dataOnSocket, "receive_dataOnSocket")
server.register_function(get_loadingCycleOfCapSen1, "get_loadingCycleOfCapSen1")
server.register_function(get_loadingCycleOfCapSen2, "get_loadingCycleOfCapSen2")
server.register_function(get_loadingCycleOfCapSen3, "get_loadingCycleOfCapSen3")
server.register_function(acq_loading_cycles, "acq_loading_cycles")
server.register_function(generate_random_values, "generate_random_values")
server.serve_forever()Hi,
one potential cause of a Daemon process failing are not available classes or wrong syntax in the python script.
You normally find the correspondent Log file under the directory /GUI/felix-cache/bundlexxx in either the root folder on the real robot or in the ursim-folder on the simulator.
Hello Stefan,
Thanks for pointing me in the right direction as far as debugging the Python script in combination with a URCap is concerned. This really solved all my troubles.
Now, i am able to confirm myself the following thing.
- Individual class instances can be run as threads inside a given function which starts the threads. This particular function can be registered as a method to the XML-RPC server. When the Daemon starts, the function can be called from the URCap (in my case the function is called from the ‘XXXXXXXInstallationNodeContribution.java’ file of the URCap)
Once again, thank for your time and consideration!
Best Regards,
Sriniwas
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