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Improve limit check #256

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Improve limit check #256

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2d52636
Improve limit check popup
urfeex Jan 28, 2025
8a0dc52
Move limit check to receiving thread instead of servo thread
urfeex Jan 29, 2025
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47 changes: 20 additions & 27 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -99,16 +99,23 @@ def targetWithinLimits(step_start, step_end, time):
while idx < 6:
local velocity = norm(step_end[idx] - step_start[idx]) / time
if velocity > JOINT_IGNORE_SPEED:
local str = str_cat(str_cat("Velocity ", velocity), str_cat(str_cat(" required to reach the received target ", step_end), str_cat(str_cat(" within ", time), " seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received.")))
local str = str_cat(
str_cat("Velocity ", velocity), str_cat(
str_cat(" required in joint ", idx), str_cat(
str_cat(" to go from ", step_start[idx]), str_cat(
str_cat(" to ", step_end[idx]), str_cat(
str_cat(" within ", time), " seconds is exceeding the joint velocity limits. Ignoring commands until a valid command is received.")))))
if violation_popup_counter == 0:
# We want a popup when an invalid commant is sent. As long as we keep sending invalid
# commands, we do not want to repeat the popup.
popup(str, title="External Control error", blocking=False, error=True)
popup(str, title="External Control speed limit", blocking=False, warning=True)
end
if violation_popup_counter * get_steptime() % 5.0 == 0:
# We want to have a log printed regularly. We are receiving motion commands that are not
# feasible. The user should have a chance to know about this.
textmsg(str)
textmsg("start configuration: ", step_start)
textmsg("end configuration: ", step_end)
end
violation_popup_counter = violation_popup_counter + 1
return False
Expand Down Expand Up @@ -143,8 +150,10 @@ end

def set_servo_setpoint(q):
cmd_servo_state = SERVO_RUNNING
cmd_servo_q_last = cmd_servo_q
cmd_servo_q = q
if targetWithinLimits(cmd_servo_q, q, steptime):
cmd_servo_q_last = cmd_servo_q
cmd_servo_q = q
end
end

def extrapolate():
Expand All @@ -158,7 +167,6 @@ end
thread servoThread():
textmsg("ExternalControl: Starting servo thread")
state = SERVO_IDLE
local q_last = get_joint_positions()
while control_mode == MODE_SERVOJ:
enter_critical
q = cmd_servo_q
Expand All @@ -178,17 +186,11 @@ thread servoThread():
end

q = extrapolate()
if targetWithinLimits(q_last, q, steptime):
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
q_last = q
end
servoj(q, t=steptime, {{SERVO_J_REPLACE}})

elif state == SERVO_RUNNING:
extrapolate_count = 0
if targetWithinLimits(q_last, q, steptime):
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
q_last = q
end
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
else:
extrapolate_count = 0
sync()
Expand Down Expand Up @@ -557,7 +559,6 @@ end
thread servoThreadP():
textmsg("Starting pose servo thread")
state = SERVO_IDLE
local q_last = get_joint_positions()
while control_mode == MODE_POSE:
enter_critical
q = cmd_servo_q
Expand All @@ -577,15 +578,11 @@ thread servoThreadP():
end

q = extrapolate()
if targetWithinLimits(q_last, q, steptime):
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
end
servoj(q, t=steptime, {{SERVO_J_REPLACE}})

elif state == SERVO_RUNNING:
extrapolate_count = 0
if targetWithinLimits(q_last, q, steptime):
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
end
servoj(q, t=steptime, {{SERVO_J_REPLACE}})
else:
extrapolate_count = 0
sync()
Expand All @@ -596,12 +593,6 @@ thread servoThreadP():
stopj(STOPJ_ACCELERATION)
end

def set_servo_pose(pose):
cmd_servo_state = SERVO_RUNNING
cmd_servo_q_last = cmd_servo_q
cmd_servo_q = get_inverse_kin(pose, cmd_servo_q)
end

def tool_contact_detection():
# Detect tool contact in the directions that the TCP is moving
step_back = tool_contact(direction = get_actual_tcp_speed())
Expand Down Expand Up @@ -720,6 +711,7 @@ while control_mode > MODE_STOPPED:
join thread_move
end
if control_mode == MODE_SERVOJ:
cmd_servo_q = get_joint_positions()
thread_move = run servoThread()
elif control_mode == MODE_SPEEDJ:
thread_move = run speedThread()
Expand All @@ -729,6 +721,7 @@ while control_mode > MODE_STOPPED:
elif control_mode == MODE_SPEEDL:
thread_move = run speedlThread()
elif control_mode == MODE_POSE:
cmd_servo_q = get_joint_positions()
thread_move = run servoThreadP()
end
end
Expand Down Expand Up @@ -758,7 +751,7 @@ while control_mode > MODE_STOPPED:
set_speedl(twist)
elif control_mode == MODE_POSE:
pose = p[params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate, params_mult[7] / MULT_jointstate]
set_servo_pose(pose)
set_servo_setpoint(get_inverse_kin(pose, cmd_servo_q))
elif control_mode == MODE_FREEDRIVE:
if params_mult[2] == FREEDRIVE_MODE_START:
textmsg("Entering freedrive mode")
Expand Down
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