Merge pull request #26 from Arastookhajehee/kuka-online

Kuka online to master PR

Author: garciadelcastillo

README.md

@@ -118,6 +118,7 @@ As of ~~v0.2.5~~ the latest version, Machina works for the following robotic arm
 ABB:    [=========  ]  (pretty solid both online and offline)
 UR:     [========   ]  (also quite solid both online and offline)
 KUKA:   [=====      ]  (recently launched online mode thanks to @Arastookhajehee! undertested, BE CAREFUL)
+                       (Known KUKA Bug: relative rotations result in unpredictable orientations! Avoid relative rotation!)
 ```
 
 Other devices are currently under active development.

src/Machina/Compilers/CompilerKUKA.cs

@@ -812,6 +812,8 @@ internal bool GenerateInstructionDeclaration(
         /// <returns></returns>
         internal string GetPositionTargetValue(RobotCursor cursor)
         {
+            // adjusting the action's rotation to match the KUKA robot's convention
+            cursor.rotation.RotateLocal(new Rotation(0, 1, 0, 90));
             YawPitchRoll euler = cursor.rotation.Q.ToYawPitchRoll();  // @TODO: does this actually work...?
 
             // @TODO: E6POS: External Axes (Arastoo)
@@ -828,6 +830,8 @@ internal string GetPositionTargetValue(RobotCursor cursor)
 
         internal string GetPositionTargetValue_Translation_Only(RobotCursor cursor)
         {
+            // adjusting the action's rotation to match the KUKA robot's convention
+            cursor.rotation.RotateLocal(new Rotation(0, 1, 0, 90));
             YawPitchRoll euler = cursor.rotation.Q.ToYawPitchRoll();  // @TODO: does this actually work...?
 
             // @TODO: E6POS: External Axes (Arastoo)
@@ -867,6 +871,9 @@ internal string GetToolValue(RobotCursor cursor)
                 throw new Exception("Cursor has no tool attached");
             }
 
+            // @To Do
+            // adjusting the action's rotation to match the KUKA robot's convention
+            //cursor.rotation.RotateLocal(new Rotation(0, 1, 0, 90));
             YawPitchRoll euler = cursor.tool.TCPOrientation.Q.ToYawPitchRoll();
 
             return string.Format(CultureInfo.InvariantCulture,

src/Machina/Controllers/StreamControlManager.cs

@@ -31,7 +31,11 @@ internal override void SetCommunicationObject()
                 case RobotType.UR:
                     _control.Driver = new DriverUR(_control);
                     break;
-                    
+
+                case RobotType.KUKA:
+                    _control.Driver = new DriverKUKA(_control);
+                    break;
+
                 default:
                     throw new NotImplementedException();
             }

src/Machina/Drivers/Communication/Protocols/Base.cs

@@ -26,6 +26,20 @@ public List<string> GetMessagesForNextAction(RobotCursor cursor)
 
             return GetActionMessages(action, cursor);  // this might be null if the action doesn't have a message representation here (e.g. PushSettings, Comment...)
         }
+        //Machina.Drivers.Communication
+
+        public List<string> GetMessagesForNextAction_KUKA(RobotCursor cursor, out Action actionObj)
+        {
+            Action action;
+
+            if (!cursor.ApplyNextAction(out action))
+            {
+                actionObj = null;
+                return null;  // cursor buffer is empty
+            }
+            actionObj = action;
+            return GetActionMessages(action, cursor);  // this might be null if the action doesn't have a message representation here (e.g. PushSettings, Comment...)
+        }
 
         /// <summary>
         /// Given a (write cursor, apply next Action in the buffer and return a byte[] representation

src/Machina/Drivers/Communication/Protocols/Factory.cs

@@ -18,6 +18,9 @@ internal static Base GetTranslator(Driver driver)
                 case RobotType.UR:
                     return new URCommunicationProtocol();
 
+                case RobotType.KUKA:
+                    return new KUKACommunicationProtocol();
+
                 default:
                     throw new NotImplementedException();
             }