Version 0.2

Features:
    - combined_axes_error
    - get_board_temperature
    - get_motor_temperature

Fixes:
    - wait_for_kinematics_ready now also checks the axes states
    - fix comment in relative_move example

Author: cpr-bar

README.md

@@ -22,6 +22,7 @@ Python package to interface an igus Robot Control via the CRI protocol.
     - Upload
     - Start / Pause / Stop
 - CAN Bridge
+- Get Board and Motor Temperature (only board supported by ReBeL)
 
 # Getting Started
 ## Installation

cri_lib/cri_controller.py

@@ -26,6 +26,7 @@ class CRIController:
 
     class MotionType(Enum):
         """Robot Motion Type for Jogging"""
+
         Joint = "Joint"
         CartBase = "CartBase"
         CartTool = "CartTool"
@@ -573,7 +574,9 @@ def wait_for_kinematics_ready(self, timeout: float | None = 30) -> bool:
         new_timeout = timeout
         while new_timeout > 0.0:
             self.wait_for_status_update(timeout=new_timeout)
-            if self.robot_state.kinematics_state == KinematicsState.NO_ERROR:
+            if (self.robot_state.kinematics_state == KinematicsState.NO_ERROR) and (
+                self.robot_state.combined_axes_error == "NoError"
+            ):
                 return True
 
             new_timeout = timeout - (time() - start_time)
@@ -1124,8 +1127,8 @@ def set_global_signal(self, id: int, value: bool):
         else:
             return False
 
-    def load_programm(self, program_name:str) -> bool:
-        """ Load a program file from disk into the robot controller
+    def load_programm(self, program_name: str) -> bool:
+        """Load a program file from disk into the robot controller
 
         Parameters
         ----------
@@ -1152,9 +1155,9 @@ def load_programm(self, program_name:str) -> bool:
                 return True
         else:
             return False
-        
-    def load_logic_programm(self, program_name:str) -> bool:
-        """ Load a logic program file from disk into the robot controller
+
+    def load_logic_programm(self, program_name: str) -> bool:
+        """Load a logic program file from disk into the robot controller
 
         Parameters
         ----------
@@ -1208,7 +1211,7 @@ def start_programm(self) -> bool:
 
     def stop_programm(self) -> bool:
         """Stop currently running Program
-        
+
         Returns
         -------
         bool
@@ -1232,7 +1235,7 @@ def stop_programm(self) -> bool:
 
     def pause_programm(self) -> bool:
         """Pause currently running Program
-        
+
         Returns
         -------
         bool
@@ -1303,7 +1306,7 @@ def upload_file(self, path: str | Path, target_directory: str) -> bool:
 
         command = "CMD UploadFileFinish"
 
-        if  self._send_command(command, True) is None:
+        if self._send_command(command, True) is None:
             return False
 
     def enable_can_bridge(self, enabled: bool) -> None:
@@ -1337,8 +1340,10 @@ def can_send(self, msg_id: int, length: int, data: bytearray) -> None:
         if not self.can_mode:
             logging.debug("can_send: CAN mode not enabled")
             return
-        
-        command = f"CANBridge Msg ID {msg_id} Len {length} Data " + " ".join([str(int(i)) for i in data])
+
+        command = f"CANBridge Msg ID {msg_id} Len {length} Data " + " ".join(
+            [str(int(i)) for i in data]
+        )
 
         self._send_command(command)
 
@@ -1360,5 +1365,59 @@ def can_receive(
             item = self.can_queue.get(blocking, timeout)
         except Empty:
             return None
+
+        return item
+
+    def get_board_temperatures(self, blocking: bool = True, timeout: float | None = None) -> bool:
+        """Receive motor controller PCB temperatures and save in robot state
+
+            Parameters
+            ----------
+            blocking: bool
+                wait for response, always returns True if not waiting
+            
+            timeout: float | None
+                timeout for waiting in seconds or None for infinite waiting
+        """
+        if (
+            self._send_command("SYSTEM GetBoardTemp", True, "info_boardtemp")
+            is not None
+        ):
+            if (
+                error_msg := self._wait_for_answer(
+                    "info_boardtemp", timeout=self.DEFAULT_ANSWER_TIMEOUT
+                )
+            ) is not None:
+                logging.debug("Error in GetBoardTemp command: %s", error_msg)
+                return False
+            else:
+                return True
+        else:
+            return False
 
-        return item
+    def get_motor_temperatures(self, blocking: bool = True, timeout: float | None = None) -> bool:
+        """Receive motor temperatures and save in robot state
+
+            Parameters
+            ----------
+            blocking: bool
+                wait for response, always returns True if not waiting
+            
+            timeout: float | None
+                timeout for waiting in seconds or None for infinite waiting
+        """
+        if (
+            self._send_command("SYSTEM GetMotorTemp", True, "info_motortemp")
+            is not None
+        ):
+            if (
+                error_msg := self._wait_for_answer(
+                    "info_motortemp", timeout=self.DEFAULT_ANSWER_TIMEOUT
+                )
+            ) is not None:
+                logging.debug("Error in GetMotorTemp command: %s", error_msg)
+                return False
+            else:
+                return True
+        else:
+            return False

cri_lib/cri_protocol_parser.py

@@ -216,11 +216,13 @@ def _parse_status(self, parameters: list[str]) -> None:
                     segment_start_idx += 17
 
                 case "ERROR":
-                    # TODO: error state string
                     errors = []
+                    self.robot_state.combined_axes_error = parameters[
+                        segment_start_idx + 1
+                    ]
                     for axis_idx in range(16):
                         value_int = int(
-                            parameters[segment_start_idx + 2 + axis_idx], base=16
+                            parameters[segment_start_idx + 2 + axis_idx], base=10
                         )
                         error_bits = []
                         for i in range(8):
@@ -576,6 +578,20 @@ def _parse_info(self, parameters: list[str]) -> None:
                 self.robot_state.referencing_state = ref_state
 
             return "info_referencing"
+        elif parameters[0] == "BoardTemp":
+            temperatures = [float(param) for param in parameters[1:]]
+
+            with self.robot_state_lock:
+                self.robot_state.board_temps = temperatures
+
+            return "info_boardtemp"
+        elif parameters[0] == "MotorTemp":
+            temperatures = [float(param) for param in parameters[1:]]
+
+            with self.robot_state_lock:
+                self.robot_state.motor_temps = temperatures
+
+            return "info_motortemp"
         else:
             return None
 

cri_lib/robot_state.py

@@ -291,6 +291,9 @@ class RobotState:
     )
     """error states of individual axes"""
 
+    combined_axes_error: str = "_not_ready"
+    """combined error state of all axes as string"""
+
     cycle_time: float = 0.0
     """cycle time of robot control loop"""
 
@@ -326,3 +329,9 @@ class RobotState:
 
     referencing_state: ReferencingState = field(default_factory=ReferencingState)
     """individual referencing state of all axes"""
+
+    board_temps: list[float] = field(default_factory=lambda: [0.0] * 16)
+    """Temperatures of motor controller PCBs"""
+
+    motor_temps: list[float] = field(default_factory=lambda: [0.0] * 16)
+    """Temperatures of motors"""

docs/cri_lib.html

@@ -110,7 +110,7 @@ <h2 id="usage">Usage</h2>
 <h3 id="typical-procedure">Typical procedure</h3>
 
 <ol>
-<li>Connect to iRC: <code>CRIController.connect(...)</code> Default IP is <code>192.168.3.11</code> with port <code>3921</code>. For using the simulation in the iRC desktop software, connect to <code>127.0.0.1</code>, most of the time the port in the simulation is <code>3921</code>, but can be different. Have a look at the log if you are unable to connect. Check whether connection was successfull via the returned bool.</li>
+<li>Connect to iRC: <code>CRIController.connect(...)</code> Default IP is <code>192.168.3.11</code> with port <code>3920</code>. For using the simulation in the iRC desktop software, connect to <code>127.0.0.1</code>, most of the time the port in the simulation is <code>3921</code>, but can be different. Have a look at the log if you are unable to connect. Check whether connection was successfull via the returned bool.</li>
 <li>If you want to control the robot, acquire active control via <code>CRIController.set_active_control(True)</code>.</li>
 <li>Enable drives with <code>CRIController.enable()</code></li>
 <li>Wait unitl axes are ready <code>CRIcontroller.wait_for_kinematics_ready()</code></li>