Universal_Robots_3D_Printing.py

# Copyright 2017 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs 
# for a Universal Robot with RoboDK
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
#    1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
#    2- Make the necessary changes
#    3- Run the file to open Python Shell: Run -> Run module (F5 by default)
#    4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
#    1- Open the robot panel (double click a robot)
#    2- Select "Parameters"
#    3- Select "Unlock advanced options"
#    4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
#     http://www.robodk.com/help#PostProcessor
#     http://www.robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------

DEFAULT_HEADER_SCRIPT = """
  #--------------------------
  # Add any default subprograms here
  # For example, to drive a gripper as a program call:
  # def Gripper_Open():
  #   ...
  # end
  #
  # Example to drive a spray gun:
  def SprayOn(value):
    # use the value as an output:
    DO_SPRAY = 5
    if value == 0:
      set_standard_digital_out(DO_SPRAY, False)
    else:
      set_standard_digital_out(DO_SPRAY, True)
    end
  end

  # Example to drive an extruder:
  def Extruder(value):
    # use the value as an output:
    if value < 0:
      # stop extruder
    else:
      # start extruder
    end
  end
  
  # Example to move an external axis
  def MoveAxis(value):
    # use the value as an output:
    DO_AXIS_1 = 1
    DI_AXIS_1 = 1
    if value <= 0:
      set_standard_digital_out(DO_AXIS_1, False)
      
      # Wait for digital input to change state
      #while (get_standard_digital_in(DI_AXIS_1) != False):
      #  sync()
      #end
    else:
      set_standard_digital_out(DO_AXIS_1, True)
      
      # Wait for digital input to change state
      #while (get_standard_digital_in(DI_AXIS_1) != True):
      #  sync()
      #end
    end
  end
  #--------------------------
"""

#SCRIPT_URP = '''<URProgram name="%s">
#  <children>
#    <MainProgram runOnlyOnce="false" motionType="MoveJ" speed="1.0471975511965976" acceleration="1.3962634015954636" useActiveTCP="false">
#      <children>
#        <Script type="File">
#          <cachedContents>%s
#</cachedContents>
#          <file resolves-to="file">%s</file>
#        </Script>
#      </children>
#    </MainProgram>
#  </children>
#</URProgram>'''

#SCRIPT_URP = '''<URProgram createdIn="3.0.0" lastSavedIn="3.0.0" name="%s" directory="/" installation="default">
#  <children>
#    <MainProgram runOnlyOnce="true" motionType="MoveJ" speed="1.0471975511965976" acceleration="1.3962634015954636" useActiveTCP="false">
#      <children>
#        <Script type="File">
#          <cachedContents>%s
#</cachedContents>
#          <file resolves-to="file">%s</file>
#        </Script>
#      </children>
#    </MainProgram>
#  </children>
#</URProgram>'''

#<URProgram createdIn="3.4.3.361" lastSavedIn="3.4.3.361" name="%s" directory="." installation="default">
SCRIPT_URP = '''<URProgram createdIn="3.0.0" lastSavedIn="3.0.0" name="%s" directory="." installation="default">
  <children>
    <MainProgram runOnlyOnce="true" motionType="MoveJ" speed="1.0471975511965976" acceleration="1.3962634015954636" useActiveTCP="false">
      <children>
        <Script type="File">
          <cachedContents>%s
</cachedContents>
          <file>%s</file>
        </Script>
      </children>
    </MainProgram>
  </children>
</URProgram>'''

def get_safe_name(progname):
    """Get a safe program name"""
    for c in r'-[]/\;,><&*:%=+@!#^|?^':
        progname = progname.replace(c,'')
    if len(progname) <= 0:
        progname = 'Program'
    if progname[0].isdigit():
        progname = 'P' + progname    
    return progname

# ----------------------------------------------------
# Import RoboDK tools
from robodk import *

# ----------------------------------------------------
import socket
import struct
# UR information for real time control and monitoring
# Byte shifts for the real time packet:
UR_GET_RUNTIME_MODE = 132*8-4

RUNTIME_CANCELLED = 0
RUNTIME_READY = 1
RUNTIME_BUSY = 2

RUNTIME_MODE_MSG = []
RUNTIME_MODE_MSG.append("Operation cancelled") #0
RUNTIME_MODE_MSG.append("Ready") #1
RUNTIME_MODE_MSG.append("Running") #2 # Running or Jogging

# Get packet size according to the byte array
def UR_packet_size(buf):
    if len(buf) < 4:
        return 0
    return struct.unpack_from("!i", buf, 0)[0]
   
# Check if a packet is complete
def UR_packet_check(buf):
    msg_sz = UR_packet_size(buf)
    if len(buf) < msg_sz:
        print("Incorrect packet size %i vs %i" % (msg_sz, len(buf)))
        return False
    
    return True

# Get specific information from a packet
def UR_packet_value(buf, offset, nval=6):
    if len(buf) < offset+nval:
        print("Not available offset (maybe older Polyscope version?): %i - %i" % (len(buf), offset))
        return None
    format = '!'
    for i in range(nval):
        format+='d'
    return list(struct.unpack_from(format, buf, offset))    #return list(struct.unpack_from("!dddddd", buf, offset))


ROBOT_PROGRAM_ERROR = -1
ROBOT_NOT_CONNECTED = 0
ROBOT_OK = 1

def GetErrorMsg(rec_bytes):
    idx_error = -1
    try:
        idx_error = rec_bytes.index(b'error')
    except:
        return None
    
    if idx_error >= 0:
        idx_error_end = min(idx_error + 20, len(rec_bytes))
        try:
            idx_error_end = rec_bytes.index(b'\0',idx_error)
        except:
            return "Unknown error"
    return rec_bytes[idx_error:idx_error_end].decode("utf-8")

def UR_SendProgramRobot(robot_ip, data):
    print("POPUP: Connecting to robot...")
    sys.stdout.flush()
    robot_socket = socket.create_connection((robot_ip, 30002))
    print("POPUP: Sending program..")
    sys.stdout.flush()
    robot_socket.send(data)
    print("POPUP: Sending program...")
    sys.stdout.flush()            
    pause(1)
    received = robot_socket.recv(4096)
    robot_socket.close()
                    
    if received:
        #print("POPUP: Program running")
        #print(str(received))
        sys.stdout.flush()
        error_msg = GetErrorMsg(received)        
        if error_msg:            
            print("POPUP: Robot response: <strong>" + error_msg + "</strong>")
            sys.stdout.flush()
            pause(5)
            return ROBOT_PROGRAM_ERROR
        else:
            print("POPUP: Program sent. The program should be running on the robot.")
            sys.stdout.flush()
            return ROBOT_OK
    else:
        print("POPUP: Robot connection problems...")
        sys.stdout.flush()
        pause(2)
        return ROBOT_NOT_CONNECTED        

# Monitor thread to retrieve information from the robot
def UR_Wait_Ready(robot_ip, percent_cmpl):
    RUNTIME_MODE_LAST = -1
    while True:
        print("Connecting to robot %s:%i" % (robot_ip, 30003))
        rt_socket = socket.create_connection((robot_ip, 30003))
        print("Connected")
        buf = b''
        while True:
            more = rt_socket.recv(4096)
            if more:
                buf = buf + more
                if UR_packet_check(buf):
                    packet_len = UR_packet_size(buf) 
                    packet, buf = buf[:packet_len], buf[packet_len:]
                    RUNTIME_MODE = round(UR_packet_value(packet, UR_GET_RUNTIME_MODE, 1)[0])
                    if RUNTIME_MODE_LAST != RUNTIME_MODE:
                        RUNTIME_MODE_LAST = RUNTIME_MODE
                        if RUNTIME_MODE < len(RUNTIME_MODE_MSG):
                            print("POPUP: Robot " + RUNTIME_MODE_MSG[RUNTIME_MODE] + " (transfer in progress, %.1f%% completed)" % percent_cmpl)
                            sys.stdout.flush()
                        else:
                            print("POPUP: Robot Status Unknown (%.i)" % RUNTIME_MODE + " (transfer %.1f%% completed)" % percent_cmpl)
                            sys.stdout.flush()
                            
                        if RUNTIME_MODE == RUNTIME_READY:
                            rt_socket.close()
                            return True
                        
        rt_socket.close()
        return False




def pose_2_ur(pose):
    """Calculate the p[x,y,z,rx,ry,rz] position for a pose target"""
    def saturate_1(value):
        return min(max(value,-1.0),1.0)
        
    angle = acos(  saturate_1((pose[0,0]+pose[1,1]+pose[2,2]-1)/2)   )    
    rxyz = [pose[2,1]-pose[1,2], pose[0,2]-pose[2,0], pose[1,0]-pose[0,1]]

    if angle == 0:
        rxyz = [0,0,0]
    else:
        rxyz = normalize3(rxyz)
        rxyz = mult3(rxyz, angle)
    return [pose[0,3], pose[1,3], pose[2,3], rxyz[0], rxyz[1], rxyz[2]]

def pose_2_str(pose):
    """Prints a pose target"""
    [x,y,z,w,p,r] = pose_2_ur(pose)
    MM_2_M = 0.001
    return ('p[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]' % (x*MM_2_M,y*MM_2_M,z*MM_2_M,w,p,r))
    
def angles_2_str(angles):
    """Prints a joint target"""
    njoints = len(angles)
    d2r = pi/180.0
    if njoints == 6:
        return ('[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]' % (angles[0]*d2r, angles[1]*d2r, angles[2]*d2r, angles[3]*d2r, angles[4]*d2r, angles[5]*d2r))
    else:
        return 'this post only supports 6 joints'

def circle_radius(p0,p1,p2):
    a = norm(subs3(p0,p1))
    b = norm(subs3(p1,p2))
    c = norm(subs3(p2,p0))
    radius = a*b*c/sqrt(pow(a*a+b*b+c*c,2)-2*(pow(a,4)+pow(b,4)+pow(c,4)))            
    return radius
    
#def distance_p1_p02(p0,p1,p2):
#    v01 = subs3(p1, p0)
#    v02 = subs3(p2, p0)
#    return dot(v02,v01)/dot(v02,v02)
        
# ----------------------------------------------------    
# Object class that handles the robot instructions/syntax
class RobotPost(object):
    """Robot post object"""
    MAX_LINES_X_PROG = 250    # Maximum number of lines per program. If the number of lines is exceeded, the program will be executed step by step by RoboDK
    PROG_EXT = 'script'        # set the program extension
    SPEED_MS       = 0.3    # default speed for linear moves in m/s
    SPEED_RADS     = 0.75   # default speed for joint moves in rad/s
    ACCEL_MSS      = 3      # default acceleration for lineaer moves in m/ss
    ACCEL_RADSS    = 1.2    # default acceleration for joint moves in rad/ss
    BLEND_RADIUS_M = 0.001  # default blend radius in meters (corners smoothing)
    MOVEC_MIN_RADIUS = 1    # minimum circle radius to output (in mm). It does not take into account the Blend radius
    MOVEC_MAX_RADIUS = 10000  # maximum circle radius to output (in mm). It does not take into account the Blend radius
    USE_MOVEP = False
    #--------------------------------
    REF_FRAME      = eye(4) # default reference frame (the robot reference frame)
    LAST_POS_ABS = None # last XYZ position
    
    # other variables
    ROBOT_POST = 'unset'
    ROBOT_NAME = 'generic'
    PROG_FILES = []
    MAIN_PROGNAME = 'unknown'
    
    # 3D Printing Extruder Setup Parameters:
    PRINT_E_AO = 5 # Analog Output ID to command the extruder flow
    PRINT_FLOW_2_SIGNAL = 0.05 # Ratio to convert the flow to an analog signal
    PRINT_FLOW_MAX_SIGNAL = 24 # Maximum signal to provide to the Extruder
    PRINT_ACCEL_MMSS = 1e9 # Acceleration (assume constant speed if we use rounding/blending)    
    
    # Internal 3D Printing Parameters
    PRINT_POSE_LAST = None # Last pose printed
    PRINT_E_LAST = 0 # Last Extruder length
    PRINT_E_NEW = 0 # New Extruder Length
    
    
    nPROGS = 0
    PROG = []
    PROG_LIST = []
    VARS = []
    VARS_LIST = []
    SUBPROG = []
    TAB = ''
    LOG = ''    
    
    def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
        self.ROBOT_POST = robotpost
        self.ROBOT_NAME = robotname
        for k,v in kwargs.items():
            if k == 'lines_x_prog':
                self.MAX_LINES_X_PROG = v    
        
    def ProgStart(self, progname):
        progname = get_safe_name(progname)
        self.nPROGS = self.nPROGS + 1
        if self.nPROGS <= 1:
            self.TAB = ''
            # Create global variables:
            self.vars_update()
            self.MAIN_PROGNAME = progname    
        else:
            self.addline('# Subprogram %s' % progname)   
            self.addline('def %s():' % progname)
            self.TAB = '  '         
        
    def ProgFinish(self, progname):
        progname = get_safe_name(progname)
        self.TAB = ''
        if self.nPROGS <= 1:
            self.addline('# End of main program')
        else:
            self.addline('end')
            self.addline('')       
                
    def ProgSave(self, folder, progname, ask_user = False, show_result = False):
        progname = get_safe_name(progname)
        progname = progname + '.script'# + self.PROG_EXT
        if ask_user or not DirExists(folder):
            filesave = getSaveFile(folder, progname, 'Save program as...')
            if filesave is not None:
                filesave = filesave.name
            else:
                return
        else:
            filesave = folder + '/' + progname

        self.prog_2_list()        

        fid = open(filesave, "w")
        # Create main program call:
        fid.write('def %s():\n' % self.MAIN_PROGNAME)

        # Add global parameters:
        fid.write('  # Global parameters:\n')
        for line in self.VARS_LIST[0]:
            fid.write('  ' + line+ '\n')            
        #fid.write('  \n')
        fid.write('  ')

        # Add a custom header if desired:
        fid.write(DEFAULT_HEADER_SCRIPT)        
        fid.write('  \n')

        # Add the suprograms that are being used in RoboDK
        for line in self.SUBPROG:
            fid.write('  ' + line + '\n')            
        fid.write('  \n')

        # Add the main code:
        fid.write('  # Main program:\n')
        for prog in self.PROG_LIST:
            for line in prog:
                fid.write('  ' + line + '\n')

        fid.write('end\n\n')
        fid.write('%s()\n' % self.MAIN_PROGNAME)
            
        fid.close()
    
        print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file
        self.PROG_FILES = filesave
        
        #---------------------------- SAVE URP (GZIP compressed XML file)-------------------------
        filesave_urp = filesave[:-7] #+'.urp'
        fid = open(filesave, "r")        
        prog_final = fid.read()
        fid.close()
                
        try:
            from html import escape  # python 3.x
        except ImportError:
            from cgi import escape  # python 2.x

        prog_final_ok = escape(prog_final)
        self.PROG_XML = SCRIPT_URP % (self.MAIN_PROGNAME, prog_final_ok, self.MAIN_PROGNAME+'.script')
        
        # Comment next line to force transfer of the SCRIPT file
        #self.PROG_FILES = filesave_urp
        
        import gzip
        import os
        with gzip.open(filesave_urp, 'wb') as fid_gz:
            fid_gz.write(self.PROG_XML.encode('utf-8'))
        
        try:
            os.remove(filesave_urp+'.urp')
        except OSError:
            pass
            
        os.rename(filesave_urp, filesave_urp+'.urp')
            
        #print('SAVED: %s\n' % filesave_urp) # tell RoboDK the path of the saved file
        #------------------------------------------------------------------------------------------            
        
        # open file with default application
        if show_result:
            if type(show_result) is str:
                # Open file with provided application
                import subprocess
                p = subprocess.Popen([show_result, filesave])
            elif type(show_result) is list:
                import subprocess
                p = subprocess.Popen(show_result + [filesave])   
            else:
                # open file with default application
                os.startfile(filesave)
            if len(self.LOG) > 0:
                mbox('Program generation LOG:\n\n' + self.LOG)
    
        #if len(self.PROG_LIST) > 1:
        #    mbox("Warning! The program " + progname + " is too long and directly running it on the robot controller might be slow. It is better to run it form RoboDK.")


    def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
        """Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
        The connection parameters must be provided in the robot connection menu of RoboDK"""
        #UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
        #return        

        nprogs = len(self.PROG_LIST)
        for i in range(nprogs):
            # Prepare next program execution:
            send_str = ''
            send_str += ('def %s():\n' % self.MAIN_PROGNAME)

            # Add global parameters:
            send_str += ('  # Global parameters:\n')
            for line in self.VARS_LIST[i]:
                send_str += ('  ' + line + '\n')            
            send_str += ('  \n')

            # Add a custom header if desired:
            send_str += (DEFAULT_HEADER_SCRIPT)        
            send_str += ('  \n')
     
            for line in self.SUBPROG:
                send_str += '  ' + line+ '\n'
            send_str += ('  \n')

            # Add the main code:
            send_str += ('  # Main program:\n')

            for line in self.PROG_LIST[i]:
                send_str += '  ' + line
                send_str += '\n'
                
            send_str += 'end\n\n'
            send_str += '%s()\n' % self.MAIN_PROGNAME            

            send_bytes = str.encode(send_str)

            # Wait until the robot is ready:
            while i > 0 and not UR_Wait_Ready(robot_ip, i*100.0/nprogs):
                print("POPUP: Connect robot to run the program program...")
                sys.stdout.flush()
                pause(2)  

            # Send script to the robot:
            #print(send_str)
            #input("POPUP: Enter to continue")
            status = UR_SendProgramRobot(robot_ip, send_bytes)
            while ROBOT_NOT_CONNECTED == status:
                print("POPUP: Connect robot to transfer program...")
                sys.stdout.flush()
                pause(2)           
                status = UR_SendProgramRobot(robot_ip, send_bytes)
            
            if status == ROBOT_PROGRAM_ERROR:
                print("POPUP: Program Error. Running program from the computer Aborted.")
                sys.stdout.flush()
                pause(2)
                return
                
    
    def blend_radius_check(self, pose_abs, ratio_check=0.4):
        # check that the blend radius covers 40% of the move (at most)
        blend_radius = 'blend_radius_m';
        #return blend_radius        
        current_pos = pose_abs.Pos()
        if self.LAST_POS_ABS is None:
            blend_radius = '0'
        else:            
            distance = norm(subs3(self.LAST_POS_ABS, current_pos)) # in mm
            if ratio_check*distance < self.BLEND_RADIUS_M*1000:
                blend_radius = '%.3f' % (round(ratio_check*distance*0.001,3))
        #self.LAST_POS_ABS = current_pos
        return blend_radius
        
    def MoveJ(self, pose, joints, conf_RLF=None):
        """Add a joint movement"""
        if pose is None:
            blend_radius = "0"
            self.LAST_POS_ABS = None
        else:
            pose_abs = self.REF_FRAME*pose
            blend_radius = self.blend_radius_check(pose_abs)
            self.LAST_POS_ABS = pose_abs.Pos()
            
        if len(joints) < 6:
            self.RunMessage('Move axes to: ' + angles_2_str(joints))
        else:
            self.addline('movej(%s,accel_radss,speed_rads,0,%s)' % (angles_2_str(joints), blend_radius))
    
    def new_move(self, pose2):
        '''Output the Extruder signal to have a constant flow 
        given the amount of material that needs to be extruded, 
        the distance between the 2 points and the robot speed'''
        if self.PRINT_POSE_LAST is None:
            self.PRINT_POSE_LAST = pose2
            return
           
        def Calculate_Time(Dist, Vmax, Amax):
            '''Calculate the time to move Dist with Amax acceleration and Vmax speed'''
            tacc = Vmax/Amax;
            Xacc = 0.5*Amax*tacc*tacc;
            if Dist <= 2*Xacc:
                # Vmax is not reached
                tacc = sqrt(Dist/Amax)
                Ttot = tacc*2
            else:
                # Vmax is reached
                Xvmax = Dist - 2*Xacc
                Tvmax = Xvmax/Vmax
                Ttot = 2*tacc + Tvmax
            return Ttot
           
        add_material = self.PRINT_E_NEW - self.PRINT_E_LAST
        self.PRINT_E_LAST = self.PRINT_E_NEW
            
        if add_material > 0:
            distance_mm = norm(subs3(self.PRINT_POSE_LAST.Pos(), pose2.Pos()))
            # calculate movement time in seconds
            time_s = Calculate_Time(distance_mm, self.SPEED_MMS, self.PRINT_ACCEL_MMSS)
            # add material
            signal = min(self.PRINT_FLOW_MAX_SIGNAL , self.PRINT_FLOW_2_SIGNAL * add_material/time_s)
            self.setDO(self.PRINT_E_AO,"%.3f" % (signal))
        else:
            # DO not add material
            self.setDO(self.PRINT_E_AO,"0")
        
        # Remember the last position
        self.PRINT_POSE_LAST = pose2            
            
    def MoveL(self, pose, joints, conf_RLF=None):
        """Add a linear movement"""
        # Movement in joint space or Cartesian space should give the same result:
        # pose_wrt_base = self.REF_FRAME*pose
        # self.addline('movel(%s,accel_mss,speed_ms,0,blend_radius_m)' % (pose_2_str(pose_wrt_base)))
        self.new_move(pose) # used for 3D printing
        
        if pose is None:
            blend_radius = "0"
            self.LAST_POS = None
            target = angles_2_str(joints)
        else:            
            pose_abs = self.REF_FRAME*pose
            blend_radius = self.blend_radius_check(pose_abs)
            target = pose_2_str(pose_abs)
            self.LAST_POS_ABS = pose_abs.Pos()
            
        if self.USE_MOVEP:
            self.addline('movep(%s,accel_mss,speed_ms,%s)' % (target, blend_radius))
        else:
            self.addline('movel(%s,accel_mss,speed_ms,0,%s)' % (target, blend_radius))
        
        
    def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
        """Add a circular movement"""            
        pose1_abs = self.REF_FRAME*pose1
        pose2_abs = self.REF_FRAME*pose2        
        p0 = self.LAST_POS_ABS
        p1 = pose1_abs.Pos()
        p2 = pose2_abs.Pos()
        if p0 is None:
            self.MoveL(pose2, joints2, conf_RLF_2)
            return
            
        radius = circle_radius(p0, p1, p2)      
        print("MoveC Radius: " + str(radius) + " mm")		
        if radius < self.MOVEC_MIN_RADIUS or radius > self.MOVEC_MAX_RADIUS:
            self.MoveL(pose2, joints2, conf_RLF_2)
            return
            
        blend_radius = self.blend_radius_check(pose1_abs, 0.2)
        #blend_radius = '%.3f' % (0.001*radius) #'0'
        #blend_radius = '0'
        self.LAST_POS_ABS = pose2_abs.Pos()
        #self.addline('movec(%s,%s,accel_mss,speed_ms,%s)' % (angles_2_str(joints1),angles_2_str(joints2), blend_radius))
        self.addline('movec(%s,%s,accel_mss,speed_ms,%s)' % (pose_2_str(pose1_abs),pose_2_str(pose2_abs), blend_radius))
        
    def setFrame(self, pose, frame_id=None, frame_name=None):
        """Change the robot reference frame"""
        # the reference frame is not needed if we use joint space for joint and linear movements
        # the reference frame is also not needed if we use cartesian moves with respect to the robot base frame
        # the cartesian targets must be pre-multiplied by the active reference frame
        self.REF_FRAME = pose    
        self.addline('# set_reference(%s)' % pose_2_str(pose))
        
    def setTool(self, pose, tool_id=None, tool_name=None):
        """Change the robot TCP"""
        self.addline('set_tcp(%s)' % pose_2_str(pose))
        #self.addline('set_payload(1.4, [-0.1181, -0.1181, 0.03])')
        #self.addline('set_gravity([0.0, 0.0, 9.82]))')        
        
    def Pause(self, time_ms):
        """Pause the robot program"""
        if time_ms <= 0:
            self.addline('halt() # reimplement this function to force stop')
        else:
            self.addline('sleep(%.3f)' % (time_ms*0.001))
        
    def setSpeed(self, speed_mms):
        """Changes the robot speed (in mm/s)"""
        #if speed_mms < 999.9:
        #    self.USE_MOVEP = True
        #else:
        #    self.USE_MOVEP = False
        self.SPEED_MMS = speed_mms
        self.SPEED_MS = speed_mms/1000.0        
        self.addline('speed_ms    = %.3f' % self.SPEED_MS)
        
    def setAcceleration(self, accel_mmss):
        """Changes the robot acceleration (in mm/s2)"""    
        self.ACCEL_MSS = accel_mmss/1000.0
        self.addline('accel_mss   = %.3f' % self.ACCEL_MSS)
        
    def setSpeedJoints(self, speed_degs):
        """Changes the robot joint speed (in deg/s)"""
        self.SPEED_RADS = speed_degs*pi/180
        self.addline('speed_rads  = %.3f' % self.SPEED_RADS)
    
    def setAccelerationJoints(self, accel_degss):
        """Changes the robot joint acceleration (in deg/s2)"""
        self.ACCEL_RADSS = accel_degss*pi/180
        self.addline('accel_radss = %.3f' % self.ACCEL_RADSS)
        
    def setZoneData(self, zone_mm):
        """Changes the zone data approach (makes the movement more smooth)"""
        if zone_mm < 0:
            zone_mm = 0            
        self.BLEND_RADIUS_M = zone_mm / 1000.0
        self.addline('blend_radius_m = %.3f' % self.BLEND_RADIUS_M)
        
    def setDO(self, io_var, io_value):
        """Sets a variable (output) to a given value"""
        if type(io_value) != str: # set default variable value if io_value is a number            
            if io_value > 0:
                io_value = 'True'
            else:
                io_value = 'False'
        
        if type(io_var) != str:  # set default variable name if io_var is a number
            newline = 'set_standard_digital_out(%s, %s)' % (str(io_var), io_value)
        else:
            newline = '%s = %s' % (io_var, io_value)
            
        self.addline(newline)
        
    def waitDI(self, io_var, io_value, timeout_ms=-1):
        """Waits for an input io_var to attain a given value io_value. Optionally, a timeout can be provided."""
        if type(io_var) != str:  # set default variable name if io_var is a number
            io_var = 'get_standard_digital_in(%s)' % str(io_var)        
        if type(io_value) != str: # set default variable value if io_value is a number            
            if io_value > 0:
                io_value = 'True'
            else:
                io_value = 'False'
        
        # at this point, io_var and io_value must be string values
        #if timeout_ms < 0:
        self.addline('while (%s != %s):' % (io_var, io_value))
        self.addline('  sync()')
        self.addline('end')
        
    def RunCode(self, code, is_function_call = False):
        """Adds code or a function call"""
        if is_function_call:
            code = get_safe_name(code)
            if code.startswith("Extruder("):
                # Intercept the extruder command.
                # if the program call is Extruder(123.56)
                # we extract the number as a string
                # and convert it to a number
                self.PRINT_E_NEW = float(code[9:-1])
                # Skip the program call generation
                return
                
            if code.lower() == "usemovel":
                self.USE_MOVEP = False
                return
            elif code.lower() == "usemovep":
                self.USE_MOVEP = False
                return
            
            if not code.endswith(')'):
                code = code + '()'
            self.addline(code)
        else:
            #self.addline(code)
            self.addline('# ' + code) #generate custom code as a comment
        
    def RunMessage(self, message, iscomment = False):
        """Show a message on the controller screen"""
        if iscomment:
            self.addline('# ' + message)
        else:
            self.addline('popup("%s","Message",False,False,blocking=True)' % message)
        
# ------------------ private ----------------------
    def vars_update(self):
        # Generate global variables for this program
        self.VARS = []            
        self.VARS.append('global speed_ms    = %.3f' % self.SPEED_MS)
        self.VARS.append('global speed_rads  = %.3f' % self.SPEED_RADS)
        self.VARS.append('global accel_mss   = %.3f' % self.ACCEL_MSS)
        self.VARS.append('global accel_radss = %.3f' % self.ACCEL_RADSS)
        self.VARS.append('global blend_radius_m = %.3f' % self.BLEND_RADIUS_M)
            
    def prog_2_list(self):
        if len(self.PROG) > 1:
            self.PROG_LIST.append(self.PROG)
            self.PROG = []
            self.VARS_LIST.append(self.VARS)
            self.VARS = []
            self.vars_update()
        
    def addline(self, newline):
        """Add a program line"""
        if self.nPROGS <= 1:
            if len(self.PROG) > self.MAX_LINES_X_PROG:
                self.prog_2_list()
                
            self.PROG.append(self.TAB + newline)
        else:
            self.SUBPROG.append(self.TAB + newline)
        
    def addlog(self, newline):
        """Add a log message"""
        self.LOG = self.LOG + newline + '\n'

# -------------------------------------------------
# ------------ For testing purposes ---------------   
def Pose(xyzrpw):
    [x,y,z,r,p,w] = xyzrpw
    a = r*math.pi/180
    b = p*math.pi/180
    c = w*math.pi/180
    ca = math.cos(a)
    sa = math.sin(a)
    cb = math.cos(b)
    sb = math.sin(b)
    cc = math.cos(c)
    sc = math.sin(c)
    return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])

def test_post():
    """Test the post with a basic program"""

    robot = RobotPost('Universal Robotics', 'Generic UR robot')

    robot.ProgStart("Program")
    robot.RunMessage("Program generated by RoboDK", True)
    robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
    robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
    robot.setSpeed(100) # set speed to 100 mm/s
    robot.setAcceleration(3000) # set speed to 3000 mm/ss    
    robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
    robot.RunMessage("Setting air valve 1 on")
    robot.RunCode("TCP_On", True)
    robot.Pause(1000)
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
    robot.RunMessage("Setting air valve off")
    robot.RunCode("TCP_Off", True)
    robot.Pause(1000)
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
    robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
    robot.ProgFinish("Program")
    # robot.ProgSave(".","Program",True)
    for line in robot.PROG:
        print(line)
    if len(robot.LOG) > 0:
        mbox('Program generation LOG:\n\n' + robot.LOG)

    input("Press Enter to close...")

if __name__ == "__main__":
    """Function to call when the module is executed by itself: test"""
    test_post()