Fix Motoman merges

Motoman.py

@@ -41,7 +41,7 @@
 # ----------------------------------------------------
 
 
-def get_safe_name(progname, max_chars = 6):
+def get_safe_name(progname, max_chars = 32):
     """Get a safe program name"""
     # Remove special characters
     for c in r'-[]/\;,><&*:%=+@!#^()|?^':
@@ -103,7 +103,9 @@ class RobotPost(object):
 
     PROG_NAME = 'unknown'  # Original name of the current program (example: ProgA)
     PROG_NAME_CURRENT = 'unknown' # Auto generated name (different from PROG_NAME if we have more than 1 page per program. Example: ProgA2)
-
+
+    PROG_COMMENT = 'Generated using RoboDK'
+
     nPages = 0           # Count the number of pages
     PROG_NAMES_MAIN = [] # List of programs called by a main program due to splitting
 
@@ -204,11 +206,11 @@ def ProgFinish(self, progname, new_page = False):
         header_ins += '//INST' + '\n'
         header_ins += '///DATE %s' % datestr + '\n'
         #///DATE 2012/04/25 14:11
-        header_ins += '///COMM Generated using RoboDK\n' # comment: max 28 chars
+        header_ins += '///COMM %s\n' % self.PROG_COMMENT[:32] # comment: max 32 chars
         if self.USE_RELATIVE_JOB:
             header_ins += '///ATTR SC,RW,RJ' + '\n'
             if self.ACTIVE_FRAME is not None:
-                header_ins += '///FRAME USER %i' % self.ACTIVE_FRAME + '\n'           
+                header_ins += '////FRAME USER %i' % self.ACTIVE_FRAME + '\n'           
         else:
             header_ins += '///ATTR SC,RW' + '\n'
 
@@ -249,11 +251,12 @@ def progsave(self, folder, progname, ask_user = False, show_result = False):
                 return
         else:
             filesave = folder + progname
-        fid = open(filesave, "w")
+        import io
+        fid = io.open(filesave, "w", newline='\r\n')
         #fid.write(self.PROG)
         for line in self.PROG:
-            fid.write(line)
-            fid.write('\n')
+            fid.write(line.decode('unicode-escape'))
+            fid.write(u'\n')
         fid.close()
         print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file
         self.PROG_FILES.append(filesave)
@@ -434,18 +437,15 @@ def setSpeed(self, speed_mms):
         """Changes the robot speed (in mm/s)"""
         speed_cm_min = speed_mms * 60.0 / 10.0
         speedl = max(0.01,min(speed_cm_min,200.0)) # Important! Filter linear speed is in mm/s or cm/min (otherwise the program stops)
-        if speedl < 100:
-            self.STR_V = "V=%.2f" % speedl
-        else:
-            self.STR_V = "V=%.1f" % speedl
+        self.STR_V = "V=%.1f" % speedl
 
     def setAcceleration(self, accel_mmss):
         """Changes the robot acceleration (in mm/s2)"""
         self.addlog('Set acceleration not defined')
 
     def setSpeedJoints(self, speed_degs):
         """Changes the robot joint speed (in deg/s)"""
-        speedj = max(0.01,min(speed,100.0)) # Joint speed must be in %
+        speedj = max(0.01, min(speed_degs, 100.0)) # Joint speed must be in %
         if speedj < 100:
             self.STR_VJ = "VJ=%.2f" % speedj
         else:
@@ -487,7 +487,7 @@ def waitDI(self, io_var, io_value, timeout_ms=-1):
                 io_value = 'OFF'
 
         # at this point, io_var and io_value must be string values
-        if timeout_ms < 0:
+        if timeout_ms <= 0:
             #WAIT IN#(12)=ON
             self.addline('WAIT %s=%s' % (io_var, io_value))
         else:
@@ -511,7 +511,7 @@ def RunCode(self, code, is_function_call = False):
             self.addline(code)
 
     def RunMessage(self, message, iscomment = False):
-        """Add a joint movement"""
+        """Add a message/comment"""
         if iscomment:
             for i in range(0,len(message), 29):
                 i2 = min(i + 29, len(message))
@@ -521,7 +521,33 @@ def RunMessage(self, message, iscomment = False):
             for i in range(0,len(message), 25):
                 i2 = min(i + 25, len(message))
                 self.addline('MSG "%s"' % message[i:i2])
-
+
+# ------------------ Motoman specifics ------------------
+    def Macro(self, number, mf, args):
+        macro_line = 'MACRO%s MJ#(%s)' % (number, mf)
+
+        if len(args) > 16:
+          self.addlog('Macro supports only 16 arguments')
+          return
+
+        for arg in args:
+            # Only ARGF are supported
+            macro_line += (' ARGF%s' % (arg))
+
+        self.addline(macro_line)
+
+    def Arcon(self, asf_number = 0):
+        if asf_number is 0:
+            self.addline('ARCON')
+        else:
+            self.addline('ARCON ASF#(%s)' % asf_number)
+
+    def Arcof(self, aef_number = 0):
+        if aef_number is 0:
+            self.addline('ARCOF')
+        else:
+            self.addline('ARCOF AEF#(%s)' % aef_number)
+
 # ------------------ private ----------------------
     def page_size_control(self):
         if self.LINE_COUNT >= self.MAX_LINES_X_PROG:

robodk.py

@@ -1335,15 +1335,13 @@ def UploadFTP(program, robot_ip, remote_path, ftp_user, ftp_pass):
 # inspired from:
 # http://stackoverflow.com/questions/10057672/correct-way-to-implement-a-custom-popup-tkinter-dialog-box
 
-#------------------
-# Python 3.X only:
-import tkinter
-from tkinter import filedialog
-#------------------
-#Python 2.X only:
-#import Tkinter as tkinter
-#import tkFileDialog as filedialog
-#------------------
+try:
+    ## Python 2.X
+    import Tkinter as tkinter
+    import tkFileDialog as filedialog
+except ImportError:
+    ## Python 3.X
+    from tkinter import filedialog
 
 def getOpenFile():
     """Pop up a file dialog window to select a file to open."""