GCodeLogger

[philipp1604]

Description

This pull request implements the GCodeLogger, which serves as the counterpart to the GCodeProcessor, enabling the tracking of robot movement in G-Code format. The changes include the addition of the GCodeLogger class and the demonstration method g_code_logger_dem.py. Additionally, the class has been thoroughly tested with the test_g_code_logger file.

The GCodeLogger class encompasses two main functionalities:

1. Logging G-Code: The class can monitor the current positions of the robot and track any changes noticed in the position. Documentation is provided with two different types of G-Codes, following the same style as in the GCodeProcessor. The g_code_robot_view tracks the position using Cartesian coordinates, while the g_code_joint_position tracks the G-Code with the angle of the robot joints.

2. Writing G-Code: The class is capable of writing the G-Code to a text file from the g_code variable. The method for writing G-Code follows the correct order of the elements in the G-Code.

The demonstration method runs and tracks the robot-view and joint-position G-Code of an input G-Code. The tracked G-Codes are played in order to demonstrate usability. Furthermore, an alternative for tracking G-Code is presented at the end of the main method.

Motivation and Context

The motivation behind the GCodeLogger was to have a counterpart to the GCodeProcessor, enabling the tracking of robot movement in the G-Code format. The classes are designed to work together seamlessly. With the addition of the GCodeLogger, it becomes easier to apply simulation sequences in the real-world environment, as the created G-Code can be immediately utilized.

How has this been tested?

Every method has been tested in the test_g_code_logger.py file. The write_g_code method writes pseudo G-Code to a temporary file and compares the output to the desired result. The update_g_code methods are tested by comparing the tracked G-Code to the position that the robot was moved to. To ensure proper comparison of positions, the tracked G-Code is rounded.

Screenshots (if appropriate):

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.

[codecov]

Codecov Report

Attention: Patch coverage is 94.36620% with 4 lines in your changes missing coverage. Please review.

Project coverage is 87.75%. Comparing base (485b14e) to head (1d2c231).

Files	Patch %	Lines
src/pybullet_industrial/g_code_logger.py	94.28%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #57      +/-   ##
==========================================
+ Coverage   87.26%   87.75%   +0.48%     
==========================================
  Files          15       16       +1     
  Lines         966     1037      +71     
==========================================
+ Hits          843      910      +67     
- Misses        123      127       +4     

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[MaHajo]

looks good to me!