def __init__(
self,
ws_connection_str: str = "ws://0.0.0.0:6789",
timeout: float = 3.0,
event_mapping: Optional[Dict[str, Type[events.Event]]] = None,
):
self._ws = websocket.WebSocket()
self._logger = get_logger(__name__)
self._event_queue: Queue[events.Event] = Queue()
if event_mapping is None:
event_mapping = {}
self.event_mapping = event_mapping
start_time = time.monotonic()
while time.monotonic() < start_time + timeout:
try:
self._ws.connect(ws_connection_str)
break
except ConnectionRefusedError:
time.sleep(0.25)
if not self._ws.connected:
raise ARServerClientException(
f"Failed to connect to '{ws_connection_str}'.")
self._ws.settimeout(timeout)
system_info = self._call_rpc(srpc.c.SystemInfo.Request(uid()),
srpc.c.SystemInfo.Response).data
if system_info is None:
raise ARServerClientException("Failed to get SystemInfo.")
self._logger.info(
f"Connected to server version {system_info.version}.")
self._supported_rpcs = system_info.supported_rpc_requests
from arcor2.logging import get_logger
from arcor2.object_types.abstract import Generic
from arcor2.object_types.utils import base_from_source, built_in_types_names, prepare_object_types_dir
from arcor2.parameter_plugins.base import TypesDict
from arcor2.source import SourceException
from arcor2.source.utils import parse
from arcor2_build.source.logic import program_src
from arcor2_build.source.utils import global_action_points_class
from arcor2_build_data import SERVICE_NAME, URL, ImportResult
OBJECT_TYPE_MODULE = "arcor2_object_types"
original_sys_path = list(sys.path)
original_sys_modules = dict(sys.modules)
logger = get_logger("Build")
app = create_app(__name__)
def get_base_from_project_service(
types_dict: TypesDict,
tmp_dir: str,
scene_object_types: set[str],
obj_type: ObjectType,
zf: zipfile.ZipFile,
ot_path: str,
ast: ast.AST,
) -> None:
for idx, base in enumerate(base_from_source(ast, obj_type.id)):
import os
from functools import wraps
from typing import Dict, Optional, Type
from arcor2_dobot import version
from arcor2_dobot.dobot import Dobot, MoveType
from arcor2_dobot.m1 import DobotM1
from arcor2_dobot.magician import DobotMagician
from flask import jsonify, request
from arcor2.data.common import Joint, Pose
from arcor2.flask import RespT, create_app, run_app
from arcor2.helpers import port_from_url
from arcor2.logging import get_logger
logger = get_logger(__name__)
URL = os.getenv("ARCOR2_DOBOT_URL", "http://localhost:5018")
SERVICE_NAME = "Dobot Service"
app = create_app(__name__)
_dobot: Optional[Dobot] = None
_mock = False
def started() -> bool:
return _dobot is not None
from arcor2 import env
from arcor2.cached import CachedProject as CProject
from arcor2.cached import CachedScene as CScene
from arcor2.data.common import Action, ActionParameter, FlowTypes
from arcor2.exceptions import Arcor2Exception
from arcor2.logging import get_logger
from arcor2.parameter_plugins.base import TypesDict
from arcor2.parameter_plugins.utils import plugin_from_type_name
from arcor2.source import SCRIPT_HEADER, SourceException
from arcor2.source.utils import add_import, add_method_call, tree_to_str
from arcor2_build.source.object_types import object_instance_from_res
from arcor2_build.source.utils import empty_script_tree, find_function, find_last_assign, main_loop
logger = get_logger(
__name__, logging.DEBUG
if env.get_bool("ARCOR2_LOGIC_DEBUG", False) else logging.INFO)
def program_src(type_defs: TypesDict,
project: CProject,
scene: CScene,
add_logic: bool = True) -> str:
tree = empty_script_tree(project.id, add_main_loop=add_logic)
# get object instances from resources object
main = find_function("main", tree)
last_assign = find_last_assign(main)
for obj in scene.objects:
add_import(tree,
req: str
timeout: float
return_res: bool
METERS_TO_MM = 1000.0
MM_TO_METERS = 1.0 / METERS_TO_MM
MOTION_BUFFER_SIZE = 512
MAX_TCP_SPEED = 1.5 # YuMi has max TCP speed 1.5m/s
MAX_GRIPPER_WIDTH = 0.02
MAX_GRIPPER_FORCE = 20
logger = get_logger("YuMi")
@dataclass
class YumiSettings(Settings):
ip: str
max_tcp_speed: float = MAX_TCP_SPEED
def __post_init__(self) -> None:
if not 0 < self.max_tcp_speed <= MAX_TCP_SPEED:
raise YumiException("Invalid speed.")
class CmdCodes(IntEnum):
the time before the server sends the first byte).
Source: https://requests.readthedocs.io/en/master/user/advanced/#timeouts
"""
connect: float = 3.05
read: float = 20.0
OptTimeout = Optional[Timeout]
# module-level variables
debug = env.get_bool("ARCOR2_REST_DEBUG", False)
headers = {"accept": "application/json", "content-type": "application/json"}
session = requests.session()
logger = get_logger(__name__, logging.DEBUG if debug else logging.INFO)
def dataclass_from_json(resp_json: Dict[str, Any],
return_type: Type[DataClass]) -> DataClass:
try:
return return_type.from_dict(resp_json)
except ValidationError as e:
logger.debug(
f'{return_type.__name__}: validation error "{e}" while parsing "{resp_json}".'
)
raise RestException("Invalid data.", str(e)) from e
def primitive_from_json(resp_json: Primitive,
from arcor2 import rest
from arcor2.data.common import Asset, IdDesc, Project, ProjectParameter, ProjectSources, Scene, SceneObjectOverride
from arcor2.data.object_type import MODEL_MAPPING, Mesh, MeshList, MetaModel3d, Model, Model3dType, ObjectType
from arcor2.exceptions import Arcor2Exception
from arcor2.exceptions.helpers import handle
from arcor2.logging import get_logger
URL = os.getenv("ARCOR2_PROJECT_SERVICE_URL", "http://0.0.0.0:10000")
"""
Collection of functions to work with the Project service (0.10.0).
All functions raise ProjectServiceException when any failure happens.
"""
logger = get_logger("Project")
class ProjectServiceException(Arcor2Exception):
pass
# ----------------------------------------------------------------------------------------------------------------------
# Assets
# ----------------------------------------------------------------------------------------------------------------------
@handle(ProjectServiceException, logger, message="Failed to list assets.")
def assets_ids() -> set[str]:
"""Gets IDs of stored assets."""
from dataclasses import dataclass
from typing import Optional
from dataclasses_jsonschema import JsonSchemaMixin
from arcor2 import rest
from arcor2.data.common import Pose
from arcor2.data.object_type import Model3dType, Models
from arcor2.data.scene import LineCheck, LineCheckResult, MeshFocusAction
from arcor2.exceptions import Arcor2Exception
from arcor2.exceptions.helpers import handle
from arcor2.logging import get_logger
URL = os.getenv("ARCOR2_SCENE_SERVICE_URL", "http://0.0.0.0:5013")
logger = get_logger("Scene")
class SceneServiceException(Arcor2Exception):
pass
@dataclass
class MeshParameters(JsonSchemaMixin):
mesh_scale_x: float = 1.0
mesh_scale_y: float = 1.0
mesh_scale_z: float = 1.0
transform_id: str = "world"
