def example_manipulation_protobuf_list():
# In protobuf, list are called repeated once they are affected to a python
# variable they can be used as a normal list.
# Take note that a repeated message field doesn't have an append() function, it has an
# add() function that create the new message object.
# For this example we will use those two messages
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# To keep a clearer example the attribute action in SequenceTask message will be keep to default value
# Here's 2 way to add to a repeated message field
# Create the parent message
sequence = Base_pb2.Sequence()
sequence.name = "Sequence"
# The extend way
sequence_task_1 = Base_pb2.SequenceTask()
sequence_task_1.group_identifier = 10
action = sequence_task_1.action
action = Base_pb2.Action() # Using Action default constructor
sequence.tasks.extend([sequence_task_1]) # Extend expect an iterable
# Created for the add() function unique to repeated message field
sequence_task_2 = sequence.tasks.add()
sequence_task_2.group_identifier = 20
action = sequence_task_2.action
action = Base_pb2.Action() # Using Action default constructor
# Since sequence.task is a list we can use all the python toolset to
# loop, iterate, interogate and print element in that list
for i in range(len(sequence.tasks)):
print("sequence ID with index : {0}".format(
sequence.tasks[i].group_identifier))
# The list still have the iterator proprety of python list so you can directly iterate
# throught element without creating a iterator like previous example
for task in sequence.tasks:
print("sequence ID with object iterator : {0}".format(
task.group_identifier))
def example_manipulation_protobuf_list():
# In Google Protocol Buffer, 'repeated' is used to designate a list of indeterminate length. Once affected to a Python
# variable they can be used in the same way as a standard list.
# Note that a repeated message field doesn't have an append() function, it has an
# add() function that create the new message object.
# For this example we will use the following two messages
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# For a clearer example the attribute action in SequenceTask message will be kept to default value
# Here's two ways to add to a repeated message field
# Create the parent message
sequence = Base_pb2.Sequence()
sequence.name = "Sequence"
# The 'extend' way
sequence_task_1 = Base_pb2.SequenceTask()
sequence_task_1.group_identifier = 10
action = sequence_task_1.action
action = Base_pb2.Action() # Using Action default constructor
sequence.tasks.extend([sequence_task_1]) # Extend expect an iterable
# Created for the add() function unique to repeated message field
sequence_task_2 = sequence.tasks.add()
sequence_task_2.group_identifier = 20
action = sequence_task_2.action
action = Base_pb2.Action() # Using Action default constructor
# Since sequence.task is a list we can use all the Python features to
# loop, iterate, interogate and print elements in that list.
for i in range(len(sequence.tasks)):
print("sequence ID with index : {0}".format(
sequence.tasks[i].group_identifier))
# Lists have the iterator property of a Python list, so you can directly iterate
# throught element without creating a iterator as in the previous example
for task in sequence.tasks:
print("sequence ID with object iterator : {0}".format(
task.group_identifier))
def example_manipulation_protobuf_object():
# One of the basics element in protobuf are the message. They are the main element in protobuf
# just like class in python. You need a message to make workable object. A message can contain
# many kind of element. For now, we have already covered the Scalar Value and in this section we
# going to cover message.
# A message can make a reference to another message to make more complete element
# For this example I'll use the FullUserProfile and UserProfile message
# message FullUserProfile {
# UserProfile user_profile = 1; //User Profile, which includes username
# string password = 2; //User's password
# }
# message UserProfile {
# Kinova.Api.Common.UserProfileHandle handle = 1; //User handle (no need to be set)
# string username = 2; // username, which is used to connect to robot (or login via Web App)
# string firstname = 3; //user first name
# string lastname = 4; //user last name
# string application_data = 5; //other application data (used by Web App)
# }
# https://developers.google.com/protocol-buffers/docs/proto3#simple
full_user_profile = Base_pb2.FullUserProfile()
# Now I'll put data in the scalar value
full_user_profile.password = "******"
# Now I want to work with the user profile attribute which is a message itself.
# Since user profile is a message you can use the . to get access
# to those attribute.
full_user_profile.user_profile.username = "******"
full_user_profile.user_profile.firstname = "Johnny"
full_user_profile.user_profile.lastname = "Cash"
# Another basic element is the Enum. Enum are directly available from
# the message no need to pass by the enum 'message'.
# Here's a example:
# enum LimitationType {
# UNSPECIFIED_LIMITATION = 0; //unspecified limitation
# FORCE_LIMITATION = 1; //force limitation
# ACCELERATION_LIMITATION = 2; //acceleration limitation
# VELOCITY_LIMITATION = 3; //velocity limitation
# }
# message LimitationTypeIdentifier {
# LimitationType type = 1; //limitation type
# }
# https://developers.google.com/protocol-buffers/docs/proto3#enum
limitation_type_identifier = Base_pb2.LimitationTypeIdentifier()
limitation_type_identifier.type = Base_pb2.FORCE_LIMITATION
def example_notification(base_service):
def notification_callback(data):
print("****************************")
print("* Callback function called *")
print(json_format.MessageToJson(data))
print("****************************")
# Subscribe to ConfigurationChange notification
try:
notif_handle = base_service.OnNotificationConfigurationChangeTopic(
notification_callback, Base_pb2.NotificationOptions())
except KException:
print("Error occured user probably already exist")
except Exception:
print("Error occured")
# ... miscellenaous tasks !!!
time.sleep(3)
# Creating a user
full_user_profile = Base_pb2.FullUserProfile()
full_user_profile.user_profile.username = '******'
full_user_profile.user_profile.firstname = 'Johnny'
full_user_profile.user_profile.lastname = 'Cash'
full_user_profile.user_profile.application_data = "Custom Application Stuff"
full_user_profile.password = "******"
try:
user_profile_handle = base_service.CreateUserProfile(full_user_profile)
except KException:
print("User creation failed")
# ... following the creation of the user_profile we should receive the ConfigurationChange notification (fct notification_callback() should be call)
print("User {0} created".format(full_user_profile.user_profile.username))
# ... miscellenaous tasks !!! and to let the notification works.
time.sleep(3)
print("Now unsubscribe ConfigurationChange notification")
base_service.Unsubscribe(notif_handle)
try:
print("Deleting user {0}".format(
full_user_profile.user_profile.username))
base_service.DeleteUserProfile(
user_profile_handle
) # Should not received notification about this modification
except KException:
print("User deletion failed")
# ... here sleep to confirm that ConfigurationChange notification is not raised anymore after the unsubscribe
time.sleep(3)
def example_manipulation_protobuf_object():
# Messages are the main element in Google Protocol Buffer in the same way classes are to Python. You need a message
# to make a workable object. A message can contain many kind of elements. We have already
# covered the scalar value and in this section we are going to cover the message.
#
# A message can make a reference to another message to make more comprehensive element.
# For this example we'll use the FullUserProfile and UserProfile messages.
# message FullUserProfile {
# UserProfile user_profile = 1; //User Profile, which includes username.
# string password = 2; //User's password
# }
# message UserProfile {
# Kinova.Api.Common.UserProfileHandle handle = 1; // User handle (no need to be set)
# string username = 2; // username, which is used to connect to robot (or via Web App login)
# string firstname = 3; // user first name
# string lastname = 4; // user last name
# string application_data = 5; // other application data (used by Web App)
# }
# https://developers.google.com/protocol-buffers/docs/proto3#simple
full_user_profile = Base_pb2.FullUserProfile()
# Now we'll add data to the scalar
full_user_profile.password = "******"
# Now I want to work with the user profile attribute which is a message itself.
# Since user profile is a message you can use the '.' to access
# these attributes.
full_user_profile.user_profile.username = "******"
full_user_profile.user_profile.firstname = "Johnny"
full_user_profile.user_profile.lastname = "Cash"
# Another basic element is the enum. Enum are directly available from
# the message - no need to use the enum 'message'.
# Here's an example:
# enum LimitationType {
# UNSPECIFIED_LIMITATION = 0; // unspecified limitation
# FORCE_LIMITATION = 1; // force limitation
# ACCELERATION_LIMITATION = 2; // acceleration limitation
# VELOCITY_LIMITATION = 3; // velocity limitation
# }
# message LimitationTypeIdentifier {
# LimitationType type = 1; // limitation type
# }
# https://developers.google.com/protocol-buffers/docs/proto3#enum
limitation_type_identifier = Base_pb2.LimitationTypeIdentifier()
limitation_type_identifier.type = Base_pb2.FORCE_LIMITATION
def create_sequence(router):
print("Creating Action for Sequence")
angular_action = create_angular_action()
cartesian_action = create_cartesian_action()
print("Creating Sequence")
sequence = Base_pb2.Sequence()
sequence.name = "Example sequence"
print("Appending Actions to Sequence")
task_1 = sequence.tasks.add()
task_1.group_identifier = 0
task_1.action.CopyFrom(angular_action)
task_2 = sequence.tasks.add()
task_2.group_identifier = 1 # Sequence element with same group_id are played at the same time
task_2.action.CopyFrom(cartesian_action)
print("Create sequence on device and execute it")
base_client_service = BaseClient(router)
handle_sequence = base_client_service.CreateSequence(sequence)
base_client_service.PlaySequence(handle_sequence)
print("Waiting 30 seconds to finish movement...")
time.sleep(30)
def create_angular_action():
print("Creating angular action")
action = Base_pb2.Action()
action.name = "Example angular action"
action.application_data = ""
angle_value = [0, 0, 0, 0, 0, 0, 0]
for joint_id in range(7):
joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add()
joint_angle.value = angle_value[joint_id]
return action
def create_cartesian_action():
print("Creating cartesian action")
action = Base_pb2.Action()
action.name = "Example cartesian action"
action.application_data = ""
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = 0.80 # (meters)
cartesian_pose.y = 0 # (meters)
cartesian_pose.z = 0.36 # (meters)
cartesian_pose.theta_x = 10 # (degrees)
cartesian_pose.theta_y = 90 # (degrees)
cartesian_pose.theta_z = 10 # (degrees)
return action
def example_manipulation_protobuf_basic():
# In protobuf, there's many scalar value types you can declare.
# All those type have a coresponding type in python.
# Here's the list:
# Proto type : Python type
# double : float
# float : float
# int32 : int
# int64 : int
# uint32 : int/long
# uint64 : int/long
# sint32 : int
# sint64 : int/long
# fixed32 : int/long
# fixed64 : int/long
# sfixed32 : int
# sfixed64 : int/long
# bool : bool
# string : str
# bytes : str
# Those type can be used like regular python variable.
# For more information about Scalar Value Types visits:
# https://developers.google.com/protocol-buffers/docs/proto3#scalar
# You can regroup many of these scalar value in a message. The message is a structure used in protobuf
# to make sure all information is scope in an object. Scalar Value can't live on their own
# if they are not contain in a message.
# Here's a quick example using the Kinova API UserProfile message:
# message UserProfile {
# Kinova.Api.Common.UserProfileHandle handle = 1; //User handle (no need to set it with CreateUserProfile()
# string username = 2; // username, which is used to connect to robot (or login via Web App)
# string firstname = 3; //user first name
# string lastname = 4; //user last name
# string application_data = 5; //other application data (used by Web App)
# }
user_profile = Base_pb2.UserProfile()
# Each scalar value in a message have a set_<field> function to set the value and a getter which is
# simply the variable name
user_profile.username = "******" # We can directly affect data to variable attribute
user_profile.firstname = "Johnny"
user_profile.lastname = "Cash"
def angular_movement(base_client_service):
print("Starting angular motion ...")
action = Base_pb2.Action()
action.name = "Example angular motion"
action.application_data = ""
angle_value = [0, 0, 0, 0, 0, 0, 0] # arm straight up
for joint_id in range(7):
joint_angle = action.reach_joint_angles.joint_angles.joint_angles.add()
joint_angle.joint_identifier = joint_id
joint_angle.value = angle_value[joint_id]
print("Executing action")
base_client_service.ExecuteAction(action)
print("Waiting 10 seconds to finish movement...")
time.sleep(10)
print("Angular movement finish")
def cartesian_movement(base_client_service):
print("Starting Cartesian motion ...")
action = Base_pb2.Action()
action.name = "Example Cartesian motion"
action.application_data = ""
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = 0.80 # (meters)
cartesian_pose.y = 0 # (meters)
cartesian_pose.z = 0.36 # (meters)
cartesian_pose.theta_x = 10 # (degrees)
cartesian_pose.theta_y = 90 # (degrees)
cartesian_pose.theta_z = 10 # (degrees)
print("Executing action")
base_client_service.ExecuteAction(action)
print("Waiting 20 seconds for motion to finish ...")
time.sleep(20)
print("Cartesian motion ended")
def example_error_management(base_service):
try:
base_service.CreateUserProfile(Base_pb2.FullUserProfile())
except KServerException as ex:
# get sub error codes
error_code = ex.get_error_code()
sub_error_code = ex.get_error_sub_code()
print("error_code:{0} sub_error_code:{1} ".format(
error_code, sub_error_code))
# error exception to string (here the try/except addresses an known issue that will be fixed in a future version)
try:
print("Error: {0}".format(ex))
except Exception:
print(
"Unkonown error details for error_code:{0} sub_error_code:{1} "
.format(error_code, sub_error_code))
except Exception:
import sys
print("generic exception: {0}".format(sys.exc_info()[0]))
def example_manipulation_protobuf_helpers():
# Google offers some helpers with protobuf
# We will cover some of them in this section
# All the module google.protobuf documentation is available here:
# https://developers.google.com/protocol-buffers/docs/reference/python/
# First, the function include with message instance. We will cover the next function
# Clear
# MergeFrom
# CopyFrom
# The Clear function is strainght forward it clear all the message attribute.
# MergeFrom and CopyFrom have the same purpose, To duplicate data into another object.
# The difference between them is CopyFrom will do a Clear before a MergeFrom.
# For it's part MergeFrom will merge data if the new field is not empty.
# In case of repeated, the content receive in parameter will be append
# For this example, I'll used the Ssid message
# message Ssid {
# string identifier = 1;
# }
# First I'll create 4 of them with unique string
ssid_1 = Base_pb2.Ssid()
ssid_1.identifier = ""
ssid_2 = Base_pb2.Ssid()
ssid_2.identifier = "123"
ssid_3 = Base_pb2.Ssid()
ssid_3.identifier = "@#$"
# Now I'll Merge ssid_1 in ssid_2 and print the identifier of ssid_2
ssid_2.MergeFrom(ssid_1)
print("Content ssid_2: {0}".format(ssid_2.identifier))
# output : Content ssid_2: 123
# Now I'll Copy ssid_1 in ssid_3 and print the identifier of ssid_3
ssid_3.CopyFrom(ssid_1)
print("Content ssid_3: {0}".format(ssid_3.identifier))
# output : Content ssid_3:
# For more function visit the Class Message documentation
# https://developers.google.com/protocol-buffers/docs/reference/python/google.protobuf.message.Message-class
# From the protobuf library you can used the json_format module.
# One useful function is the MessageToJson.
# This function serialize the protobuf message to a json object it help alot when you want to print large object in
# a human readable way.
# Here's an example with the following two message
# message Sequence {
# SequenceHandle handle = 1
# string name = 2
# string application_data = 3
# repeated SequenceTask tasks = 4
# }
# message SequenceTask {
# uint32 group_identifier = 1;
# Action action = 2;
# string application_data = 3;
# }
# I quickly populate the message
sequence = Base_pb2.Sequence()
sequence.name = "A Name"
for i in range(5):
sequence_task = sequence.tasks.add()
sequence_task.group_identifier = 10 * (
i + 1) # Some further function doesn't print if value = 0
action = sequence_task.action
action = Base_pb2.Action() # Using Action default constructor
# We need to import the module
from google.protobuf import json_format
# Now to get the json object
json_object = json_format.MessageToJson(sequence)
# Now you can print it
print("Json object")
print(json_object)
# output:
# Json object
# {
# "name": "A Name",
# "tasks": [
# {
# "groupIdentifier": 10
# },
# {
# "groupIdentifier": 20
# },
# {
# "groupIdentifier": 30
# },
# {
# "groupIdentifier": 40
# },
# {
# "groupIdentifier": 50
# }
# ]
# }
# From the protobuf library you can used the text_format module
# A useful function is the MessageToString. It has the same purpose of
# MessageToJson convert the message to a human readable format
# For the example I'll reuse the sequence object created in previous example
# First import the module
from google.protobuf import text_format
# Now print
print("Text format")
print(text_format.MessageToString(sequence))