async def add_action_cb(req: rpc.project.AddActionRequest,
ui: WsClient) -> None:
assert glob.PROJECT
assert glob.SCENE
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, glob.PROJECT.action_user_names())
if not hlp.is_valid_identifier(req.args.name):
raise Arcor2Exception("Action name has to be valid Python identifier.")
new_action = common.Action(common.uid(), req.args.name, req.args.type,
req.args.parameters)
updated_project = copy.deepcopy(glob.PROJECT)
updated_ap = updated_project.action_point(req.args.action_point_id)
updated_ap.actions.append(new_action)
check_action_params(updated_project, new_action,
find_object_action(new_action))
if req.dry_run:
return None
ap.actions.append(new_action)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionChanged(events.EventType.ADD, ap.id,
data=new_action)))
return None
async def build_and_upload_package(project_id: str, package_name: str) -> str:
"""
Builds package and uploads it to the Execution unit.
:param project_id:
:param package_name:
:return: generated package ID.
"""
package_id = common.uid()
# call build service
# TODO store data in memory
with tempfile.TemporaryDirectory() as tmpdirname:
path = os.path.join(tmpdirname, "publish.zip")
await hlp.run_in_executor(
rest.download, f"{glob.BUILDER_URL}/project/{project_id}/publish",
path, None, {"package_name": package_name})
with open(path, "rb") as zip_file:
b64_bytes = base64.b64encode(zip_file.read())
b64_str = b64_bytes.decode()
# send data to execution service
exe_req = rpc.execution.UploadPackageRequest(
uuid.uuid4().int,
args=rpc.execution.UploadPackageArgs(package_id, b64_str))
exe_resp = await manager_request(exe_req)
if not exe_resp.result:
if not exe_resp.messages:
raise Arcor2Exception("Upload to the Execution unit failed.")
raise Arcor2Exception("\n".join(exe_resp.messages))
return package_id
async def new_scene_cb(req: rpc.scene.NewSceneRequest, ui: WsClient) -> None:
"""
Creates and opens a new scene on the server. Fails if any scene is open or if scene id/name already exists.
:param req:
:return:
"""
if glob.PACKAGE_STATE.state in (common.PackageStateEnum.PAUSED,
common.PackageStateEnum.RUNNING):
raise Arcor2Exception("Can't create scene while package runs.")
assert glob.SCENE is None
for scene_id in (await storage.get_scenes()).items:
if req.args.name == scene_id.name:
raise Arcor2Exception("Name already used.")
if req.dry_run:
return None
glob.SCENE = common.Scene(common.uid(), req.args.name, desc=req.args.desc)
asyncio.ensure_future(
notif.broadcast_event(
events.OpenScene(data=events.OpenSceneData(glob.SCENE))))
return None
async def add_action_point_orientation_using_robot_cb(
req: rpc.project.AddActionPointOrientationUsingRobotRequest,
ui: WsClient) -> None:
"""
Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, ap.orientation_names())
if req.dry_run:
return None
new_pose = await get_end_effector_pose(req.args.robot.robot_id,
req.args.robot.end_effector)
if ap.parent:
new_pose = tr.make_pose_rel_to_parent(glob.SCENE, glob.PROJECT,
new_pose, ap.parent)
orientation = common.NamedOrientation(common.uid(), req.args.name,
new_pose.orientation)
ap.orientations.append(orientation)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.OrientationChanged(events.EventType.ADD,
ap.id,
data=orientation)))
return None
async def add_action_point_orientation_cb(
req: rpc.project.AddActionPointOrientationRequest,
ui: WsClient) -> None:
"""
Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, ap.orientation_names())
if req.dry_run:
return None
orientation = common.NamedOrientation(common.uid(), req.args.name,
req.args.orientation)
ap.orientations.append(orientation)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.OrientationChanged(events.EventType.ADD,
ap.id,
data=orientation)))
return None
def main() -> None:
# robots
aubo = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13000", "aubo"))
simatic = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13001", "simatic"))
# objects with pose, with 'System' and 'Configurations' controllers
barcode = Barcode(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:14000", "simulator"))
search = Search(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:12000", "simulator"))
ict = Ict(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:19000", "simulator"))
# objects without pose, without 'System' and 'Configurations' controllers
interaction = Interaction(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:17000"))
statistic = Statistic(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:16000"))
# Add @action decorator to all actions of each object using patch_object_actions.
# It has to be called exactly once for each type!
# Certain functions of Execution unit (as e.g. pausing script execution) would not work without this step.
# Note: in a generated script, this is done within the Resources context manager.
# Side effect: a lot of JSON data will be printed out to the console when running the script manually.
patch_object_actions(Aubo)
patch_object_actions(Barcode)
patch_object_actions(Search)
patch_object_actions(Ict)
patch_object_actions(Interaction)
patch_object_actions(Statistic)
scene_service.delete_all_collisions()
scene_service.upsert_collision(Box("box_id", 0.1, 0.1, 0.1), Pose())
scene_service.start() # this is normally done by auto-generated Resources class
aubo.move("suction", Pose(), MoveTypeEnum.SIMPLE, safe=False)
simatic.set_joints(ProjectRobotJoints("", "", [Joint("x", 0), Joint("y", 0)]), MoveTypeEnum.SIMPLE)
barcode.scan()
search.set_search_parameters(SearchEngineParameters(search_log_level=SearchLogLevel(LogLevel.DEBUG)))
search.grab_image()
interaction.add_notification("Test", NotificationLevelEnum.INFO)
try:
statistic.get_groups()
except rest.RestHttpException as e:
# service returned error code
print(f"The error code is {e.error_code}.")
except rest.RestException as e:
# request totally failed (timeout, connection error, etc)
print(str(e))
if ict.ready():
test = ict.test("OK")
print(test)
scene_service.stop() # this is normally done by auto-generated Resources class
async def add_object_to_scene_cb(req: rpc.scene.AddObjectToSceneRequest,
ui: WsClient) -> None:
assert glob.SCENE
obj = common.SceneObject(common.uid(), req.args.name, req.args.type,
req.args.pose)
await add_object_to_scene(obj, dry_run=req.dry_run)
if req.dry_run:
return None
glob.SCENE.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.SceneObjectChanged(events.EventType.ADD, data=obj)))
return None
async def new_project_cb(req: rpc.project.NewProjectRequest,
ui: WsClient) -> None:
if glob.PACKAGE_STATE.state in (common.PackageStateEnum.PAUSED,
common.PackageStateEnum.RUNNING):
raise Arcor2Exception("Can't create project while package runs.")
unique_name(req.args.name, (await project_names()))
if req.dry_run:
return None
if glob.SCENE:
if glob.SCENE.id != req.args.scene_id:
raise Arcor2Exception("Another scene is opened.")
if glob.SCENE.has_changes():
await storage.update_scene(glob.SCENE)
glob.SCENE.modified = (await
storage.get_scene(glob.SCENE.id)).modified
else:
if req.args.scene_id not in {
scene.id
for scene in (await storage.get_scenes()).items
}:
raise Arcor2Exception("Unknown scene id.")
await open_scene(req.args.scene_id)
glob.PROJECT = common.Project(common.uid(),
req.args.name,
req.args.scene_id,
desc=req.args.desc,
has_logic=req.args.has_logic)
assert glob.SCENE
asyncio.ensure_future(
notif.broadcast_event(
events.OpenProject(
data=events.OpenProjectData(glob.SCENE, glob.PROJECT))))
return None
async def managed_scene(scene_id: str, make_copy: bool = False):
save_back = False
if glob.SCENE and glob.SCENE.id == scene_id:
if make_copy:
scene = copy.deepcopy(glob.SCENE)
save_back = True
else:
scene = glob.SCENE
else:
save_back = True
scene = await storage.get_scene(scene_id)
if make_copy:
scene.id = common.uid()
try:
yield scene
finally:
if save_back:
asyncio.ensure_future(storage.update_scene(scene))
async def managed_project(project_id: str, make_copy: bool = False):
save_back = False
if glob.PROJECT and glob.PROJECT.id == project_id:
if make_copy:
project = copy.deepcopy(glob.PROJECT)
save_back = True
else:
project = glob.PROJECT
else:
save_back = True
project = await storage.get_project(project_id)
if make_copy:
project.id = common.uid()
try:
yield project
finally:
if save_back:
asyncio.ensure_future(storage.update_project(project))
async def add_action_point_joints_cb(
req: rpc.project.AddActionPointJointsRequest, ui: WsClient) -> None:
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, ap.joints_names())
if req.dry_run:
return None
new_joints = await get_robot_joints(req.args.robot_id)
prj = common.ProjectRobotJoints(common.uid(), req.args.name,
req.args.robot_id, new_joints, True)
ap.robot_joints.append(prj)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.JointsChanged(events.EventType.ADD, ap.id, data=prj)))
return None
async def add_action_point_cb(req: rpc.project.AddActionPointRequest,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
unique_name(req.args.name, glob.PROJECT.action_points_names)
check_ap_parent(req.args.parent)
if not hlp.is_valid_identifier(req.args.name):
raise Arcor2Exception("Name has to be valid Python identifier.")
if req.dry_run:
return None
ap = common.ProjectActionPoint(common.uid(), req.args.name,
req.args.position, req.args.parent)
glob.PROJECT.action_points.append(ap)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionPointChanged(events.EventType.ADD, data=ap)))
return None
def main(res: Resources) -> None:
statistic = Statistic(uid("obj"), "Whatever",
SimpleSettings("http://127.0.0.1:16000"))
statistic.add_value(res.project.id, "value_name", 1.0, an="action_name")
