def api_load_unload(self, wht: WarehouseTask) -> RobotMission:
"""Load or unload HU of a warehouse task."""
# Default mission
mission = RobotMission()
# Get relevant parameters
if wht.vlpla:
action = {'getTrolley': {'dockName': wht.vlpla}}
elif wht.nlpla:
action = {'returnTrolley': {'dockName': wht.nlpla}}
else:
_LOGGER.error(
'Neither source nor target bin in warehouse task')
return mission
spec = {'actions': [action]}
mission_name = str(time.time())
# Create CR
success = self.create_cr(mission_name, self.labels, spec)
# On success, set ID and STATE
if success:
mission.name = mission_name
mission.status = RobotMission.STATE_ACCEPTED
return mission
def api_moveto_staging_position(self) -> RobotMission:
"""Move robot to a staging position of the map."""
# Default mission
mission = RobotMission()
# Get relevant parameters
# TODO implement real move to staging method
action = {'moveToNamedPosition': {'targetName': 'Staging'}}
spec = {'actions': [action]}
mission_name = str(time.time())
# Create CR
success = self.create_cr(mission_name, self.labels, spec)
# On success, set ID and STATE
if success:
mission.name = mission_name
mission.status = RobotMission.STATE_ACCEPTED
return mission
def api_moveto_storagebin_position(
self, storagebin: StorageBin) -> RobotMission:
"""Move robot to a storage bin position of the map."""
# Default mission
mission = RobotMission()
# Get relevant parameters
action = {'moveToNamedPosition': {'targetName': storagebin.lgpla}}
spec = {'actions': [action]}
mission_name = str(time.time())
# Create CR
success = self.create_cr(mission_name, self.labels, spec)
# On success, set ID and STATE
if success:
mission.name = mission_name
mission.status = RobotMission.STATE_ACCEPTED
return mission
def api_charge_robot(self) -> RobotMission:
"""Charge robot at the charging position."""
# Default mission
mission = RobotMission()
# Get relevant parameters
action = {'charge': {'chargerName': self.charger,
'thresholdBatteryPercent': self.battery_min,
'targetBatteryPercent': self.battery_ok}}
spec = {'actions': [action]}
mission_name = str(time.time())
# Create CR
success = self.create_cr(mission_name, self.labels, spec)
# On success, set ID and STATE
if success:
mission.name = mission_name
mission.status = RobotMission.STATE_ACCEPTED
return mission