def checkEncoders(self, request, context):
try:
self._robot.checkEncoders()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def goOffPose(self, request, context):
try:
self._robot.goOffPose()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def ejectHandToolLft(self, request, context):
try:
self._robot.handtool_l_eject()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def attachHandToolRgt(self, request, context):
try:
self._robot.handtool_r_attach()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def openHandToolLft(self, request, context):
try:
self._robot.gripper_l_open()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def closeHandToolRgt(self, request, context):
try:
self._robot.gripper_r_close()
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def playPattern(self, request, context):
try:
if self._oldyaml:
angleslist, tmlist = yaml.load(request.data)
else:
angleslist, tmlist = yaml.load(request.data,
Loader=yaml.UnsafeLoader)
self._robot.playPattern(angleslist, [], [], tmlist)
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)
def setJointAngles(self, request, context):
"""
:param request: request.data is in degree
:param context:
:return:
author: weiwei
date: 20190419
"""
try:
if self._oldyaml:
angles, tm = yaml.load(request.data)
else:
angles, tm = yaml.load(request.data, Loader=yaml.UnsafeLoader)
if tm is None:
tm = 10.0
self._robot.playPattern([self._deg2rad(angles), [tm]])
return nxt_msg.Status(value=nxt_msg.Status.DONE)
except Exception as e:
print(e, type(e))
return nxt_msg.Status(value=nxt_msg.Status.ERROR)