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_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 rename_action_point_cb(req: rpc.project.RenameActionPointRequest,
ui: WsClient) -> None:
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
if req.args.new_name == ap.name:
return None
if not hlp.is_valid_identifier(req.args.new_name):
raise Arcor2Exception("Name has to be valid Python identifier.")
unique_name(req.args.new_name, glob.PROJECT.action_points_names)
if req.dry_run:
return None
ap.name = req.args.new_name
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionPointChanged(events.EventType.UPDATE_BASE,
data=ap.bare())))
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
async def rename_scene_cb(req: rpc.scene.RenameSceneRequest,
ui: WsClient) -> None:
unique_name(req.args.new_name, (await scene_names()))
if req.dry_run:
return None
async with managed_scene(req.args.id) as scene:
scene.name = req.args.new_name
asyncio.ensure_future(
notif.broadcast_event(
events.SceneChanged(events.EventType.UPDATE_BASE,
data=scene.bare())))
return None
async def copy_project_cb(req: rpc.project.CopyProjectRequest,
ui: WsClient) -> None:
unique_name(req.args.target_name, (await project_names()))
if req.dry_run:
return None
async with managed_project(req.args.source_id, make_copy=True) as project:
project.name = req.args.target_name
asyncio.ensure_future(
notif.broadcast_event(
events.ProjectChanged(events.EventType.UPDATE_BASE,
data=project.bare())))
return None
async def rename_project_cb(req: rpc.project.RenameProjectRequest,
ui: WsClient) -> None:
unique_name(req.args.new_name, (await project_names()))
if req.dry_run:
return None
async with managed_project(req.args.project_id) as project:
project.name = req.args.new_name
project.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ProjectChanged(events.EventType.UPDATE_BASE,
data=project.bare())))
return None
async def rename_action_point_orientation_cb(req: rpc.project.RenameActionPointOrientationRequest, ui: WsClient) -> \
None:
assert glob.PROJECT
ap, ori = glob.PROJECT.ap_and_orientation(req.args.orientation_id)
unique_name(req.args.new_name, ap.orientation_names())
if req.dry_run:
return None
ori.name = req.args.new_name
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.OrientationChanged(events.EventType.UPDATE_BASE, data=ori)))
return None
async def rename_action_point_joints_cb(
req: rpc.project.RenameActionPointJointsRequest, ui: WsClient) -> None:
assert glob.PROJECT
ap, joints = glob.PROJECT.ap_and_joints(req.args.joints_id)
unique_name(req.args.new_name, ap.joints_names())
if req.dry_run:
return None
joints.name = req.args.new_name
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.JointsChanged(events.EventType.UPDATE_BASE, data=joints)))
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 rename_action_cb(req: rpc.project.RenameActionRequest,
ui: WsClient) -> None:
assert glob.PROJECT
unique_name(req.args.new_name, glob.PROJECT.action_user_names())
if req.dry_run:
return None
act = glob.PROJECT.action(req.args.action_id)
act.name = req.args.new_name
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionChanged(events.EventType.UPDATE_BASE, data=act)))
return None
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