def __init__(self, host=None, logger=None):
self._api = RobotApi()
if host is not None:
self._api.api_client.configuration.host = host
if logger is None:
logger = logging.getLogger("pulseapi")
logger.addHandler(logging.NullHandler())
self.logger = logger
self.host = self._api.api_client.configuration.host
def __init__(self, session: Session = None, logger: logging.Logger = None):
self._api = RobotApi()
self._session = session
self._api.api_client.configuration.host = self._session.location
if logger is None:
logger = logging.getLogger("pulseapi")
logger.addHandler(logging.NullHandler())
self.logger = logger
self.host = self._api.api_client.configuration.host
class RobotPulse:
def __init__(self, host=None, logger=None):
self._api = RobotApi()
if host is not None:
self._api.api_client.configuration.host = host
if logger is None:
logger = logging.getLogger("pulseapi")
logger.addHandler(logging.NullHandler())
self.logger = logger
self.host = self._api.api_client.configuration.host
def add_to_environment(self, obstacle):
self.logger.debug(str(obstacle))
return self._api.add_to_environment(obstacle)
def bind_stop(self, port, signal_level):
result = None
if signal_level == SIG_HIGH:
result = self._api.bind_stop_port_high(port)
elif signal_level == SIG_LOW:
result = self._api.bind_stop_port_low(port)
else:
error_msg = "Signal level must be either {} or {}".format(
SIG_HIGH, SIG_LOW
)
raise ValueError(error_msg)
return result
def change_base(self, base_position):
self.logger.debug(str(base_position))
return self._api.change_base(base_position)
def change_tool_info(self, new_tool_info):
self.logger.debug(str(new_tool_info))
return self._api.change_tool_info(new_tool_info)
def change_tool_shape(self, new_tool_shape):
self.logger.debug(str(new_tool_shape))
return self._api.change_tool_shape(new_tool_shape)
def close_gripper(self, timeout=None):
self.logger.debug(str(timeout))
if timeout is not None:
return self._api.close_gripper(timeout=timeout)
return self._api.close_gripper()
def disable_gripper(self):
return self._api.disable_gripper()
def enable_gripper(self):
return self._api.enable_gripper()
def freeze(self):
return self._api.freeze()
def get_all_from_environment(self):
return self._api.get_all_from_environment()
def get_base(self):
return self._api.get_base()
def get_digital_input(self, port):
return self._api.get_digital_input(port)
def get_digital_output(self, port):
return self._api.get_digital_output(port)
def get_from_environment_by_name(self, obstacle_name):
return self._api.get_from_environment_by_name(obstacle_name)
def get_pose(self):
return self._api.get_pose()
def get_position(self):
return self._api.get_position()
def get_tool_info(self):
return self._api.get_tool_info()
def get_tool_shape(self):
return self._api.get_tool_shape()
def information(self):
return self._api.information()
def identifier(self):
return self._api.identifier()
def jogging(self, jog_value):
return self._api.jogging(jog_value)
def open_gripper(self, timeout=None):
self.logger.debug(str(timeout))
if timeout is not None:
return self._api.open_gripper(timeout=timeout)
return self._api.open_gripper()
def pack(self):
return self._api.pack()
def recover(self):
return self._api.recover()
def relax(self):
return self._api.relax()
def remove_all_from_environment(self):
return self._api.remove_all_from_environment()
def remove_from_environment_by_name(self, obstacle_name):
return self._api.remove_from_environment_by_name(obstacle_name)
def run_poses(
self,
poses,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(poses=poses, motion_parameters=motion_parameters))
)
return self._api.run_poses(poses, **motion_parameters)
def run_positions(
self,
positions,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(positions=positions, motion_parameters=motion_parameters))
)
return self._api.run_positions(positions, **motion_parameters)
def set_digital_output_high(self, port):
return self._api.set_digital_output_high(port)
def set_digital_output_low(self, port):
return self._api.set_digital_output_low(port)
def set_pose(
self,
target_pose,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(pose=target_pose, motion_parameters=motion_parameters))
)
return self._api.set_pose(target_pose, **motion_parameters)
def set_position(
self,
target_position,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(
dict(
position=target_position,
motion_parameters=motion_parameters,
)
)
)
return self._api.set_position(target_position, **motion_parameters)
@deprecated(reason="You should use status() method", version="1.6.0")
def status_motion(self):
result = self._api.status_motion()
self.logger.debug(result)
return result
def status(self):
result = self._api.status()
self.logger.debug(result)
return result
def status_motors(self):
return self._api.status_motors()
def stop(self):
return self._api.stop()
@deprecated(reason="You should use await_stop() method", version="1.6.0")
def await_motion(self, asking_interval=0.1):
self.logger.debug(str(asking_interval))
while self.status_motion() != MotionStatus.IDLE:
time.sleep(asking_interval)
def await_stop(self, asking_interval=0.1):
self.logger.debug(str(asking_interval))
while self.status() == SystemState.MOTION:
time.sleep(asking_interval)
def unbind_stop(self):
return self._api.unbind_stop()
def zg_on(self):
return self._api.zg_on()
def zg_off(self):
return self._api.zg_off()
@staticmethod
def __extract_motion_params(**kwargs):
return {k: v for k, v in locals()["kwargs"].items() if v is not None}
class RobotPulse:
def __init__(self, session: Session = None, logger: logging.Logger = None):
self._api = RobotApi()
self._session = session
self._api.api_client.configuration.host = self._session.location
if logger is None:
logger = logging.getLogger("pulseapi")
logger.addHandler(logging.NullHandler())
self.logger = logger
self.host = self._api.api_client.configuration.host
@refresh_token
def add_to_environment(self, obstacle):
self.logger.debug(str(obstacle))
return self._api.add_to_environment(obstacle, self._session.token)
@refresh_token
def change_base(self, base_position):
self.logger.debug(str(base_position))
return self._api.change_base(base_position, self._session.token)
@refresh_token
def change_tool_info(self, new_tool_info):
self.logger.debug(str(new_tool_info))
return self._api.change_tool_info(new_tool_info, self._session.token)
@refresh_token
def change_tool_shape(self, new_tool_shape):
self.logger.debug(str(new_tool_shape))
return self._api.change_tool_shape(new_tool_shape, self._session.token)
@refresh_token
def close_gripper(self, timeout=None):
self.logger.debug(str(timeout))
if timeout is not None:
return self._api.close_gripper(self._session.token,
timeout=timeout)
return self._api.close_gripper(self._session.token)
@refresh_token
def freeze(self):
return self._api.freeze(self._session.token)
@refresh_token
def get_all_from_environment(self):
return self._api.get_all_from_environment(self._session.token)
@refresh_token
def get_base(self):
return self._api.get_base(self._session.token)
@refresh_token
def get_digital_input(self, port):
return self._api.get_digital_input(port, self._session.token)
@refresh_token
def get_digital_output(self, port):
return self._api.get_digital_output(port, self._session.token)
@refresh_token
def get_from_environment_by_name(self, obstacle_name):
return self._api.get_from_environment_by_name(obstacle_name,
self._session.token)
@refresh_token
def get_pose(self):
return self._api.get_pose(self._session.token)
@refresh_token
def get_position(self):
return self._api.get_position(self._session.token)
@refresh_token
def get_tool_info(self):
return self._api.get_tool_info(self._session.token)
@refresh_token
def get_tool_shape(self):
return self._api.get_tool_shape(self._session.token)
@refresh_token
def information(self):
return self._api.information(self._session.token)
@refresh_token
def identifier(self):
return self._api.identifier(self._session.token)
@refresh_token
def jogging(self, jog_value):
return self._api.jogging(jog_value, self._session.token)
@refresh_token
def open_gripper(self, timeout=None):
self.logger.debug(str(timeout))
if timeout is not None:
return self._api.open_gripper(self._session.token, timeout=timeout)
return self._api.open_gripper(self._session.token)
@refresh_token
def pack(self):
return self._api.pack(self._session.token)
@refresh_token
def recover(self):
return self._api.recover(self._session.token)
@refresh_token
def relax(self):
return self._api.relax(self._session.token)
@refresh_token
def remove_all_from_environment(self):
return self._api.remove_all_from_environment(self._session.token)
@refresh_token
def remove_from_environment_by_name(self, obstacle_name):
return self._api.remove_from_environment_by_name(
obstacle_name, self._session.token)
@refresh_token
def run_poses(
self,
poses,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(poses=poses, motion_parameters=motion_parameters)))
return self._api.run_poses(poses, self._session.token,
**motion_parameters)
@refresh_token
def run_positions(
self,
positions,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(positions=positions,
motion_parameters=motion_parameters)))
return self._api.run_positions(positions, self._session.token,
**motion_parameters)
@refresh_token
def set_digital_output_high(self, port):
return self._api.set_digital_output_high(port, self._session.token)
@refresh_token
def set_digital_output_low(self, port):
return self._api.set_digital_output_low(port, self._session.token)
@refresh_token
def set_pose(
self,
target_pose,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(dict(pose=target_pose, motion_parameters=motion_parameters)))
return self._api.set_pose(target_pose, self._session.token,
**motion_parameters)
@refresh_token
def set_position(
self,
target_position,
speed=None,
velocity=None,
acceleration=None,
tcp_max_velocity=None,
motion_type=MT_JOINT,
):
motion_parameters = self.__extract_motion_params(
speed=speed,
velocity=velocity,
acceleration=acceleration,
tcp_max_velocity=tcp_max_velocity,
motion_type=motion_type,
)
self.logger.debug(
str(
dict(
position=target_position,
motion_parameters=motion_parameters,
)))
return self._api.set_position(target_position, self._session.token,
**motion_parameters)
@deprecated(reason="You should use status() method", version="1.6.0")
@refresh_token
def status_motion(self):
result = self._api.status_motion(self._session.token)
self.logger.debug(result)
return result
@refresh_token
def status(self):
result = self._api.status(self._session.token)
self.logger.debug(result)
return result
@refresh_token
def status_motors(self):
return self._api.status_motors(self._session.token)
@deprecated(reason="You should use await_stop() method", version="1.6.0")
def await_motion(self, asking_interval=0.1):
self.logger.debug(str(asking_interval))
while self.status_motion() != MotionStatus.IDLE:
time.sleep(asking_interval)
def await_stop(self, asking_interval=0.1):
self.logger.debug(str(asking_interval))
while self.status() == SystemState.MOTION:
time.sleep(asking_interval)
@staticmethod
def __extract_motion_params(**kwargs):
return {k: v for k, v in locals()["kwargs"].items() if v is not None}