def parameter_value(
cls, type_defs: TypesDict, scene: CScene, project: CProject, action_id: str, parameter_id: str
) -> List[Pose]:
ret: List[Pose] = []
ap, action = project.action_point_and_action(action_id)
parameter = action.parameter(parameter_id)
for orientation_id in cls._param_value_list(parameter):
ret.append(Pose(ap.position, project.orientation(orientation_id).orientation))
return ret
def parameter_execution_value(
cls, type_defs: TypesDict, scene: CScene, project: CProject, action_id: str, parameter_id: str
) -> List[Pose]:
ap, action = project.action_point_and_action(action_id)
if not ap.parent:
return copy.deepcopy(cls.parameter_value(type_defs, scene, project, action_id, parameter_id))
parameter = action.parameter(parameter_id)
ret: List[Pose] = []
for orientation_id in cls._param_value_list(parameter):
ret.append(copy.deepcopy(tr.abs_pose_from_ap_orientation(scene, project, orientation_id)))
return ret
def parameter_value(cls, type_defs: TypesDict, scene: CScene,
project: CProject, action_id: str,
parameter_id: str) -> ProjectRobotJoints:
try:
ap, action = project.action_point_and_action(action_id)
param = action.parameter(parameter_id)
joints_id = cls._id_from_value(param.value)
robot_id, action_method_name = action.parse_type()
joints = project.joints(joints_id)
except Arcor2Exception as e:
raise ParameterPluginException(
"Failed to get necessary data from project.") from e
if joints.robot_id != robot_id:
raise ParameterPluginException("Joints are for different robot.")
return joints
def parameter_ast(cls, type_defs: TypesDict, scene: CScene,
project: CProject, action_id: str,
parameter_id: str) -> Attribute:
ap, action = project.action_point_and_action(action_id)
joints = project.joints(
cls._id_from_value(action.parameter(parameter_id).value))
return Attribute(
value=Attribute(
value=Attribute(
value=Name(id="aps", ctx=Load()),
attr=ap.name,
ctx=Load() # TODO this should not be hardcoded
),
attr="joints", # TODO this should not be hardcoded
ctx=Load(),
),
attr=joints.name,
ctx=Load(),
)
