def save_config(config) -> str:
try:
robot_configs.save_robot_settings(config)
robot_configs.save_deck_calibration(config)
result = robot_configs.load()
except Exception as e:
result = repr(e)
return result
async def save_transform(data) -> CommandResult:
"""
Calculate the transformation matrix that calibrates the gantry to the deck
:param data: unused
"""
if not session_wrapper.session:
raise NoSessionInProgress()
if any([v is None for v in session_wrapper.session.points.values()]):
message = "Not all points have been saved"
status = False
else:
# expected values based on mechanical drawings of the robot
expected_pos = expected_points()
expected = [
expected_pos[p] for p in expected_pos.keys()]
# measured data
actual = [session_wrapper.session.points[p] for p in
sorted(session_wrapper.session.points.keys())]
# Generate a 2 dimensional transform matrix from the two matricies
flat_matrix = solve(expected, actual).round(4)
# replace relevant X, Y and angular components
# [[cos_x, sin_y, const_zero, delta_x___],
# [-sin_x, cos_y, const_zero, delta_y___],
# [const_zero, const_zero, const_one_, delta_z___],
# [const_zero, const_zero, const_zero, const_one_]]
session_wrapper.session.current_transform = \
add_z(flat_matrix, session_wrapper.session.z_value)
session_wrapper.session.adapter.update_config(
gantry_calibration=list(
list(i) for i in session_wrapper.session.current_transform)
)
new_gantry_cal =\
session_wrapper.session.adapter.config.gantry_calibration
session_wrapper.session.backup_gantry_cal = new_gantry_cal
robot_configs.save_deck_calibration(
session_wrapper.session.adapter.config)
message = "Config file saved and backed up"
status = True
return CommandResult(success=status, message=message)
async def save_transform(data):
"""
Calculate the transormation matrix that calibrates the gantry to the deck
:param data: Information obtained from a POST request.
The content type is application/json.
The correct packet form should be as follows:
{
'token': UUID token from current session start
'command': 'save transform'
}
"""
if any([v is None for v in session_wrapper.session.points.values()]):
message = "Not all points have been saved"
status = 400
else:
# expected values based on mechanical drawings of the robot
expected_pos = expected_points()
expected = [
expected_pos[p] for p in expected_pos.keys()]
# measured data
actual = [session_wrapper.session.points[p] for p in
sorted(session_wrapper.session.points.keys())]
# Generate a 2 dimensional transform matrix from the two matricies
flat_matrix = solve(expected, actual).round(4)
# replace relevant X, Y and angular components
# [[cos_x, sin_y, const_zero, delta_x___],
# [-sin_x, cos_y, const_zero, delta_y___],
# [const_zero, const_zero, const_one_, delta_z___],
# [const_zero, const_zero, const_zero, const_one_]]
session_wrapper.session.current_transform = \
add_z(flat_matrix, session_wrapper.session.z_value)
session_wrapper.session.adapter.update_config(
gantry_calibration=list(
list(i) for i in session_wrapper.session.current_transform)
)
robot_configs.save_deck_calibration(
session_wrapper.session.adapter.config)
message = "Config file saved and backed up"
status = 200
return web.json_response({'message': message}, status=status)
