def resetTool(toolName: str) -> None:
data = openJson(PATH_2_TOOL_JSON)
data[toolName]['TCP_coordinates'] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
data[toolName]['calibrated_points'].clear()
writeJson(PATH_2_TOOL_JSON, data)
robotModel.setTool(
toolName=toolName,
tcpCoordinates=data[toolName]['TCP_coordinates'],
)
def updateTCPCoordinates(
toolName: str,
tcpCoordinates: list = point6f,
calibratedPoints: dict = {} ##################################
) -> None:
if toolName != 'default':
data = openJson(PATH_2_TOOL_JSON)
data[toolName]['TCP_coordinates'] = tcpCoordinates
data[toolName]['calibrated_points'] = calibratedPoints
writeJson(PATH_2_TOOL_JSON, data)
robotModel.setTool(
toolName=toolName,
tcpCoordinates=tcpCoordinates,
)
else:
pass
def addTool(toolNum: int = 0,
toolName: str = 'TCP_',
tcpCoordinates: list = point6f,
calibratedPoints: dict = {}) -> str:
"Add tool with default name like TCP_0"
toolName = f'{toolName}{toolNum-1}'
tcpInfo = {
f"{toolName}": {
"calibrated_points": calibratedPoints,
"TCP_coordinates": tcpCoordinates
}
}
data = openJson(PATH_2_TOOL_JSON)
data.update(tcpInfo)
writeJson(PATH_2_TOOL_JSON, data)
return toolName
def deleteTCP(self) -> None:
data = openJson(self.PATH_2_JSON)
data.pop(self.name)
writeJson(self.PATH_2_JSON, data)
def calculateTCP(toolName: str) -> list:
data = openJson(PATH_2_TOOL_JSON)
points = data[toolName]['calibrated_points'].values()
tcpCoordinates = cli.main(points)
data[toolName]['TCP_coordinates'][:3] = tcpCoordinates
writeJson(PATH_2_TOOL_JSON, data)
def updateCalibratedPoints(toolName: str, key: str, value: list):
data = openJson(PATH_2_TOOL_JSON)
data[toolName]['calibrated_points'].update({key: value})
writeJson(PATH_2_TOOL_JSON, data)
def checkSimilarity(toolName: str) -> bool:
toolsNames = openJson(PATH_2_TOOL_JSON).keys()
if toolName in toolsNames:
return True
return False
def getTCPCoordinates(toolName: str) -> list:
if toolName != 'default':
tools = openJson(PATH_2_TOOL_JSON)
return tools[toolName]['TCP_coordinates']
else:
return [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
def updateToolName(newName: str, currentName: str) -> None:
data = openJson(PATH_2_TOOL_JSON)
data[newName] = data.pop(currentName)
writeJson(PATH_2_TOOL_JSON, data)
def delTool(toolName: str) -> None:
resetTool(toolName)
data = openJson(PATH_2_TOOL_JSON)
data.pop(toolName)
writeJson(PATH_2_TOOL_JSON, data)
def getToolsNames() -> str:
toolsNames = openJson(PATH_2_TOOL_JSON).keys()
return toolsNames