def example_notification(base):
def notification_callback(data):
print("****************************")
print("* Callback function called *")
print(json_format.MessageToJson(data))
print("****************************")
# Subscribe to ConfigurationChange notifications
print("Subscribing to ConfigurationChange notifications")
try:
notif_handle = base.OnNotificationConfigurationChangeTopic(
notification_callback, Base_pb2.NotificationOptions())
except KException as k_ex:
print("Error occured: {}".format(k_ex))
except Exception:
print("Error occured")
# ... miscellaneous tasks
time.sleep(3)
# Create a user profile to trigger a notification
full_user_profile = Base_pb2.FullUserProfile()
full_user_profile.user_profile.username = '******'
full_user_profile.user_profile.firstname = 'Johnny'
full_user_profile.user_profile.lastname = 'Cash'
full_user_profile.user_profile.application_data = "Custom Application Stuff"
full_user_profile.password = "******"
user_profile_handle = Base_pb2.UserProfileHandle()
try:
print("Creating user profile to trigger notification")
user_profile_handle = base.CreateUserProfile(full_user_profile)
except KException:
print("User profile creation failed")
# Following the creation of the user profile, we should receive the ConfigurationChange notification (notification_callback() should be called)
print("User {0} created".format(full_user_profile.user_profile.username))
# Give time for the notification to arrive
time.sleep(3)
print("Now unsubscribing from ConfigurationChange notifications")
base.Unsubscribe(notif_handle)
try:
print("Deleting previously created user profile ({0})".format(
full_user_profile.user_profile.username))
base.DeleteUserProfile(
user_profile_handle
) # Should not have received notification about this modification
except KException:
print("User profile deletion failed")
# Sleep to confirm that ConfigurationChange notification is not raised anymore after the unsubscribe
time.sleep(3)
def example_error_management(base):
try:
base.CreateUserProfile(Base_pb2.FullUserProfile())
except KServerException as ex:
# Get error and sub error codes
error_code = ex.get_error_code()
sub_error_code = ex.get_error_sub_code()
print("Error_code:{0} , Sub_error_code:{1} ".format(error_code, sub_error_code))
print("Caught expected error: {0}".format(ex))
def example_manipulation_protobuf_object():
# Messages are the main element in Google Protocol Buffer in the same way classes are to Python. You need a message
# to make a workable object. A message can contain many kind of elements. We have already
# covered the scalar value and in this section we are going to cover the message.
#
# A message can make a reference to another message to make more comprehensive element.
# For this example we'll use the FullUserProfile and UserProfile messages.
# message FullUserProfile {
# UserProfile user_profile = 1; //User Profile, which includes username.
# string password = 2; //User's password
# }
# message UserProfile {
# Kinova.Api.Common.UserProfileHandle handle = 1; // User handle (no need to be set)
# string username = 2; // username, which is used to connect to robot (or via Web App login)
# string firstname = 3; // user first name
# string lastname = 4; // user last name
# string application_data = 5; // other application data (used by Web App)
# }
# https://developers.google.com/protocol-buffers/docs/proto3#simple
full_user_profile = Base_pb2.FullUserProfile()
# Now we'll add data to the scalar
full_user_profile.password = "******"
# Now I want to work with the user profile attribute which is a message itself.
# Since user profile is a message you can use the '.' to access
# these attributes.
full_user_profile.user_profile.username = "******"
full_user_profile.user_profile.firstname = "Johnny"
full_user_profile.user_profile.lastname = "Cash"
# Another basic element is the enum. Enum is directly available from
# the message - no need to use the enum 'message'.
# Here's an example:
# enum LimitationType {
# UNSPECIFIED_LIMITATION = 0; // unspecified limitation
# FORCE_LIMITATION = 1; // force limitation
# ACCELERATION_LIMITATION = 2; // acceleration limitation
# VELOCITY_LIMITATION = 3; // velocity limitation
# }
# message CartesianLimitation {
# LimitationType type = 1; // limitation type
# }
# https://developers.google.com/protocol-buffers/docs/proto3#enum
cartesianLimitation = Base_pb2.CartesianLimitation
cartesianLimitation.type = Base_pb2.FORCE_LIMITATION