def hold(self, joint_id=[1]):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"hold\\\","
cmd += "\\\"joint_ids\\\":"+str(joint_id)
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def delete_script(self, script_id=1):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"delete_script\\\","
cmd += "\\\"script_id\\\":\\\""+str(script_id)+"\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def save_script(self, script_name="", script_code=""):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"save_script\\\","
cmd += "\\\"script_name\\\":\\\""+script_name+"\\\","
cmd += "\\\"script_code\\\":\\\""+script_code+"\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def test_script(self, script_code=""):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"test_script\\\","
cmd += "\\\"script_id\\\":\\\"0\\\","
cmd += "\\\"script_code\\\":\\\""+script_code+"\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
def calibrate(self, use_existing=True):
if self.get_connection_info() == 2:
cmd = "\"{"
cmd += "\\\"action\\\":\\\"calibrate\\\","
cmd += "\\\"use_existing\\\":"+str(use_existing).lower()
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
return 0
def initialize(self, model="PRob1R", kind='no_robot', channel_name="1", channel_type="PEAK_SYS_PCAN_USB", protocol="TMLCAN", host_id="10", baudrate="500000"):
if self.get_connection_info() == 0:
cmd = "\"{"
cmd += "\\\"action\\\":\\\"initialize\\\","
cmd += "\\\"model\\\":\\\""+model+"\\\","
cmd += "\\\"robot_kind\\\":\\\""+kind+"\\\""
if kind == 'real':
cmd += ","
cmd += "\\\"channel_name\\\":\\\""+channel_name+"\\\","
cmd += "\\\"channel_type\\\":\\\""+channel_type+"\\\","
cmd += "\\\"protocol\\\":\\\""+protocol+"\\\","
cmd += "\\\"host_id\\\":\\\""+host_id+"\\\","
cmd += "\\\"baudrate\\\":\\\""+baudrate+"\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
return 0
def pause(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"pause\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def finalize(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"finalize\\\""
cmd += "}\""
SockJSClient.send(self, cmd)
return 1
def recover(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"recover\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
def stop(self):
cmd = "\"{"
cmd += "\\\"action\\\":\\\"stop\\\""
cmd += "}\""
SockJSClient.send(self,cmd)
return 1
