def MoveL(self, pose, dynamic=None, overlap=None):
'''
Linear moves
:param pose: A position (joints, quaternion, euler)
:type pose: RmiPos
:param dynamic: Dynamic containing velo/accel
:type dynamic: RmiVelo
:param overlap: Blending
:type overlap: RmiBlending
'''
#self.num_commands += 1
cmd = rmi_msg.Command()
cmd.command_type = "LIN"
assert isinstance(pose, RmiPos)
pose.SetCmd(cmd)
if isinstance(dynamic, RmiVelo):
dynamic.SetCmd(cmd)
if isinstance(overlap, RmiBlending):
overlap.SetCmd(cmd)
if (len(cmd.pose_type) < 1):
pass
else:
self.AddCommand(cmd)
def Tool(self, frame):
'''
:param frame: the tool frame
:type frame: RmiFrame
'''
cmd = rmi_msg.Command()
cmd.command_type = 'FRAME'
cmd.pose_reference = 'TOOL'
cmd.pose = frame.frame
self.AddCommand(cmd)
def WaitIsFinished(self):
'''
Call WaitIsFinished()
'''
#self.num_commands += 1
cmd = rmi_msg.Command()
cmd.command_type = 'WAIT'
cmd.pose_type = 'IS_FINISHED'
self.AddCommand(cmd)
def Abort(self):
'''
Immediately sends an ABORT message. It will call ProgStart, add the ABORT command, then call ProgRun
'''
self.ProgStart()
self.cmd_list.replace_previous_commands = True
cmd = rmi_msg.Command()
cmd.command_type = 'ABORT'
self.AddCommand(cmd)
self.ProgRun()
def Settings(self, dynamic=None, overlap=None):
'@type dynamic: RmiVelo'
'@type overlap: RmiBlending'
#self.num_commands += 1
# Give me something
assert (dynamic is not None or overlap is not None)
cmd = rmi_msg.Command()
cmd.command_type = "SETTING"
if (isinstance(dynamic, RmiVelo)):
dynamic.SetCmd(cmd)
if isinstance(overlap, RmiBlending):
overlap.SetCmd(cmd)
self.AddCommand(cmd)
def IoOut(self, value):
cmd = rmi_msg.Command()
cmd.command_type = 'IO_OUT'
cmd.pose_reference = 'DO'
cmd.pose = value
self.AddCommand(cmd)
