def lock() -> Lock:
"""Creates lock with initialized scene and project."""
test = "test"
lock = Lock({})
scene = UpdateableCachedScene(cmn.Scene(test, description=test))
lock.scene = scene
project = UpdateableCachedProject(cmn.Project(test, lock.scene.id, description=test, has_logic=True))
lock.project = project
assert lock.scene == scene
assert lock.scene_or_exception() == scene
assert lock.project == project
assert lock.project_or_exception() == project
# add some scene and project objects
test_object = cmn.SceneObject(test, "TestType")
lock.scene.upsert_object(test_object)
ap = lock.project.upsert_action_point(cmn.BareActionPoint.uid(), "ap", cmn.Position(0, 0, 0))
ap_ap = lock.project.upsert_action_point(cmn.BareActionPoint.uid(), "ap_ap", cmn.Position(0, 0, 1), ap.id)
ap_ap_ap = lock.project.upsert_action_point(cmn.BareActionPoint.uid(), "ap_ap_ap", cmn.Position(0, 0, 2), ap_ap.id)
lock.project.upsert_action_point(cmn.BareActionPoint.uid(), "ap2", cmn.Position(0, 1, 0))
ori = cmn.NamedOrientation("ori", cmn.Orientation())
lock.project.upsert_orientation(ap_ap_ap.id, ori)
action = cmn.Action("action", "test/type", parameters=[], flows=[])
lock.project.upsert_action(ap_ap_ap.id, action)
return lock
async def add_action_point_orientation_using_robot_cb(
req: rpc.project.AddActionPointOrientationUsingRobotRequest,
ui: WsClient) -> None:
"""
Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, ap.orientation_names())
if req.dry_run:
return None
new_pose = await get_end_effector_pose(req.args.robot.robot_id,
req.args.robot.end_effector)
if ap.parent:
new_pose = tr.make_pose_rel_to_parent(glob.SCENE, glob.PROJECT,
new_pose, ap.parent)
orientation = common.NamedOrientation(common.uid(), req.args.name,
new_pose.orientation)
ap.orientations.append(orientation)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.OrientationChanged(events.EventType.ADD,
ap.id,
data=orientation)))
return None
async def add_action_point_orientation_cb(
req: rpc.project.AddActionPointOrientationRequest,
ui: WsClient) -> None:
"""
Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, ap.orientation_names())
if req.dry_run:
return None
orientation = common.NamedOrientation(common.uid(), req.args.name,
req.args.orientation)
ap.orientations.append(orientation)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.OrientationChanged(events.EventType.ADD,
ap.id,
data=orientation)))
return None
async def add_action_point_orientation_cb(
req: srpc.p.AddActionPointOrientation.Request, ui: WsClient) -> None:
"""Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
orientation = common.NamedOrientation(req.args.name, req.args.orientation)
glob.PROJECT.upsert_orientation(ap.id, orientation)
evt = sevts.p.OrientationChanged(orientation)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def add_action_point_orientation_using_robot_cb(
req: srpc.p.AddActionPointOrientationUsingRobot.Request,
ui: WsClient) -> None:
"""Adds orientation and joints to the action point.
:param req:
:return:
"""
ensure_scene_started()
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
new_pose = await get_end_effector_pose(req.args.robot.robot_id,
req.args.robot.end_effector)
if ap.parent:
new_pose = tr.make_pose_rel_to_parent(glob.SCENE, glob.PROJECT,
new_pose, ap.parent)
orientation = common.NamedOrientation(req.args.name, new_pose.orientation)
glob.PROJECT.upsert_orientation(ap.id, orientation)
evt = sevts.p.OrientationChanged(orientation)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None