async def rename_action_point_cb(req: srpc.p.RenameActionPoint.Request,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
if req.args.new_name == ap.name:
return None
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.action_points_names)
if req.dry_run:
return None
ap.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.ActionPointChanged(ap)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
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_cb(req: srpc.p.AddAction.Request, ui: WsClient) -> None:
assert glob.PROJECT
assert glob.SCENE
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
unique_name(req.args.name, glob.PROJECT.action_names)
new_action = common.Action(req.args.name,
req.args.type,
parameters=req.args.parameters,
flows=req.args.flows)
action_meta = find_object_action(glob.SCENE, new_action)
updated_project = copy.deepcopy(glob.PROJECT)
updated_project.upsert_action(req.args.action_point_id, new_action)
check_flows(updated_project, new_action, action_meta)
check_action_params(glob.SCENE, updated_project, new_action, action_meta)
if req.dry_run:
return None
glob.PROJECT.upsert_action(ap.id, new_action)
evt = sevts.p.ActionChanged(new_action)
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_joints_using_robot_cb(
req: srpc.p.AddActionPointJointsUsingRobot.Request,
ui: WsClient) -> None:
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_joint_names(ap.id))
new_joints = await get_robot_joints(req.args.robot_id)
if req.dry_run:
return None
prj = common.ProjectRobotJoints(req.args.name, req.args.robot_id,
new_joints, True)
glob.PROJECT.upsert_joints(ap.id, prj)
evt = sevts.p.JointsChanged(prj)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_scene_cb(req: srpc.s.RenameScene.Request,
ui: WsClient) -> None:
unique_name(req.args.new_name, (await scene_names()))
if req.dry_run:
return None
async with managed_scene(req.args.id) as scene:
scene.name = req.args.new_name
evt = sevts.s.SceneChanged(scene.bare)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def copy_project_cb(req: srpc.p.CopyProject.Request,
ui: WsClient) -> None:
unique_name(req.args.target_name, (await project_names()))
if req.dry_run:
return None
async with managed_project(req.args.source_id, make_copy=True) as project:
project.name = req.args.target_name
evt = sevts.p.ProjectChanged(project.bare)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_project_cb(req: srpc.p.RenameProject.Request,
ui: WsClient) -> None:
unique_name(req.args.new_name, (await project_names()))
if req.dry_run:
return None
async with managed_project(req.args.project_id) as project:
project.name = req.args.new_name
project.update_modified()
evt = sevts.p.ProjectChanged(project.bare)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_scene_cb(req: srpc.s.RenameScene.Request,
ui: WsClient) -> None:
unique_name(req.args.new_name, (await scene_names()))
user_name = glob.USERS.user_name(ui)
await ensure_locked(req.args.id, ui)
if req.dry_run:
return None
async with managed_scene(req.args.id) as scene:
scene.name = req.args.new_name
evt = sevts.s.SceneChanged(scene.bare)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
asyncio.create_task(glob.LOCK.write_unlock(req.args.id, user_name, True))
return None
async def rename_action_cb(req: srpc.p.RenameAction.Request,
ui: WsClient) -> None:
assert glob.PROJECT
unique_name(req.args.new_name, glob.PROJECT.action_names)
if req.dry_run:
return None
act = glob.PROJECT.action(req.args.action_id)
act.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.ActionChanged(act)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_action_point_joints_cb(
req: srpc.p.RenameActionPointJoints.Request, ui: WsClient) -> None:
assert glob.PROJECT
ap, joints = glob.PROJECT.ap_and_joints(req.args.joints_id)
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.ap_joint_names(ap.id))
if req.dry_run:
return None
joints.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.JointsChanged(joints)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def new_project_cb(req: srpc.p.NewProject.Request, ui: WsClient) -> None:
if glob.PACKAGE_STATE.state in PackageState.RUN_STATES:
raise Arcor2Exception("Can't create project while package runs.")
unique_name(req.args.name, (await project_names()))
if req.dry_run:
return None
if glob.SCENE:
if glob.SCENE.id != req.args.scene_id:
raise Arcor2Exception("Another scene is opened.")
if glob.SCENE.has_changes():
glob.SCENE.modified = await storage.update_scene(glob.SCENE.scene)
else:
if req.args.scene_id not in {
scene.id
for scene in (await storage.get_scenes()).items
}:
raise Arcor2Exception("Unknown scene id.")
await open_scene(req.args.scene_id)
project.PREV_RESULTS.clear()
glob.PROJECT = UpdateableCachedProject(
common.Project(req.args.name,
req.args.scene_id,
desc=req.args.desc,
has_logic=req.args.has_logic))
assert glob.SCENE
asyncio.ensure_future(
notif.broadcast_event(
sevts.p.OpenProject(
sevts.p.OpenProject.Data(glob.SCENE.scene,
glob.PROJECT.project))))
return None
async def add_action_point_cb(req: srpc.p.AddActionPoint.Request,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.action_points_names)
check_ap_parent(req.args.parent)
if req.dry_run:
return None
ap = glob.PROJECT.upsert_action_point(common.ActionPoint.uid(),
req.args.name, req.args.position,
req.args.parent)
evt = sevts.p.ActionPointChanged(ap)
evt.change_type = Event.Type.ADD
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_action_point_orientation_cb(
req: srpc.p.RenameActionPointOrientation.Request,
ui: WsClient) -> None:
assert glob.PROJECT
ap, ori = glob.PROJECT.bare_ap_and_orientation(req.args.orientation_id)
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
ori.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.OrientationChanged(ori)
evt.change_type = Event.Type.UPDATE_BASE
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
