def test_global_aps_cls() -> None:
proj = Project("test", "scene_id")
pos = Position(1, 2, 3)
ap1 = ActionPoint("ap1", pos)
ap1_o1 = NamedOrientation("o1", Orientation(0.707, 0, 0, 0.707))
ap1.orientations.append(ap1_o1)
ap1_j1 = ProjectRobotJoints("j1", "robot", [Joint("whatever", 1234)])
ap1.robot_joints.append(ap1_j1)
proj.action_points.append(ap1)
os.environ["ARCOR2_PROJECT_PATH"] = "/tmp"
import arcor2.resources # noqa
my_name = "my_module"
my_spec = importlib.util.spec_from_loader(my_name, loader=None)
my_module = importlib.util.module_from_spec(my_spec)
cproj = CachedProject(proj)
src = global_action_points_class(cproj)
exec(src, my_module.__dict__)
sys.modules["my_module"] = my_module
aps = my_module.ActionPoints(SimResources(cproj)) # type: ignore
assert aps.ap1.position == pos
assert aps.ap1.position is not pos
assert aps.ap1.poses.o1 == Pose(ap1.position, ap1_o1.orientation)
assert aps.ap1.poses.o1.orientation is not ap1_o1.orientation
assert aps.ap1.joints.j1 == ap1_j1
assert aps.ap1.joints.j1 is not ap1_j1
def move_to_joints(self,
target_joints: List[Joint],
speed: float,
safe: bool = True) -> None:
self.set_joints(ProjectRobotJoints("", "", target_joints),
MoveTypeEnum.SIMPLE,
speed,
safe=safe)
def main() -> None:
# robots
aubo = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13000", "aubo"))
simatic = Aubo(uid("rbt"), "Whatever", Pose(), RobotSettings("http://127.0.0.1:13001", "simatic"))
# objects with pose, with 'System' and 'Configurations' controllers
barcode = Barcode(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:14000", "simulator"))
search = Search(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:12000", "simulator"))
ict = Ict(uid("srv"), "Whatever", Pose(), settings=Settings("http://127.0.0.1:19000", "simulator"))
# objects without pose, without 'System' and 'Configurations' controllers
interaction = Interaction(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:17000"))
statistic = Statistic(uid("srv"), "Whatever", SimpleSettings("http://127.0.0.1:16000"))
# Add @action decorator to all actions of each object using patch_object_actions.
# It has to be called exactly once for each type!
# Certain functions of Execution unit (as e.g. pausing script execution) would not work without this step.
# Note: in a generated script, this is done within the Resources context manager.
# Side effect: a lot of JSON data will be printed out to the console when running the script manually.
patch_object_actions(Aubo)
patch_object_actions(Barcode)
patch_object_actions(Search)
patch_object_actions(Ict)
patch_object_actions(Interaction)
patch_object_actions(Statistic)
scene_service.delete_all_collisions()
scene_service.upsert_collision(Box("box_id", 0.1, 0.1, 0.1), Pose())
scene_service.start() # this is normally done by auto-generated Resources class
aubo.move("suction", Pose(), MoveTypeEnum.SIMPLE, safe=False)
simatic.set_joints(ProjectRobotJoints("", "", [Joint("x", 0), Joint("y", 0)]), MoveTypeEnum.SIMPLE)
barcode.scan()
search.set_search_parameters(SearchEngineParameters(search_log_level=SearchLogLevel(LogLevel.DEBUG)))
search.grab_image()
interaction.add_notification("Test", NotificationLevelEnum.INFO)
try:
statistic.get_groups()
except rest.RestHttpException as e:
# service returned error code
print(f"The error code is {e.error_code}.")
except rest.RestException as e:
# request totally failed (timeout, connection error, etc)
print(str(e))
if ict.ready():
test = ict.test("OK")
print(test)
scene_service.stop() # this is normally done by auto-generated Resources class
def test_get_value() -> None:
scene = Scene("s1", "s1")
obj = SceneObject("test_name", TestObject.__name__)
prj = ProjectRobotJoints("name", obj.id, [Joint("name", 0.333)])
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
ap1.robot_joints.append(prj)
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
act = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, JointsPlugin.type_name(),
json.dumps(prj.id)),
ActionParameter(invalid_param_name, JointsPlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(act)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
"non_sense")
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
invalid_param_name)
value = JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
param_name)
exe_value = JointsPlugin.parameter_execution_value(type_defs, cscene,
cproject, act.id,
param_name)
assert value == value
assert value == exe_value
def value_to_json(cls, value: ProjectRobotJoints) -> str:
return value.to_json()
def test_value_to_json() -> None:
prj = ProjectRobotJoints("name", "robot_id", [Joint("name", 0.333)])
assert JointsPlugin.value_to_json(prj) == prj.to_json()
def test_plugin_from_instance() -> None:
assert plugin_from_instance(ProjectRobotJoints("name", "robot_id", [Joint("name", 0.333)])) is JointsPlugin