Source code for genericroboticarm.sila_server.feature_implementations.robotcontroller_impl

# Generated by sila2.code_generator; sila2.__version__: 0.10.4
from __future__ import annotations

from typing import TYPE_CHECKING

from sila2.server import MetadataDict, ObservableCommandInstance

from ..generated.robotcontroller import (
    EmergencyStop_Responses,
    LostPlate,
    MovePlate_Responses,
    MoveToPosition_Responses,
    PickPlate_Responses,
    PlacePlate_Responses,
    Reinitialize_Responses,
    RobotControllerBase,
    SetAcceleration_Responses,
    SetSpeed_Responses,
    Site,
)
from datetime import datetime

if TYPE_CHECKING:
    from ..server import Server



[docs]
def _raise_if_gripping_plate(robot) -> None:
    """
    Guard against starting a pick while a plate is already held: the pick would open the
    gripper at the current location and drop it. Only robots that can report their gripper
    state (e.g. the PreciseFlex) are checked; others are left untouched.
    """
    if getattr(robot, "currently_gripping_plate", False):
        raise LostPlate(
            "Refusing to pick a plate: the gripper is already holding one. Picking now "
            "would open the gripper and drop the held plate. Recover the held plate first."
        )




[docs]
class RobotControllerImpl(RobotControllerBase):
    def __init__(self, parent_server: Server) -> None:
        super().__init__(parent_server=parent_server)
        self.robot = parent_server.robot


[docs]
    def Reinitialize(self, *, metadata: MetadataDict) -> Reinitialize_Responses:
        with self.parent_server.robot_command():
            self.robot.init_connection()



[docs]
    def PickPlate(self, Site: Site, *, metadata: MetadataDict) -> PickPlate_Responses:
        with self.parent_server.robot_command():
            _raise_if_gripping_plate(self.robot)
            self.robot.pick_from_device(*Site)



[docs]
    def PlacePlate(self, Site: Site, *, metadata: MetadataDict) -> PlacePlate_Responses:
        with self.parent_server.robot_command():
            self.robot.place_at_device(*Site)



[docs]
    def SetSpeed(self, Percentage: float, *, metadata: MetadataDict) -> SetSpeed_Responses:
        self.robot.set_speed(Percentage)



[docs]
    def SetAcceleration(self, Percentage: float, *, metadata: MetadataDict) -> SetAcceleration_Responses:
        self.robot.set_acceleration(Percentage)



[docs]
    def EmergencyStop(self, *, metadata: MetadataDict) -> EmergencyStop_Responses:
        self.robot.stop_moving()



[docs]
    def MoveToPosition(
        self, Position: str, *, metadata: MetadataDict, instance: ObservableCommandInstance
    ) -> MoveToPosition_Responses:
        with self.parent_server.robot_command():
            instance.begin_execution()  # set execution status from `waiting` to `running`
            self.robot.move_to_position(Position)



[docs]
    def MovePlate(
        self, OriginSite: Site, DestinationSite: Site, *, metadata: MetadataDict, instance: ObservableCommandInstance
    ) -> MovePlate_Responses:
        with self.parent_server.robot_command():
            instance.begin_execution()  # set execution status from `waiting` to `running`
            print(f"{datetime.now()}: Moving a plate from {OriginSite} to {DestinationSite}")
            _raise_if_gripping_plate(self.robot)
            self.robot.pick_from_device(*OriginSite)
            self.robot.place_at_device(*DestinationSite)