Source code for genericroboticarm.sila_server.feature_implementations.roboteachingservice_impl

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

from typing import TYPE_CHECKING, Any, List

from sila2.server import MetadataDict

from ..generated.roboteachingservice import (
    AddConnection_Responses,
    AddPosition_Responses,
    GripClose_Responses,
    GripOpen_Responses,
    ExecuteCustomCommand_Responses,
    MoveRelative_Responses,
    RemoveConnection_Responses,
    RemovePosition_Responses,
    ReteachPosition_Responses,
    RoboTeachingServiceBase,
    AddIntermediates_Responses,
)

if TYPE_CHECKING:
    from ..server import Server



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


[docs]
    def get_CurrentGraph(self, *, metadata: MetadataDict) -> str:
        raise NotImplementedError  # TODO



[docs]
    def MoveRelative(self, Movements: List[Any], *, metadata: MetadataDict) -> MoveRelative_Responses:
        self.robot.move_relative(Movements)



[docs]
    def ReteachPosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> ReteachPosition_Responses:
        self.robot.graph_manager.change_position(identifier=PositionIdentifier, pos=self.robot.current_coordinates)



[docs]
    def AddPosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> AddPosition_Responses:
        self.robot.graph_manager.add_position(identifier=PositionIdentifier, pos=self.robot.current_coordinates)



[docs]
    def AddIntermediates(
        self, A: str, B: str, Number: int, NameGenerator: str, *, metadata: MetadataDict
    ) -> AddIntermediates_Responses:
        self.robot.graph_manager.add_intermediates(
            from_pos=A,
            to_pos=B,
            num=Number,
            name_generator=lambda i: eval('f"'+NameGenerator+'"')
        )



[docs]
    def AddConnection(self, Tail: str, Head: str, *, metadata: MetadataDict) -> AddConnection_Responses:
        self.robot.graph_manager.add_connection(Head, Tail)



[docs]
    def RemovePosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> RemovePosition_Responses:
        self.robot.graph_manager.remove_position(identifier=PositionIdentifier)



[docs]
    def RemoveConnection(self, Tail: str, Head: str, *, metadata: MetadataDict) -> RemoveConnection_Responses:
        self.robot.graph_manager.remove_connection(Head, Tail)



[docs]
    def GripClose(self, *, metadata: MetadataDict) -> GripClose_Responses:
        self.robot.grip_close()



[docs]
    def GripOpen(self, *, metadata: MetadataDict) -> GripOpen_Responses:
        self.robot.grip_open()



[docs]
    def ExecuteCustomCommand(self, Command: str, *, metadata: MetadataDict) -> ExecuteCustomCommand_Responses:
        answer = self.robot.run_custom_command(cmd=Command)
        return answer