Source code for genericroboticarm.sila_server.generated.roboteachingservice.roboteachingservice_base

# Generated by sila2.code_generator; sila2.__version__: 0.14.0
from __future__ import annotations

from abc import ABC, abstractmethod
from typing import TYPE_CHECKING, Any, List

from sila2.server import FeatureImplementationBase, MetadataDict

from .roboteachingservice_types import (
    AddConnection_Responses,
    AddEdgeAttribute_Responses,
    AddIntermediates_Responses,
    AddPosition_Responses,
    ExecuteCustomCommand_Responses,
    GripClose_Responses,
    GripOpen_Responses,
    MoveRelative_Responses,
    RemoveConnection_Responses,
    RemovePosition_Responses,
    ReteachPosition_Responses,
)

if TYPE_CHECKING:

    from ...server import Server




class RoboTeachingServiceBase(FeatureImplementationBase, ABC):
    parent_server: Server

    def __init__(self, parent_server: Server):
        """
        Provides a command for individual movements of joints and memorization of positions and paths
        """
        super().__init__(parent_server=parent_server)



    @abstractmethod
    def get_CurrentGraph(self, *, metadata: MetadataDict) -> str:
        """
        Returns the current graph as networkx string

        :param metadata: The SiLA Client Metadata attached to the call
        :return: Returns the current graph as networkx string
        """




    @abstractmethod
    def MoveRelative(self, Movements: List[Any], *, metadata: MetadataDict) -> MoveRelative_Responses:
        """
        Moves the robotic arms joints by specified amounts


        :param Movements: List of movements of individual joints

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def AddPosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> AddPosition_Responses:
        """
        Adds the current position to the movement graph


        :param PositionIdentifier: Name of the new position

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def AddIntermediates(
        self, A: str, B: str, Number: int, NameGenerator: str, *, metadata: MetadataDict
    ) -> AddIntermediates_Responses:
        """
        Add a number of equidistant positions A and B on a line between two positions.


        :param A: Identifier of position A

        :param B: Identifier of position B

        :param Number: Number of intermediate positions

        :param NameGenerator: Specify a python name generator (without the leading 'f' or " or ' around) that receives the number of the
                intermediate position as parameter i starting with 0 for the intermediate position nearest to A.
                For example intermediate_{i+1}.

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def ReteachPosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> ReteachPosition_Responses:
        """
        Reteaches the current position in the movement graph to the current robot position.


        :param PositionIdentifier: Name of the new position

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def AddConnection(self, Tail: str, Head: str, *, metadata: MetadataDict) -> AddConnection_Responses:
        """
        Adds a connection between two known positions to the movement graph


        :param Tail: Tail of the edge

        :param Head: Head of the edge

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def AddEdgeAttribute(
        self, Source: str, Target: str, Key: str, Value: str, *, metadata: MetadataDict
    ) -> AddEdgeAttribute_Responses:
        """
        Adds an attribute to an existing connection of the movement graph. Edge attributes carry additional
            instructions on how to move along that connection, for example which movement profile or which move command
            to use.


        :param Source: Source of the edge

        :param Target: Target of the edge

        :param Key: Name of the attribute

        :param Value: Value of the attribute

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def RemovePosition(self, PositionIdentifier: str, *, metadata: MetadataDict) -> RemovePosition_Responses:
        """
        Removes the current position to the graph


        :param PositionIdentifier: Name of the new Position

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def RemoveConnection(self, Tail: str, Head: str, *, metadata: MetadataDict) -> RemoveConnection_Responses:
        """
        Forbids the robot to move straight between two positions.


        :param Tail: Tail of the edge

        :param Head: Head of the edge

        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def GripClose(self, *, metadata: MetadataDict) -> GripClose_Responses:
        """
        Closes the gripper


        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def GripOpen(self, *, metadata: MetadataDict) -> GripOpen_Responses:
        """
        Opens the gripper


        :param metadata: The SiLA Client Metadata attached to the call

        """




    @abstractmethod
    def ExecuteCustomCommand(self, Command: str, *, metadata: MetadataDict) -> ExecuteCustomCommand_Responses:
        """
        Executes a custom command specified by a string. The actual effect is implementation specific.


        :param Command: The command as string (however this is implemented)

        :param metadata: The SiLA Client Metadata attached to the call

        :return:

            - Answer: The robots answer


        """