genericroboticarm.sila_server package

Subpackages

• genericroboticarm.sila_server.feature_implementations package
  • Submodules
    • genericroboticarm.sila_server.feature_implementations.implicitinteractionservice_impl module
      • ImplicitInteractionServiceImpl
    • genericroboticarm.sila_server.feature_implementations.intermediateactionplanning_impl module
      • IntermediateActionPlanningImpl
    • genericroboticarm.sila_server.feature_implementations.labwaretransfermanipulatorcontroller_impl module
      • LabwareTransferManipulatorControllerImpl
    • genericroboticarm.sila_server.feature_implementations.robotcontroller_impl module
      • RobotControllerImpl
      • _raise_if_gripping_plate()
    • genericroboticarm.sila_server.feature_implementations.roboteachingservice_impl module
      • RoboTeachingServiceImpl
  • Module contents
• genericroboticarm.sila_server.generated package
  • Subpackages
    • genericroboticarm.sila_server.generated.implicitinteractionservice package
      • Submodules
      • Module contents
    • genericroboticarm.sila_server.generated.intermediateactionplanning package
      • Submodules
      • Module contents
    • genericroboticarm.sila_server.generated.labwaretransfermanipulatorcontroller package
      • Submodules
      • Module contents
    • genericroboticarm.sila_server.generated.robotcontroller package
      • Submodules
      • Module contents
    • genericroboticarm.sila_server.generated.roboteachingservice package
      • Submodules
      • Module contents
  • Submodules
    • genericroboticarm.sila_server.generated.client module
      • Client
  • Module contents
    • Client
      • Client.ImplicitInteractionService
      • Client.LabwareTransferManipulatorController
      • Client.RoboTeachingService
      • Client.RobotController
      • Client._expected_features

Submodules

• genericroboticarm.sila_server.server module
  • DeferredTaskFailed
  • RobotCommandQueueFull
  • Server
    • Server._run_deferred()
    • Server.robot
    • Server.robot_command()
    • Server.stop()

Module contents

class genericroboticarm.sila_server.Client(*args, **kwargs)

Bases: SilaClient

ImplicitInteractionService: implicitinteractionservice.ImplicitInteractionServiceClient

LabwareTransferManipulatorController: labwaretransfermanipulatorcontroller.LabwareTransferManipulatorControllerClient

RoboTeachingService: roboteachingservice.RoboTeachingServiceClient

RobotController: robotcontroller.RobotControllerClient

_expected_features: Set[FullyQualifiedFeatureIdentifier] = {FullyQualifiedFeatureIdentifier('org.silastandard/core/SiLAService/v1'), FullyQualifiedFeatureIdentifier('org.silastandard/instruments.labware.manipulation/LabwareTransferManipulatorController/v1'), FullyQualifiedFeatureIdentifier('pharmb.io/robot/ImplicitInteractionService/v1'), FullyQualifiedFeatureIdentifier('stefanmaak/robot/RoboTeachingService/v1'), FullyQualifiedFeatureIdentifier('uni.greifswald/robot/RobotController/v1')}

class genericroboticarm.sila_server.Server(robo_interface: RoboInterface, server_uuid: UUID | None = None)

Bases: SilaServer

_run_deferred(tail_task: Callable[[], None]) → None

Runs the tail task in the background and releases the task lock once it is done. The lock is handed over to that thread instead of being reacquired by it, so the next SiLA command queues up behind the tail task instead of racing it for the robot. :param tail_task: :return:

robot: RoboInterface

robot_command() → Iterator[None]

stop(grace_period: float | None = None) → None

Stop the server and block until completion

Parameters:

grace_period (Time in seconds to wait before aborting all ongoing interactions)