genericroboticarm.sila_server.server module

exception genericroboticarm.sila_server.server.DeferredTaskFailed

Bases: RuntimeError

Raised on the next command when a deferred tail task of a previous command failed. The robot is likely in an unexpected state, e.g. still holding a lid.

exception genericroboticarm.sila_server.server.RobotCommandQueueFull

Bases: RuntimeError

class genericroboticarm.sila_server.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)