updated roboter lib

groupTasks/groups/rex-robots/index.json

@@ -1,10 +1,10 @@
 {
   "category": "RexRobots",
-  "name": "Produktionstask 1",
+  "name": "Rex test - Drucker leeren",
   "globalInputs": [],
   "tasks": [
     {
-      "name": "Bild zu Label konvertieren",
+      "name": "Ausführen",
       "onFinish": "next",
       "undoPossible": false,
       "repeatPossible": true,

groupTasks/groups/rex-robots/test.py

@@ -1,13 +1,11 @@
 import sys
 import os
-import random
-import time
 
 # add the path to the libs folder
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../..')))
 
 from libs.robots import rex
-
+'''
 randomJobs = [
     "Drucker leeren",
     "Müll rausbringen",
@@ -23,19 +21,14 @@ randomJobs = [
 
 rJob = randomJobs[random.randint(0, len(randomJobs) - 1)]
 
-print("job: " + rJob)
+print("job: " + rJob)'''
 
-rexRobot = rex.Rex("test", rJob)
+rexRobot = rex.Rex("test", "Drucker leeren")
 
-# rexRobot.moveToXYZ(1, 2, 3)
+rexRobot.move_to(x=15, z=20, AprilTagId=1)
+rexRobot.change_tool_head(rex.ToolHead.Gripper)
+rexRobot.move_to(y=5)
 
-rexRobot.move_to_x(5)
-
-time.sleep(5)
-
-rexRobot.move_to_x(5)
-
-time.sleep(5)
 
 print("no finish")
 rexRobot.finish()

groupTasks/libs/robots/rex.py

@@ -1,6 +1,5 @@
 import requests
 import uuid
-from enum import Enum
 import sys
 
 ###
@@ -14,6 +13,9 @@ class ResponseStatus():
 
 max_job_name_length = 30
 
+class ToolHead():
+    Gripper = 0
+
 ###
 # CLASSES
 ###
@@ -25,18 +27,22 @@ class Rex:
     """
     This class represents a rex robot.
     """
-    def __init__(self, robotName, jobName, address='http://localhost:50055'):
-        self.robotName = robotName
-        self.jobId = uuid.uuid4().__str__()
-        self.jobName = jobName[:max_job_name_length]
+    def __init__(self, robot_name, job_name, address='http://localhost:50055'):
+        self.robot_name = robot_name
+        self.job_id = uuid.uuid4().__str__()
+        self.job_name = job_name[:max_job_name_length]
         self.address = address
         self.x = 0
         self.y = 0
         self.z = 0
-        self.connectedModule = 0
+        self.tool_head = 0
 
     def _request_data(self):
-        return {'robotName': self.robotName, 'jobId': self.jobId, 'jobName': self.jobName}
+        return {
+            'robotName': self.robot_name, 
+            'jobId': self.job_id, 
+            'jobName': self.job_name
+        }
 
     def _post_request(self, json):
         obj = {}
@@ -46,8 +52,9 @@ class Rex:
 
         res = requests.post(self.address + '/v1/control/1', json=obj)
 
+        if res.status_code != 200:
             print("status code", res.status_code)
-        print("res", res.json())
+            sys.exit(1)
 
         json = res.json()
 
@@ -65,43 +72,44 @@ class Rex:
             print("robot some other error")
             sys.exit(1)
 
-    def move_to_x(self, x):
-        """
-        Move the robot to the new x position.
-        """
-        self.x = x
-
-        self._post_request({'x': self.x})
-
-    def move_to_y(self, y):
-        """
-        Move the robot to the new y position.
-        """
-        self.y = y
-
-    def move_to_z(self, z):
-        """
-        Move the robot to the new z position.
-        """
-        self.z = z
-
-    def move_to_xyz(self, x, y, z):
+    def move_to(self, x = None, y = None, z = None, AprilTagId = None):
         """
         Move the robot to the new position.
         """
+        data = {}
+
+        if x != None:
             self.x = x
+            data['x'] = self.x
+
+        if y != None:
             self.y = y
+            data['y'] = self.y
+
+        if z != None:
             self.z = z
+            data['z'] = self.z
 
-        print('Robot: ' + self.robotName + ' moved to (' + str(self.x) + ', ' + str(self.y) + ')')
+        if len(data) == 0:
+            print("No data provided for move_to")
+            return
         
-        self._post_request({'x': self.x, 'y': self.y, 'z': self.z})
+        if AprilTagId != None:
+            data['AprilTagId'] = AprilTagId
 
-    def change_connected_module(self, module):
+        print('Robot: ' + self.robot_name + ' moved to ' + str(data))
+
+        self._post_request(data)
+
+    def change_tool_head(self, tool_head = int):
         """
-        Change the connected module.
+        Change the tool head.
         """
-        print('Robot: ' + self.robotName + ' changed connected module to ' + str(module))
+        print('Robot: ' + self.robot_name + ' changed tool head to ' + str(tool_head))
+
+        data = {'ToolHead': tool_head}
+
+        self._post_request(data)
 
     def finish(self):
         """
@@ -112,6 +120,9 @@ class Rex:
 
         # TODO: request to the server to finish the robot and update the robot status to idle
 
-        res = requests.post(self.address + '/v1/control/1/finish', json={'robotName': self.robotName, 'jobId': self.jobId})
+        res = requests.post(self.address + '/v1/control/1/finish', json={
+            'robotName': self.robot_name, 
+            'jobId': self.job_id
+        })
 
         print("status code", res.status_code)