from enum import Enum, unique
TCP_PORT = 40001 # Port used for TCP communication
READ_SIZE = 512 # Buffer used for receiving TCP packet
TCP_TIMEOUT = 5 # Time before timeout is raised
# - Infos on the JSON size
# nbr_bytes : number of bytes on which the size is coded
# type : size coding type
DEFAULT_PACKET_SIZE_INFOS = {
"nbr_bytes": 2,
"type": '@H',
}
[docs]@unique
class CalibrateMode(Enum):
"""
Enumeration of Calibration Modes
"""
AUTO = 0
MANUAL = 1
[docs]@unique
class RobotAxis(Enum):
"""
Enumeration of Robot Axis : it used for Shift command
"""
X = 0
Y = 1
Z = 2
ROLL = 3
PITCH = 4
YAW = 5
[docs]@unique
class PinMode(Enum):
"""
Enumeration of Pin Modes
"""
OUTPUT = 0
INPUT = 1
[docs]@unique
class PinState(Enum):
"""
Pin State is either LOW or HIGH
"""
LOW = False
HIGH = True
[docs]@unique
class PinID(Enum):
"""
Enumeration of Robot Pins
"""
GPIO_1A = "1A"
GPIO_1B = "1B"
GPIO_1C = "1C"
GPIO_2A = "2A"
GPIO_2B = "2B"
GPIO_2C = "2C"
SW_1 = "SW1"
SW_2 = "SW2"
DO1 = "DO1"
DO2 = "DO2"
DO3 = "DO3"
DO4 = "DO4"
DI1 = "DI1"
DI2 = "DI2"
DI3 = "DI3"
DI4 = "DI4"
DI5 = "DI5"
AI1 = "AI1"
AI2 = "AI2"
AO1 = "AO1"
AO2 = "AO2"
# - Conveyor
[docs]class ConveyorID(Enum):
"""
Enumeration of Conveyor IDs used for Conveyor control
"""
NONE = 0
ID_1 = -1
ID_2 = -2
[docs]@unique
class ConveyorDirection(Enum):
"""
Enumeration of Conveyor Directions used for Conveyor control
"""
FORWARD = 1
BACKWARD = -1
# - Vision
[docs]@unique
class ObjectColor(Enum):
"""
Enumeration of Colors available for image processing
"""
RED = "RED"
BLUE = "BLUE"
GREEN = "GREEN"
ANY = "ANY"
[docs]@unique
class ObjectShape(Enum):
"""
Enumeration of Shapes available for image processing
"""
SQUARE = "SQUARE"
CIRCLE = "CIRCLE"
ANY = "ANY"
@unique
class Command(Enum):
"""
Enumeration of all commands used
"""
# Main purpose
CALIBRATE = 0
SET_LEARNING_MODE = 1
GET_LEARNING_MODE = 2
SET_ARM_MAX_VELOCITY = 3
SET_JOG_CONTROL = 4
# - Move
# Pose
GET_JOINTS = 10
GET_POSE = 11
GET_POSE_QUAT = 12
MOVE_JOINTS = 20
MOVE_POSE = 21
SHIFT_POSE = 22
MOVE_LINEAR_POSE = 23
SHIFT_LINEAR_POSE = 24
JOG_JOINTS = 25
JOG_POSE = 26
FORWARD_KINEMATICS = 27
INVERSE_KINEMATICS = 28
# Saved Pose
GET_POSE_SAVED = 50
SAVE_POSE = 51
DELETE_POSE = 52
GET_SAVED_POSE_LIST = 53
# Pick & Place
PICK_FROM_POSE = 60
PLACE_FROM_POSE = 61
PICK_AND_PLACE = 62
# Trajectories
GET_TRAJECTORY_SAVED = 80
GET_SAVED_TRAJECTORY_LIST = 81
EXECUTE_REGISTERED_TRAJECTORY = 82
EXECUTE_TRAJECTORY_FROM_POSES = 83
EXECUTE_TRAJECTORY_FROM_POSES_AND_JOINTS = 84
SAVE_TRAJECTORY = 85
SAVE_LAST_LEARNED_TRAJECTORY = 86
UPDATE_TRAJECTORY_INFOS = 87
DELETE_TRAJECTORY = 88
CLEAN_TRAJECTORY_MEMORY = 89
# Dynamic frames
GET_SAVED_DYNAMIC_FRAME_LIST = 95
GET_SAVED_DYNAMIC_FRAME = 96
SAVE_DYNAMIC_FRAME_FROM_POSES = 97
SAVE_DYNAMIC_FRAME_FROM_POINTS = 98
EDIT_DYNAMIC_FRAME = 99
DELETE_DYNAMIC_FRAME = 100
MOVE_RELATIVE = 101
MOVE_LINEAR_RELATIVE = 102
# - Tools
UPDATE_TOOL = 120
OPEN_GRIPPER = 121
CLOSE_GRIPPER = 122
PULL_AIR_VACUUM_PUMP = 123
PUSH_AIR_VACUUM_PUMP = 124
SETUP_ELECTROMAGNET = 125
ACTIVATE_ELECTROMAGNET = 126
DEACTIVATE_ELECTROMAGNET = 127
GET_CURRENT_TOOL_ID = 128
GRASP_WITH_TOOL = 129
RELEASE_WITH_TOOL = 130
ENABLE_TCP = 140
SET_TCP = 141
RESET_TCP = 142
TOOL_REBOOT = 145
# - Hardware
SET_PIN_MODE = 150
DIGITAL_WRITE = 151
DIGITAL_READ = 152
GET_DIGITAL_IO_STATE = 153
GET_HARDWARE_STATUS = 154
ANALOG_WRITE = 155
ANALOG_READ = 156
GET_ANALOG_IO_STATE = 157
CUSTOM_BUTTON_STATE = 158
# - Conveyor
SET_CONVEYOR = 180
UNSET_CONVEYOR = 181
CONTROL_CONVEYOR = 182
GET_CONNECTED_CONVEYORS_ID = 183
# - Vision
GET_IMAGE_COMPRESSED = 200
GET_TARGET_POSE_FROM_REL = 201
GET_TARGET_POSE_FROM_CAM = 202
VISION_PICK = 203
MOVE_TO_OBJECT = 205
DETECT_OBJECT = 204
GET_CAMERA_INTRINSICS = 210
SAVE_WORKSPACE_FROM_POSES = 220
SAVE_WORKSPACE_FROM_POINTS = 221
DELETE_WORKSPACE = 222
GET_WORKSPACE_RATIO = 223
GET_WORKSPACE_LIST = 224
SET_IMAGE_BRIGHTNESS = 230
SET_IMAGE_CONTRAST = 231
SET_IMAGE_SATURATION = 232
GET_IMAGE_PARAMETERS = 235
# - Sound
PLAY_SOUND = 240
SET_VOLUME = 241
STOP_SOUND = 242
DELETE_SOUND = 243
IMPORT_SOUND = 244
GET_SOUNDS = 245
GET_SOUND_DURATION = 246
SAY = 247
# Led Ring
LED_RING_SOLID = 250
LED_RING_TURN_OFF = 251
LED_RING_FLASH = 252
LED_RING_ALTERNATE = 253
LED_RING_CHASE = 254
LED_RING_WIPE = 255
LED_RING_RAINBOW = 256
LED_RING_RAINBOW_CYCLE = 257
LED_RING_RAINBOW_CHASE = 258
LED_RING_GO_UP = 259
LED_RING_GO_UP_DOWN = 260
LED_RING_BREATH = 261
LED_RING_SNAKE = 262
LED_RING_CUSTOM = 263
LED_RING_SET_LED = 264
