wandelbots-api-client 25.6.0.dev7__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/api/license_api.py

@@ -3,15 +3,14 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
 """  # noqa: E501
 
-
 from furl import furl
 import json
 import humps
@@ -575,7 +574,7 @@ class LicenseApi:
     ) -> License:
         """Get license
 
-        Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
+        Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -639,7 +638,7 @@ class LicenseApi:
     ) -> ApiResponse[License]:
         """Get license
 
-        Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
+        Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -703,7 +702,7 @@ class LicenseApi:
     ) -> RESTResponseType:
         """Get license
 
-        Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
+        Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -821,7 +820,7 @@ class LicenseApi:
     ) -> LicenseStatus:
         """Get license status
 
-        Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
+        Get the license status.  - If `valid`, Wandelbots NOVA can be used. - If `expired`, the license has to be renewed in order to use Wandelbots NOVA. 
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -885,7 +884,7 @@ class LicenseApi:
     ) -> ApiResponse[LicenseStatus]:
         """Get license status
 
-        Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
+        Get the license status.  - If `valid`, Wandelbots NOVA can be used. - If `expired`, the license has to be renewed in order to use Wandelbots NOVA. 
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -949,7 +948,7 @@ class LicenseApi:
     ) -> RESTResponseType:
         """Get license status
 
-        Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
+        Get the license status.  - If `valid`, Wandelbots NOVA can be used. - If `expired`, the license has to be renewed in order to use Wandelbots NOVA. 
 
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request

wandelbots_api_client/v2/api/motion_group_api.py

@@ -3,15 +3,14 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
 """  # noqa: E501
 
-
 from furl import furl
 import json
 import humps
@@ -23,12 +22,11 @@ from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, U
 from typing_extensions import Annotated
 from urllib.parse import quote
 
-from pydantic import Field, StrictInt, StrictStr
+from pydantic import Field, StrictStr
 from typing import Optional
 from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.motion_group_description import MotionGroupDescription
 from wandelbots_api_client.v2.models.motion_group_state import MotionGroupState
-from wandelbots_api_client.v2.models.motion_group_state_without_payload import MotionGroupStateWithoutPayload
-from wandelbots_api_client.v2.models.planning_parameters import PlanningParameters
 
 from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
 from wandelbots_api_client.v2.api_response import ApiResponse
@@ -50,6 +48,7 @@ class MotionGroupApi:
     async def get_current_motion_group_state(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
@@ -71,6 +70,8 @@ class MotionGroupApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
@@ -99,6 +100,7 @@ class MotionGroupApi:
 
         _param = self._get_current_motion_group_state_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
@@ -127,6 +129,7 @@ class MotionGroupApi:
     async def get_current_motion_group_state_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
@@ -148,6 +151,8 @@ class MotionGroupApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
@@ -176,6 +181,7 @@ class MotionGroupApi:
 
         _param = self._get_current_motion_group_state_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
@@ -204,6 +210,7 @@ class MotionGroupApi:
     async def get_current_motion_group_state_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
@@ -225,6 +232,8 @@ class MotionGroupApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
@@ -253,6 +262,7 @@ class MotionGroupApi:
 
         _param = self._get_current_motion_group_state_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
@@ -276,6 +286,7 @@ class MotionGroupApi:
     def _get_current_motion_group_state_serialize(
         self,
         cell,
+        controller,
         motion_group,
         response_coordinate_system,
         _request_auth,
@@ -299,6 +310,8 @@ class MotionGroupApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
+        if controller is not None:
+            _path_params['controller'] = controller
         if motion_group is not None:
             _path_params['motion-group'] = motion_group
         # process the query parameters
@@ -327,7 +340,7 @@ class MotionGroupApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/motion-groups/{motion-group}/state',
+            resource_path='/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -343,9 +356,10 @@ class MotionGroupApi:
 
 
     @validate_call
-    async def get_planning_parameters(
+    async def get_motion_group_description(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         _request_timeout: Union[
             None,
@@ -359,13 +373,15 @@ class MotionGroupApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> PlanningParameters:
-        """Planning Parameters
+    ) -> MotionGroupDescription:
+        """Description
 
-        Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.). 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param _request_timeout: timeout setting for this request. If one
@@ -390,8 +406,9 @@ class MotionGroupApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_planning_parameters_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -400,7 +417,7 @@ class MotionGroupApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "PlanningParameters",
+            '200': "MotionGroupDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -416,9 +433,10 @@ class MotionGroupApi:
 
 
     @validate_call
-    async def get_planning_parameters_with_http_info(
+    async def get_motion_group_description_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         _request_timeout: Union[
             None,
@@ -432,13 +450,15 @@ class MotionGroupApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[PlanningParameters]:
-        """Planning Parameters
+    ) -> ApiResponse[MotionGroupDescription]:
+        """Description
 
-        Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.). 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param _request_timeout: timeout setting for this request. If one
@@ -463,8 +483,9 @@ class MotionGroupApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_planning_parameters_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -473,7 +494,7 @@ class MotionGroupApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "PlanningParameters",
+            '200': "MotionGroupDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -489,9 +510,10 @@ class MotionGroupApi:
 
 
     @validate_call
-    async def get_planning_parameters_without_preload_content(
+    async def get_motion_group_description_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
         _request_timeout: Union[
             None,
@@ -506,12 +528,14 @@ class MotionGroupApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Planning Parameters
+        """Description
 
-        Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.). 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
         :param _request_timeout: timeout setting for this request. If one
@@ -536,8 +560,9 @@ class MotionGroupApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_planning_parameters_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
+            controller=controller,
             motion_group=motion_group,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -546,7 +571,7 @@ class MotionGroupApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "PlanningParameters",
+            '200': "MotionGroupDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -557,9 +582,10 @@ class MotionGroupApi:
         return response_data.response
 
 
-    def _get_planning_parameters_serialize(
+    def _get_motion_group_description_serialize(
         self,
         cell,
+        controller,
         motion_group,
         _request_auth,
         _content_type,
@@ -582,6 +608,8 @@ class MotionGroupApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
+        if controller is not None:
+            _path_params['controller'] = controller
         if motion_group is not None:
             _path_params['motion-group'] = motion_group
         # process the query parameters
@@ -606,7 +634,7 @@ class MotionGroupApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/motion-groups/{motion-group}/planning-parameters',
+            resource_path='/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/description',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -622,10 +650,10 @@ class MotionGroupApi:
 
 
     @validate_call
-    async def stream_motion_group_state(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")], response_rate: Annotated[Optional[StrictInt], Field(description="Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller's step rate as well. Minimal response rate is the step rate of controller.")] = None, response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system. ")] = None) -> AsyncGenerator[MotionGroupStateWithoutPayload, None]:  # noqa: E501
+    async def stream_motion_group_state(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")], response_rate: Annotated[Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]], Field(description="Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller's step rate as well. Minimal response rate is the step rate of controller.")] = None, response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system. ")] = None) -> AsyncGenerator[MotionGroupState, None]:  # noqa: E501
         """Stream State  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Receive updates of the motion group state.  The stream will be closed from the server if the controller is disconnected.   # noqa: E501
         :param request: A StreamMotionGroupStateRequest
         :info All responses from the server will be yielded
         :type StreamMotionGroupStateRequest
@@ -649,8 +677,8 @@ class MotionGroupApi:
                 url_schema += "&"
             return url_schema
 
-        path = format_path_parameters("/cells/{cell}/motion-groups/{motion-group}/state-stream")
-        path = path.format(cell=cell,motion_group=motion_group,)
+        path = format_path_parameters("/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state-stream")
+        path = path.format(cell=cell,controller=controller,motion_group=motion_group,)
 
         headers = websockets.Headers()
         tmp_host = self.api_client.configuration.host
@@ -691,7 +719,9 @@ class MotionGroupApi:
                     response_data = json.loads(response)
                     if "result" not in response_data:
                         raise Exception(response_data)
-                    yield MotionGroupStateWithoutPayload.from_dict(response_data["result"])
+                    yield MotionGroupState.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()