wandelbots-api-client 25.9.0.dev2__py3-none-any.whl → 25.10.0.dev47__py3-none-any.whl

wandelbots_api_client/v2_pydantic/api/trajectory_execution_api.py

@@ -0,0 +1,126 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+
+    The version of the OpenAPI document: 2.0.0 beta
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+from furl import furl
+import json
+import humps
+import re
+import warnings
+import websockets
+from pydantic import validate_call, Field, StrictFloat, StrictStr, StrictInt
+from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, Union
+from typing_extensions import Annotated
+from urllib.parse import quote
+
+from pydantic import Field, StrictStr
+from typing_extensions import Annotated
+from wandelbots_api_client.v2_pydantic.models import ExecuteTrajectoryRequest
+from wandelbots_api_client.v2_pydantic.models import ExecuteTrajectoryResponse
+
+from wandelbots_api_client.v2_pydantic.api_client import ApiClient, RequestSerialized
+from wandelbots_api_client.v2_pydantic.api_response import ApiResponse
+from wandelbots_api_client.v2_pydantic.rest import RESTResponseType
+
+class TrajectoryExecutionApi:
+    """NOTE: This class is auto generated by OpenAPI Generator
+    Ref: https://openapi-generator.tech
+
+    Do not edit the class manually.
+    """
+
+    def __init__(self, api_client=None) -> None:
+        if api_client is None:
+            api_client = ApiClient.get_default()
+        self.api_client = api_client
+
+    @validate_call
+    async def execute_trajectory(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.")], client_request_generator: Callable[[AsyncGenerator[ExecuteTrajectoryResponse, None]], AsyncGenerator[ExecuteTrajectoryRequest, None]]) -> None:  # noqa: E501
+        """Execute Trajectory  # noqa: E501
+
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  - `InitializeMovementResponse` is sent to signal the success or failure of the `InitializeMovementRequest`. - Movement responses are streamed after a `StartMovementRequest` successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by `InitializeMovementRequest`. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - `PauseMovementResponse` is sent to signal the success of the `PauseMovementRequest`. It does not signal the end of the movement.   End of movement is signaled by Standstill response. - `PlaybackSpeedResponse` is sent to signal the success of the `PlaybackSpeedRequest`. - `MovementError` with error details is sent in case of an unexpected error, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
+        :param client_request_generator: An AsyncGenerator that yields request of type ExecuteTrajectoryRequest and takes an AsyncGenerator of ExecuteTrajectoryResponse as an input argument (required)
+        :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteTrajectoryResponse, None])
+        :type AsyncGenerator[ExecuteTrajectoryRequest, None]
+        """
+        def format_path_parameters(path):
+            # Find all substrings that are enclosed in brackets
+            bracket_contents = re.findall(r'\{(.*?)\}', path)
+
+            # For each found substring, alter it to match the python variable name
+            for content in bracket_contents:
+                content = "{" + content + "}"
+                modified_content = humps.dekebabize(content)
+                path = path.replace(content, modified_content)
+
+            return path
+
+        async def iterate_responses(ws) -> AsyncGenerator[ExecuteTrajectoryResponse, None]:
+            async for response in ws:
+                if "Cancelled on the server side" in response:
+                    break
+                response_data = json.loads(response)
+                if "result" not in response_data:
+                    raise Exception(response_data)
+                result_data = response_data["result"]
+                if isinstance(result_data, list):
+                    # Handle list of objects
+                    import re
+                    # Extract the base type from List[BaseType] pattern
+                    return_type_str = "ExecuteTrajectoryResponse"
+                    if return_type_str.startswith("List[") and return_type_str.endswith("]"):
+                        base_type_name = return_type_str[5:-1]  # Remove "List[" and "]"
+                        # Get the actual class from the module
+                        base_type_class = globals().get(base_type_name)
+                        if base_type_class and hasattr(base_type_class, 'model_validate'):
+                            result_list = [base_type_class.model_validate(item) for item in result_data]
+                            yield result_list
+                        else:
+                            yield result_data
+                    else:
+                        yield result_data
+                else:
+                    # Handle single object
+                    yield ExecuteTrajectoryResponse.model_validate(result_data)
+
+
+        path = format_path_parameters("/cells/{cell}/controllers/{controller}/execution/trajectory")
+        path = path.format(cell=cell,controller=controller,)
+
+        headers = websockets.Headers()
+        tmp_host = self.api_client.configuration.host
+        if self.api_client.configuration.host.startswith("https://"):
+            # Basic Auth
+            if self.api_client.configuration.username:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
+
+            # OAuth2
+            elif self.api_client.configuration.access_token:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{tmp_host}"
+                headers = websockets.Headers([
+                    ("Authorization", f"Bearer {self.api_client.configuration.access_token}")
+                ])
+        else:
+            tmp_host = tmp_host.replace("http://", "ws://")
+
+        full_url = furl(tmp_host + path)
+
+        async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.model_dump_json(exclude_none=True))
+            finally:
+                await websocket.close()
+