wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/models/stream_move_request.py

@@ -0,0 +1,207 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.models.stream_move_backward import StreamMoveBackward
+from wandelbots_api_client.models.stream_move_forward import StreamMoveForward
+from wandelbots_api_client.models.stream_move_playback_speed import StreamMovePlaybackSpeed
+from wandelbots_api_client.models.stream_move_to_trajectory import StreamMoveToTrajectory
+from wandelbots_api_client.models.stream_stop import StreamStop
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+STREAMMOVEREQUEST_ONE_OF_SCHEMAS = [
+    "StreamMoveBackward",
+    "StreamMoveForward",
+    "StreamMovePlaybackSpeed",
+    "StreamMoveToTrajectory",
+    "StreamStop",
+]
+
+
+class StreamMoveRequest(BaseModel):
+    """
+    StreamMoveRequest
+    """
+
+    # data type: StreamMoveForward
+    oneof_schema_1_validator: Optional[StreamMoveForward] = None
+    # data type: StreamMoveBackward
+    oneof_schema_2_validator: Optional[StreamMoveBackward] = None
+    # data type: StreamMoveToTrajectory
+    oneof_schema_3_validator: Optional[StreamMoveToTrajectory] = None
+    # data type: StreamMovePlaybackSpeed
+    oneof_schema_4_validator: Optional[StreamMovePlaybackSpeed] = None
+    # data type: StreamStop
+    oneof_schema_5_validator: Optional[StreamStop] = None
+    actual_instance: Optional[Union[StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop]] = (
+        None
+    )
+    one_of_schemas: Set[str] = {
+        "StreamMoveBackward",
+        "StreamMoveForward",
+        "StreamMovePlaybackSpeed",
+        "StreamMoveToTrajectory",
+        "StreamStop",
+    }
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def __init__(self, *args, **kwargs) -> None:
+        if args:
+            if len(args) > 1:
+                raise ValueError("If a position argument is used, only 1 is allowed to set `actual_instance`")
+            if kwargs:
+                raise ValueError("If a position argument is used, keyword arguments cannot be used.")
+            super().__init__(actual_instance=args[0])
+        else:
+            super().__init__(**kwargs)
+
+    @field_validator("actual_instance")
+    def actual_instance_must_validate_oneof(cls, v):
+        instance = StreamMoveRequest.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: StreamMoveForward
+        if not isinstance(v, StreamMoveForward):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StreamMoveForward`")
+        else:
+            match += 1
+        # validate data type: StreamMoveBackward
+        if not isinstance(v, StreamMoveBackward):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StreamMoveBackward`")
+        else:
+            match += 1
+        # validate data type: StreamMoveToTrajectory
+        if not isinstance(v, StreamMoveToTrajectory):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StreamMoveToTrajectory`")
+        else:
+            match += 1
+        # validate data type: StreamMovePlaybackSpeed
+        if not isinstance(v, StreamMovePlaybackSpeed):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StreamMovePlaybackSpeed`")
+        else:
+            match += 1
+        # validate data type: StreamStop
+        if not isinstance(v, StreamStop):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StreamStop`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in StreamMoveRequest with oneOf schemas: StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in StreamMoveRequest with oneOf schemas: StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: Union[str, Dict[str, Any]]) -> Self:
+        return cls.from_json(json.dumps(obj))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Returns the object represented by the json string"""
+        instance = cls.model_construct()
+        error_messages = []
+        match = 0
+
+        # deserialize data into StreamMoveForward
+        try:
+            instance.actual_instance = StreamMoveForward.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into StreamMoveBackward
+        try:
+            instance.actual_instance = StreamMoveBackward.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into StreamMoveToTrajectory
+        try:
+            instance.actual_instance = StreamMoveToTrajectory.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into StreamMovePlaybackSpeed
+        try:
+            instance.actual_instance = StreamMovePlaybackSpeed.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into StreamStop
+        try:
+            instance.actual_instance = StreamStop.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when deserializing the JSON string into StreamMoveRequest with oneOf schemas: StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into StreamMoveRequest with oneOf schemas: StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return instance
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the actual instance"""
+        if self.actual_instance is None:
+            return "null"
+
+        if hasattr(self.actual_instance, "to_json") and callable(self.actual_instance.to_json):
+            return self.actual_instance.to_json()
+        else:
+            return json.dumps(self.actual_instance)
+
+    def to_dict(
+        self,
+    ) -> Optional[
+        Union[Dict[str, Any], StreamMoveBackward, StreamMoveForward, StreamMovePlaybackSpeed, StreamMoveToTrajectory, StreamStop]
+    ]:
+        """Returns the dict representation of the actual instance"""
+        if self.actual_instance is None:
+            return None
+
+        if hasattr(self.actual_instance, "to_dict") and callable(self.actual_instance.to_dict):
+            return self.actual_instance.to_dict()
+        else:
+            # primitive type
+            return self.actual_instance
+
+    def to_str(self) -> str:
+        """Returns the string representation of the actual instance"""
+        return pprint.pformat(self.model_dump())

wandelbots_api_client/models/stream_move_response.py

@@ -0,0 +1,110 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.move_response import MoveResponse
+from wandelbots_api_client.models.robot_controller_state import RobotControllerState
+from wandelbots_api_client.models.stop_response import StopResponse
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class StreamMoveResponse(BaseModel):
+    """
+    The stream will return MoveResponse repeatedly as long as defined in `response_rate` until the movement is completed. Finally, a single StopResponse is returned and the stream is closed.
+    """  # noqa: E501
+
+    move_response: Optional[MoveResponse] = Field(default=None, description="This field is filled during the movement.")
+    stop_response: Optional[StopResponse] = Field(
+        default=None, description="This field is filled when the movement is finished. It is the final response"
+    )
+    state: Optional[RobotControllerState] = Field(
+        default=None, description="The current state of the robot controller and motion group in motion."
+    )
+    __properties: ClassVar[List[str]] = ["move_response", "stop_response", "state"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of StreamMoveResponse from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of move_response
+        if self.move_response:
+            _dict["move_response"] = self.move_response.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of stop_response
+        if self.stop_response:
+            _dict["stop_response"] = self.stop_response.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of state
+        if self.state:
+            _dict["state"] = self.state.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of StreamMoveResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "move_response": MoveResponse.from_dict(obj["move_response"]) if obj.get("move_response") is not None else None,
+                "stop_response": StopResponse.from_dict(obj["stop_response"]) if obj.get("stop_response") is not None else None,
+                "state": RobotControllerState.from_dict(obj["state"]) if obj.get("state") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/stream_move_to_trajectory.py

@@ -0,0 +1,96 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.move_to_trajectory_via_joint_ptp_request import MoveToTrajectoryViaJointPTPRequest
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class StreamMoveToTrajectory(BaseModel):
+    """
+    StreamMoveToTrajectory
+    """  # noqa: E501
+
+    to_trajectory: MoveToTrajectoryViaJointPTPRequest
+    __properties: ClassVar[List[str]] = ["to_trajectory"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of StreamMoveToTrajectory from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of to_trajectory
+        if self.to_trajectory:
+            _dict["to_trajectory"] = self.to_trajectory.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of StreamMoveToTrajectory from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "to_trajectory": MoveToTrajectoryViaJointPTPRequest.from_dict(obj["to_trajectory"])
+                if obj.get("to_trajectory") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/models/stream_stop.py

@@ -0,0 +1,90 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.motion_id import MotionId
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class StreamStop(BaseModel):
+    """
+    StreamStop
+    """  # noqa: E501
+
+    stop: MotionId
+    __properties: ClassVar[List[str]] = ["stop"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of StreamStop from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of stop
+        if self.stop:
+            _dict["stop"] = self.stop.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of StreamStop from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"stop": MotionId.from_dict(obj["stop"]) if obj.get("stop") is not None else None})
+        return _obj

wandelbots_api_client/models/tcp_pose.py

@@ -0,0 +1,105 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.vector3d import Vector3d
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class TcpPose(BaseModel):
+    """
+    Representing a robot pose in operational space aware of a configured TCP.
+    """  # noqa: E501
+
+    position: Vector3d
+    orientation: Vector3d
+    coordinate_system: Optional[StrictStr] = Field(
+        default=None, description="Unique name of base coordinate system, if empty world is used."
+    )
+    tcp: StrictStr = Field(description="Identifier of tcp on controller.")
+    __properties: ClassVar[List[str]] = ["position", "orientation", "coordinate_system", "tcp"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of TcpPose from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of position
+        if self.position:
+            _dict["position"] = self.position.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of orientation
+        if self.orientation:
+            _dict["orientation"] = self.orientation.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of TcpPose from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "position": Vector3d.from_dict(obj["position"]) if obj.get("position") is not None else None,
+                "orientation": Vector3d.from_dict(obj["orientation"]) if obj.get("orientation") is not None else None,
+                "coordinate_system": obj.get("coordinate_system"),
+                "tcp": obj.get("tcp"),
+            }
+        )
+        return _obj