wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/robot_controller_configuration.py

@@ -0,0 +1,262 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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.v2.models.abb_controller import AbbController
+from wandelbots_api_client.v2.models.fanuc_controller import FanucController
+from wandelbots_api_client.v2.models.kuka_controller import KukaController
+from wandelbots_api_client.v2.models.universalrobots_controller import UniversalrobotsController
+from wandelbots_api_client.v2.models.virtual_controller import VirtualController
+from wandelbots_api_client.v2.models.yaskawa_controller import YaskawaController
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+ROBOTCONTROLLERCONFIGURATION_ONE_OF_SCHEMAS = [
+    "AbbController",
+    "FanucController",
+    "KukaController",
+    "UniversalrobotsController",
+    "VirtualController",
+    "YaskawaController",
+]
+
+
+class RobotControllerConfiguration(BaseModel):
+    """
+    RobotControllerConfiguration
+    """
+
+    # data type: AbbController
+    oneof_schema_1_validator: Optional[AbbController] = None
+    # data type: FanucController
+    oneof_schema_2_validator: Optional[FanucController] = None
+    # data type: KukaController
+    oneof_schema_3_validator: Optional[KukaController] = None
+    # data type: UniversalrobotsController
+    oneof_schema_4_validator: Optional[UniversalrobotsController] = None
+    # data type: VirtualController
+    oneof_schema_5_validator: Optional[VirtualController] = None
+    # data type: YaskawaController
+    oneof_schema_6_validator: Optional[YaskawaController] = None
+    actual_instance: Optional[
+        Union[AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "AbbController",
+        "FanucController",
+        "KukaController",
+        "UniversalrobotsController",
+        "VirtualController",
+        "YaskawaController",
+    }
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    discriminator_value_class_map: Dict[str, str] = {}
+
+    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 = RobotControllerConfiguration.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: AbbController
+        if not isinstance(v, AbbController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `AbbController`")
+        else:
+            match += 1
+        # validate data type: FanucController
+        if not isinstance(v, FanucController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FanucController`")
+        else:
+            match += 1
+        # validate data type: KukaController
+        if not isinstance(v, KukaController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `KukaController`")
+        else:
+            match += 1
+        # validate data type: UniversalrobotsController
+        if not isinstance(v, UniversalrobotsController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `UniversalrobotsController`")
+        else:
+            match += 1
+        # validate data type: VirtualController
+        if not isinstance(v, VirtualController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `VirtualController`")
+        else:
+            match += 1
+        # validate data type: YaskawaController
+        if not isinstance(v, YaskawaController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `YaskawaController`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. 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
+
+        # use oneOf discriminator to lookup the data type
+        _data_type = json.loads(json_str).get("kind")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `kind` in the input.")
+
+        # check if data type is `AbbController`
+        if _data_type == "AbbController":
+            instance.actual_instance = AbbController.from_json(json_str)
+            return instance
+
+        # check if data type is `FanucController`
+        if _data_type == "FanucController":
+            instance.actual_instance = FanucController.from_json(json_str)
+            return instance
+
+        # check if data type is `KukaController`
+        if _data_type == "KukaController":
+            instance.actual_instance = KukaController.from_json(json_str)
+            return instance
+
+        # check if data type is `UniversalrobotsController`
+        if _data_type == "UniversalrobotsController":
+            instance.actual_instance = UniversalrobotsController.from_json(json_str)
+            return instance
+
+        # check if data type is `VirtualController`
+        if _data_type == "VirtualController":
+            instance.actual_instance = VirtualController.from_json(json_str)
+            return instance
+
+        # check if data type is `YaskawaController`
+        if _data_type == "YaskawaController":
+            instance.actual_instance = YaskawaController.from_json(json_str)
+            return instance
+
+        # deserialize data into AbbController
+        try:
+            instance.actual_instance = AbbController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FanucController
+        try:
+            instance.actual_instance = FanucController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into KukaController
+        try:
+            instance.actual_instance = KukaController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into UniversalrobotsController
+        try:
+            instance.actual_instance = UniversalrobotsController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into VirtualController
+        try:
+            instance.actual_instance = VirtualController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into YaskawaController
+        try:
+            instance.actual_instance = YaskawaController.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 RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. 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], AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController
+        ]
+    ]:
+        """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/v2/models/robot_controller_configuration_request.py

@@ -0,0 +1,99 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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
+from wandelbots_api_client.v2.models.network_device import NetworkDevice
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class RobotControllerConfigurationRequest(BaseModel):
+    """
+    Information to generate all robot controller configurations that match a given ARP scan result.
+    """  # noqa: E501
+
+    ip: StrictStr = Field(description="The IPv4 address assigned to the network interface where the ARP scan was performed. ")
+    network_devices: List[NetworkDevice] = Field(description="Array of network devices.")
+    __properties: ClassVar[List[str]] = ["ip", "network_devices"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of RobotControllerConfigurationRequest 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 each item in network_devices (list)
+        _items = []
+        if self.network_devices:
+            for _item_network_devices in self.network_devices:
+                if _item_network_devices:
+                    _items.append(_item_network_devices.to_dict())
+            _dict["network_devices"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotControllerConfigurationRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "ip": obj.get("ip"),
+                "network_devices": [NetworkDevice.from_dict(_item) for _item in obj["network_devices"]]
+                if obj.get("network_devices") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/robot_controller_state.py

@@ -0,0 +1,138 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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 datetime import datetime
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.motion_group_state import MotionGroupState
+from wandelbots_api_client.v2.models.operation_mode import OperationMode
+from wandelbots_api_client.v2.models.robot_system_mode import RobotSystemMode
+from wandelbots_api_client.v2.models.safety_state_type import SafetyStateType
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class RobotControllerState(BaseModel):
+    """
+    Returns the whole current state of robot controller.
+    """  # noqa: E501
+
+    mode: RobotSystemMode = Field(description="Mode of communication and control between NOVA and the robot controller.")
+    last_error: Optional[List[StrictStr]] = Field(
+        default=None,
+        description="Last error stack encountered during initialization process or after a controller disconnect. At this stage, it's unclear whether the error is fatal.  Evaluate `last_error` to decide whether to remove the controller using `deleteController`. Examples: - Delete required: Host resolution fails repeatedly due to an incorrect IP. - Delete not required: Temporary network delay caused a disconnect; the system will auto-reconnect. ",
+    )
+    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.")
+    sequence_number: Annotated[int, Field(le=4294967295, strict=True, ge=0)] = Field(
+        description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. "
+    )
+    controller: StrictStr = Field(description="Identifier of the configured robot controller.")
+    operation_mode: OperationMode
+    safety_state: SafetyStateType
+    velocity_override: Optional[Annotated[int, Field(le=100, strict=True, ge=1)]] = Field(
+        default=None,
+        description="If made available by the robot controller, returns the current velocity override in [percentage] for movements adjusted on robot control panel. Valid value range: 1 - 100. ",
+    )
+    motion_groups: List[MotionGroupState] = Field(
+        description="State of indicated motion groups. In case of state request via controller all configured motion groups are returned. In case of executing a motion only the affected motion groups are returned. "
+    )
+    __properties: ClassVar[List[str]] = [
+        "mode",
+        "last_error",
+        "timestamp",
+        "sequence_number",
+        "controller",
+        "operation_mode",
+        "safety_state",
+        "velocity_override",
+        "motion_groups",
+    ]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of RobotControllerState 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 each item in motion_groups (list)
+        _items = []
+        if self.motion_groups:
+            for _item_motion_groups in self.motion_groups:
+                if _item_motion_groups:
+                    _items.append(_item_motion_groups.to_dict())
+            _dict["motion_groups"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotControllerState from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "mode": obj.get("mode"),
+                "last_error": obj.get("last_error"),
+                "timestamp": obj.get("timestamp"),
+                "sequence_number": obj.get("sequence_number"),
+                "controller": obj.get("controller") if obj.get("controller") is not None else "controller",
+                "operation_mode": obj.get("operation_mode"),
+                "safety_state": obj.get("safety_state"),
+                "velocity_override": obj.get("velocity_override"),
+                "motion_groups": [MotionGroupState.from_dict(_item) for _item in obj["motion_groups"]]
+                if obj.get("motion_groups") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/robot_system_mode.py

@@ -0,0 +1,37 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+from enum import Enum
+from typing_extensions import Self
+
+
+class RobotSystemMode(str, Enum):
+    """
+    Defines the current system mode of the robot system, including NOVA communicating with the robot controller.  ### MODE_CONTROLLER_NOT_CONFIGURED  No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.  ### MODE_INITIALIZING  Indicates that a connection to the robot controller is established or reestablished in case of a disconnect. On success, the controller is set to MODE_MONITOR. On failure, the initialization process is retried until successful or cancelled by the user.  ### MODE_MONITOR  Read-only mode with an active controller connection. - Receives robot state and I/O signals - Move requests are rejected - No commands are sent to the controller  ### MODE_CONTROL  Active control mode.  **Movement is possible in this mode**  The robot is cyclically commanded to hold its current position. The robot state is received in sync with the controller cycle. Motion and jogging requests are accepted and executed. Input/Output interaction is enabled.  ### MODE_FREE_DRIVE  Read-only mode with servo motors enabled for manual movement (Free Drive).  Move requests are rejected.  Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
+    """
+
+    """
+    allowed enum values
+    """
+    MODE_CONTROLLER_NOT_CONFIGURED = "MODE_CONTROLLER_NOT_CONFIGURED"
+    MODE_INITIALIZING = "MODE_INITIALIZING"
+    MODE_MONITOR = "MODE_MONITOR"
+    MODE_CONTROL = "MODE_CONTROL"
+    MODE_FREE_DRIVE = "MODE_FREE_DRIVE"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of RobotSystemMode from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/v2/models/robot_tcp.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: 2.3.0
+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, StrictFloat, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.flange_payload import FlangePayload
+from wandelbots_api_client.v2.models.orientation_type import OrientationType
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class RobotTcp(BaseModel):
+    """
+    RobotTcp
+    """  # noqa: E501
+
+    name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.")
+    position: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(
+        description="A three-dimensional vector [x, y, z] with double precision. "
+    )
+    orientation: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)]] = Field(
+        default=None,
+        description="Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision. ",
+    )
+    orientation_type: Optional[OrientationType] = OrientationType.ROTATION_VECTOR
+    payload: Optional[FlangePayload] = None
+    id: StrictStr = Field(description="Identifier of this tcp.")
+    __properties: ClassVar[List[str]] = ["name", "position", "orientation", "orientation_type", "payload", "id"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of RobotTcp 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 payload
+        if self.payload:
+            _dict["payload"] = self.payload.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotTcp from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "name": obj.get("name"),
+                "position": obj.get("position"),
+                "orientation": obj.get("orientation"),
+                "orientation_type": obj.get("orientation_type")
+                if obj.get("orientation_type") is not None
+                else OrientationType.ROTATION_VECTOR,
+                "payload": FlangePayload.from_dict(obj["payload"]) if obj.get("payload") is not None else None,
+                "id": obj.get("id"),
+            }
+        )
+        return _obj