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DobotSession.py
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DobotSession.py
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from typing import List
import DobotAPI
import DobotTypes
class DobotSession:
dobot_index = 0
def __init__(self, dobotId=None, split='_'):
if dobotId is None:
self.dobotId = DobotSession.dobot_index
DobotSession.dobot_index += 1
else:
self.dobotId = dobotId
self.api = DobotAPI.load(self.dobotId, split)
def SearchDobot(self, maxLen=1000):
return DobotAPI.SearchDobot(self.api, maxLen)
def ConnectDobot(self, portName="", baudrate=115200):
return DobotAPI.ConnectDobot(self.api, portName, baudrate)
def DisconnectDobot(self):
return DobotAPI.DisconnectDobot(self.api)
def DobotExec(self):
return DobotAPI.DobotExec(self.api)
def SetAutoLevelingCmd(self, controlFlag, precision, isQueued=0):
return DobotAPI.SetAutoLevelingCmd(self.api, controlFlag, precision, isQueued)
def GetAutoLevelingResult(self):
return DobotAPI.GetAutoLevelingResult(self.api)
def GetQueuedCmdCurrentIndex(self):
return DobotAPI.GetQueuedCmdCurrentIndex(self.api)
def SetQueuedCmdStartExec(self):
return DobotAPI.SetQueuedCmdStartExec(self.api)
def SetQueuedCmdStopExec(self):
return DobotAPI.SetQueuedCmdStopExec(self.api)
def SetQueuedCmdForceStopExec(self):
return DobotAPI.SetQueuedCmdForceStopExec(self.api)
def SetQueuedCmdStartDownload(self, totalLoop, linePerLoop):
return DobotAPI.SetQueuedCmdStartDownload(self.api, totalLoop, linePerLoop)
def SetQueuedCmdStopDownload(self):
return DobotAPI.SetQueuedCmdStopDownload(self.api)
def SetQueuedCmdClear(self):
return DobotAPI.SetQueuedCmdClear(self.api)
def SetDeviceSN(self, str_):
return DobotAPI.SetDeviceSN(self.api, str_)
def GetDeviceSN(self):
return DobotAPI.GetDeviceSN(self.api)
def SetDeviceName(self, str_):
return DobotAPI.SetDeviceName(self.api, str_)
def GetDeviceName(self) -> str:
return DobotAPI.GetDeviceName(self.api)
def GetDeviceVersion(self) -> List[int]:
return DobotAPI.GetDeviceVersion(self.api)
def SetDeviceWithL(self, isWithL):
return DobotAPI.SetDeviceWithL(self.api, isWithL)
def GetDeviceWithL(self):
return DobotAPI.GetDeviceWithL(self.api)
def ResetPose(self, manual, rearArmAngle, frontArmAngle):
return DobotAPI.ResetPose(self.api, manual, rearArmAngle, frontArmAngle)
def GetPose(self) -> List[float]:
return DobotAPI.GetPose(self.api)
def GetPoseL(self):
return DobotAPI.GetPoseL(self.api)
def GetKinematics(self):
return DobotAPI.GetKinematics(self.api)
def GetAlarmsState(self, maxLen=1000):
return DobotAPI.GetAlarmsState(self.api, maxLen)
def ClearAllAlarmsState(self):
return DobotAPI.ClearAllAlarmsState(self.api)
def GetUserParams(self):
return DobotAPI.GetUserParams(self.api)
def SetHOMEParams(self, x, y, z, r, isQueued=0):
return DobotAPI.SetHOMEParams(self.api, x, y, z, r, isQueued)
def GetHOMEParams(self):
return DobotAPI.GetHOMEParams(self.api)
def SetHOMECmd(self, temp, isQueued=0):
return DobotAPI.SetHOMECmd(self.api, temp, isQueued)
def SetArmOrientation(self, armOrientation, isQueued=0):
return DobotAPI.SetArmOrientation(self.api, armOrientation, isQueued)
def GetArmOrientation(self):
return DobotAPI.GetArmOrientation(self.api)
def SetHHTTrigMode(self, hhtTrigMode):
return DobotAPI.SetHHTTrigMode(self.api, hhtTrigMode)
def GetHHTTrigMode(self):
return DobotAPI.GetHHTTrigMode(self.api)
def SetHHTTrigOutputEnabled(self, isEnabled):
return DobotAPI.SetHHTTrigOutputEnabled(self.api, isEnabled)
def GetHHTTrigOutputEnabled(self):
return DobotAPI.GetHHTTrigOutputEnabled(self.api)
def GetHHTTrigOutput(self):
return DobotAPI.GetHHTTrigOutput(self.api)
def SetEndEffectorParams(self, xBias, yBias, zBias, isQueued=0):
return DobotAPI.SetEndEffectorParams(self.api, xBias, yBias, zBias, isQueued)
def GetEndEffectorParams(self):
return DobotAPI.GetEndEffectorParams(self.api)
def SetEndEffectorLaser(self, enableCtrl, on, isQueued=0):
return DobotAPI.SetEndEffectorLaser(self.api, enableCtrl, on, isQueued)
def GetEndEffectorLaser(self):
return DobotAPI.GetEndEffectorLaser(self.api)
def SetEndEffectorSuctionCup(self, enableCtrl, on, isQueued=0):
return DobotAPI.SetEndEffectorSuctionCup(self.api, enableCtrl, on, isQueued)
def GetEndEffectorSuctionCup(self):
return DobotAPI.GetEndEffectorSuctionCup(self.api)
def SetEndEffectorGripper(self, enableCtrl, on, isQueued=0):
return DobotAPI.SetEndEffectorGripper(self.api, enableCtrl, on, isQueued)
def GetEndEffectorGripper(self):
return DobotAPI.GetEndEffectorGripper(self.api)
def SetJOGJointParams(self, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration, j3Velocity, j3Acceleration,
j4Velocity, j4Acceleration, isQueued=0):
return DobotAPI.SetJOGJointParams(self.api, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration, j3Velocity,
j3Acceleration, j4Velocity, j4Acceleration, isQueued)
def GetJOGJointParams(self):
return DobotAPI.GetJOGJointParams(self.api)
def SetJOGCoordinateParams(self, xVelocity, xAcceleration, yVelocity, yAcceleration, zVelocity, zAcceleration,
rVelocity, rAcceleration, isQueued=0):
return DobotAPI.SetJOGCoordinateParams(self.api, xVelocity, xAcceleration, yVelocity, yAcceleration, zVelocity,
zAcceleration, rVelocity, rAcceleration, isQueued)
def GetJOGCoordinateParams(self):
return DobotAPI.GetJOGCoordinateParams(self.api)
def SetJOGLParams(self, velocity, acceleration, isQueued=0):
return DobotAPI.SetJOGLParams(self.api, velocity, acceleration, isQueued)
def GetJOGLParams(self):
return DobotAPI.GetJOGLParams(self.api)
def SetJOGCommonParams(self, value_velocityratio, value_accelerationratio, isQueued=0):
return DobotAPI.SetJOGCommonParams(self.api, value_velocityratio, value_accelerationratio, isQueued)
def GetJOGCommonParams(self):
return DobotAPI.GetJOGCommonParams(self.api)
def SetJOGCmd(self, isJoint, cmd, isQueued=0):
return DobotAPI.SetJOGCmd(self.api, isJoint, cmd, isQueued)
def SetPTPJointParams(self, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration, j3Velocity, j3Acceleration,
j4Velocity, j4Acceleration, isQueued=0):
return DobotAPI.SetPTPJointParams(self.api, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration, j3Velocity,
j3Acceleration, j4Velocity, j4Acceleration, isQueued)
def GetPTPJointParams(self):
return DobotAPI.GetPTPJointParams(self.api)
def SetPTPCoordinateParams(self, xyzVelocity, xyzAcceleration, rVelocity, rAcceleration, isQueued=0):
return DobotAPI.SetPTPCoordinateParams(self.api, xyzVelocity, xyzAcceleration, rVelocity, rAcceleration,
isQueued)
def GetPTPCoordinateParams(self):
return DobotAPI.GetPTPCoordinateParams(self.api)
def SetPTPLParams(self, velocity, acceleration, isQueued=0):
return DobotAPI.SetPTPLParams(self.api, velocity, acceleration, isQueued)
def GetPTPLParams(self):
return DobotAPI.GetPTPLParams(self.api)
def SetPTPJumpParams(self, jumpHeight, zLimit, isQueued=0):
return DobotAPI.SetPTPJumpParams(self.api, jumpHeight, zLimit, isQueued)
def GetPTPJumpParams(self):
return DobotAPI.GetPTPJumpParams(self.api)
def SetPTPCommonParams(self, velocityRatio, accelerationRatio, isQueued=0):
return DobotAPI.SetPTPCommonParams(self.api, velocityRatio, accelerationRatio, isQueued)
def GetPTPCommonParams(self):
return DobotAPI.GetPTPCommonParams(self.api)
def SetPTPCmd(self, ptpMode, x, y, z, rHead, isQueued=0):
return DobotAPI.SetPTPCmd(self.api, ptpMode, x, y, z, rHead, isQueued)
def SetPTPWithLCmd(self, ptpMode, x, y, z, rHead, l, isQueued=0):
return DobotAPI.SetPTPWithLCmd(self.api, ptpMode, x, y, z, rHead, l, isQueued)
def SetCPParams(self, planAcc, juncitionVel, acc, realTimeTrack=0, isQueued=0):
return DobotAPI.SetCPParams(self.api, planAcc, juncitionVel, acc, realTimeTrack, isQueued)
def GetCPParams(self):
return DobotAPI.GetCPParams(self.api)
def SetCPCmd(self, cpMode, x, y, z, velocity, isQueued=0):
return DobotAPI.SetCPCmd(self.api, cpMode, x, y, z, velocity, isQueued)
def SetCPLECmd(self, cpMode, x, y, z, power, isQueued=0):
return DobotAPI.SetCPLECmd(self.api, cpMode, x, y, z, power, isQueued)
def SetARCParams(self, xyzVelocity, rVelocity, xyzAcceleration, rAcceleration, isQueued=0):
return DobotAPI.SetARCParams(self.api, xyzVelocity, rVelocity, xyzAcceleration, rAcceleration, isQueued)
def GetARCParams(self):
return DobotAPI.GetARCParams(self.api)
def SetARCCmd(self, cirPoint, toPoint, isQueued=0):
return DobotAPI.SetARCCmd(self.api, cirPoint, toPoint, isQueued)
def SetWAITCmd(self, waitTimeMs, isQueued=1):
return DobotAPI.SetWAITCmd(self.api, waitTimeMs, isQueued)
def SetTRIGCmd(self, address, mode, condition, threshold, isQueued=0):
return DobotAPI.SetTRIGCmd(self.api, address, mode, condition, threshold, isQueued)
def SetIOMultiplexing(self, address, multiplex, isQueued=0):
return DobotAPI.SetIOMultiplexing(self.api, address, multiplex, isQueued)
def GetIOMultiplexing(self, addr):
return DobotAPI.GetIOMultiplexing(self.api, addr)
def SetIODO(self, address, level, isQueued=0):
return DobotAPI.SetIODO(self.api, address, level, isQueued)
def GetIODO(self, addr):
return DobotAPI.GetIODO(self.api, addr)
def SetIOPWM(self, address, frequency, dutyCycle, isQueued=0):
return DobotAPI.SetIOPWM(self.api, address, frequency, dutyCycle, isQueued)
def GetIOPWM(self, addr):
return DobotAPI.GetIOPWM(self.api, addr)
def GetIODI(self, addr):
return DobotAPI.GetIODI(self.api, addr)
def SetEMotor(self, index, isEnabled, speed, isQueued=0):
return DobotAPI.SetEMotor(self.api, index, isEnabled, speed, isQueued)
def SetEMotorS(self, index, isEnabled, speed, distance, isQueued=0):
return DobotAPI.SetEMotorS(self.api, index, isEnabled, speed, distance, isQueued)
def GetIOADC(self, addr):
return DobotAPI.GetIOADC(self.api, addr)
def SetAngleSensorStaticError(self, rearArmAngleError, frontArmAngleError):
return DobotAPI.SetAngleSensorStaticError(self.api, rearArmAngleError, frontArmAngleError)
def GetAngleSensorStaticError(self):
return DobotAPI.GetAngleSensorStaticError(self.api)
def SetAngleSensorCoef(self, rearArmAngleCoef, frontArmAngleCoef):
return DobotAPI.SetAngleSensorCoef(self.api, rearArmAngleCoef, frontArmAngleCoef)
def GetAngleSensorCoef(self):
return DobotAPI.GetAngleSensorCoef(self.api)
def SetBaseDecoderStaticError(self, baseDecoderError):
return DobotAPI.SetBaseDecoderStaticError(self.api, baseDecoderError)
def GetBaseDecoderStaticError(self):
return DobotAPI.GetBaseDecoderStaticError(self.api)
def GetWIFIConnectStatus(self):
return DobotAPI.GetWIFIConnectStatus(self.api)
def SetWIFIConfigMode(self, enable):
return DobotAPI.SetWIFIConfigMode(self.api, enable)
def GetWIFIConfigMode(self):
return DobotAPI.GetWIFIConfigMode(self.api)
def SetWIFISSID(self, ssid):
return DobotAPI.SetWIFISSID(self.api, ssid)
def GetWIFISSID(self):
return DobotAPI.GetWIFISSID(self.api)
def SetWIFIPassword(self, password):
return DobotAPI.SetWIFIPassword(self.api, password)
def GetWIFIPassword(self):
return DobotAPI.GetWIFIPassword(self.api)
def SetWIFIIPAddress(self, dhcp, addr1, addr2, addr3, addr4):
return DobotAPI.SetWIFIIPAddress(self.api, dhcp, addr1, addr2, addr3, addr4)
def GetWIFIIPAddress(self):
return DobotAPI.GetWIFIIPAddress(self.api)
def SetWIFINetmask(self, addr1, addr2, addr3, addr4):
return DobotAPI.SetWIFINetmask(self.api, addr1, addr2, addr3, addr4)
def GetWIFINetmask(self):
return DobotAPI.GetWIFINetmask(self.api)
def SetWIFIGateway(self, addr1, addr2, addr3, addr4):
return DobotAPI.SetWIFIGateway(self.api, addr1, addr2, addr3, addr4)
def GetWIFIGateway(self):
return DobotAPI.GetWIFIGateway(self.api)
def SetWIFIDNS(self, addr1, addr2, addr3, addr4):
return DobotAPI.SetWIFIDNS(self.api, addr1, addr2, addr3, addr4)
def GetWIFIDNS(self):
return DobotAPI.GetWIFIDNS(self.api)
def SetColorSensor(self, isEnable, colorPort):
return DobotAPI.SetColorSensor(self.api, isEnable, colorPort)
def GetColorSensor(self):
return DobotAPI.GetColorSensor(self.api)
def SetInfraredSensor(self, isEnable, infraredPort):
return DobotAPI.SetInfraredSensor(self.api, isEnable, infraredPort)
def GetInfraredSensor(self, infraredPort):
return DobotAPI.GetInfraredSensor(self.api, infraredPort)
# FIRMWARE
def UpdateFirmware(self, firmwareParams: DobotTypes.FirmwareParams):
DobotAPI.UpdateFirmware(self.api, firmwareParams)
def SetFirmwareMode(self, firmwareMode):
DobotAPI.SetFirmwareMode(self.api, firmwareMode)
def GetFirmwareMode(self):
DobotAPI.GetFirmwareMode(self.api)
# LOSTSTEP
def SetLostStepParams(self, threshold, isQueued=0):
DobotAPI.SetLostStepParams(self.api, threshold, isQueued)
def SetLostStepCmd(self, isQueued=1):
DobotAPI.SetLostStepCmd(self.api, isQueued)
# UART4 Peripherals
def GetUART4PeripheralsType(self, p_type):
DobotAPI.GetUART4PeripheralsType(self.api, p_type)
def SetUART4PeripheralsEnable(self, isEnable):
DobotAPI.SetUART4PeripheralsEnable(self.api, isEnable)
# Function Pluse Mode
def SendPluse(self, pluseCmd: DobotTypes.PluseCmd, isQueued=0):
DobotAPI.SendPluse(self.api, pluseCmd, isQueued)
def SendPluseEx(self, pluseCmd):
DobotAPI.SendPluseEx(self.api, pluseCmd)
def GetServoPIDParams(self):
DobotAPI.GetServoPIDParams(self.api)
def SetServoPIDParams(self, pid: DobotTypes.PID, isQueued=0):
DobotAPI.SetServoPIDParams(self.api, pid, isQueued)
def GetServoControlLoop(self):
return DobotAPI.GetServoControlLoop(self.api)
def SetServoControlLoop(self, p_index, controlLoop, isQueued=0):
DobotAPI.SetServoControlLoop(self.api, p_index, controlLoop, isQueued)
def SaveServoPIDParams(self, p_index, controlLoop, isQueued=0):
DobotAPI.SaveServoPIDParams(self.api, p_index, controlLoop, isQueued)
def GetPoseEx(self, index):
return DobotAPI.GetPoseEx(self.api, index)
def SetHOMECmdEx(self, temp, isQueued=0):
return DobotAPI.SetHOMECmdEx(self.api, temp, isQueued)
def SetWAITCmdEx(self, waitTimeMs, isQueued=0):
return DobotAPI.SetWAITCmdEx(self.api, waitTimeMs, isQueued)
def SetEndEffectorParamsEx(self, xBias, yBias, zBias, isQueued=0):
return DobotAPI.SetEndEffectorParamsEx(self.api, xBias, yBias, zBias, isQueued)
def SetPTPJointParamsEx(self, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration, j3Velocity, j3Acceleration,
j4Velocity, j4Acceleration, isQueued=0):
return DobotAPI.SetPTPJointParamsEx(self.api, j1Velocity, j1Acceleration, j2Velocity, j2Acceleration,
j3Velocity, j3Acceleration, j4Velocity, j4Acceleration, isQueued)
def SetPTPLParamsEx(self, lVelocity, lAcceleration, isQueued=0):
return DobotAPI.SetPTPLParamsEx(self.api, lVelocity, lAcceleration, isQueued)
def SetPTPCommonParamsEx(self, velocityRatio, accelerationRatio, isQueued=0):
return DobotAPI.SetPTPCommonParamsEx(self.api, velocityRatio, accelerationRatio, isQueued)
def SetPTPJumpParamsEx(self, jumpHeight, maxJumpHeight, isQueued=0):
return DobotAPI.SetPTPJumpParamsEx(self.api, jumpHeight, maxJumpHeight, isQueued)
def SetPTPCmdEx(self, ptpMode, x, y, z, rHead, isQueued=0):
return DobotAPI.SetPTPCmdEx(self.api, ptpMode, x, y, z, rHead, isQueued)
def SetIOMultiplexingEx(self, address, multiplex, isQueued=0):
return DobotAPI.SetIOMultiplexingEx(self.api, address, multiplex, isQueued)
def SetEndEffectorSuctionCupEx(self, enableCtrl, on, isQueued=0):
return DobotAPI.SetEndEffectorSuctionCupEx(self.api, enableCtrl, on, isQueued)
def SetEndEffectorGripperEx(self, enableCtrl, on, isQueued=0):
return DobotAPI.SetEndEffectorGripperEx(self.api, enableCtrl, on, isQueued)
def SetIODOEx(self, address, level, isQueued=0):
return DobotAPI.SetIODOEx(self.api, address, level, isQueued)
def SetEMotorEx(self, index, isEnabled, speed, isQueued=0):
return DobotAPI.SetEMotorEx(self.api, index, isEnabled, speed, isQueued)
def SetEMotorSEx(self, index, isEnabled, speed, distance, isQueued=0):
return DobotAPI.SetEMotorSEx(self.api, index, isEnabled, speed, distance, isQueued)
def SetIOPWMEx(self, address, frequency, dutyCycle, isQueued=0):
return DobotAPI.SetIOPWMEx(self.api, address, frequency, dutyCycle, isQueued)
def SetPTPWithLCmdEx(self, ptpMode, x, y, z, rHead, l, isQueued=0):
return DobotAPI.SetPTPWithLCmdEx(self.api, ptpMode, x, y, z, rHead, l, isQueued)
def GetColorSensorEx(self, index):
return DobotAPI.GetColorSensorEx(self.api, index)