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fix: fixes #76, adding more error checking and unifying calculation returns #86

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Merged
merged 1 commit into from
Sep 9, 2021
Merged

fix: fixes #76, adding more error checking and unifying calculation returns #86

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27 changes: 14 additions & 13 deletions evasdk/eva_http_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -447,7 +447,16 @@ def control_acknowledge_collision(self, wait_for_ready=True):
self.control_wait_for(RobotState.READY)

# CALCULATIONS
def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):
def __check_calculation(self, r, name, kind):
res = r.json()
if res[kind]['result'] != 'success':
eva_error(f'{name} error: {res[kind]["error"]}')
return res[kind]

def calc_forward_kinematics(self, joints, fk_type=None, tcp_config=None):
if fk_type is not None:
self.__logger.warn('deprecated fk_type keyword, now all FK data is being returned')

body = {'joints': joints}
if tcp_config is not None:
body['tcp_config'] = tcp_config
Expand All @@ -456,13 +465,7 @@ def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):

if r.status_code != 200:
eva_error('calc_forward_kinematics error', r)

if (fk_type == 'position') or (fk_type == 'orientation'):
return r.json()['fk'][fk_type]
elif (fk_type == 'both'):
return r.json()['fk']
else:
eva_error('calc_forward_kinematics invalid fk_type {}'.format(fk_type), r)
return self.__check_calculation(r, 'calc_forward_kinematics', 'fk')

def __ensure_pyt3d(self):
if not has_pyt3d:
Expand Down Expand Up @@ -523,8 +526,7 @@ def calc_inverse_kinematics(self, guess, target_position, target_orientation, tc

if r.status_code != 200:
eva_error('inverse_kinematics error', r)
return r.json()

return self.__check_calculation(r, 'calc_inverse_kinematics', 'ik')['joints']
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for this 'calc_inverse_kinematics' and similar 'calc_forward_kinematics', 'calc_nudge' and 'calc_rotate' could use <function>.__name__?

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You mean like this?

return self.__check_calculation(r, self.calc_inverse_kinematics.__name__, 'ik')['joints']

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I meant like that yea, but now you typed it out seems a bit much ado about nothing... lol. Maybe enum would be nicer 🤷‍♂️. But I don't think this is important


def calc_nudge(self, joints, direction, offset, tcp_config=None):
body = {'joints': joints, 'direction': direction, 'offset': offset}
Expand All @@ -535,8 +537,7 @@ def calc_nudge(self, joints, direction, offset, tcp_config=None):

if r.status_code != 200:
eva_error('calc_nudge error', r)
return r.json()['nudge']['joints']

return self.__check_calculation(r, 'calc_nudge', 'nudge')['joints']

def calc_pose_valid(self, joints, tcp_config=None):
body = {'joints': joints}
Expand All @@ -559,4 +560,4 @@ def calc_rotate(self, joints, axis, offset, tcp_config=None):

if r.status_code != 200:
eva_error('calc_rotate error', r)
return r.json()
return self.__check_calculation(r, 'calc_rotate', 'rotate')['joints']