from enum import Enum, unique
[docs]@unique
class RobotErrors(Enum):
# overall behavior
SUCCESS = 1
CANCELLED = 2
PREEMPTED = 3
FAILURE = -1
ABORTED = -3
STOPPED = -4
ROS_ERROR = -20
FILE_ALREADY_EXISTS = -30
UNKNOWN_COMMAND = -50
NOT_IMPLEMENTED_COMMAND = -51
INVALID_PARAMETERS = -52
# - Hardware
HARDWARE_FAILURE = -110
HARDWARE_NOT_OK = -111
LEARNING_MODE_ON = -112
CALIBRATION_NOT_DONE = -113
DIGITAL_IO_PANEL_ERROR = -114
LED_MANAGER_ERROR = -115
BUTTON_ERROR = -116
WRONG_MOTOR_TYPE = -117
DXL_WRITE_ERROR = -118
DXL_READ_ERROR = -119
CAN_WRITE_ERROR = -120
CAN_READ_ERROR = -121
NO_CONVEYOR_LEFT = -122
NO_CONVEYOR_FOUND = -123
CONVEYOR_ID_INVALID = -124
CALIBRATION_IN_PROGRESS = -125
# - Vision
VIDEO_STREAM_ON_OFF_FAILURE = -170
VIDEO_STREAM_NOT_RUNNING = -171
OBJECT_NOT_FOUND = -172
MARKERS_NOT_FOUND = -173
# - Commander
# Arm Commander
ARM_COMMANDER_FAILURE = -220
GOAL_STILL_ACTIVE = -221
JOG_CONTROLLER_ENABLED = -222
CONTROLLER_PROBLEMS = -223
SHOULD_RESTART = -224
JOG_CONTROLLER_FAILURE = -225
PLAN_FAILED = -230
NO_PLAN_AVAILABLE = -231
INVERT_KINEMATICS_FAILURE = -232
# Tool Commander
TOOL_FAILURE = -251
TOOL_ID_INVALID = -252
TOOL_NOT_CONNECTED = -253
TOOL_ROS_INTERFACE_ERROR = -254
# - Pose Handlers
POSES_HANDLER_CREATION_FAILED = -300
POSES_HANDLER_REMOVAL_FAILED = -301
POSES_HANDLER_READ_FAILURE = -302
POSES_HANDLER_COMPUTE_FAILURE = -303
WORKSPACE_CREATION_FAILED = -308
# - Programs Manager
PROGRAMS_MANAGER_FAILURE = -320
PROGRAMS_MANAGER_READ_FAILURE = -321
PROGRAMS_MANAGER_UNKNOWN_LANGUAGE = -325
PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE = -326
PROGRAMS_MANAGER_EXECUTION_FAILED = -327
PROGRAMS_MANAGER_STOPPING_FAILED = -328
PROGRAMS_MANAGER_AUTORUN_FAILURE = -329
PROGRAMS_MANAGER_WRITING_FAILURE = -330
PROGRAMS_MANAGER_FILE_ALREADY_EXISTS = -331
PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST = -332
# - Serial
SERIAL_FILE_ERROR = -400
SERIAL_UNKNOWN_ERROR = -401
# - MQTT Client
MQTT_PUBLISH_FUNCTION_DOESNT_EXIST = -420
MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS = -421
# - System Api Client
SYSTEM_API_CLIENT_UNKNOWN_ERROR = -440
SYSTEM_API_CLIENT_INVALID_ROBOT_NAME = -441
SYSTEM_API_CLIENT_REQUEST_FAILED = -442
[docs]@unique
class ArmMoveCommandType(Enum):
"""
Enumeration of Arm Move Command : it used for move commands
"""
JOINTS = 0 # uses joints
POSE = 1 # uses position and rpy
POSITION = 2 # uses position
RPY = 3 # uses rpy
POSE_QUAT = 4 # uses position and orientation
LINEAR_POSE = 5 # uses position and rpy
SHIFT_POSE = 6 # uses shift
SHIFT_LINEAR_POSE = 7 # uses shift
EXECUTE_TRAJ = 8 # uses dist_smoothing, list_poses
DRAW_SPIRAL = 9
DRAW_CIRCLE = 10
EXECUTE_FULL_TRAJ = 11
EXECUTE_RAW_TRAJ = 12
