From e2fbe2a6e12cf77662fa4c4fbd07e503a48bc5af Mon Sep 17 00:00:00 2001
From: Matthias Bodenbenner <m.bodenbenner@wzl-mq.rwth-aachen.de>
Date: Thu, 21 Mar 2024 07:59:16 +0100
Subject: [PATCH] updated to newest soil version and updated evaluations
scripts
---
README.md | 8 ++
assets/interfaces/cartCMM.soil | 29 ++++
assets/interfaces/ipp.soil | 23 ++++
assets/interfaces/part.soil | 29 ++++
assets/interfaces/tool.soil | 59 ++++++++
assets/interfaces/toolChanger.soil | 23 ++++
init.bat | 1 +
requirements.txt | 8 +-
requirements_dev.txt | 2 +-
scripts/generate.py | 2 +-
src/assessment.py | 2 +-
src/evaluation.py | 23 ++--
src/ipp/hwc/__init__.py | 0
src/ipp/hwc/com_tool.py | 17 +++
src/ipp/hwc/device.py | 55 ++++++++
src/ipp/hwc/ippServerConfig.toml | 5 +
src/ipp/hwc/ipp_client.py | 126 ++++++++++++++++++
src/ipp/hwc/transaction.py | 92 +++++++++++++
src/ipp/main.py | 12 ++
src/lasertracker/hwc/com_base.py | 6 +-
src/lasertracker/hwc/com_target.py | 4 +-
src/monitoring/hwc/com_environmentalsensor.py | 24 ++--
src/robot/hwc/com_mobilerobot.py | 10 +-
src/robot/hwc/com_robot.py | 6 +-
24 files changed, 527 insertions(+), 39 deletions(-)
create mode 100644 assets/interfaces/cartCMM.soil
create mode 100644 assets/interfaces/ipp.soil
create mode 100644 assets/interfaces/part.soil
create mode 100644 assets/interfaces/tool.soil
create mode 100644 assets/interfaces/toolChanger.soil
create mode 100644 src/ipp/hwc/__init__.py
create mode 100644 src/ipp/hwc/com_tool.py
create mode 100644 src/ipp/hwc/device.py
create mode 100644 src/ipp/hwc/ippServerConfig.toml
create mode 100644 src/ipp/hwc/ipp_client.py
create mode 100644 src/ipp/hwc/transaction.py
create mode 100644 src/ipp/main.py
diff --git a/README.md b/README.md
index 346d8e5..b2358f3 100644
--- a/README.md
+++ b/README.md
@@ -49,3 +49,11 @@ Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)
Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Project-ID 432233186 -- AIMS.
+## License of used third-party libraries
+
+| Library | License |
+|----------|-----------------------------|
+| numpy | BSD License |
+| requests | BSD License |
+| toml | MIT License |
+| wzl-udi | MIT License |
\ No newline at end of file
diff --git a/assets/interfaces/cartCMM.soil b/assets/interfaces/cartCMM.soil
new file mode 100644
index 0000000..2a4ce6c
--- /dev/null
+++ b/assets/interfaces/cartCMM.soil
@@ -0,0 +1,29 @@
+import tool;
+import toolChanger;
+import part;
+
+enum CoordinateSystems {
+ MachineCsy
+ MovableMachineCsy
+ MultipleArmCsy
+ RotaryTableVarCsy
+ PartCsy
+}
+
+variable ActiveCsy {
+ name: "ActiveCsy"
+ description: "The currently active coordinate system."
+ datatype: enum
+ dimension: []
+ range: CoordinateSystems
+}
+
+component CartCMM {
+ name: "CartCMM"
+ description: "Cartesian Coordinate Measuring Machine"
+ components:
+ toolChanger.ToolChanger toolChanger
+ part.Part part
+ parameters:
+ tool.Id activeTool
+}
\ No newline at end of file
diff --git a/assets/interfaces/ipp.soil b/assets/interfaces/ipp.soil
new file mode 100644
index 0000000..87ce326
--- /dev/null
+++ b/assets/interfaces/ipp.soil
@@ -0,0 +1,23 @@
+import cartCMM;
+
+function AbortE {
+ name: "AbortE"
+ description: "Aborts all pending transactions and stops the machine from moving."
+}
+
+function ClearAllErrors {
+ name: "ClearAllErrors"
+ description: "Is called to recover from an error."
+}
+
+component Ipp {
+ name: "I++"
+ description: "The top-level component of the Server."
+ components:
+ cartCMM.CartCMM cmm
+ functions:
+ AbortE abortE
+ ClearAllErrors clearAllErrors
+}
+
+interface Ipp IppServer {}
\ No newline at end of file
diff --git a/assets/interfaces/part.soil b/assets/interfaces/part.soil
new file mode 100644
index 0000000..05ac503
--- /dev/null
+++ b/assets/interfaces/part.soil
@@ -0,0 +1,29 @@
+@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+
+variable Temperature defines <quantitykind:Temperature> {
+ name: "Temperature"
+ description: "Current temperature of the part."
+ datatype: float
+ dimension: []
+ range: (-50, 200)
+ unit: <unit:DEG_C>
+}
+
+variable Approach defines <quantitykind:Distance>{
+ name: "Approach"
+ description: "Currently specified approach distance of the part."
+ datatype: float
+ dimension: []
+ range: (0, 500)
+ unit: <unit:MilliM>
+}
+
+component Part {
+ name: "Part"
+ description: "Soil representation of a Part."
+ measurements:
+ Temperature temperature
+ parameters:
+ Approach approach
+}
\ No newline at end of file
diff --git a/assets/interfaces/tool.soil b/assets/interfaces/tool.soil
new file mode 100644
index 0000000..0c24d70
--- /dev/null
+++ b/assets/interfaces/tool.soil
@@ -0,0 +1,59 @@
+@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+
+variable Name {
+ name: "Name"
+ description: "Name of a Tool"
+ datatype: string
+ dimension: []
+}
+
+variable Id {
+ name: "Id"
+ description: "Id of a Tool"
+ datatype: string
+ dimension: []
+}
+
+# variable PositionList {
+# name: "PositionList"
+# description: "List of Points used for ScanOnCurve"
+# datatype: float
+# dimension: [0, 3]
+# }
+
+variable Position defines <quantitykind:CartesianCoordinates> {
+ name: "Position"
+ description: "Current position of the tool, consisting of the I++ X, Y and Z values."
+ datatype: float
+ dimension: [3]
+ unit: <unit:MilliM>
+}
+
+function ScanOnCurve {
+ name: "ScanOnCurve"
+ description: "Function that issues a ScanOnCurve command on the I++ Server"
+ arguments:
+ PositionList posL
+}
+
+function PtMeas {
+ name: "PtMeas"
+ description: "Function that issues a PtMeas command on the I++ Server"
+ arguments:
+ Position pos
+}
+
+component Tool {
+ name: "Tool"
+ description: "The currently active Tool."
+ measurements:
+ Position pos
+ parameters:
+ constant Name name
+ constant Id id
+ PositionList posL
+ functions:
+ PtMeas ptMeas
+ ScanOnCurve scanOnCurve
+}
\ No newline at end of file
diff --git a/assets/interfaces/toolChanger.soil b/assets/interfaces/toolChanger.soil
new file mode 100644
index 0000000..f2859ed
--- /dev/null
+++ b/assets/interfaces/toolChanger.soil
@@ -0,0 +1,23 @@
+import tool;
+
+function EnumTools {
+ name: "EnumTools"
+ description: "Function that issues an EnumTools command on the I++ server."
+}
+
+function ChangeTool {
+ name: "EnumTools"
+ description: "Function that issues an ChangeTool command on the I++ server."
+ arguments:
+ tool.Id tool_id
+}
+
+component ToolChanger {
+ name: "ToolChanger"
+ description: "ToolChanger component"
+ components:
+ dynamic tool.Tool tools
+ functions:
+ EnumTools enumTools
+ ChangeTool changeTool
+}
\ No newline at end of file
diff --git a/init.bat b/init.bat
index b412275..2821a3d 100644
--- a/init.bat
+++ b/init.bat
@@ -1,4 +1,5 @@
cd scripts
+:: python generate.py ipp.soil -g shell -s -hwc
python generate.py robot.soil -g remote -s -hwc
python generate.py lasertracker.soil -g remote -s -hwc
python generate.py monitoring.soil -g remote -s -hwc
diff --git a/requirements.txt b/requirements.txt
index afee9be..4b8519b 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
-numpy
-requests
-toml
-wzl-udi==9.3.8
+numpy==1.24.2
+requests==0.10.2
+toml==
+wzl-udi==10.0.0
diff --git a/requirements_dev.txt b/requirements_dev.txt
index f80a934..2092c7c 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -2,7 +2,7 @@ numpy
requests
toml
tqdm
-wzl-udi==9.3.3
+wzl-udi==10.0.0
kaleido
plotly
pandas
\ No newline at end of file
diff --git a/scripts/generate.py b/scripts/generate.py
index 70aeb9f..7aaf085 100644
--- a/scripts/generate.py
+++ b/scripts/generate.py
@@ -71,6 +71,6 @@ if __name__ == '__main__':
stderr=subprocess.PIPE)
stdout, stderr = process.communicate()
print(stdout.decode())
- print(stderr.decode())
+ print(stderr.decode('latin-1'))
else:
print(f'Generator type "{args.generator}" is unknown, must be one of "shell", "local", "remote".')
diff --git a/src/assessment.py b/src/assessment.py
index db1542f..ff7ba1c 100644
--- a/src/assessment.py
+++ b/src/assessment.py
@@ -9,7 +9,7 @@ from assessment.framework import Framework, AssessmentError, FUJI, FAIRChecker
SRC = os.path.join('.')
OUT = os.path.join('..', 'out')
-PROFILES = True
+PROFILES = False
METADATA = True
diff --git a/src/evaluation.py b/src/evaluation.py
index 177a418..241b83f 100644
--- a/src/evaluation.py
+++ b/src/evaluation.py
@@ -8,14 +8,14 @@ SRC = os.path.join('..', 'src')
ASSESSMENTS = os.path.join('..', 'out')
OUT = os.path.join('..', 'out')
-PROFILES = True
+PROFILES = False
METADATA = True
if __name__ == '__main__':
dummies = ['lasertracker', 'monitoring', 'robot']
profile_scores = pandas.DataFrame()
- metadata_scores = {'f-uji': [], 'fair-checker': []}
+ metadata_scores = pandas.DataFrame(columns=["framework", "dummy", "principle", "value"])
for dummy in dummies:
@@ -26,15 +26,18 @@ if __name__ == '__main__':
for framework in frameworks:
if PROFILES:
- profile_scores[framework.name] += [
- framework.evaluate(os.path.join(ASSESSMENTS, framework.name, dummy, 'profiles'))]
+ framework.evaluate(os.path.join(ASSESSMENTS, framework.name, dummy, 'profiles'), dummy)
if METADATA:
- metadata_scores[framework.name] += [
- framework.evaluate(os.path.join(ASSESSMENTS, framework.name, dummy, 'profiles'))]
+ score = framework.evaluate(os.path.join(ASSESSMENTS, framework.name, dummy, 'metadata'), dummy)
+ metadata_scores = pandas.concat([metadata_scores, score], ignore_index=True)
- average_profile_scores = [profile_scores[key].mean() for key in profile_scores]
- average_metadata_scores = [metadata_scores[key].mean() for key in metadata_scores]
+ average_scores = metadata_scores.groupby(['framework', 'principle'], as_index=False).agg({'value': 'mean'})
- Framework.visualize(average_profile_scores, list(profile_scores.keys()), 'profiles.png')
- Framework.visualize(average_metadata_scores, list(profile_scores.keys()), 'metadata.png')
+ print(average_scores)
+
+ # average_profile_scores = [profile_scores[key].mean() for key in profile_scores]
+ # average_metadata_scores = [metadata_scores[key].mean() for key in metadata_scores]
+
+ # Framework.visualize(average_profile_scores, list(profile_scores.keys()), 'profiles.png')
+ Framework.visualize(metadata_scores, 'metadata.png')
diff --git a/src/ipp/hwc/__init__.py b/src/ipp/hwc/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/ipp/hwc/com_tool.py b/src/ipp/hwc/com_tool.py
new file mode 100644
index 0000000..2004333
--- /dev/null
+++ b/src/ipp/hwc/com_tool.py
@@ -0,0 +1,17 @@
+from scripts.gen.ipp.tool.com_tool import COMToolTOP
+from scripts.gen.ipp.hwc.device import Device
+
+
+class COMTool(COMToolTOP):
+ def __init__(self, device: Device, name: str = "", id: str = "", posl: list[float] = None ):
+ COMToolTOP.__init__(self, device, name, id)
+ self._device = device
+
+ def fun_ptmeas(self, arg_pos):
+ self._device.pt_meas(arg_pos[0], arg_pos[1], arg_pos[2])
+
+ def scanoncurve(self, posl):
+ self._device.scanoncurve(posl)
+
+ def get_mea_pos(self):
+ return self._device.position
diff --git a/src/ipp/hwc/device.py b/src/ipp/hwc/device.py
new file mode 100644
index 0000000..604cef5
--- /dev/null
+++ b/src/ipp/hwc/device.py
@@ -0,0 +1,55 @@
+import asyncio
+import time
+from scripts.gen.ipp.device import DeviceTOP
+from threading import Thread
+from . import ipp_client
+import re
+
+
+class Tool(object):
+ def __init__(self, position):
+ self._position = position
+
+ def update(self, position):
+ self._position = position
+
+ @property
+ def position(self):
+ return self._position
+
+
+class Device(DeviceTOP, Thread):
+ def __init__(self):
+ DeviceTOP.__init__(self)
+ Thread.__init__(self)
+ self._x = 0
+ self._y = 0
+ self._z = 0
+ self._tool = Tool(self.position)
+ self._error = False
+ self._ipp_client = None
+
+ async def goto(self, x, y, z):
+ await self._ipp_client.transaction("GoTo(X(" + x + "), Y(" + y + "), Z(" + z + "))", False)
+
+ def pt_meas(self, x, y, z):
+ self._ipp_client.transaction("PtMeas(X(" + str(x) + "), Y(" + str(y) + "), Z(" + str(z) + "))", False)
+
+ @property
+ def position(self):
+ return [self._x, self._y, self._z]
+
+ def run(self):
+ self._ipp_client = ipp_client.IPPClient(self)
+ self._ipp_client.start()
+ time.sleep(1)
+ self._ipp_client.transaction("StartSession()", False)
+ self._ipp_client.transaction("PtMeas(X(1), Y(2), Z(3))", False)
+ self._ipp_client.transaction("GoTo(X(1), Y(2), Z(3))", False)
+ for i in range(1000):
+ self._ipp_client.transaction("ABC(1,2,3)", False)
+ self._ipp_client.transaction("OnMoveReport(X(), Y(), Z())", True)
+
+ def stop(self):
+ loop = asyncio.get_event_loop()
+ loop.run_until_complete(self._ipp_client.transaction("EndSession()", False))
diff --git a/src/ipp/hwc/ippServerConfig.toml b/src/ipp/hwc/ippServerConfig.toml
new file mode 100644
index 0000000..1f90202
--- /dev/null
+++ b/src/ipp/hwc/ippServerConfig.toml
@@ -0,0 +1,5 @@
+dataformat = 'json'
+
+[tcp]
+ address='localhost'
+ port=1294
\ No newline at end of file
diff --git a/src/ipp/hwc/ipp_client.py b/src/ipp/hwc/ipp_client.py
new file mode 100644
index 0000000..ccbf668
--- /dev/null
+++ b/src/ipp/hwc/ipp_client.py
@@ -0,0 +1,126 @@
+from __future__ import annotations
+import socket
+from threading import Thread
+import typing
+from . import transaction
+
+if typing.TYPE_CHECKING:
+ from .device import Device
+
+
+class UnexpectedTagError(Exception):
+ def __init__(self):
+ self.message = "The received message contains an unexpected tag."
+
+
+class MissingACKError(Exception):
+ def __init__(self):
+ self.message = "Was expecting an ACK response but received something else."
+
+
+class MissingTransactionCompleteResponseError(Exception):
+ def __init__(self):
+ self.message = "Transaction complete response is missing."
+
+
+class DaemonNonDataMessage(Exception):
+ def __init__(self):
+ self.message = "Received a daemon message that is not a data message!"
+
+
+class IPPClient(Thread):
+ def __init__(self, device_i: Device):
+ Thread.__init__(self)
+ self._socket = None
+ self._active = False
+ self._command_tag = 1
+ self._transaction_log = {}
+ self._data_log = {}
+ self._daemon_log = {}
+ self._active_streams = []
+ self._device = device_i
+
+ def _handle_event(self, tag, message_type, message_body):
+ non_event_tag = "0" + tag[1:5]
+ if non_event_tag in self._active_streams:
+ daemon = self._transaction_log.get(non_event_tag)
+ if message_type != "#":
+ raise DaemonNonDataMessage()
+ daemon['cb'].update_device(message_body.split(","))
+
+
+ def _parse_message(self, message):
+ print("<-- " + message)
+ message = message.split(" ")
+ tag = message[0]
+ message_type = message[1]
+ if tag[0] == "E":
+ self._handle_event(tag, message_type, "".join(message[2:]))
+ return
+
+ transaction = self._transaction_log.get(tag)
+ if not transaction['ACK']:
+ if message_type == '&':
+ transaction['ACK'] = True
+ return
+ else:
+ raise MissingACKError()
+
+ if message_type == '#':
+ self._data_log[tag + '#' + transaction['uuid']].append(message[::2])
+ return
+
+ if message_type == '%':
+ if not transaction['daemon']:
+ self._transaction_log.pop(tag)
+ return
+
+ return
+
+ def _send(self, message):
+ print("--> " + message.decode())
+ self._socket.sendall(message)
+
+ def transaction(self, command, streams):
+ tag = str(self._command_tag).zfill(5)
+ command_name = command.split('(')[0]
+
+ if streams:
+ self._active_streams.append(tag)
+
+ # Add transaction to pending transaction log
+ self._transaction_log[tag] = {
+ 'ACK': False,
+ 'uuid': command,
+ 'daemon': streams,
+ 'cb': transaction.create(command_name, tag, self._device)
+ }
+
+ self._send(str.encode(tag + " " + command + "\n"))
+ self._command_tag = self._command_tag + 1
+
+ def _listen(self):
+ buffer = []
+ stitch = False
+ while True:
+ if (len(buffer) > 0 and not stitch) or (len(buffer) > 1):
+ self._parse_message(buffer[0])
+ buffer.pop(0)
+ continue
+ data, _ = self._socket.recvfrom(1024)
+ data = data.decode()
+ buffer = buffer + (data.splitlines())
+ if stitch:
+ buffer[0:2] = ["".join(buffer[0:2])]
+ stitch = False
+ if len(data) > 0:
+ if data[-1] != '\n':
+ stitch = True
+
+ def run(self):
+ self._active = True
+ self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self._socket.connect(('localhost', 1294))
+
+ listener = Thread(target=self._listen)
+ listener.start()
diff --git a/src/ipp/hwc/transaction.py b/src/ipp/hwc/transaction.py
new file mode 100644
index 0000000..82b67f6
--- /dev/null
+++ b/src/ipp/hwc/transaction.py
@@ -0,0 +1,92 @@
+from __future__ import annotations
+from abc import ABC, abstractmethod
+import re
+import typing
+from sys import modules
+
+if typing.TYPE_CHECKING:
+ from .device import Device
+
+
+class TransactionNotImplementedException(Exception):
+ def __init__(self):
+ self.message = "Tried to use an unimplemented Transaction."
+
+
+class Transaction(ABC):
+
+ def __init__(self, tag: str, device: Device):
+ self._tag = tag
+ self._device = device
+
+ @property
+ def tag(self) -> str:
+ return self._tag
+
+ @abstractmethod
+ def update_device(self, data):
+ ...
+
+
+class OnMoveReportTransaction(Transaction):
+ def __init__(self, tag: str, device: Device):
+ Transaction.__init__(self, tag, device)
+
+ def update_device(self, data):
+ print("OnMoveReport update: " + '[%s]' % ', '.join(map(str, data)))
+ for data_point in data:
+ axis = data_point.split("(")[0]
+ value = re.findall(r"-?\d+\.\d+", data_point)
+ value = value[0]
+ match axis:
+ case "X":
+ self._device._x = float(value)
+ case "Y":
+ self._device._y = float(value)
+ case "Z":
+ self._device._z = float(value)
+ # self._tool.update([self._x, self._y, self._z])
+
+
+class StartSessionTransaction(Transaction):
+ def __init__(self, tag: str, device: Device):
+ Transaction.__init__(self, tag, device)
+
+ def update_device(self, data):
+ pass
+
+
+class PtMeasTransaction(Transaction):
+ def __init__(self, tag: str, device: Device):
+ Transaction.__init__(self, tag, device)
+
+ def update_device(self, data):
+ pass
+
+
+class ScanOnCurveTransaction(Transaction):
+ def __init__(self, tag: str, device: Device):
+ Transaction.__init__(self, tag, device)
+
+ def update_device(self, data):
+ pass
+
+
+class GoToTransaction(Transaction):
+ def __init__(self, tag: str, device: Device):
+ Transaction.__init__(self, tag, device)
+
+ def update_device(self, data):
+ pass
+
+
+def create(command: str, tag: str, device: Device) -> Transaction | None:
+ module = modules[__name__]
+ try:
+ transaction = getattr(module, '{}Transaction'.format(command))(tag, device)
+ except Exception:
+ print("Unknown command: " + '"' + command + '"')
+ print("No callback registered.")
+ return None
+ return transaction
+
diff --git a/src/ipp/main.py b/src/ipp/main.py
new file mode 100644
index 0000000..25e0a06
--- /dev/null
+++ b/src/ipp/main.py
@@ -0,0 +1,12 @@
+import toml
+
+import start
+from hwc.device import Device
+from com_ipp import COMIpp
+
+if __name__ == '__main__':
+ device = Device()
+ soilClient = COMIpp(device)
+ device.start()
+
+ start.start(soilClient, toml.load('config.toml'), 'model.json')
\ No newline at end of file
diff --git a/src/lasertracker/hwc/com_base.py b/src/lasertracker/hwc/com_base.py
index bd8dbfc..478847c 100644
--- a/src/lasertracker/hwc/com_base.py
+++ b/src/lasertracker/hwc/com_base.py
@@ -24,13 +24,13 @@ class COMBase(COMBaseTOP):
self._device.point_to(*par_position)
def get_mea_azimuth(self):
- return self._device.azimuth
+ return self._device.azimuth, random.random() * 10e-10
def get_mea_elevation(self):
- return self._device.elevation
+ return self._device.elevation, random.random() * 10e-10
def get_mea_distance(self):
- return self._device.distance
+ return self._device.distance, random.random() * 10e-9
def get_par_state(self):
return str(self._device.state)
diff --git a/src/lasertracker/hwc/com_target.py b/src/lasertracker/hwc/com_target.py
index 0c0d817..cb0710f 100644
--- a/src/lasertracker/hwc/com_target.py
+++ b/src/lasertracker/hwc/com_target.py
@@ -1,3 +1,5 @@
+import random
+
import time
from typing import List
@@ -21,7 +23,7 @@ class COMTarget(COMTargetTOP):
yield self.get_mea_position(), arg_label
def get_mea_position(self):
- return self._device.target.position
+ return self._device.target.position, [[random.random()*10e-9 for j in range(3)] for i in range(3)]
def get_par_state(self):
return str(self._device.target.state)
diff --git a/src/monitoring/hwc/com_environmentalsensor.py b/src/monitoring/hwc/com_environmentalsensor.py
index dc1bd5a..ab7f19a 100644
--- a/src/monitoring/hwc/com_environmentalsensor.py
+++ b/src/monitoring/hwc/com_environmentalsensor.py
@@ -1,3 +1,7 @@
+from typing import Tuple, Any
+
+import random
+
from com_environmentalsensor import COMEnvironmentalSensorTOP
from hwc.device import Device
@@ -8,20 +12,20 @@ class COMEnvironmentalSensor(COMEnvironmentalSensorTOP):
COMEnvironmentalSensorTOP.__init__(self, device, location)
self.uuid = id
- def get_mea_temperature(self) -> float:
- return self._device.sensors[self.uuid].temperature
+ def get_mea_temperature(self) -> Tuple[float, Any]:
+ return self._device.sensors[self.uuid].temperature, random.random() * 10e-2
- def get_mea_pressure(self) -> float:
- return self._device.sensors[self.uuid].pressure
+ def get_mea_pressure(self) -> Tuple[float, Any]:
+ return self._device.sensors[self.uuid].pressure, random.random() * 10e-1
- def get_mea_humidity(self) -> float:
- return self._device.sensors[self.uuid].humidity
+ def get_mea_humidity(self) -> Tuple[float, Any]:
+ return self._device.sensors[self.uuid].humidity, random.random() * 10e-3
- def get_mea_signalstrength(self) -> int:
- return self._device.sensors[self.uuid].signal_strength
+ def get_mea_signalstrength(self) -> Tuple[int, Any]:
+ return self._device.sensors[self.uuid].signal_strength, None
- def get_mea_batterylevel(self) -> int:
- return self._device.sensors[self.uuid].battery_level
+ def get_mea_batterylevel(self) -> Tuple[int, Any]:
+ return self._device.sensors[self.uuid].battery_level, None
def get_par_location(self) -> str:
return self._par_location
diff --git a/src/robot/hwc/com_mobilerobot.py b/src/robot/hwc/com_mobilerobot.py
index d428f15..3665c28 100644
--- a/src/robot/hwc/com_mobilerobot.py
+++ b/src/robot/hwc/com_mobilerobot.py
@@ -1,4 +1,4 @@
-from typing import List
+from typing import List, Any, Tuple
import numpy
@@ -13,11 +13,11 @@ class COMMobileRobot(COMMobileRobotTOP):
self._mea_position = numpy.array([0, 0, 0], dtype=float)
self._device.start()
- def get_mea_position(self) -> List[float]:
- return self._device.position.tolist()
+ def get_mea_position(self) -> Tuple[List[float], Any]:
+ return self._device.position.tolist(), None
- def get_mea_batterylevel(self) -> int:
- return self._device.batterylevel
+ def get_mea_batterylevel(self) -> Tuple[int, Any]:
+ return self._device.batterylevel, None
def get_par_auto(self) -> bool:
return self._device.mode == Mode.AUTO
diff --git a/src/robot/hwc/com_robot.py b/src/robot/hwc/com_robot.py
index 62cfdd3..db212f0 100644
--- a/src/robot/hwc/com_robot.py
+++ b/src/robot/hwc/com_robot.py
@@ -1,5 +1,5 @@
import time
-from typing import List
+from typing import List, Tuple, Any
import numpy
@@ -16,8 +16,8 @@ class COMRobot(COMRobotTOP):
self._mea_position = numpy.array([0, 0, 0], dtype=float)
self._com_gripper = COMGripper(device, open=True)
- def get_mea_position(self) -> List[float]:
- return self._device.position.tolist()
+ def get_mea_position(self) -> Tuple[List[float], Any]:
+ return self._device.position.tolist(), None
def fun_goto(self, arg_position: List[float] = None):
self._device.goto(numpy.array(arg_position))
--
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