compas-rrc · gonzalocasas · Nov 22, 2021 · Jan 10, 2022 · Jan 20, 2022 · Feb 17, 2022
diff --git a/.gitignore b/.gitignore
@@ -110,3 +110,5 @@ ENV/
 # autogenerated sphinx
 docs/reference/generated/
 docs/api/generated/
+
+/temp/
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,8 +9,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Add `is_connected` property to `AbbClient`
+
 ### Changed
 
+* Changed all instructions to inherit from `BaseInstruction` instead of `ROSMsg`.
+* Changed `MoveGeneric` to require new interface arguments on the constructor.
+
 ### Removed
 
 

diff --git a/TODO.md b/TODO.md
@@ -0,0 +1,20 @@
+# System Interface (WebService) support
+
+- [x] Remove "abb" hard-coded selection in compas_rrc
+- [x] Add option to print/see raw result of get/set variable instructions (ie. see the "list of list" output before converting to complex types)
+- [x] Decide if we keep or remove raw_data from client-level (replacement of Debug())
+- [x] Rename `parse_feedback` to `on_after_receive` across the board
+- [ ] Add support for more system instructions:
+    - [x] Motor ON/OFF
+    - [x] Get Joints
+    - [ ] Get Frame/Robtarget/etc
+- [ ] Test Alberto's use case from Grasshopper: PP To Main, Start, Stop, Send process code (eg. moving the robot) and in parallel we change some variables (num, speeddata, wobj) using the system interface.
+
+- [ ] Add support for most RAPID types:
+    - [ ] [PF] Add decoder/encoders to compas_rrc.compas_types
+    - [ ] Add __str__ pretty prints for LoadData and other types with additional info
+- [ ] Update documentation
+- [ ] Releaseeeeee! 🚀
+    - [ ] Create new docker image (compsa-rrc)
+    - [ ] Create new docker image for moveit/dfab noetic
+- [ ] Fix tests for RAPID lex parser (move to compas_rrc_ros)
diff --git a/docs/api/instructions.rst b/docs/api/instructions.rst
@@ -63,7 +63,11 @@ Utility
 
     Noop
     PrintText
+    GetVariable
+    ResetApp
+    StartApp
     Stop
+    StopApp
     WaitTime
 
 Watch

diff --git a/docs/architecture.rst b/docs/architecture.rst
@@ -24,3 +24,68 @@ The following procedure is used to verify the protocol versions between ``Python
 * ``RRC Server`` -> ``ROS Driver``
    * Every feedback from the robot contains protocol version in the header.
    * ROS Driver checks protocol version on first feedback after the connection, and raises an exception **if not the same**.
+
+Software Architecture Layers
+----------------------------
+
+RRC is composed by three layers:
+
+* User-level: the ``Python RRC Client``, a simple-to-use Python interface which can be used as a library on any python application and/or script.
+* Middleware-level: the ``ROS Driver`` running as a ROS package which acts as intermediary between robot code and user code.
+* Robot-level: the ``RRC Server`` running as an application on the robot controller and the system interface (eg. ``Robot Web Service`` in the case of ABB robots).
+
+Interfaces
+----------
+
+There are two interfaces supported by RRC:
+
+* ``System``: The system interface connects to system-level services on the robot.
+* ``Application``: The application interface connects to the robot application via TCP using the RRC protocol specified above.
+
+Data Parsing/Conversion
+-----------------------
+
+There are three different data type representations involved in the process of sending and receiving data:
+
+* Python data types (eg. ``compas.geometry.Frame``)
+* JSON/stringified representation of data types
+* Robot data types (eg. ``tooldata`` for ABB RAPID)
+
+Rules:
+
+* ``Python RRC Client`` is the only layer that converts from/to high-level data types, such as ``compas.geometry.Frame``.
+* ``ROS Driver`` only knows about Python built-in data types and the conversions required to/from the RRC protocol, which includes the conversion of Python built-in data types to Robot-native data types.
+* ``RRC Server`` only knows about the RRC protocol and how to convert to native actions.
+* ``ROS Driver`` does not have a dependency to COMPAS library.
+
+
+Example Workflows
+-----------------
+
+* Move to Frame using Application interface:
+    * ``Python RRC Client`` input is ``MoveToFrame(frame)`` -> converts to strings/floats values according to the protocol -> converted to JSON for topic publishing ->
+    * ``ROS Driver`` input is topic message -> converts from strings/floats values to bytes of the wire protocol -> sends over TCP/IP
+    * ``RRC Server`` input is TCP/IP message -> converts to RAPID actions -> creates feedback and sends it over TCP/IP
+    * ``ROS Driver`` input is TCP/IP message -> convert to JSON for topic publishing ->
+    * ``Python RRC Client`` input is topic message -> convert to feedback string (``Done``)
+
+* Get Frame using Application interface:
+    * ``Python RRC Client`` input is ``GetFrame()`` -> converts to strings/floats values according to the protocol -> converted to JSON for topic publishing ->
+    * ``ROS Driver`` input is topic message -> converts from strings/floats values to bytes of the wire protocol -> sends over TCP/IP
+    * ``RRC Server`` input is TCP/IP message -> converts to RAPID actions -> creates feedback and sends it over TCP/IP
+    * ``ROS Driver`` input is TCP/IP message -> converts to Python built-in data types -> convert to JSON for topic publishing
+    * ``Python RRC Client`` input is topic message -> converts from JSON to ``compas.geometry.Frame``.
+
+* Get Variable using System interface:
+    * ``Python RRC Client`` input is ``GetVariable(name)`` -> converts to strings/floats values according to the protocol -> converted to JSON for topic publishing ->
+    * ``ROS Driver`` input is topic message -> converts from strings/floats values to REST JSON request -> sends request to system interface ``Robot Web Service``
+    * ``Robot Web Service`` input is REST JSON request -> returns REST JSON response
+    * ``ROS Driver`` input is REST JSON response -> parse RAPID string to Python built-in data types (using ``ply``) -> convert Python built-in data types (including complex dictionaries if needed) to JSON for topic publishing (``string_values[0]`` is the JSON string serialization of the variable value) ->
+    * ``Python RRC Client`` input is topic message -> loads variable value in JSON from ``string_values[0]`` and converts from Python built-in data types to COMPAS and other complex data types, eg. ``compas.geometry.Frame``.
+
+* Set Variable using System interface:
+    * ``Python RRC Client`` input is ``SetVariable(name, value)`` -> converts to strings/floats values according to the protocol (``string_value[0]`` is variable name, ``string_value[1]`` is data representation of variable as JSON string) -> converted to JSON for topic publishing ->
+    * ``ROS Driver`` input is topic message -> converts from strings/floats values to REST JSON request including the conversion of ``string_value[1]`` JSON string to a Robot-native data type -> sends request to system interface ``Robot Web Service``
+    * ``Robot Web Service`` input is REST JSON request -> returns REST JSON response
+    * ``ROS Driver`` input is REST JSON response -> convert to JSON for topic publishing ->
+    * ``Python RRC Client`` input is topic message -> convert to feedback string (``Done``)
diff --git a/pyproject.toml b/pyproject.toml
@@ -0,0 +1,26 @@
+[tool.black]
+line-length = 120
+
+[tool.pytest.ini_options]
+minversion = "6.0"
+testpaths = ["tests"]
+python_files = [
+    "test_*.py",
+    "tests.py"
+]
+addopts = "-ra --strict --doctest-modules --doctest-glob=*.rst --tb=short"
+doctest_optionflags= "NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES NUMBER"
+filterwarnings = "ignore::DeprecationWarning"
+
+[tool.isort]
+line_length = 120
+multi_line_output = 3
+include_trailing_comma = true
+force_grid_wrap = 0
+use_parentheses = true
+force_single_line = true
+ensure_newline_before_comments = true
+known_first_party = "compas_rrc"
+default_section = "THIRDPARTY"
+forced_separate = "test_compas_rrc"
+skip = ["__init__.py"]
diff --git a/requirements-dev.txt b/requirements-dev.txt
@@ -7,6 +7,7 @@ doc8
 flake8
 invoke>=0.14
 isort
+m2r2
 pylint
 pytest
 sphinx_compas2_theme

diff --git a/setup.cfg b/setup.cfg
@@ -2,29 +2,12 @@
 universal = 1
 
 [flake8]
-max-line-length = 180
-exclude = */migrations/*
-
-[tool:pytest]
-testpaths = tests
-norecursedirs =
-    migrations
-
-python_files =
-    test_*.py
-    *_test.py
-    tests.py
-addopts =
-    -ra
-    --strict
-    --doctest-modules
-    --doctest-glob=\*.rst
-    --tb=short
-
-[isort]
-force_single_line = True
-line_length = 180
-known_first_party = compas_rrc
-default_section = THIRDPARTY
-forced_separate = test_compas_rrc
-skip = migrations
+max-line-length = 120
+extend-ignore =
+    # See https://github.com/PyCQA/pycodestyle/issues/373
+    E203,
+    # Only keep black line length check because flake8 forces it on comments as well
+    E501,
+
+[pydocstyle]
+convention = numpy
diff --git a/setup.py b/setup.py
@@ -40,9 +40,7 @@ def read(*names, **kwargs):
     author=about["__author__"],
     author_email=about["__author_email__"],
     url=about["__url__"],
-    long_description=re.compile("^.. start-badges.*^.. end-badges", re.M | re.S).sub(
-        "", read("README.rst")
-    ),
+    long_description=re.compile("^.. start-badges.*^.. end-badges", re.M | re.S).sub("", read("README.rst")),
     packages=find_packages("src"),
     package_dir={"": "src"},
     py_modules=[splitext(basename(path))[0] for path in glob("src/*.py")],

diff --git a/src/compas_rrc/__init__.py b/src/compas_rrc/__init__.py
@@ -56,6 +56,22 @@
     RobotJoints
     ExternalAxes
 
+# System instructions
+# -------------------
+
+# Besides the normal instructions, RRC can send and receive system-level instructions to the
+# controller.
+
+# .. autosummary::
+#     :toctree: generated/
+#     :nosignatures:
+
+#     GetControllerState
+#     GetExecutionState
+#     GetOperationMode
+#     GetSpeedRatio
+#     SetSpeedRatio
+
 Debugging instructions
 ----------------------
 
@@ -108,67 +124,108 @@
     SetDigital,
     SetGroup,
 )
-from compas_rrc.motion import Motion, MoveToFrame, MoveToJoints, MoveToRobtarget, Zone
+from compas_rrc.motion import (
+    Motion,
+    MoveToFrame,
+    MoveToJoints,
+    MoveToRobtarget,
+    Zone,
+)
 from compas_rrc.msg import PrintText
+from compas_rrc.system import (
+    GetControllerState,
+    GetExecutionState,
+    GetOperationMode,
+    GetSpeedRatio,
+    SetSpeedRatio,
+)
 from compas_rrc.utility import (
     Debug,
     GetFrame,
     GetJoints,
     GetRobtarget,
+    GetVariable,
     Noop,
+    ResetApp,
     SetAcceleration,
     SetMaxSpeed,
     SetTool,
+    SetVariable,
     SetWorkObject,
+    StartApp,
     Stop,
+    StopApp,
     WaitTime,
 )
-from compas_rrc.watch import ReadWatch, StartWatch, StopWatch
+from compas_rrc.watch import (
+    ReadWatch,
+    StartWatch,
+    StopWatch,
+)
 
 __all_plugins__ = ["compas_rrc.__install"]
 __all__ = [
+    # __version__
     "__url__",
     "__version__",
     "__author__",
     "__author_email__",
     "__license__",
     "__copyright__",
+    # client
+    "AbbClient",
+    "RosClient",
+    # common
     "CLIENT_PROTOCOL_VERSION",
-    "FeedbackLevel",
     "ExecutionLevel",
-    "InstructionException",
-    "TimeoutException",
-    "FutureResult",
     "ExternalAxes",
+    "FeedbackLevel",
+    "FutureResult",
+    "InstructionException",
     "RobotJoints",
-    "RosClient",
-    "AbbClient",
-    "SetDigital",
-    "SetAnalog",
-    "SetGroup",
+    "TimeoutException",
+    # custom
+    "CustomInstruction",
+    # io
     "PulseDigital",
     "ReadAnalog",
     "ReadDigital",
     "ReadGroup",
-    "Zone",
+    "SetAnalog",
+    "SetDigital",
+    "SetGroup",
+    # motion
     "Motion",
-    "MoveToJoints",
     "MoveToFrame",
+    "MoveToJoints",
     "MoveToRobtarget",
+    "Zone",
+    # msg
     "PrintText",
-    "CustomInstruction",
-    "Noop",
+    # system
+    "GetControllerState",
+    "GetExecutionState",
+    "GetOperationMode",
+    "GetSpeedRatio",
+    "SetSpeedRatio",
+    # utility
+    "Debug",
     "GetFrame",
     "GetJoints",
     "GetRobtarget",
+    "GetVariable",
+    "Noop",
+    "ReadWatch",
+    "ResetApp",
     "SetAcceleration",
-    "SetTool",
     "SetMaxSpeed",
-    "Stop",
-    "WaitTime",
+    "SetTool",
+    "SetVariable",
     "SetWorkObject",
-    "Debug",
-    "ReadWatch",
+    "StartApp",
     "StartWatch",
+    "Stop",
+    "StopApp",
     "StopWatch",
+    "WaitTime",
 ]
-Original file line number
+Diff line change
@@ Expand Up / @@ -7,6 +7,7 @@ doc8 @@
     flake8
     invoke>=0.14
     isort
+    m2r2
     pylint
     pytest
     sphinx_compas2_theme
@@ Expand Down @@