fix: missing stubs/types causing build failure (#84)

* Added CD features

* Carried out PR requested changes

* Amended ValueError vs. eva_error usages

* Fixed incorrect expected status code

* Reinstated whitespace

* Added sleep comment for clarity

* Added missing types/stubs to Pipfile

Author: euanwm

Pipfile

@@ -4,9 +4,11 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
+types-requests = "*"
 requests = "*"
 websockets = "*"
-zeroconf = "==0.27.1"
+zeroconf = "*"
+types-dataclasses = "*"
 dataclasses = "*"
 pytransform3d = "==1.2.1"
 

evasdk/Eva.py

@@ -234,6 +234,14 @@ def control_reset_errors(self, wait_for_ready=True):
         self.__logger.debug('Eva.control_reset_errors called')
         return self.__http_client.control_reset_errors(wait_for_ready=wait_for_ready)
 
+    # Collision Detection
+    def control_configure_collision_detection(self, enabled, sensitivity):
+        self.__logger.debug('Eva.collision_detection called')
+        return self.__http_client.control_configure_collision_detection(enabled=enabled, sensitivity=sensitivity)
+
+    def control_acknowledge_collision(self, wait_for_ready=True):
+        self.__logger.debug('Eva.acknowledge_collision called')
+        return self.__http_client.control_acknowledge_collision(wait_for_ready=wait_for_ready)
 
     # Calc
     def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):

evasdk/eva_http_client.py

@@ -323,6 +323,8 @@ def control_wait_for(self, goal, interval_sec=1):
 
             if robot_state == RobotState.ERROR:
                 eva_error('Eva is in error control state')
+            if robot_state == RobotState.COLLISION:
+                eva_error('Eva has encountered a collision. Please acknowledge collision.')
             elif robot_state == parsed_goal:
                 return
 
@@ -413,6 +415,30 @@ def control_reset_errors(self, wait_for_ready=True):
             time.sleep(0.1)     # sleep for small period to avoid race condition between updating cache and reading state
             self.control_wait_for(RobotState.READY)
 
+    # COLLISION DETECTION
+    def control_configure_collision_detection(self, enabled, sensitivity):
+        """
+        Allows toggling on/off and setting the sensitivity of collision detection
+        """
+        if sensitivity not in ['low', 'medium', 'high']:
+            raise ValueError('collision_detection error, no such sensitivity ' + sensitivity)
+        if enabled not in [True, False]:
+            raise ValueError('collision_detection error, must be True/False')
+        r = self.api_call_with_auth('POST', 'controls/collision_detection',
+                                    json.dumps({'enabled': enabled, 'sensitivity': sensitivity}))
+        if r.status_code != 204:
+            eva_error('control_collision_detection error', r)
+
+    def control_acknowledge_collision(self, wait_for_ready=True):
+        """
+        When a collision is encountered, it must be acknowledged before the robot can be reset
+        """
+        r = self.api_call_with_auth('POST', 'controls/acknowledge_collision')
+        if r.status_code != 204:
+            eva_error('control_acknowledge_collision error', r)
+        elif wait_for_ready:
+            time.sleep(0.1)     # sleep for small period to avoid race condition between updating cache and reading state
+            self.control_wait_for(RobotState.READY)
 
     # CALCULATIONS
     def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):

evasdk/robot_state.py

@@ -12,3 +12,4 @@ class RobotState(enum.Enum):
     UPDATING = 'updating'
     DISABLED = 'disabled'
     SHUTTING_DOWN = 'shutting_down'
+    COLLISION = 'collision'