#!/usr/bin/env python3
from ..apis.base_api import BaseApi, DEFAULT_TIMEOUT
from ..apis.cmdid import _PCProgramCmdId
from ..pb2.codemao_revertorigin_pb2 import RevertOriginRequest, RevertOriginResponse
from ..pb2.pccodemao_disconnection_pb2 import DisconnectionRequest, DisconnectionResponse
from ..pb2.pccodemao_getappversion_pb2 import GetAppVersionRequest, GetAppVersionResponse
from ..pb2.pccodemao_message_pb2 import Message
[文档]class StartRunProgram(BaseApi):
"""进入编程模式api
机器人进入编程模式
Args:
is_serial (bool): 是否等待回复，默认True
#GetAppVersionResponse.isSuccess : 是否成功
#GetAppVersionResponse.resultCode : 返回码
#GetAppVersionResponse.version
"""
def __init__(self, is_serial: bool = True):
self.__is_serial = is_serial
[文档] async def execute(self):
"""
执行进入编程模式指令
Returns:
GetAppVersionResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = GetAppVersionRequest()
cmd_id = _PCProgramCmdId.GET_ROBOT_VERSION_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
GetAppVersionResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = GetAppVersionResponse()
response.ParseFromString(data)
return response
else:
return None
[文档]class StopRunProgram(BaseApi):
"""退出编程模式api
机器人退出编程模式
Args:
is_serial (bool): 是否等待回复，默认True
"""
def __init__(self, is_serial: bool = True, ):
self.__is_serial = is_serial
[文档] async def execute(self):
"""
执行退出编程模式指令
Returns:
DisconnectionResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = DisconnectionRequest()
cmd_id = _PCProgramCmdId.DISCONNECTION_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
if isinstance(message, Message):
data = message.bodyData
response = DisconnectionResponse()
response.ParseFromString(data)
return response
else:
return None
[文档]class RevertOrigin(BaseApi):
"""复位api
机器人复位
Args:
is_serial (bool): 是否等待回复，默认True
#RevertOriginResponse.isSuccess : 是否成功
#RevertOriginResponse.resultCode : 返回码
"""
def __init__(self, is_serial: bool = True):
self.__is_serial = is_serial
[文档] async def execute(self):
"""
执行机器人复位指令
Returns:
RevertOriginResponse
"""
timeout = 0
if self.__is_serial:
timeout = DEFAULT_TIMEOUT
request = RevertOriginRequest()
cmd_id = _PCProgramCmdId.REVERT_ORIGIN_REQUEST.value
return await self.send(cmd_id, request, timeout)
def _parse_msg(self, message):
"""
Args:
message (Message):待解析的Message对象
Returns:
RevertOriginResponse
"""
if isinstance(message, Message):
data = message.bodyData
response = RevertOriginResponse()
response.ParseFromString(data)
return response
else:
return None