Project without logic: generate Actions class

[ZdenekM]

Currently, for a project without logic, actions can be specified within the project, but are ignored during the build process. The intended state is to generate a class for them, which can be used during manual programming within the main script. For a project with logic, the main script currently looks like this:

def main(res: Resources) -> None:
    aps = ActionPoints(res)
    aubo: Aubo = res.objects['a05cf574591442109d5636bd8312026b']
    random_actions: RandomActions = res.objects['d8a5065176d679c1c7cd5aee6984955a']
    time_actions: TimeActions = res.objects['1c7cd5aee6984955ad8a5065176d679c']
    while True:
        aubo.move(
            'EE_Gripper',
            aps.global_ap.poses.default,
            MoveTypeEnum.LINE,
            0.5,
            0.5,
            True,
            an='move')
        rand_interval = random_actions.random_double(0, 1, an='generate_random_double')
        time_actions.sleep(rand_interval, an='sleep')  # example of how action can use results of some previous action


if (__name__ == '__main__'):
    try:
        with Resources() as res:
            main(res)
    except Exception as e:
        print_exception(e)

For a project without logic, there probably won't be support for the link parameter type (usage of previous results). Then, the main script could look like this:

def main(res: Resources) -> None:
    actions = Actions(res)

    while True:
        actions.move()
        time_actions.sleep()


if (__name__ == '__main__'):
    try:
        with Resources() as res:
            main(res)
    except Exception as e:
        print_exception(e)

And the auto-generated Action class:

class Actions:
    def __init__(res: Resources) -> None:
         self.aps = ActionPoints(res)

    def move() -> None:
        self.res.objects['a05cf574591442109d5636bd8312026b'].move(
            'EE_Gripper',
            self.aps.global_ap.poses.default,
            MoveTypeEnum.LINE,
            0.5,
            0.5,
            True,
            an='move')

    def sleep() -> None:
        self.res.objects['1c7cd5aee6984955ad8a5065176d679c'].sleep(1, an='sleep')