Alternative examples

Basic COBOTTA usage examples and explanations of the functions used.

Writing config.yaml

Some naming conventions became inconsistent as functionality was extended.

When gRPC support was added, the port names were separated to distinguish FastAPI (ese774) from gRPC. When gRPC is enabled, the FastAPI port must be configured as FASTAPI_PORT rather than the former SERVER_PORT, because the server uses both GRPC_PORT and FASTAPI_PORT. Otherwise, an error occurs at server startup. Some older server configuration examples may still use the previous naming.

Users who only access an existing server do not need to worry about this. Administrators starting a device server should check the port names.

# Server
SERVER_IP: "10.170.10.33"
# SERVER_IP: "10.170.10.38"
FASTAPI_PORT: 8004
GRPC_PORT: 50051
SERVER_LOGGER_NAME: "AanddReaderServer"
# Device
DEVICE_PORT: "COM4"

CLIENT_LOGGER_NAME and SERVER_LOGGER_NAME may be set to any preferred names.
JOYPAD_PORT must be configured when using a joypad.
CAMERA_IP must be configured when using a camera.

The COBOTTA server, the robot, and other servers (such as the joypad server) all read their settings from YAML. Be careful not to confuse their settings.

# --- cobotta-server
SERVER_IP: "10.170.10.41"
FASTAPI_PORT: 8000
CLIENT_LOGGER_NAME: "cobotta4_client"
SERVER_LOGGER_NAME: "cobotta4_server"
TIMEOUT: 5
LOGGER_LEVEL: "debug"
# --- joypad-server
JOYPAD_PORT: 50051
JOYPAD_LOGGER_NAME: "cobotta4_joypad"
# --- cobotta
COBOTTA_IP: "10.170.10.43"
COBOTTA_CAMERA_IP: None

STOP

Stop the operation.

Checking current errors

Almost all functions return a Boolean (True or False) indicating whether the requested operation completed successfully. Checking the return value is optional, but a False result means that the operation did not complete successfully. It is good practice to handle such failures and display the cause.

import asyncio
from pathlib import Path
from cobotta2 import Config, MotionMode
from cobotta2.server import AsyncCobottaClient
from x_logger import XLogger

async def main():
    # Using an explicit configuration path avoids problems.
    HERE = Path(__file__).parent
    Config.load_yaml(HERE / "config_cobotta1.yaml")

    logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
    client = AsyncCobottaClient(config=Config, logger=logger)

    try:
        # Current error code
        code = await client.error_code()
        # Current error description
        description = await client.error_description()
        logger.info(f"cdoe={code}, description={description}")
    except Exception as e:
        print(e)
    assert "result" == "result"
    
if __name__ == "__main__":
    asyncio.run(main())

Basic command: take_arm

Acquire control of the arm. The robot cannot be moved without arm-control authority. This authority is acquired on the server side.

Take particular care when multiple users share a server.

Multi-user operation has not been fully implemented. Exclusive control when several terminals access the server concurrently has known problems; more precisely, the required behavior has not been fully specified, so this is a design limitation.

import asyncio

async def main():
    # ...
    await client.take_arm()

Basic command: give_arm (not implemented)

Release previously acquired arm-control authority. Since the server holds this authority, a client may continue operating after acquiring it without explicitly releasing it each time. In multi-user environments, however, take/release operations require care.

import asyncio

async def main():
    # ...
    await client.given_arm()

There is also a release_arm() method. It has the same purpose; only the name differs.

Basic command: turn_on_motor

Turn the motors on.

import asyncio

async def main():
    # ...
    await client.turn_on_motor()