cristhian
eccd9e3c24
Brings across the robot layer from monolitic-littlehand-python, which was written against this same controller. The point of it is that a command either moved the arm or raised: the SDK returns a code for a motion the controller quietly refused, wait_move calls that refusal finished, and arm.error_code is the report stream's stale copy. So errors are read live, arrival is confirmed rather than assumed, and a move whose straight-line path leaves the joint envelope is refused before it is commanded. Failures are typed, because the distinctions decide the response: an unreachable pose is not an unavailable arm, and a joint past its limit needs a motion nobody should start without warning the room. read_report is the deliberate exception to all of it: a report-cache read that costs no round trip and cannot block, which is the only read that works while a motion is in flight.
44 lines
1.6 KiB
Python
44 lines
1.6 KiB
Python
"""Everything the robot layer raises.
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The distinctions matter: they say whether the arm moved, whether anything can be
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done about it, and whether the answer needs a human first. Taken from the
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littlehand robot layer, where they were arrived at against this same controller.
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"""
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class MotionInterruptedError(Exception):
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"""The motion was aborted in flight, by :meth:`ULite6.stop` or a controller fault."""
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class RobotUnavailableError(Exception):
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"""The command never ran because the arm was not usable.
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A pulled cable, a pressed emergency stop, a latched controller error: what a
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caller must do is the same, and it is never to carry on as if the arm moved.
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Recoverable by :meth:`ULite6.recover`.
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"""
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class UnreachablePoseError(Exception):
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"""The pose was never commanded because the arm cannot hold it.
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Deliberately not a :class:`RobotUnavailableError`: the arm is fine and the
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target is not, so a retry would only ask the same impossible thing and latch
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a joint limit error on the controller.
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"""
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class ArmNeedsHomingError(RobotUnavailableError):
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"""Only a motion of ours can clear this error, so the caller must warn first.
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A joint past its own limit stays past it however often the error is cleared.
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Narrow on purpose: an arm that is stopped rather than stuck — emergency stop
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held, collision to be dragged out of by hand — stays a plain
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:class:`RobotUnavailableError`, because homing it would move an arm somebody
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stopped deliberately.
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"""
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class EffectorUnsupportedError(Exception):
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"""The configured effector is not one this arm can drive."""
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