0001-event_register.py

#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>

"""
Description: event callback registration and release
    1. Instantiate XArmAPI and specify do_not_open to be true
    2. Register different event callbacks as needed
    3. Connect
    4. Enable motion
    5. Setting mode
    6. Setting state
"""

import os
import sys
import time

sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI


#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
    ip = sys.argv[1]
else:
    try:
        from configparser import ConfigParser
        parser = ConfigParser()
        parser.read('../robot.conf')
        ip = parser.get('xArm', 'ip')
    except:
        ip = input('Please input the xArm ip address:')
        if not ip:
            print('input error, exit')
            sys.exit(1)
########################################################


def callback_cmdnum_changed(item):
    print('cmdnum changed:', item)


def callback_state_changed(item):
    print('state changed:', item)


def callback_connect_changed(item):
    print('connect changed:', item)


def callback_error_warn_changed(item):
    print('error warn changed:', item)


def callback_maable_mtbrake_changed(item):
    print('maable mtbrake changed:', item)


def callback_report_location(item):
    print('location report:', item)


arm = XArmAPI(ip, do_not_open=True)
arm.register_cmdnum_changed_callback(callback=callback_cmdnum_changed)
arm.register_state_changed_callback(callback=callback_state_changed)
arm.register_connect_changed_callback(callback=callback_connect_changed)
arm.register_error_warn_changed_callback(callback=callback_error_warn_changed)
arm.register_mtable_mtbrake_changed_callback(callback=callback_maable_mtbrake_changed)
arm.register_report_location_callback(callback=callback_report_location)

arm.connect()
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)

time.sleep(20)
arm.disconnect()