feat(arcor2_fit_demo): new OTs for simulated actions

src/docker/arcor2_upload_fit_demo/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.2.0"])
+docker_image(name="arcor2_upload_fit_demo", repository="arcor2/arcor2_upload_fit_demo", image_tags=["1.3.0"])

src/python/arcor2_fit_demo/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.3.0] - 2024-03-22
+
+### Added
+
+- New ObjectTypes for simulated operations.
+
 ## [1.2.0] - 2023-07-20
 
 ### Changed

src/python/arcor2_fit_demo/VERSION

@@ -1 +1 @@
-1.2.0
+1.3.0

src/python/arcor2_fit_demo/object_types/erp.py

@@ -0,0 +1,23 @@
+import time
+
+from arcor2.data.common import ActionMetadata
+from arcor2.object_types.abstract import Generic
+
+
+class Erp(Generic):
+    """ObjectType that simulates Enterprise Resource Planning system."""
+
+    _ABSTRACT = False
+
+    def log_production_step(self, step: str, success: bool, *, an: None | str = None) -> None:
+        """Logs finished production step.
+
+        :param step: Name of the production step.
+        :param success: Indicates whether the step was successful.
+        :param an:
+        :return:
+        """
+
+        time.sleep(0.01)
+
+    log_production_step.__action__ = ActionMetadata()  # type: ignore

src/python/arcor2_fit_demo/object_types/milling_machine.py

@@ -0,0 +1,26 @@
+import random
+import time
+
+from arcor2.data.common import ActionMetadata
+from arcor2.object_types.abstract import CollisionObject
+
+
+class MillingMachine(CollisionObject):
+    _ABSTRACT = False
+
+    def do_milling(self, *, an: None | str = None) -> bool:
+        """Performs a (simulated) milling process. Returns False if something
+        goes wrong.
+
+        :param an:
+        :return:
+        """
+
+        if random.uniform(0, 1) > 0.3:
+            time.sleep(3)
+            return True
+        else:
+            time.sleep(5)
+            return False
+
+    do_milling.__action__ = ActionMetadata()  # type: ignore

src/python/arcor2_fit_demo/object_types/optical_quality_control.py

@@ -0,0 +1,23 @@
+import random
+import time
+
+from arcor2.data.common import ActionMetadata
+from arcor2.object_types.abstract import CollisionObject
+
+
+class OpticalQualityControl(CollisionObject):
+    mesh_filename = "kinect_azure.dae"
+    _ABSTRACT = False
+
+    def measure_quality(self, *, an: None | str = None) -> bool:
+        """Performs a (simulated) quality measurement. Returns False if
+        something is wrong.
+
+        :param an:
+        :return:
+        """
+
+        time.sleep(0.01)
+        return random.uniform(0, 1) > 0.3
+
+    measure_quality.__action__ = ActionMetadata()  # type: ignore

src/python/arcor2_fit_demo/scripts/upload_objects.py

@@ -1,13 +1,16 @@
 #!/usr/bin/env python3
 
-from arcor2.data.object_type import Mesh
+from arcor2.data.object_type import Box, Mesh
 from arcor2.object_types.upload import Urdf, upload_def, upload_whatever
 from arcor2_fit_demo import get_data
 from arcor2_fit_demo.object_types.abstract_dobot import AbstractDobot
 from arcor2_fit_demo.object_types.conveyor_belt import ConveyorBelt
 from arcor2_fit_demo.object_types.dobot_m1 import DobotM1
 from arcor2_fit_demo.object_types.dobot_magician import DobotMagician
+from arcor2_fit_demo.object_types.erp import Erp
 from arcor2_fit_demo.object_types.fit_common_mixin import FitCommonMixin
+from arcor2_fit_demo.object_types.milling_machine import MillingMachine
+from arcor2_fit_demo.object_types.optical_quality_control import OpticalQualityControl
 from arcor2_kinect_azure_data.object_types.kinect_azure import KinectAzure
 
 
@@ -27,6 +30,14 @@ def main() -> None:
     )
     upload_whatever(FitCommonMixin)
 
+    upload_def(Erp)
+    upload_def(MillingMachine, Box(MillingMachine.__name__, 0.1, 0.1, 0.1))
+    upload_def(
+        OpticalQualityControl,
+        Mesh(OpticalQualityControl.__name__, OpticalQualityControl.mesh_filename),
+        file_to_upload=get_data(OpticalQualityControl.mesh_filename),
+    )
+
 
 if __name__ == "__main__":
     main()