Estop

For clients to the emergency stop (estop) service.

exception bosdyn.client.estop.EstopResponseError(response, error_message=None)

Bases: bosdyn.client.exceptions.ResponseError

General class of errors for Estop service.

exception bosdyn.client.estop.EndpointUnknownError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

The endpoint specified in the request is not registered.

exception bosdyn.client.estop.IncorrectChallengeResponseError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

The challenge and/or response was incorrect.

exception bosdyn.client.estop.EndpointMismatchError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

Target endpoint did not match.

exception bosdyn.client.estop.ConfigMismatchError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

Registered to the wrong configuration.

exception bosdyn.client.estop.InvalidEndpointError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

New endpoint was invalid.

exception bosdyn.client.estop.InvalidIdError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

Tried to replace a EstopConfig, but provided bad ID.

exception bosdyn.client.estop.MotorsOnError(response, error_message=None)

Bases: bosdyn.client.estop.EstopResponseError

The operation is not allowed while motors are on.

class bosdyn.client.estop.StopLevel(value)

Bases: enum.IntEnum

An enumeration.

ESTOP_LEVEL_UNKNOWN = 0

ESTOP_LEVEL_CUT = 1

ESTOP_LEVEL_SETTLE_THEN_CUT = 2

ESTOP_LEVEL_NONE = 4

class bosdyn.client.estop.EstopClient(name='EstopClient - PID: 30719')

Bases: bosdyn.client.common.BaseClient

Client to the estop service.

default_service_name = 'estop'

service_type = 'bosdyn.api.EstopService'

register(target_config_id, endpoint, **kwargs)

Register the endpoint in the target configuration.

Parameters

• target_config_id – The identification of the current configuration on the robot.

• endpoint – Estop endpoint.

• kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

estop_pb2.EstopEndpoint that has been registered.

register_async(target_config_id, endpoint, **kwargs)

Async version of register()

deregister(target_config_id, endpoint, **kwargs)

Deregister the endpoint in the target configuration.

Parameters

• target_config_id – The identification of the current configuration on the robot.

• endpoint – Estop endpoint.

• kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

deregister_async(target_config_id, endpoint, **kwargs)

Async version of deregister()

get_config(**kwargs)

Return the estop configuration of the robot.

Parameters

kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

estop_pb2.EstopConfig the robot is currently using.

get_config_async(**kwargs)

Async version of get_config()

set_config(config, target_config_id, **kwargs)

Change the estop configuration of the robot.

Parameters

• config – New configuration to set.

• target_config_id – The identification of the current configuration on the robot.

• kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

estop_pb2.EstopConfig the robot is currently using.

set_config_async(config, target_config_id, **kwargs)

Async version of set_config()

get_status(**kwargs)

Return the estop status of the robot.

Parameters

kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

estop_pb2.EstopSystemStatus from the server.

get_status_async(**kwargs)

Async version of get_status()

check_in(stop_level, endpoint, challenge, response, suppress_incorrect=False, **kwargs)

Check in with the estop system.

Parameters

• stop_level – Integer / enum representing desired stop level. See StopLevel enum.

• endpoint – The endpoint asserting the stop level.

• challenge – A previously received challenge from the server.

• response – A response to the ‘challenge’ argument.

• suppress_incorrect – Set True to prevent an IncorrectChallengeResponseError from being raised when STATUS_INVALID is returned. Useful for the first check-in, before a challenge has been sent by the server.

• kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

A new challenge from the server.

check_in_async(stop_level, endpoint, challenge, response, suppress_incorrect=False, **kwargs)

Async version of check_in()

class bosdyn.client.estop.EstopEndpoint(client, name, estop_timeout, role='PDB_rooted', first_checkin=True, estop_cut_power_timeout=None)

Bases: object

Endpoint in the software estop system.

REQUIRED_ROLE = 'PDB_rooted'

set_challenge(challenge)

Thread-safe write to the challenge.

get_challenge()

Thread-safe read of the challenge.

force_simple_setup()

Replaces the existing estop configuration with a single-endpoint configuration.

stop(**kwargs)

Issue a CUT stop level command to the robot, cutting motor power immediately.

Parameters

kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

None. Will raise an error if RPC failed.

settle_then_cut(**kwargs)

Issue a SETTLE_THEN_CUT stop level. The robot will attempt to sit before cutting motor power.

Parameters

kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

None. Will raise an error if RPC failed.

allow(**kwargs)

Issue a NONE stop level command to the robot, allowing motor power.

Parameters

kwargs – Passed to underlying RPC. Example: timeout=5 to cancel the RPC after 5 seconds.

Returns

None. Will raise an error if RPC failed.

check_in_at_level(level, **kwargs)

Check in at a specified level.

Meant for internal use, but may be helpful for higher-level wrappers.

deregister(**kwargs)

Deregister this endpoint from the configuration.

register(target_config_id, **kwargs)

Register this endpoint to the given configuration.

stop_async(**kwargs)

Async version of stop()

settle_then_cut_async(**kwargs)

Async version of settle_then_cut()

allow_async(**kwargs)

Async version of allow()

check_in_at_level_async(level, **kwargs)

deregister_async(**kwargs)

Async version of deregister()

from_proto(proto)

Set member variables based on given estop_pb2.EstopEndpoint.

to_proto()

Return estop_pb2.EstopEndpoint based on current member variables.

property unique_id

Return the _unique_id. Should be used as read-only.

class bosdyn.client.estop.EstopKeepAlive(endpoint, rpc_timeout_seconds=None, rpc_interval_seconds=None, keep_running_cb=None, max_status_queue_size=20)

Bases: object

Wraps an EstopEndpoint to do periodic check-ins, keeping software estop from timing out.

This is intended to be the common implementation of both periodic checking-in and one-time check-ins. See the command line utility and the “Big Red Button” application for examples.

You should not access any of the “private” members, or the wrapped endpoint.

shutdown()

property logger

allow()

settle_then_cut()

stop()

property endpoint

Return the _endpoint. Should be used as read-only.

property client

Return the _endpoint.client. Should be used as read-only.

class KeepAliveStatus(value)

Bases: enum.Enum

An enumeration.

OK = 0

ERROR = 1

DISABLED = 2

bosdyn.client.estop.is_estopped(estop_client, **kwargs)

Returns true if robot is estopped, false otherwise.

Raises

RpcError – Problem communicating with the robot

bosdyn.client.estop.response_from_challenge(challenge)