TCP Client¶
TcpClient extends Client
- class butter.mas.clients.client_tcp.TcpClient(ip, port=3003, protocol='tcp')¶
Butter MAS TCP client API
- clearAnimation() requests.models.Response¶
Clear animation queue (if available)
- Returns
response containing execution result
- Return type
Response
- getAvailableAnimations(reload=False) requests.models.Response¶
Get available (loaded) robot animations
- Parameters
reload (bool, optional) – reload all animations. Defaults to False.
- Returns
response containing all the available (loaded) robot animations
- Return type
Response
- getAvailableHandlers() requests.models.Response¶
Get available robot handlers
- Returns
response containing all the available robot handlers
- Return type
Response
- getAvailableMotorRegisters(motorName, readableOnly=False) requests.models.Response¶
Get all available motor registers (for Dynamixel motors only)
- Parameters
motorName (str) – motor name (as configured on the configurator)
readableOnly (bool, optional) – get readable registers only. Defaults to False.
- Returns
response containing all the available motor registers
- Return type
Response
- getAvailableSounds(reload=False) requests.models.Response¶
Get available (loaded) robot sound assets
- Parameters
reload (bool, optional) – reload all sound assets. Defaults to False.
- Returns
response containing all the available (loaded) robot sound assets
- Return type
Response
- getMotorRegister(motorName, registerName) requests.models.Response¶
Get motor register value (for Dynamixel motors only)
- Parameters
motorName (str) – motor name (as configured on the configurator)
registerName (str) – motor register name
- Returns
response containing register value
- Return type
Response
- getMotorRegisterRange(motorName, registerName) requests.models.Response¶
Get motor register value range (for Dynamixel motors only)
- Parameters
motorName (str) – motor name (as configured on the configurator)
registerName (str) – motor register name
- Returns
response containing register range value
- Return type
Response
- moveMotorInDirection(motorName, direction, velocity=None, units=RotationUnits.RADIANS) requests.models.Response¶
move motor to a certain direction (relative to the motor’s current position)
- Parameters
motorName (str) – motor name (as configured on the configurator)
direction (str) – motor movement direction (left, right, stop)
velocity (float, optional) – motor movement speed (in units / sec). Defaults to None.
units (RotationUnits, optional) – rotation units. Defaults to ‘radians’.
- Returns
response containing execution result
- Return type
Response
- moveMotorInTime(motorName, position, duration, units=RotationUnits.RADIANS) requests.models.Response¶
move motor to a certain position (relative to the motor’s zero position) in fixed duration
- Parameters
motorName (str) – motor name (as configured on the configurator)
position (float) – motor final position (in units)
duration (int) – motor movement duration (in milliseconds)
units (RotationUnits, optional) – rotation units. Defaults to ‘radians’.
- Returns
response containing execution result
- Return type
Response
- moveMotorToPosition(motorName, position, velocity=None, acceleration=None, units=RotationUnits.RADIANS) requests.models.Response¶
move motor to a certain position (relative to the motor’s zero position)
- Parameters
motorName (str) – motor name (as configured on the configurator)
position (float) – motor final position (in units)
velocity (float, optional) – motor movement speed (in units / sec). Defaults to None.
acceleration (float, optional) – motor maximal acceleration (in units / sec * sec). Defaults to None.
units (RotationUnits, optional) – rotation units. Defaults to ‘radians’.
- Returns
response containing execution result
- Return type
Response
- pauseAnimation() requests.models.Response¶
Pause currently playing animation (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- pauseAudio() requests.models.Response¶
Pause current audio playback (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- playAnimation(animationName, lenient=False, relative=False) requests.models.Response¶
Play animation on the robot
- Parameters
animationName (str) – animation name
lenient (bool, optional) – wait for current playing animation (if present) to finish . Defaults to False.
relative (bool, optional) – play animation relative to the current robot position. Defaults to False.
- Returns
response containing execution result
- Return type
Response
- playAudio(fileName) requests.models.Response¶
Play audio on the robot
- Parameters
fileName (str) – audio asset name
- Returns
response containing execution result
- Return type
Response
- resumeAnimation() requests.models.Response¶
Resume currently paused animation (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- resumeAudio() requests.models.Response¶
Resume currently paused audio playback (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- setMotorRegister(motorName, registerName, value) requests.models.Response¶
Set motor register value (for Dynamixel motors only)
- Parameters
motorName (str) – motor name (as configured on the configurator)
registerName (str) – motor register name
value (str) – register value
- Returns
response containing execution result
- Return type
Response
- stopAnimation() requests.models.Response¶
Stop currently playing animation (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- stopAudio() requests.models.Response¶
Stop current audio playback (if available) on the robot
- Returns
response containing execution result
- Return type
Response
- property timeout¶
Get command execution timeout
- Returns
command execution timeout in milliseconds
- Return type
integer