arm.py 文件源码

def pick(self):
        log.debug("[act.pick] [begin]")
        arm = ArmStages(self.sg)
        self.mqtt_client.publish(
            self.stage_topic, _stage_message("pick", "begin"), 0
        )
        pick_box = self.found_box
        self.found_box = NO_BOX_FOUND
        log.info("[act.pick] pick_box:{0}".format(pick_box))
        log.info("[act.pick] self.found_box:{0}".format(self.found_box))
        stage_result = arm.stage_pick(previous_results=pick_box,
                                      cartesian=False)
        self.mqtt_client.publish(
            self.stage_topic, _stage_message("pick", "end", stage_result), 0
        )
        log.debug("[act.pick] [end]")
        return stage_result