Firmware¶

class pyniryo_nate.components.Firmware(http_client: HttpClient, mqtt_client: MqttClient, correlation_id: str)[source]¶

Bases: BaseAPIComponent

Firmware component for accessing the state of the robot firmware and the PLC safety chain, and for controlling the firmware container.

Methods

`clear_errors`	Clear the current firmware errors.
`close`	Close the component and release any resources if needed.
`enable`	Request the arming of the robot through the safety controller, the same path as the physical initialization button.
`get_error_report`	Get the current firmware error report.
`get_plc_safety_state`	Get the current state of the PLC safety chain.
`get_state`	Get the current state of the robot firmware.
`on_plc_safety_state`	Set a callback to be called when the PLC safety state changes.
`on_state`	Set a callback to be called when the firmware state changes.
`restart`	Restart the firmware container.
`set_plc_safety_state`	Set the state of the PLC safety chain.
`start`	Start the firmware container.
`stop`	Stop the firmware container.
`wait_armed`	Block until the safety module reports the robot armed.

Parameters:

http_client (HttpClient)
mqtt_client (MqttClient)
correlation_id (str)

get_state() → FirmwareState[source]¶

Get the current state of the robot firmware.

Returns:: The current firmware state.
Return type:: FirmwareState

get_error_report() → str[source]¶

Get the current firmware error report.

Returns:: A human-readable message describing the current firmware error, if any.
Return type:: str

clear_errors() → None[source]¶

Clear the current firmware errors.

Return type:: None

get_plc_safety_state() → PlcSafetyState[source]¶

Get the current state of the PLC safety chain.

Returns:: The current PLC safety state.
Return type:: PlcSafetyState

set_plc_safety_state(state: PlcSafetyState) → None[source]¶

Set the state of the PLC safety chain. Only available when safety is simulated: on a real robot the PLC state is owned by the wired safety chain and cannot be set through the API.

Parameters:: state (PlcSafetyState) – The PLC safety state to set.
Return type:: None

enable() → None[source]¶

Request the arming of the robot through the safety controller, the same path as the physical initialization button. Available while disarmed.

Acceptance is not arming: observe safety.armed with on_state() or get_state(), or call wait_armed(). The robot bounds the request to two seconds. Do not retry after a timeout, the impulse may already have been transmitted; this client retries connection failures only, never a response.

Raises:

ClientError – If the request is refused, an impulse already pending included.
ServerError – If the safety controller cannot be reached (503), did not answer in time (504), or failed.

Return type:

None

wait_armed(timeout: float = -1) → None[source]¶

Block until the safety module reports the robot armed. The firmware state is retained, so a robot already armed returns at once.

Parameters:: timeout (float) – Maximum time to wait, in seconds. Zero or a negative value waits indefinitely.
Raises:: TimeoutError – If the timeout expires before the robot is armed.
Return type:: None

start() → None[source]¶

Start the firmware container.

Return type:: None

stop() → None[source]¶

Stop the firmware container.

Return type:: None

restart() → None[source]¶

Restart the firmware container.

Return type:: None

on_state(callback: Callable[[FirmwareState], None]) → Callable[[], None][source]¶

Set a callback to be called when the firmware state changes.

Parameters:: callback (Callable[[FirmwareState], None]) – The callback function that takes a FirmwareState parameter.
Return type:: Callable[[], None]

on_plc_safety_state(callback: Callable[[PlcSafetyState], None]) → Callable[[], None][source]¶

Set a callback to be called when the PLC safety state changes.

Parameters:: callback (Callable[[PlcSafetyState], None]) – The callback function that takes a PlcSafetyState parameter.
Return type:: Callable[[], None]