constants.py

#Robot
SLEEP_ROBOT = 0.01

ROBOT_ElFIN_IP = ['143.107.220.251', '169.254.153.251', '127.0.0.1']
ROBOT_ElFIN_PORT = 10003

ROBOT_MOTIONS = {"normal": 0, "linear out": 1, "arc": 2}
ROBOT_HEAD_VELOCITY_THRESHOLD = 10 #mm/s
ROBOT_ARC_THRESHOLD_DISTANCE = 100 #mm
ROBOT_VERSOR_SCALE_FACTOR = 70

#Robot Working Space is defined as 800mm in Elfin manual. For safety, the value is reduced by 5%.
ROBOT_WORKING_SPACE = 760 #mm
ROBOT_MOVE_STATE = {"free to move": 0,
                    "in motion": 1009,
                    "waiting for execution": 1013,
                    "error": 1025}

#Publisher messages
PUB_MESSAGES = ['Connect to robot',
                'Update robot transformation matrix',
                'Robot target matrix',
                'Reset robot process',
                'Update tracker coordinates',
                'Update tracker fiducials matrix']