def execute(self, userdata):
rospy.loginfo("Check for faulty instrument...")
#connect to sql IB database to check for any faulty instruments to be replenished
#faulty_instruments = connectsql...
#
faulty_instruments = ['retractor', 'retractor']
sleep(2)
while len(faulty_instruments) != 0:
rospy.logwarn(
"Faulty instument detected by Inspection Bay, list: " +
faulty_instruments)
rospy.logwarn("Proceeding to replace faulty instrument...")
for x in faulty_instruments:
if x == 'retractor':
rospy.logwarn(
"Replacing retractor from Spare Bay to Dry Bay...")
#Insert ur10 trasnfer code here, sb to db
#
else:
rospy.logwarn("Replacing " + x +
" from Spare Bay to Inspection Bay 1...")
#Insert ur10 trasnfer code here, sb to ib1
#
success = True
if not success:
self.success = ErrorRecovery(self.success)
return 'fail'
else:
faulty_instruments.remove(x)
#clear list from sql
#
return 'success'
def execute(self, userdata):
rospy.loginfo("Transferring Gallipot to Processing Table 1...")
#read camera feed and transfer Gallipot to pt1 code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo("Transferring 1x Towel Clip Jones to DryBay...")
#read camera feed and transfer 1x inspected Towel Clip Jones to ib1 code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo("Transferring 2x inspected Retractors to DryBay...")
#read camera feed and transfer 2x inspected retractors to drybay code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo("Waiting for Retractors inspection to complete...")
#Insert checking code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo("Transferring Tray Paper to WetBay...")
#read camera feed and tray paper to wetbay code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo("Transferring 1 Retractor to Inspection Bay 1...")
#read camera feed and transfer Retractor to ib1 code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo(
"Transferring Kidney Dish to Processing Table 1 and empyting its content..."
)
#read camera feed and transfer kidney dish to pt1 code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'
def execute(self, userdata):
rospy.loginfo(
"Transferring Forcep Bracket and Mix Bracket to Processing Table 2..."
)
#read camera feed and transfer 2 ring bracket to pt2 code here
#
sleep(2)
if self.success:
rospy.loginfo("Transfer completed")
return 'success'
else:
self.success = ErrorRecovery(self.success)
return 'fail'