def InitializeLinearSlide(self):
""" Start the linear slide code running. """
err = AurisInterface.InitializeLinearSlide()
if err == 0:
self.slideInit = True
sys.stdout.flush()
return self.slideInit
def __init__(self):
# make sure the interface is initailized for the correct use case
self.interInit = False
self.idmInit = False
self.visionInit = False
self.gamepadInit = False
self.slideInit = False
# need a ref to AurisInterface for the garbage collector
self.interface = AurisInterface
if (AurisInterface.GetVersion() != LOW_LEVEL_VERSION):
print("Python Lib does not match compiled Lib",
AurisInterface.GetVersion(),
"!= auris low level version",
LOW_LEVEL_VERSION)
raise Exception("Version Mismatch.")
def InitializeGamePad(self):
""" Start the joystick code running. """
err = AurisInterface.InitializeGamePad()
if err == 0:
self.gamepadInit = True
sys.stdout.flush()
return self.gamepadInit
def SetDesiredPosition(self,
s1, s2, s3, s4, l1, l2, l3, l4, i1, i2):
""" Returns the position we have set on each axis.
NOTE THE ADDED NEGATIVE!!!"""
self.CheckIDM()
return AurisInterface.SetDesiredPosition(
s1, s2, s3, s4, l1, l2, l3, l4, -i1, i2)
def EstablishIDMConnection(self, wait = 10.0):
if (AurisInterface.EstablishIDMConnection(10.0) != 0):
print("Failed to establish connection")
return -1
else:
print("Connection Established.")
self.idmInit = True
return 0
def Initialize(self, domainId, testIPAddr = None):
print("Initializing Network ...")
if (testIPAddr != None):
print("Pinging ip (", testIPAddr, ") (must be UID 0) ...")
resp = os.system("ping -c 1 " + testIPAddr)
if (resp != 0):
print("Failed to ping IDM.")
if (AurisInterface.GetVersion() != LOW_LEVEL_VERSION):
print("Python Lib does not match compiled Lib",
AurisInterface.GetVersion(),
"!= auris low level version ",
LOW_LEVEL_VERSION)
return -1
if (AurisInterface.InitializeNetwork(domainId) != 0):
print("Failed to connect to RTI")
return -1
else:
print("Network Configured.")
self.visionInit = True
self.interInit = True
sys.stdout.flush()
return 0
def LinearSlideHome(self):
""" Reset and goto the zero on the linear slide. """
self.CheckLinearSlide()
return AurisInterface.LinearSlideHome()
def GetGamePadButton(self, index):
""" Return the value of the button at the given index. """
self.CheckGamePad()
return AurisInterface.GetGamePadButton(index)
def GetGamePadJoint(self, index):
""" Return the value of the joint at the given index. """
self.CheckGamePad()
return AurisInterface.GetGamePadJoint(index)
def LoadLeader(self, instrument):
""" Loads a leader instrument. """
self.CheckIDM()
return AurisInterface.LoadLeader(instrument)
def GetVisionResult(self):
""" Returns the last vision result from the ClinicalUI. """
self.CheckVision()
return AurisInterface.GetVisionResult()
def LinearSlideMaxLimit(self):
""" Return the highest allowable position in millimeters. """
self.CheckLinearSlide()
return AurisInterface.LinearSlideMaxLimit()
def LoadSheath(self, instrument):
""" Loads a sheath instrument. """
self.CheckIDM()
return AurisInterface.LoadSheath(instrument)
def LinearSlideWaitForStop(self, timeoutSec):
""" Blocks until the motor stops moveing or timeout is reached. Returns -1 if
timedout and zero otherwise."""
self.CheckLinearSlide()
return AurisInterface.LinearSlideWaitForStop(timeoutSec)
def LinearSlideMove(self, Xmm):
""" Set the x position in milimeters of the slide. """
self.CheckLinearSlide()
return AurisInterface.LinearSlideMove(Xmm)
def GetDesiredPosition(self):
""" Returns the position we have set on each axis. """
self.CheckIDM()
return AurisInterface.GetDesiredPosition()
def GetForceSensors(self):
""" Returns the value of the force sensors on each axis. """
self.CheckIDM()
return AurisInterface.GetForceSensors()
def GetMotorCurrents(self):
""" Returns the actual currents being applied to each axis. """
self.CheckIDM()
return AurisInterface.GetMotorCurrents()
def LinearSlideMotorRunning(self):
""" Returns true when the motor is on. """
self.CheckLinearSlide()
return AurisInterface.LinearSlideMotorRunning()
def GetActualPosition(self):
""" Returns the position of each axis. """
self.CheckIDM()
return AurisInterface.GetActualPosition()
def LinearSlidePosition(self):
""" Get the current x position in millimeters. """
self.CheckLinearSlide()
return AurisInterface.LinearSlidePosition()
def SendIDMCommand(self, commandId):
""" Send a command (integer) to the IDM. """
self.CheckIDM()
return AurisInterface.SendIDMCommand(commandId)
def LinearSlideEnableButtonMode(self, run):
""" Toggle automatic listening to joystick (must init joystick). """
self.CheckLinearSlide()
return AurisInterface.LinearSlideEnableButtonMode(run)
def GetIDMStatus(self):
""" Returns the current IDM status (int). """
self.CheckIDM()
return AurisInterface.GetIDMStatus()
def __del__(self):
""" Closes down network and does any other work that needs to be done. """
AurisInterface.CloseNetwork()
def GetSheathTensionStatus(self):
""" Returns the tensioning status of the leader """
self.CheckIDM()
return AurisInterface.GetTensionStatus()[0]
