class Cuff(object):
"""
Interface class for cuff on the Intera robots.
"""
def __init__(self, limb="right"):
"""
Constructor.
@type limb: str
@param limb: limb side to interface
"""
params = RobotParams()
limb_names = params.get_limb_names()
if limb not in limb_names:
rospy.logerr("Cannot detect Cuff's limb {0} on this robot."
" Valid limbs are {1}. Exiting Cuff.init().".format(
limb, limb_names))
return
self.limb = limb
self.device = None
self.name = "cuff"
self.cuff_config_sub = rospy.Subscriber('/io/robot/cuff/config',
IODeviceConfiguration,
self._config_callback)
# Wait for the cuff status to be true
intera_dataflow.wait_for(
lambda: not self.device is None,
timeout=5.0,
timeout_msg=("Failed find cuff on limb '{0}'.".format(limb)))
self._cuff_io = IODeviceInterface("robot", self.name)
def _config_callback(self, msg):
"""
config topic callback
"""
if msg.device != []:
if str(msg.device.name) == self.name:
self.device = msg.device
def lower_button(self):
"""
Returns a boolean describing whether the lower button on cuff is pressed.
@rtype: bool
@return: a variable representing button state: (True: pressed, False: unpressed)
"""
return bool(
self._cuff_io.get_signal_value('_'.join(
[self.limb, "button_lower"])))
def upper_button(self):
"""
Returns a boolean describing whether the upper button on cuff is pressed.
(True: pressed, False: unpressed)
@rtype: bool
@return: a variable representing button state: (True: pressed, False: unpressed)
"""
return bool(
self._cuff_io.get_signal_value('_'.join(
[self.limb, "button_upper"])))
def cuff_button(self):
"""
Returns a boolean describing whether the cuff button on cuff is pressed.
(True: pressed, False: unpressed)
@rtype: bool
@return: a variable representing cuff button state: (True: pressed, False: unpressed)
"""
return bool(
self._cuff_io.get_signal_value('_'.join([self.limb, "cuff"])))
def register_callback(self, callback_function, signal_name, poll_rate=10):
"""
Registers a supplied callback to a change in state of supplied
signal_name's value. Spawns a thread that will call the callback with
the updated value.
@type callback_function: function
@param callback_function: function handle for callback function
@type signal_name: str
@param signal_name: the name of the signal to poll for value change
@type poll_rate: int
@param poll_rate: the rate at which to poll for a value change (in a separate
thread)
@rtype: str
@return: callback_id retuned if the callback was registered, and an
empty string if the requested signal_name does not exist in the
Navigator
"""
return self._cuff_io.register_callback(
callback_function=callback_function,
signal_name=signal_name,
poll_rate=poll_rate)
def deregister_callback(self, callback_id):
"""
Deregisters a callback based on the supplied callback_id.
@type callback_id: str
@param callback_id: the callback_id string to deregister
@rtype: bool
@return: returns bool True if the callback was successfully
deregistered, and False otherwise.
"""
return self._cuff_io.deregister_callback(callback_id)
class Navigator(object):
"""
Interface class for a Navigator on the Intera Research Robot.
Signals:
button_square_changed - OFF/CLICK/LONG_PRESS/DOUBLE_CLICK
button_ok_changed
button_back_changed
button_show_changed
button_triangle_changed
button_circle_changed
wheel_changed - Wheel value
"""
def __init__(self):
"""
Constructor.
"""
self._navigator_io = IODeviceInterface("robot", "navigator")
self._button_lookup = {
0: 'OFF',
1: 'CLICK',
2: 'LONG_PRESS',
3: 'DOUBLE_CLICK'
}
def list_all_items(self):
"""
Returns a list of strings describing all available navigator items
@rtype: list
@return: a list of string representing navigator items
Each item name of the following format:
'<assembly>_button_<function>'
"""
return self._navigator_io.list_signal_names()
def get_wheel_state(self, wheel_name):
"""
Current state of the wheel providing wheel name
@type wheel_name: str
@param wheel_name: the wheel name
@rtype: uint
@return: an integer representing how far the wheel has turned
"""
return self._get_item_state(wheel_name)
def get_button_state(self, button_name):
"""
Current button state by providing button name
@type button_name: str
@param button_name: the button name
@rtype: uint
@return: an integer representing button values
Valid states:
{0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'}
"""
return self._get_item_state(button_name)
def button_string_lookup(self, button_value):
"""
Returns strings corresponding to the button state.
@type button_value: int
@param button_value: the value to lookup
@rtype: str
@return: 'INVALID_VALUE' if out of range, or if valid:
{0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'}
"""
if button_value in self._button_lookup:
return self._button_lookup[button_value]
else:
return 'INVALID_VALUE'
def register_callback(self, callback_function, signal_name, poll_rate=10):
"""
Registers a supplied callback to a change in state of supplied
signal_name's value. Spawns a thread that will call the callback with
the updated value.
@type callback_function: function
@param callback_function: function handle for callback function
@type signal_name: str
@param signal_name: the name of the signal to poll for value change
@type poll_rate: int
@param poll_rate: the rate at which to poll for a value change (in a separate
thread)
@rtype: str
@return: callback_id retuned if the callback was registered, and an
empty string if the requested signal_name does not exist in the
Navigator
"""
return self._navigator_io.register_callback(
callback_function=callback_function,
signal_name=signal_name,
poll_rate=poll_rate)
def deregister_callback(self, callback_id):
"""
Deregisters a callback based on the supplied callback_id.
@type callback_id: str
@param callback_id: the callback_id string to deregister
@rtype: bool
@return: returns bool True if the callback was successfully
deregistered, and False otherwise.
"""
return self._navigator_io.deregister_callback(callback_id)
def _get_item_state(self, item_name):
return self._navigator_io.get_signal_value(item_name)
