def gripper_is_closed():
gripper_status = Gripper.Gripper()
res = Commands.read_io_signals(IO.IO(GRIPPER_ACKNOWLEDGE_SIGNAL,
1)).get_response()
logging.info('Gripper ack decimal: ' + res)
gripper_status.set_closed_status(res)
return gripper_status.is_gripper_closed()
def read_gripper_hit():
gripper_status = Gripper.Gripper()
gripper_status.set_closed_status(
Commands.read_io_signals(IO.IO(GRIPPER_HIT_SIGNAL, 4)))
return gripper_status
def write_gripper_open():
io_out = IO.IO(GRIPPER_OPEN_CLOSE_SIGNAL_INPUT,
4) # each signal line has 8 bits, write them all
io_out.set_first_eight_io_contracts('00000000') # Todo, value not decided
return Commands.write_io_signals(io_out)
def read_gripper_closed_command_register():
gripper_status = Gripper.Gripper()
gripper_status.set_closed_status(
Commands.read_io_signals(IO.IO(GRIPPER_OPEN_CLOSE_SIGNAL, 4)))
return gripper_status
def test_write_io_signals(self):
io = IO.IO(4)
res = Commands.write_io_signals(io)
self.assertEqual(res.get_response(), '0')