def getModuleNamesAndFamilies(self, timeout=1000, **kwargs):
'''Gets the module names and families, in a similar fashion to
HebiLookup.getNamesAndFamilies()
Args:
timeout (int): Time, in milliseconds, to wait before timing out
when waiting for a response from the group.
Returns:
(str, str) list: a list of 2-tuples which each contain the name and
family of a module found by the lookup. The length
of the list is the same as the value returned by
getNumModules().
'''
info = self._getInfos(timeout=timeout, **kwargs)
modules = []
if len(info) == self.getNumModules():
for module in range(self.getNumModules()):
modules.append(
(info[module].getName(), info[module].getFamily())
)
return returnArray(modules)
def getNamesAndFamilies(self):
'''This function gets the names and families of modules found by the lookup
Returns:
(str, str) list: a list of 2-tuples which each contain the name and
family of a module found by the lookup. The length
of the list is the same as the value returned by
getNumModules().
'''
return returnArray(self.lookupList.getNamesAndFamilies())
def getInfos(self, **kwargs):
'''Gets the feedbacks for all the modules in the group.
Args:
timeout (int): Time, in milliseconds, to wait before timing out
when waiting for a response from the group.
Returns:
infos (HebiInfo list): a list containing the infos corresponding
to each module in the group.
'''
return returnArray(self._getInfos(**kwargs))
def getTorques(self, **kwargs):
'''Gets the current torques of all the modules in the group.
Args:
timeout (int): Time, in milliseconds, to wait before timing out
when waiting for a response from the group.
Returns:
torques (float list): A list containing the current angles of
the modules in the group.
'''
return returnArray(self._getTorques(**kwargs))
def getFeedbacks(self, wait=True, **kwargs):
'''Gets the feedbacks for all the modules in the group.
getFeedbacks returns a list of feedback objects, which can be queried
to get feedback from the module they represent.
Args:
timeout (int): Time, in milliseconds, to wait before timing out
when waiting for a response from the group.
Returns:
feedbacks (HebiFeedback list): a list containing the feedbacks
corresponding to each module in the
group.
wait (bool): if True, then blocks code until
feedback is received.
'''
return returnArray(self._getFeedbacks(wait=wait, **kwargs))