def __init__(self, location):
"""
Constructor.
@type location: str
@param location: body location (prefix) of Navigator to control.
Valid locations are in L{Navigator.__LOCATIONS}::
left, right, torso_left, torso_right
"""
if not location in self.__LOCATIONS:
raise AttributeError("Invalid Navigator name '%s'" % (location,))
self._id = location
self._state = None
self.button0_changed = baxter_dataflow.Signal()
self.button1_changed = baxter_dataflow.Signal()
self.button2_changed = baxter_dataflow.Signal()
self.wheel_changed = baxter_dataflow.Signal()
nav_state_topic = 'robot/itb/%s_itb/state' % (self._id,)
self._state_sub = rospy.Subscriber(
nav_state_topic,
ITBState,
self._on_state)
self._inner_led = digital_io.DigitalIO(
'%s_itb_light_inner' % (self._id,))
self._outer_led = digital_io.DigitalIO(
'%s_itb_light_outer' % (self._id,))
init_err_msg = ("Navigator init failed to get current state from %s" %
(nav_state_topic,))
baxter_dataflow.wait_for(lambda: self._state != None,
timeout_msg=init_err_msg)
def __init__(self, location):
if not location in self.__LOCATIONS:
raise AttributeError("Invalid Navigator name '%s'" % (location,))
self._id = location
self._state = None
self.button0_changed = baxter_dataflow.Signal()
self.button1_changed = baxter_dataflow.Signal()
self.button2_changed = baxter_dataflow.Signal()
self.wheel_changed = baxter_dataflow.Signal()
nav_state_topic = 'robot/itb/%s_itb/state' % (self._id,)
self._state_sub = rospy.Subscriber(
nav_state_topic,
ITBState,
self._on_state)
self._inner_led = digital_io.DigitalIO(
'%s_itb_light_inner' % (self._id,))
self._outer_led = digital_io.DigitalIO(
'%s_itb_light_outer' % (self._id,))
init_err_msg = ("Navigator init failed to get current state from %s" %
(nav_state_topic,))
baxter_dataflow.wait_for(lambda: self._state != None,
timeout_msg=init_err_msg)
def test_interface(io_component='left_itb_light_outer'):
""" Blinks a Digital Output on then off. """
b = DIO.DigitalIO(io_component)
print("Blinking Digital Output: %s" % io_component)
print "Initial state: ", b.state()
# turn on light
b.set_output(True)
rospy.sleep(1)
print "New state: ", b.state()
# reset output
b.set_output(False)
def test_interface(io_component='left_outer_light'):
"""Blinks a Digital Output on then off."""
rospy.loginfo("Blinking Digital Output: %s", io_component)
b = DIO.DigitalIO(io_component)
print("Initial state: ", b.state)
# turn on light
b.set_output(True)
rospy.sleep(1)
print("New state: ", b.state)
# reset output
b.set_output(False)
rospy.sleep(1)
print("Final state:", b.state)