def USBCamSwitchCamera(camera):
r"""Switch currently streaming cam
Parameters
---------
camera : int
Number of camera from /dev/video*
"""
if not is_strict_int(camera):
raise InvalidParametersException()
USBCam.switchCamera(camera)
def USBCamSwitchCamera(camera):
r"""Switch currently streaming cam
Parameters
---------
camera : int
Number of camera from /dev/video*
"""
if not is_strict_int(camera):
raise InvalidParametersException()
USBCam.switchCamera(camera)
def setWheelSpeed(wheel, speed):
r"""Sets speed of a specified wheel of rover.
Parameters
----------
wheel : int
Wheel selector.
speed : int
Target speed in scale 1-100.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(wheel) and is_strict_int(speed)):
raise InvalidParametersException()
status_code = 0
return status_code
def setWheelSpeed(wheel, speed):
r"""Sets speed of a specified wheel of rover.
Parameters
----------
wheel : int
Wheel selector.
speed : int
Target speed in scale 1-100.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(wheel) and is_strict_int(speed)):
raise InvalidParametersException()
status_code = 0
return status_code
def setJointSpeed(joint, speed):
r"""Sets speed of a specified joint.
Parameters
----------
joint : int
Joint selector.
speed : int
Target speed in scale 1-100.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(joint) and is_strict_int(speed)):
raise InvalidParametersException()
# Body
status_code = 0
return status_code
def USBCamStartStream(camera):
r"""
Starts camera streaming -> need to know params for vlc from camera.sdp file
Parameters
----------
camera : int
Number of camera from /dev/video*
"""
if not is_strict_int(camera):
raise InvalidParametersException()
USBCam.startStream(camera)
def setJointSpeed(joint, speed):
r"""Sets speed of a specified joint.
Parameters
----------
joint : int
Joint selector.
speed : int
Target speed in scale 1-100.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(joint) and is_strict_int(speed)):
raise InvalidParametersException()
# Body
status_code = 0
return status_code
def USBCamStartStream(camera):
r"""
Starts camera streaming -> need to know params for vlc from camera.sdp file
Parameters
----------
camera : int
Number of camera from /dev/video*
"""
if not is_strict_int(camera):
raise InvalidParametersException()
USBCam.startStream(camera)
def getJointSpeed(joint):
r"""Returns speed of a specified joint.
Parameters
----------
joint : int
Joint selector.
Returns
-------
speed: int
Speed of a specified joint in scale 1-100.
"""
if not is_strict_int(joint):
raise InvalidParametersException()
speed = 0
return speed
def getJointAngle(joint):
r"""Returns angle of a specified joint.
Parameters
----------
joint : int
Joint selector.
Returns
-------
angle : float
Angle of a specified joint in radians.
"""
if not is_strict_int(joint):
raise InvalidParametersException()
angle = 0.0
return angle
def getWheelSpeed(wheel):
r"""Returns speed of a specified wheel.
Parameters
----------
wheel : int
Wheel selector.
Returns
-------
speed: int
Speed of a specified wheel in radians.
"""
if not is_strict_int(wheel):
raise InvalidParametersException()
speed = 0
return speed
def getJointSpeed(joint):
r"""Returns speed of a specified joint.
Parameters
----------
joint : int
Joint selector.
Returns
-------
speed: int
Speed of a specified joint in scale 1-100.
"""
if not is_strict_int(joint):
raise InvalidParametersException()
speed = 0
return speed
def getJointAngle(joint):
r"""Returns angle of a specified joint.
Parameters
----------
joint : int
Joint selector.
Returns
-------
angle : float
Angle of a specified joint in radians.
"""
if not is_strict_int(joint):
raise InvalidParametersException()
angle = 0.0
return angle
def getWheelSpeed(wheel):
r"""Returns speed of a specified wheel.
Parameters
----------
wheel : int
Wheel selector.
Returns
-------
speed: int
Speed of a specified wheel in radians.
"""
if not is_strict_int(wheel):
raise InvalidParametersException()
speed = 0
return speed
def setJointAngle(joint, angle):
r"""Sets angle of a specified joint.
Parameters
----------
joint : int
Joint selector.
angle : float
Target angle in radians.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(joint) and isinstance(angle, float)):
raise InvalidParametersException()
# add validation
response = manipulator.joints[joint].set_angle(angle)
status_code = response.status
return status_code
def setJointAngle(joint, angle):
r"""Sets angle of a specified joint.
Parameters
----------
joint : int
Joint selector.
angle : float
Target angle in radians.
Returns
-------
status_code : int
Returns 0, because we want to handle errors and thats impossible with
notifications.
"""
if not (is_strict_int(joint) and isinstance(angle, float)):
raise InvalidParametersException()
# add validation
response = manipulator.joints[joint].set_angle(angle)
status_code = response.status
return status_code
