def stop(self):
try:
res = self._player.stop()
return 1
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def set_value(self, l, c, sn, v):
guard = OpenRTM_aist.ScopedLock(self.m_comp._mutex)
try:
self.m_comp.set_value(l, c, sn, v)
except:
pass
del guard
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def get_files(self):
try:
res = RTC.TimedStringSeq(RTC.Time(0, 0), [])
res.data = self._player.get_files()
return 1, res
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def get_string(self, l, c, sn):
guard = OpenRTM_aist.ScopedLock(self.m_comp._mutex)
try:
tmp = self.m_comp.get_string(l, c, sn)
except:
pass
del guard
return tmp
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def drop(self, kind):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
# *** Implement me
# Must return: result
time.sleep(3.0)
self._manipMiddle._ptr().movePTPJointAbs([(math.pi) * 3 / 2, 0,
math.pi / 2, 0, math.pi / 2,
0])
self._manipMiddle._ptr().moveGripper(80)
return RETVAL_OK
def closeGripper(self):
# Must return: result
try:
res = self._robot.closeGripper()
if res:
code = JARA_ARM.OK
msg = ''
else:
code = JARA_ARM.NG
msg = 'Fail to close'
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def clearAlarms(self):
# Must return: result
try:
res = self._robot.clearAlarms()
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def movePTPJointAbs(self, jointPoints):
# Must return: result
try:
res = self._robot.movePTPJointAbs(jointPoints)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getFeedbackPosJoint(self):
# Must return: result, pos
try:
pos = self._robot.getFeedbackPosJoint()
if pos is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), pos
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getMinAccelTimeJoint(self):
# Must return: result, aclTime
try:
aclTime = self._robot.getMinAccelTimeJoint()
if aclTime is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), aclTime
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error'), None
def setMinAccelTimeCartesian(self, aclTime):
# Must return: result
try:
res = self._robot.setMinAccelTimeCartesian(aclTime)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getBaseOffset(self):
# Must return: result, offset
try:
offset = self._robot.getBaseOffset()
if offset is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), offset
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def setSoftLimitJoint(self, softLimit):
# Must return: result
try:
res = self._robot.setSoftLimitJoint(softLimit)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getState(self):
# Must return: result, state
try:
state = self._robot.getState()
if state is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), state
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def moveCartesianRel(self, pos, rot, flag):
# Must return: result
try:
res = self._robot.moveCartesianRel(pos, rot, flag)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getManipInfo(self):
# Must return: result, mInfo
try:
info = self._robot.getManipInfo()
mInfo = mk_manipInfo(info)
if mInfo is None:
code = JARA_ARM.NG
msg = str(info)
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), mInfo
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getMaxSpeedJoint(self):
# Must return: result, speed
try:
speed = self._robot.getMxSpeedJoint()
if speed is None:
code = JARA_ARM.NG
msg = 'Not supported'
speed = []
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg), speed
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error'), None
def setMaxSpeedCartesian(self, speed):
# Must return: result
try:
res = self._robot.setMaxSpeedCartesian(speed.translation,
speed.rotation)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def setSoftLimitCartesian(self, xLimit, yLimit, zLimit):
# Must return: result
try:
res = self._robot.setSoftLimitCartesian(
[xLimt.upper, xLimit.lower], [yLimit.upper, xLimit.lower],
[zLimit.upper, zLimit.lower])
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def getFeedbackPosCartesian(self):
# Must return: result, pos
try:
pos = self._robot.getFeedbackPosCartesian()
if pos is None:
code = JARA_ARM.NG
msg = 'Not supported'
pos = JARA_ARM.CarPosWithElbow(None, None, None)
else:
code = JARA_ARM.OK
msg = ''
pos = JARA_ARM.CarPosWithElbow(pos[0], pos[1], pos[2])
return JARA_ARM.RETURN_ID(code, msg), pos
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error'), None
def movePTPCartesianAbs(self, carPoint):
# Must return: result
try:
res = self._robot.movePTPCartesianAbs(carPoint.carPos,
carPoint.elbow,
carPoint.structFlag)
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def moveCircularCartesianRel(self, carPointR, carPointT):
# Must return: result
try:
res = self._robot.moveCircularCartesianRel(
[carPointR.catPos, carPointR.elbow, carPointR.structFlag],
[carPointT.catPos, carPointT.elbow, carPointT.structFlag])
if res is None:
code = JARA_ARM.NG
msg = 'Not supported'
else:
code = JARA_ARM.OK
msg = ''
return JARA_ARM.RETURN_ID(code, msg)
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG, 'Unknown Error')
def play_file(self, fname):
try:
res = self._player.read_audio_file(fname)
if res:
if self._rtc:
sp = self._rtc._start_time[0]
ep = self._rtc._end_time[0]
reverse = (self._rtc._reverse[0] == 1)
rate = self._rtc._speed_rate[0]
loop = (self._rtc._loop[0] == 1)
res = self._player.play(sp, ep, reverse, rate, loop)
else:
res = self._player.play()
if res: return 1
else: return 0
else:
return -1
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def getSoftLimitCartesian(self):
# Must return: result, xLimit, yLimit, zLimit
try:
lmits = self._robot.getSoftLimitCartesian()
if limits is None:
code = JARA_ARM.NG
msg = 'Not supported'
limitx = JARA_ARM.LimitValue(0, 0)
limity = JARA_ARM.LimitValue(0, 0)
limitz = JARA_ARM.LimitValue(0, 0)
else:
code = JARA_ARM.OK
msg = ''
limitx = JARA_ARM.LimitValue(limits[0][0], limits[0][1])
limity = JARA_ARM.LimitValue(limits[1][0], limits[1][1])
limitz = JARA_ARM.LimitValue(limits[2][0], limits[2][1])
return JARA_ARM.RETURN_ID(code, msg), limitx, limity, limitz
except AttributeError:
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
except:
return JARA_ARM.RETURN_ID(JARA_ARM.NG,
'Unknown Error'), None, None, None
def get_value_history(self):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def set_value(self, value):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def echo(self, msg):
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def gotoEnd(self, sel):
self.m_comp.gotoEnd(sel)
return
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def oCurrentCursorPositionY(self):
x, y = self.m_comp.oCurrentCursorPosition()
return float(y)
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
def gotoStartOfLine(self, sel):
self.m_comp.gotoStartOfLine(sel)
return
raise CORBA.NO_IMPLEMENT(0, CORBA.COMPLETED_NO)
