def toggle(self):
if (self._platform_state_message is not None):
reconnect = rospy.ServiceProxy("/reconnect", Empty)
try:
reconnect()
except rospy.ServiceException, e:
util.dasherr("Failed to reconnect the driver: service call failed with error: %s" % (e))
def disable_base(self):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._platform_state_message is not None):
if (self._platform_state_message.circuit_state[0] == PowerBoardState.STATE_ENABLED):
switch_off_base = rospy.ServiceProxy("/base/switchOffMotors", Empty)
try:
switch_off_base()
except rospy.ServiceException, e:
util.dasherr("Failed to switch OFF base motors: service call failed with error: %s" % (e), self)
elif (self._platform_state_message.circuit_state[0] == PowerBoardState.STATE_STANDBY):
util.dasherr("Base motors are already switched OFF", self)
elif (self._platform_state_message.circuit_state[0] == PowerBoardState.STATE_DISABLED):
util.dasherr("Base is not connected", self)
def disable_arm(self):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._platform_state_message is not None):
if (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_ENABLED):
switch_off_arm = rospy.ServiceProxy("/arm_1/switchOffMotors", Empty)
try:
switch_off_arm()
except rospy.ServiceException, e:
util.dasherr("Failed to switch OFF arm motors: service call failed with error: %s" % (e), self)
elif (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_STANDBY):
util.dasherr("Arm motors are already switched OFF", self)
elif (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_DISABLED):
util.dasherr("Arm is not connected", self)
def enable_arm(self):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._platform_state_message is not None):
if (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_STANDBY):
switch_on_arm = rospy.ServiceProxy("/arm_1/switchOnMotors", Empty)
try:
switch_on_arm()
except rospy.ServiceException, e:
util.dasherr("Failed to switch ON arm motors: service call failed with error: %s" % (e), self)
elif (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_ENABLED):
util.dasherr("Arm motors are already switched ON", self)
elif (self._platform_state_message.circuit_state[1] == PowerBoardState.STATE_DISABLED):
util.dasherr("Arm is not connected", self)
def enable_base(self):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._platform_state_message is not None):
if (self._platform_state_message.circuit_state[0] ==
PowerBoardState.STATE_STANDBY):
switch_on_base = rospy.ServiceProxy("/base/switchOnMotors",
Empty)
try:
switch_on_base()
except rospy.ServiceException, e:
util.dasherr(
"Failed to switch ON base motors: service call failed with error: %s"
% (e), self)
elif (self._platform_state_message.circuit_state[0] ==
PowerBoardState.STATE_ENABLED):
util.dasherr("Base motors are already switched ON", self)
elif (self._platform_state_message.circuit_state[0] ==
PowerBoardState.STATE_DISABLED):
util.dasherr("Base is not connected", self)