base_toolchanger_hands.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

from nextage_ros_bridge.base_hands import BaseHands
from nextage_ros_bridge.command.toolchanger_command import ToolchangerCommand
from nextage_ros_bridge.command.handlight_command import HandlightCommand


class BaseToolchangerHands(BaseHands):
    '''
    This class holds methods that are specific to the hands of NEXTAGE OPEN,
    accompanied with toolchanger.
    '''
    # TODO: Unittest is needed!!

    def __init__(self, parent):
        '''
        Since this class operates requires an access to
        hrpsys.hrpsys_config.HrpsysConfigurator, valid 'parent' is a must.
        Otherwise __init__ returns without doing anything.

        @type parent: hrpsys.hrpsys_config.HrpsysConfigurator
        @param parent: derived class of HrpsysConfigurator.
        '''
        super(BaseToolchangerHands, self).__init__(parent)
        if not parent:
            return  # TODO: Replace with throwing exception
        self._parent = parent

        self.handlight_l_command = HandlightCommand(self, self.HAND_L)
        self.handlight_r_command = HandlightCommand(self, self.HAND_R)
        self.toolchanger_l_command = ToolchangerCommand(self, self.HAND_L)
        self.toolchanger_r_command = ToolchangerCommand(self, self.HAND_R)

    def turn_handlight(self, hand=None, on=True):
        '''
        @param hand: Both hands if None.
        @type on: bool
        @param on: Despite its type, it's handled as str in this method.
        '''
        if self.HAND_L == hand:
            self.handlight_l_command.execute(on)
        elif self.HAND_R == hand:
            self.handlight_r_command.execute(on)
        elif not hand:  # both hands
            self.handlight_l_command.execute(on)
            self.handlight_r_command.execute(on)