handlight_command.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

from abs_hand_command import AbsractHandCommand


class HandlightCommand(AbsractHandCommand):
    '''
    Following Command design pattern, this class represents commands
    for turning hand lights.
    '''
    # TODO: Unittest is needed!!

    HANDLIGHT_ON = True
    HANDLIGHT_OFF = False

    def __init__(self, hands, hand):
        super(HandlightCommand, self).__init__(hands, hand)

    def _assign_dio_names(self):
        '''
        @see abs_hand_command.AbsractHandCommand._assign_dio_names
        '''
        self._DIO_RHAND = self._DIO_17
        self._DIO_LHAND = self._DIO_18

    def execute(self, operation):
        '''
        @see abs_hand_command.AbsractHandCommand.execute

        @param operation: param type:
                          - 'True': Turn the light on.
                          - 'False': Turn the light off.
        '''
        dout = []
        mask = []
        if self.HANDLIGHT_ON == operation:
            if self._hands.HAND_R == self._hand:
                dout = mask = [self._DIO_RHAND]
            elif self._hands.HAND_L == self._hand:
                dout = mask = [self._DIO_LHAND]
            elif not self._hand:  # Both hands
                dout = mask = [self._DIO_RHAND, self._DIO_LHAND]
        else:  # Turn off the light.
            if self._hands.HAND_R == self._hand:
                mask = [self._DIO_RHAND]
            elif self._hands.HAND_L == self._hand:
                mask = [self._DIO_LHAND]
            elif not self._hand:
                mask = [self._DIO_RHAND, self._DIO_LHAND]
        self._hands._dio_writer(dout, mask)