nextage_client.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

from hironx_ros_bridge.hironx_client import HIRONX

from nextage_ros_bridge.iros13_hands import Iros13Hands


class NextageClient(HIRONX, object):
    # The 2nd arg 'object' is passed to work around the issue raised because
    # HrpsysConfigurator is "old-style" python class.
    # See http://stackoverflow.com/a/18392639/577001
    '''
    This class holds methods that are specific to Kawada Industries' dual-arm
    robot called Nextage Open.
    '''
    # TODO: Unittest s'il vous plait!

    ''' Overriding a variable in the superclass to set the arms at higher
    positions.'''
    OffPose = [[0], [0, 0],
               [25, -140, -150, 45, 0, 0],
               [-25, -140, -150, -45, 0, 0],
               [0, 0, 0, 0],
               [0, 0, 0, 0]]
    InitialPose = [[0], [0, 0],
                   [-0, 0, -130, 0, 0, 0],
                   [0, 0, -130, 0, 0, 0],
                   [0, 0, 0, 0],
                   [0, 0, 0, 0]]

    def __init__(self):
        '''
        Do not get confused that there is also a method called
        'init' (without trailing underscores) that is succeeded from the
        super class as the tradition there.
        '''
        super(NextageClient, self).__init__()
        self._hand = Iros13Hands(self)

    def init(self, robotname="HiroNX(Robot)0", url=""):
        '''
        Calls init from its superclass, which tries to connect RTCManager,
        looks for ModelLoader, and starts necessary RTC components. Also runs
        config, logger.
        Also internally calls setSelfGroups().

        @type robotname: str
        @type url: str
        '''
        HIRONX.init(self, robotname=robotname, url=url)

    def turn_handlight_r(self, is_on=True):
        self._hand.turn_handlight(self._hand.HAND_R, is_on)

    def turn_handlight_l(self, is_on=True):
        self._hand.turn_handlight(self._hand.HAND_L, is_on)

    def turn_handlight_both(self, is_on=True):
        self._hand.turn_handlight(None, is_on)

    def handtool_eject_l(self):
        self._hand.toolchanger_l_command.execute(
            self._hand.toolchanger_l_command.HAND_TOOLCHANGE_OFF)

    def handtool_eject_r(self):
        self._hand.toolchanger_r_command.execute(
            self._hand.toolchanger_r_command.HAND_TOOLCHANGE_OFF)

    def handtool_attach_l(self):
        self._hand.toolchanger_l_command.execute(
            self._hand.toolchanger_l_command.HAND_TOOLCHANGE_ON)

    def handtool_attach_r(self):
        self._hand.toolchanger_r_command.execute(
            self._hand.toolchanger_r_command.HAND_TOOLCHANGE_ON)

    def gripper_close_l(self):
        self._hand.gripper_l_command.execute(
            self._hand.gripper_l_command.GRIPPER_CLOSE)

    def gripper_close_r(self):
        self._hand.gripper_r_command.execute(
            self._hand.gripper_r_command.GRIPPER_CLOSE)

    def gripper_open_l(self):
        self._hand.gripper_l_command.execute(
            self._hand.gripper_r_command.GRIPPER_OPEN)

    def gripper_open_r(self):
        self._hand.gripper_r_command.execute(
            self._hand.gripper_r_command.GRIPPER_OPEN)

    def airhand_drawin_l(self):
        self._hand.airhand_l_command.execute(
            self._hand.airhand_l_command.AIRHAND_DRAWIN)

    def airhand_drawin_r(self):
        self._hand.airhand_r_command.execute(
            self._hand.airhand_r_command.AIRHAND_DRAWIN)

    def airhand_keep_l(self):
        self._hand.airhand_l_command.execute(
            self._hand.airhand_l_command.AIRHAND_KEEP)

    def airhand_keep_r(self):
        self._hand.airhand_r_command.execute(
            self._hand.airhand_r_command.AIRHAND_KEEP)

    def airhand_release_l(self):
        self._hand.airhand_l_command.execute(
            self._hand.airhand_l_command.AIRHAND_RELEASE)

    def airhand_release_r(self):
        self._hand.airhand_r_command.execute(
            self._hand.airhand_r_command.AIRHAND_RELEASE)

    def initialize_hand_dio(self):
        '''
        Reset all DIO channels to "off" state except for toolchanger lockers
        (if they are turned off the attached tools will fall).
        '''
        self._hand.init_dio()

    # 1/15/2014 130s debug
    def getRTCList(self):
        '''
        Overwriting HrpsysConfigurator.getRTCList
        Returning predefined list of RT components.
        @rtype [[str]]
        @rerutrn List of available components. Each element consists of a list
                 of abbreviated and full names of the component.
        '''
        return [
            ['seq', "SequencePlayer"],
            ['sh', "StateHolder"],
            ['fk', "ForwardKinematics"],
            ['el', "SoftErrorLimiter"],
            # ['co', "CollisionDetector"],
            ['sc', "ServoController"],
            ['log', "DataLogger"]
            ]