Robotiq3FGripperStatusListener.py

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#!/usr/bin/env python

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"""@package docstring
Command-line interface for receiving and interpreting the status of a 3F gripper gripper.

This serves as an example for receiving messages from the 'Robotiq3FGripperRobotInput' topic using the 'Robotiq3FGripper_robot_input' msg type and interpreting the corresponding status of the 3F gripper gripper.
"""

from __future__ import print_function

import roslib;

roslib.load_manifest('robotiq_3f_gripper_control')
import rospy
from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotInput


def printStatus(status):
    """Print the status string generated by the statusInterpreter function."""

    print(statusInterpreter(status))


def Robotiq3FGripperStatusListener():
    """Initialize the node and subscribe to the Robotiq3FGripperRobotInput topic."""

    rospy.init_node('Robotiq3FGripperStatusListener')
    rospy.Subscriber("Robotiq3FGripperRobotInput", Robotiq3FGripperRobotInput, printStatus)
    rospy.spin()


def statusInterpreter(status):
    """Generate a string according to the current value of the status variables."""

    output = '\n-----\n3F gripper status interpreter\n-----\n'

    # gACT
    output += 'gACT = ' + str(status.gACT) + ': '
    if (status.gACT == 0):
        output += 'Gripper reset\n'
    if (status.gACT == 1):
        output += 'Gripper activation\n'

    # gMOD
    output += 'gMOD = ' + str(status.gMOD) + ': '
    if (status.gMOD == 0):
        output += 'Basic Mode\n'
    if (status.gMOD == 1):
        output += 'Pinch Mode\n'
    if (status.gMOD == 2):
        output += 'Wide Mode\n'
    if (status.gMOD == 3):
        output += 'Scissor Mode\n'

    # gGTO
    output += 'gGTO = ' + str(status.gGTO) + ': '
    if (status.gGTO == 0):
        output += 'Stopped (or performing activation/grasping mode change/automatic release)\n'
    if (status.gGTO == 1):
        output += 'Go to Position Request\n'

    # gIMC
    output += 'gIMC = ' + str(status.gIMC) + ': '
    if (status.gIMC == 0):
        output += 'Gripper is in reset (or automatic release) state. see Fault Status if Gripper is activated\n'
    if (status.gIMC == 1):
        output += 'Activation in progress\n'
    if (status.gIMC == 2):
        output += 'Mode change in progress\n'
    if (status.gIMC == 3):
        output += 'Activation and mode change are completed\n'

    # gSTA
    output += 'gSTA = ' + str(status.gSTA) + ': '
    if (status.gSTA == 0):
        output += 'Gripper is in motion towards requested position (only meaningful if gGTO = 1)\n'
    if (status.gSTA == 1):
        output += 'Gripper is stopped. One or two fingers stopped before requested position\n'
    if (status.gSTA == 2):
        output += 'Gripper is stopped. All fingers stopped before requested position\n'
    if (status.gSTA == 3):
        output += 'Gripper is stopped. All fingers reached requested position\n'

    # gDTA
    output += 'gDTA = ' + str(status.gDTA) + ': '
    if (status.gDTA == 0):
        output += 'Finger A is in motion (only meaningful if gGTO = 1)\n'
    if (status.gDTA == 1):
        output += 'Finger A has stopped due to a contact while opening\n'
    if (status.gDTA == 2):
        output += 'Finger A has stopped due to a contact while closing\n'
    if (status.gDTA == 3):
        output += 'Finger A is at requested position\n'

    # gDTB
    output += 'gDTB = ' + str(status.gDTB) + ': '
    if (status.gDTB == 0):
        output += 'Finger B is in motion (only meaningful if gGTO = 1)\n'
    if (status.gDTB == 1):
        output += 'Finger B has stopped due to a contact while opening\n'
    if (status.gDTB == 2):
        output += 'Finger B has stopped due to a contact while closing\n'
    if (status.gDTB == 3):
        output += 'Finger B is at requested position\n'

    # gDTC
    output += 'gDTC = ' + str(status.gDTC) + ': '
    if (status.gDTC == 0):
        output += 'Finger C is in motion (only meaningful if gGTO = 1)\n'
    if (status.gDTC == 1):
        output += 'Finger C has stopped due to a contact while opening\n'
    if (status.gDTC == 2):
        output += 'Finger C has stopped due to a contact while closing\n'
    if (status.gDTC == 3):
        output += 'Finger C is at requested position\n'

    # gDTS
    output += 'gDTS = ' + str(status.gDTS) + ': '
    if (status.gDTS == 0):
        output += 'Scissor is in motion (only meaningful if gGTO = 1)\n'
    if (status.gDTS == 1):
        output += 'Scissor has stopped due to a contact while opening\n'
    if (status.gDTS == 2):
        output += 'Scissor has stopped due to a contact while closing\n'
    if (status.gDTS == 3):
        output += 'Scissor is at requested position\n'

    # gFLT
    output += 'gFLT = ' + str(status.gFLT) + ': '
    if (status.gFLT == 0x00):
        output += 'No Fault\n'
    if (status.gFLT == 0x05):
        output += 'Priority Fault: Action delayed, activation (reactivation) must be completed prior to action\n'
    if (status.gFLT == 0x06):
        output += 'Priority Fault: Action delayed, mode change must be completed prior to action\n'
    if (status.gFLT == 0x07):
        output += 'Priority Fault: The activation bit must be set prior to action\n'
    if (status.gFLT == 0x09):
        output += 'Minor Fault: The communication chip is not ready\n'
    if (status.gFLT == 0x0A):
        output += 'Minor Fault: Changing mode fault, interferences detected on Scissor (for less than 20 sec)\n'
    if (status.gFLT == 0x0B):
        output += 'Minor Fault: Automatic release in progress\n'
    if (status.gFLT == 0x0D):
        output += 'Major Fault: Activation fault, verify that no interference or other error occured\n'
    if (status.gFLT == 0x0E):
        output += 'Major Fault: Changing mode fault, interferences detected on Scissor (for more than 20 sec)\n'
    if (status.gFLT == 0x0F):
        output += 'Major Fault: Automatic release completed. Reset and activation is required\n'

    # gPRA
    output += 'gPRA = ' + str(status.gPRA) + ': '
    output += 'Echo of the requested position for the Gripper (or finger A in individual mode): ' + str(
        status.gPRA) + '/255\n'

    # gPOA
    output += 'gPOA = ' + str(status.gPOA) + ': '
    output += 'Position of Finger A: ' + str(status.gPOA) + '/255\n'

    # gCUA
    output += 'gCUA = ' + str(status.gCUA) + ': '
    output += 'Current of Finger A: ' + str(status.gCUA * 10) + ' mA\n'

    # gPRB
    output += 'gPRB = ' + str(status.gPRB) + ': '
    output += 'Echo of the requested position for finger B: ' + str(status.gPRB) + '/255\n'

    # gPOB
    output += 'gPOB = ' + str(status.gPOB) + ': '
    output += 'Position of Finger B: ' + str(status.gPOB) + '/255\n'

    # gCUB
    output += 'gCUB = ' + str(status.gCUB) + ': '
    output += 'Current of Finger B: ' + str(status.gCUB * 10) + ' mA\n'

    # gPRC
    output += 'gPRC = ' + str(status.gPRC) + ': '
    output += 'Echo of the requested position for finger C: ' + str(status.gPRC) + '/255\n'

    # gPOC
    output += 'gPOC = ' + str(status.gPOC) + ': '
    output += 'Position of Finger C: ' + str(status.gPOC) + '/255\n'

    # gCUC
    output += 'gCUC = ' + str(status.gCUC) + ': '
    output += 'Current of Finger C: ' + str(status.gCUC * 10) + ' mA\n'

    # gPRS
    output += 'gPRS = ' + str(status.gPRS) + ': '
    output += 'Echo of the requested position for the scissor axis: ' + str(status.gPRS) + '/255\n'

    # gPOS
    output += 'gPOS = ' + str(status.gPOS) + ': '
    output += 'Position of the scissor axis: ' + str(status.gPOS) + '/255\n'

    # gCUS
    output += 'gCUS = ' + str(status.gCUS) + ': '
    output += 'Current of the scissor axis: ' + str(status.gCUS * 10) + ' mA\n'

    return output


if __name__ == '__main__':
    Robotiq3FGripperStatusListener()