acceptancetest_ros.py

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# -*- coding: utf-8 -*-

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import rospy

from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest


class AcceptanceTestROS(AbstAcceptanceTest):

    def __init__(self, robot_client):
        '''
        @type robot_client: hironx_ros_bridge.ros_client.ROS_Client
        '''
        self._robotclient = robot_client

    def go_initpos(self, default_task_duration=7.0):
        self._robotclient.go_init(task_duration = default_task_duration)

    def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None,
                         task_duration=7.0, do_wait=True):
        '''
        @see: AbstAcceptanceTest.move_armbyarm_impl
        '''
        rospy.loginfo("'''{}'''".format(msg_tasktitle))
        self._robotclient.set_joint_angles_deg(
                         joint_group, joint_angles, task_duration, do_wait)

    def set_pose(self, joint_group, posision, rpy, msg_tasktitle=None,
                 task_duration=7.0, do_wait=True, ref_frame_name=None):
        '''
        @see: AbstAcceptanceTest.set_pose
        '''
        rospy.loginfo('ROS {}'.format(msg_tasktitle))
        self._robotclient.set_pose(joint_group, posision, rpy, task_duration,
                                   do_wait, ref_frame_name)

    def set_pose_relative(
                        self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
                        msg_tasktitle=None, task_duration=7.0, do_wait=True):
        rospy.logerr('AcceptanceTestROS; set_pose_relative is not implemented yet')
        pass