acceptancetest_rtm.py

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

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import time

from hironx_ros_bridge.constant import Constant
from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest


class AcceptanceTestRTM(AbstAcceptanceTest):

    def __init__(self, robot_client):
        '''
        @type robot_client: hironx_ros_bridge.hironx_client.HIRONX
        '''
        self._robotclient = robot_client

    def go_initpos(self):
        self._robotclient.goInitial()

    def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None,
                         task_duration=7.0, do_wait=True):
        '''
        @see: AbstAcceptanceTest.set_joint_angles
        '''
        print("== RTM; {} ==".format(msg_tasktitle))
        self._robotclient.setJointAnglesOfGroup(
                         joint_group, joint_angles, task_duration, do_wait)

    def set_pose(self, joint_group, position, rpy, msg_tasktitle,
                 task_duration=7.0, do_wait=True, ref_frame_name=None):

        print("== RTM; {} ==".format(msg_tasktitle))
        self._robotclient.setTargetPose(joint_group, position, rpy,
                                        task_duration, ref_frame_name)
        if do_wait:
            self._robotclient.waitInterpolationOfGroup(joint_group)

    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):
        if joint_group == Constant.GRNAME_LEFT_ARM:
            eef = 'LARM_JOINT5'
        elif joint_group == Constant.GRNAME_RIGHT_ARM:
            eef = 'RARM_JOINT5'

        print("== RTM; {} ==".format(msg_tasktitle))
        self._robotclient.setTargetPoseRelative(
                                    joint_group, eef, dx, dy, dz, dr, dp, dw,
                                    task_duration, do_wait)