abs_hand_command.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

import rospy


class AbsractHandCommand(object):
    '''
    Following Command design pattern, this class represents an abstract
    command for hand classes of NEXTAGE OPEN.
    '''
    # TODO: Unittest is needed!!DIO_V

    # DIO pin numbers. It's convenient to be overridden and renamed in the
    # derived classes to represent the specific purpose of each pin.
    _DIO_17 = 17
    _DIO_18 = 18
    _DIO_19 = 19
    _DIO_20 = 20
    _DIO_21 = 21
    _DIO_22 = 22
    _DIO_23 = 23
    _DIO_24 = 24
    _DIO_25 = 25
    _DIO_26 = 26
    _DIO_27 = 27
    _DIO_28 = 28

    def __init__(self, hands, hand):
        '''
        @type hands: nextage_ros_bridge.base_hands.BaseHands
        @type hand: str
        @param hand: Side of hand. Variables that are defined in
                     nextage_ros_bridge.base_hands.BaseHands can be used
                     { HAND_L, HAND_R }.
        '''
        self._hands = hands
        self._hand = hand
        self._assign_dio_names()

    def execute(self, operation):
        '''
        Needs overriddedn, otherwise expcetion occurs.

        @type operation: str
        @param operation: name of the operation.

        @raise exception: HrpsysRosBridgeException
        '''
        msg = 'AbsractHandCommand.execute() not extended.'
        rospy.logerr(msg)
        raise NotImplementedError(msg)

    def _assign_dio_names(self):
        '''
        It's recommended in the derived classes to re-assign DIO names to
        better represent the specific purposes of each DIO pin in there.
        Since doing so isn' mandatory, this method doesn't emit error even when
        it's not implemented.
        '''
        pass