00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2013, Tokyo Opensource Robotics Kyokai Association 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the 00019 # names of its contributors may be used to endorse or promote products 00020 # derived from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 # Author: Isaac Isao Saito 00036 00037 import rospy 00038 00039 from abs_hand_command import AbsractHandCommand 00040 00041 00042 class GripperCommand(AbsractHandCommand): 00043 ''' 00044 Following Command design pattern, this class represents an abstract 00045 command for hand classes of NEXTAGE OPEN. 00046 00047 NOTE: 1/31/2014 TODO: Only right hand is implemented for now. 00048 ''' 00049 # TODO: Unittest is needed!! 00050 00051 GRIPPER_CLOSE = 'close' 00052 GRIPPER_OPEN = 'open' 00053 GRIPPER_DANGER = 'danger' 00054 00055 def __init__(self, hands, hand): 00056 super(GripperCommand, self).__init__(hands, hand) 00057 00058 def _assign_dio_names(self): 00059 ''' 00060 @see abs_hand_command.AbsractHandCommand._assign_dio_names 00061 ''' 00062 self._DIO_VALVE_L_1 = self._DIO_25 00063 self._DIO_VALVE_L_2 = self._DIO_26 00064 00065 def execute(self, operation): 00066 ''' 00067 @see abs_hand_command.AbsractHandCommand.execute 00068 ''' 00069 dout = [] 00070 #TODO: Implement right arm too! 00071 mask = [self._DIO_VALVE_L_1, self._DIO_VALVE_L_2] 00072 if self.GRIPPER_CLOSE == operation: 00073 if self._hands.HAND_L == self._hand: 00074 dout = [self._DIO_VALVE_L_1] 00075 elif self.GRIPPER_OPEN == operation: 00076 if self._hands.HAND_L == self._hand: 00077 dout = [self._DIO_VALVE_L_2] 00078 self._hands._dio_writer(dout, mask)