rmp_config_limits.py
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00001 """
00002 File used to determine the commands sent to the robot are valid commands. The file organizes the parameters defined in
00003 python_ethernet_rmp.system_defines.py into dictionaries.
00004 
00005 Author:  Chris Dunkers, Worcester Polytechnic Institute
00006 Author:  Russell Toris, Worcester Polytechnic Institute
00007 Version: June 12, 2014
00008 """
00009 
00010 from python_ethernet_rmp.system_defines import *
00011 from python_ethernet_rmp.utils import *
00012 import rospy
00013 import sys
00014 
00015 def is_range_set(arg1, arg2):
00016         """
00017         Function to check the range of the parameter value. If out of range the parameter is set as the boundary.
00018         :param arg1: The name of the parameter.
00019         :param arg2: The parameter value.
00020         :return The bounded parameter value converted to a uint32 and a true flag.
00021         """
00022         if arg2 > config_params_max[arg1]:
00023                 rospy.logwarn("%s over limit. Set to %s", config_params_names[arg1], config_params_max[arg1])
00024                 return [convert_float_to_u32(config_params_max[arg1]), True]
00025         elif arg2 < config_params_min[arg1]:
00026                 rospy.logwarn("%s under limit. Set to %s", config_params_names[arg1], config_params_min[arg1])
00027                 return [convert_float_to_u32(config_params_min[arg1]), True]
00028         else:
00029                 return [convert_float_to_u32(arg2), True]
00030 
00031 
00032 def is_range_no_set(arg1, arg2):
00033         """
00034         Function to check the range of the parameter value. If out of range the parameter is not sent to the robot.
00035         :param arg1: The name of the parameter.
00036         :param arg2: The parameter value.
00037         :return The parameter value and a flag indicating if the value is within the ranges.
00038         """
00039         if arg2 > config_params_max[arg1]:
00040                 rospy.logwarn("%s over limit. Command not sent.", config_params_names[arg1], config_params_max[arg1])
00041                 return [arg2, False]
00042         elif arg2 < config_params_min[arg1]:
00043                 rospy.logwarn("%s under limit. Command not sent.", config_params_names[arg1], config_params_min[arg1])
00044                 return [arg2, False]
00045         else:
00046                 return [arg2, True]
00047 
00048 def is_range(arg1, arg2):
00049         """
00050         Function to check the range of the parameter value. If out of range the parameter is not sent to the robot
00051         :param arg1: The name of the parameter.
00052         :param arg2: The parameter value.
00053         :return The parameter value cast to an int and a flag indicating if the value is within the ranges.
00054         """
00055         if arg2 > config_params_max[arg1]:
00056                 rospy.logwarn("%s over limit. Command not sent.", config_params_names[arg1], config_params_max[arg1])
00057                 return [int(arg2), False]
00058         elif arg2 < config_params_min[arg1]:
00059                 rospy.logwarn("%s under limit. Command not sent.", config_params_names[arg1], config_params_min[arg1])
00060                 return [int(arg2), False]
00061         else:
00062                 return [int(arg2), True]
00063 
00064 
00065 def is_quad(arg1, arg2):
00066         """
00067         Checks to make sure the IP info is properly configured.
00068         :param arg1: The name of the parameter.
00069         :param arg2: The parameter value.
00070         :return The parameter value and a flag indicating if the value is within the ranges.
00071         """
00072         try:
00073                 return [dottedQuadToNum(arg2), True]
00074         except:
00075                 rospy.logwarn("%s is invalid. Command not sent.",config_params_names[arg1])
00076                 return [arg2, False]
00077 
00078 
00079 def is_true(arg1, arg2):
00080         """
00081         Returns True as the command is always valid.
00082         :param arg1: The name of the parameter (unused).
00083         :param arg2: The parameter value.
00084         :return The parameter value and a flag indicating true.
00085         """
00086         return [arg2, True]
00087 
00088 
00089 def is_not_param(arg1, arg2):
00090         """
00091         Prints a rospy warning that the command does not exist.
00092         :param arg1: The name of the parameter.
00093         :param arg2: The parameter value.
00094         :return The parameter value and a flag indicating false.
00095         """
00096         rospy.logwarn("%s is invalid. Command not sent.", arg1)
00097         return [arg2, False]
00098 
00099 """
00100 Dictionary to define the maximum values.
00101 """
00102 config_params_max = dict({
00103                                         RMP_CMD_NONE: 0,
00104                                         RMP_CMD_SET_MAXIMUM_VELOCITY: MAX_VELOCITY_MPS,
00105                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: MAX_ACCELERATION_MPS2,
00106                                         RMP_CMD_SET_MAXIMUM_DECELERATION: MAX_DECELERATION_MPS2,
00107                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: MAX_DTZ_DECEL_RATE_MPS2,
00108                                         RMP_CMD_SET_COASTDOWN_ACCEL: MAX_COASTDOWN_ACCEL_MPS2,
00109                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: MAX_YAW_RATE_RPS,
00110                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: MAX_YAW_ACCEL_RPS2,
00111                                         RMP_CMD_SET_TIRE_DIAMETER: MAX_TIRE_DIAMETER_M,
00112                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: MAX_WHEEL_BASE_LENGTH_M,
00113                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: MAX_WHEEL_TRACK_WIDTH_M,
00114                                         RMP_CMD_SET_TRANSMISSION_RATIO: MAX_TRANSMISSION_RATIO,
00115                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: 4294967295,
00116                                         RMP_CMD_SET_ETH_IP_ADDRESS: None,
00117                                         RMP_CMD_SET_ETH_PORT_NUMBER: 65535,
00118                                         RMP_CMD_SET_ETH_SUBNET_MASK: None,
00119                                         RMP_CMD_SET_ETH_GATEWAY: None,
00120                                         RMP_CMD_SET_USER_FB_1_BITMAP: 4294967295,
00121                                         RMP_CMD_SET_USER_FB_2_BITMAP: 4294967295,
00122                                         RMP_CMD_SET_USER_FB_3_BITMAP: 4294967295,
00123                                         RMP_CMD_SET_USER_FB_4_BITMAP: 0,
00124                                         RMP_CMD_SET_AUDIO_COMMAND: 16,
00125                                         RMP_CMD_SET_OPERATIONAL_MODE: 6,
00126                                         RMP_CMD_SEND_SP_FAULTLOG: 1,
00127                                         RMP_CMD_RESET_INTEGRATORS: 31,
00128                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: 0,
00129                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: 1})
00130 
00131 """
00132 Dictionary to define the minimum values.
00133 """
00134 config_params_min = dict({ 
00135                                         RMP_CMD_NONE: 0,
00136                                         RMP_CMD_SET_MAXIMUM_VELOCITY: MIN_VELOCITY_MPS,
00137                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: MIN_ACCELERATION_MPS2,
00138                                         RMP_CMD_SET_MAXIMUM_DECELERATION: MIN_DECELERATION_MPS2,
00139                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: MIN_DTZ_DECEL_RATE_MPS2,
00140                                         RMP_CMD_SET_COASTDOWN_ACCEL: MIN_COASTDOWN_ACCEL_MPS2,
00141                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: MIN_YAW_RATE_RPS,
00142                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: MIN_YAW_ACCEL_RPS2,
00143                                         RMP_CMD_SET_TIRE_DIAMETER: MIN_TIRE_DIAMETER_M,
00144                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: MIN_WHEEL_BASE_LENGTH_M,
00145                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: MIN_WHEEL_TRACK_WIDTH_M,
00146                                         RMP_CMD_SET_TRANSMISSION_RATIO: MIN_TRANSMISSION_RATIO,
00147                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: 0,
00148                                         RMP_CMD_SET_ETH_IP_ADDRESS: None,
00149                                         RMP_CMD_SET_ETH_PORT_NUMBER: 0,
00150                                         RMP_CMD_SET_ETH_SUBNET_MASK: None,
00151                                         RMP_CMD_SET_ETH_GATEWAY: None,
00152                                         RMP_CMD_SET_USER_FB_1_BITMAP: 0,
00153                                         RMP_CMD_SET_USER_FB_2_BITMAP: 0,
00154                                         RMP_CMD_SET_USER_FB_3_BITMAP: 0,
00155                                         RMP_CMD_SET_USER_FB_4_BITMAP: 0,
00156                                         RMP_CMD_SET_AUDIO_COMMAND: 0,
00157                                         RMP_CMD_SET_OPERATIONAL_MODE: 1,
00158                                         RMP_CMD_SEND_SP_FAULTLOG: 0,
00159                                         RMP_CMD_RESET_INTEGRATORS: 0,
00160                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: 0,
00161                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: 0})
00162 
00163 """
00164 Dictionary to define the parameter names for error messages.
00165 """                                     
00166 config_params_names = dict({ 
00167                                         RMP_CMD_NONE: "RMP_CMD_NONE",
00168                                         RMP_CMD_SET_MAXIMUM_VELOCITY: "RMP_CMD_SET_MAXIMUM_VELOCITY",
00169                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: "RMP_CMD_SET_MAXIMUM_ACCELERATION",
00170                                         RMP_CMD_SET_MAXIMUM_DECELERATION: "RMP_CMD_SET_MAXIMUM_DECELERATION",
00171                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: "RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE",
00172                                         RMP_CMD_SET_COASTDOWN_ACCEL: "RMP_CMD_SET_COASTDOWN_ACCEL",
00173                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: "RMP_CMD_SET_MAXIMUM_TURN_RATE",
00174                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: "RMP_CMD_SET_MAXIMUM_TURN_ACCEL",
00175                                         RMP_CMD_SET_TIRE_DIAMETER: "RMP_CMD_SET_TIRE_DIAMETER",
00176                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: "RMP_CMD_SET_WHEEL_BASE_LENGTH",
00177                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: "RMP_CMD_SET_WHEEL_TRACK_WIDTH",
00178                                         RMP_CMD_SET_TRANSMISSION_RATIO: "RMP_CMD_SET_TRANSMISSION_RATIO",
00179                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: "RMP_CMD_SET_INPUT_CONFIG_BITMAP",
00180                                         RMP_CMD_SET_ETH_IP_ADDRESS: "RMP_CMD_SET_ETH_IP_ADDRESS",
00181                                         RMP_CMD_SET_ETH_PORT_NUMBER: "RMP_CMD_SET_ETH_PORT_NUMBER",
00182                                         RMP_CMD_SET_ETH_SUBNET_MASK: "RMP_CMD_SET_ETH_SUBNET_MASK",
00183                                         RMP_CMD_SET_ETH_GATEWAY: "RMP_CMD_SET_ETH_GATEWAY",
00184                                         RMP_CMD_SET_USER_FB_1_BITMAP: "RMP_CMD_SET_USER_FB_1_BITMAP",
00185                                         RMP_CMD_SET_USER_FB_2_BITMAP: "RMP_CMD_SET_USER_FB_2_BITMAP",
00186                                         RMP_CMD_SET_USER_FB_3_BITMAP: "RMP_CMD_SET_USER_FB_3_BITMAP",
00187                                         RMP_CMD_SET_USER_FB_4_BITMAP: "RMP_CMD_SET_USER_FB_4_BITMAP",
00188                                         RMP_CMD_SET_AUDIO_COMMAND: "RMP_CMD_SET_AUDIO_COMMAND",
00189                                         RMP_CMD_SET_OPERATIONAL_MODE: "RMP_CMD_SET_OPERATIONAL_MODE",
00190                                         RMP_CMD_SEND_SP_FAULTLOG: "RMP_CMD_SEND_SP_FAULTLOG",
00191                                         RMP_CMD_RESET_INTEGRATORS: "RMP_CMD_RESET_INTEGRATORS",
00192                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: "RMP_CMD_RESET_PARAMS_TO_DEFAULT",
00193                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: "RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS"})
00194 
00195 """
00196 Dictionary to define the checking function, defined above, to be called for each valid parameter.
00197 """
00198 config_params_function = dict({ 
00199                                         RMP_CMD_NONE: is_true,
00200                                         RMP_CMD_SET_MAXIMUM_VELOCITY: is_range_set,
00201                                         RMP_CMD_SET_MAXIMUM_ACCELERATION: is_range_set,
00202                                         RMP_CMD_SET_MAXIMUM_DECELERATION: is_range_set,
00203                                         RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE: is_range_set,
00204                                         RMP_CMD_SET_COASTDOWN_ACCEL: is_range_set,
00205                                         RMP_CMD_SET_MAXIMUM_TURN_RATE: is_range_set,
00206                                         RMP_CMD_SET_MAXIMUM_TURN_ACCEL: is_range_set,
00207                                         RMP_CMD_SET_TIRE_DIAMETER: is_range_set,
00208                                         RMP_CMD_SET_WHEEL_BASE_LENGTH: is_range_set,
00209                                         RMP_CMD_SET_WHEEL_TRACK_WIDTH: is_range_set,
00210                                         RMP_CMD_SET_TRANSMISSION_RATIO: is_range_set,
00211                                         RMP_CMD_SET_INPUT_CONFIG_BITMAP: is_range,
00212                                         RMP_CMD_SET_ETH_IP_ADDRESS: is_quad,
00213                                         RMP_CMD_SET_ETH_PORT_NUMBER: is_range,
00214                                         RMP_CMD_SET_ETH_SUBNET_MASK: is_quad,
00215                                         RMP_CMD_SET_ETH_GATEWAY: is_quad,
00216                                         RMP_CMD_SET_USER_FB_1_BITMAP: is_range,
00217                                         RMP_CMD_SET_USER_FB_2_BITMAP: is_range,
00218                                         RMP_CMD_SET_USER_FB_3_BITMAP: is_range,
00219                                         RMP_CMD_SET_USER_FB_4_BITMAP: is_range,
00220                                         RMP_CMD_SET_AUDIO_COMMAND: is_range_no_set,
00221                                         RMP_CMD_SET_OPERATIONAL_MODE: is_range_no_set,
00222                                         RMP_CMD_SEND_SP_FAULTLOG: is_range_no_set,
00223                                         RMP_CMD_RESET_INTEGRATORS: is_range_no_set,
00224                                         RMP_CMD_RESET_PARAMS_TO_DEFAULT: is_true,
00225                                         RMP_CMD_FORCE_CONFIG_FEEDBACK_BITMAPS: is_range_no_set})


ros_ethernet_rmp
Author(s): SEGWAY Inc., Chris Dunkers , David Kent
autogenerated on Thu Jun 6 2019 21:43:14