iros13_hands.py

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#!/usr/bin/env python

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# Author: Isaac Isao Saito

from nextage_ros_bridge.base_hands import BaseHands
from nextage_ros_bridge.command.airhand_command import AbsractHandCommand
from nextage_ros_bridge.command.airhand_command import AirhandCommand
from nextage_ros_bridge.command.gripper_command import GripperCommand
from nextage_ros_bridge.command.handlight_command import HandlightCommand
from nextage_ros_bridge.command.toolchanger_command import ToolchangerCommand


class Iros13Hands(BaseHands):
    '''
    This class holds methods to operate the hands of NEXTAGE OPEN in a specific
    configuration where a clipping hand on left and suction hand on right
    connected to toolchanger module. This was presented at IROS 2013.
    '''
    # TODO: Unittest is needed!!

    def __init__(self, parent):
        '''
        @see: AbsractIros13Hands.__init__
        '''

        # Instantiating public command classes.
        #
        # There can be at least 2 ways for the Robot client classes
        # (eg. See nextage_client.NextageClient) to call hand commands.
        #
        #  (1) Call directly the 'execute' methods of each command.
        #  (2) Call via interface methods in the hand class.
        #
        # In Iros13Hands class, (1) is used. (1) is faster to implement. And
        # I think it's ok for robot client classes to know what commands exist,
        # without the hand class has the interfaces for comamands. But you can
        # always apply (2) approach, which is cleaner.
        super(Iros13Hands, self).__init__(parent)
        _pins_airhand = [self.DIO_27, self.DIO_28, self.DIO_22, self.DIO_23]
        _pins_gripper = [self.DIO_25, self.DIO_26, self.DIO_20, self.DIO_21]
        self.airhand_l_command = AirhandCommand(self, self.HAND_L, _pins_airhand)
        self.airhand_r_command = AirhandCommand(self, self.HAND_R, _pins_airhand)
        self.gripper_l_command = GripperCommand(self, self.HAND_L, _pins_gripper)
        self.gripper_r_command = GripperCommand(self, self.HAND_R, _pins_gripper)

        _pins_handlight = [self.DIO_18, self.DIO_17]
        _pins_toolchanger = [self.DIO_24, self.DIO_25, self.DIO_26,
                             self.DIO_19, self.DIO_20, self.DIO_21]
        # The following lines are moved from BaseToolchangerHands
        self.handlight_l_command = HandlightCommand(self, self.HAND_L, _pins_handlight)
        self.handlight_r_command = HandlightCommand(self, self.HAND_R, _pins_handlight)
        self.toolchanger_l_command = ToolchangerCommand(self, self.HAND_L, _pins_toolchanger)
        self.toolchanger_r_command = ToolchangerCommand(self, self.HAND_R, _pins_toolchanger)

    def airhand_l_drawin(self):
        return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_DRAWIN)

    def airhand_r_drawin(self):
        return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_DRAWIN)

    def airhand_l_keep(self):
        return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_KEEP)

    def airhand_r_keep(self):
        return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_KEEP)

    def airhand_l_release(self):
        return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_RELEASE)

    def airhand_r_release(self):
        return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_RELEASE)

    def gripper_l_close(self):
        return self.gripper_l_command.execute(self.gripper_l_command.GRIPPER_CLOSE)

    def gripper_r_close(self):
        return self.gripper_r_command.execute(self.gripper_r_command.GRIPPER_CLOSE)

    def gripper_l_open(self):
        return self.gripper_l_command.execute(self.gripper_r_command.GRIPPER_OPEN)

    def gripper_r_open(self):
        return self.gripper_r_command.execute(self.gripper_r_command.GRIPPER_OPEN)

    def handtool_l_eject(self):
        return self.toolchanger_l_command.execute(
            self.toolchanger_l_command.HAND_TOOLCHANGE_OFF)

    def handtool_r_eject(self):
        return self.toolchanger_r_command.execute(
            self.toolchanger_r_command.HAND_TOOLCHANGE_OFF)

    def handtool_l_attach(self):
        return self.toolchanger_l_command.execute(
            self.toolchanger_l_command.HAND_TOOLCHANGE_ON)

    def handtool_r_attach(self):
        return self.toolchanger_r_command.execute(
            self.toolchanger_r_command.HAND_TOOLCHANGE_ON)

    def handlight_r(self, is_on=True):
        return self.handlight_r_command.turn_handlight(self.HAND_R, is_on)

    def handlight_l(self, is_on=True):
        return self.handlight_l_command.turn_handlight(self.HAND_L, is_on)

    def handlight_both(self, is_on=True):
        result = self.handlight_l_command.turn_handlight(self.HAND_L, is_on)
        result = result and self.handlight_r_command.turn_handlight(self.HAND_R, is_on)
        return result