Source Code for Module intera_interface.lights

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27   
28  import rospy 
29  from intera_io import IODeviceInterface 
30   
31   
32 -class Lights(object): 
33      """ 
34      Interface class for the lights on the Intera robots. 
35      """ 
36   
37 -    def __init__(self): 
38          """ 
39          Constructor. 
40   
41          """ 
42          self._lights_io = IODeviceInterface("robot", "robot") 
43   
44 -    def list_all_lights(self): 
45          """ 
46          Returns a list of strings describing all available lights 
47   
48          @rtype: list [str] 
49          @return: a list of string representing light names 
50                   Each light name of the following format: 
51                   '<assembly>_<color>_light' 
52          """ 
53          return [name for name in self._lights_io.list_signal_names() if "light" in name] 
54   
55 -    def set_light_state(self, name, on=True): 
56          """ 
57          Sets the named light the desired state (on=True, off=False) 
58   
59          @type name: str 
60          @param name: Light name of the following format: 
61                       '<assembly>_<color>_light' 
62          @type on: bool 
63          @param on: value to set the light (on=True, off=False) 
64   
65          @rtype: bool 
66          @return: True if the light state is set, False otherwise 
67          """ 
68          return self._lights_io.set_signal_value(name, on) 
69   
70 -    def get_light_state(self, name): 
71          """ 
72          Returns a boolean describing whether the requested light is 'ON'. 
73          (True: on, False: off) 
74   
75          @type name: str 
76          @param name: Light name of the following format: 
77                       '<assembly>_<color>_light' 
78          @rtype: bool 
79          @return:  a variable representing light state: (True: on, False: off) 
80          """ 
81          return self._lights_io.get_signal_value(name) 
82