Source Code for Module intera_interface.navigator

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 27   
 28  import threading 
 29  import uuid 
 30   
 31  import rospy 
 32   
 33  import intera_dataflow 
 34  from intera_io import IODeviceInterface 
 35   
 36 -class Navigator(object): 
 37      """ 
 38      Interface class for a Navigator on the Intera Research Robot. 
 39   
 40      Signals: 
 41          button_square_changed   - OFF/CLICK/LONG_PRESS/DOUBLE_CLICK 
 42          button_ok_changed 
 43          button_back_changed 
 44          button_show_changed 
 45          button_triangle_changed 
 46          button_circle_changed 
 47          wheel_changed           - Wheel value 
 48   
 49      """ 
 50   
 51 -    def __init__(self): 
 52          """ 
 53          Constructor. 
 54   
 55          """ 
 56          self._navigator_io = IODeviceInterface("robot", "navigator") 
 57          self._button_lookup = {0:'OFF',        1:'CLICK', 
 58                                 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
 59   
 60 -    def list_all_items(self): 
 61          """ 
 62          Returns a list of strings describing all available navigator items 
 63   
 64          @rtype: list 
 65          @return: a list of string representing navigator items 
 66                   Each item name of the following format: 
 67                   '<assembly>_button_<function>' 
 68          """ 
 69          return self._navigator_io.list_signal_names() 
 70   
 71 -    def get_wheel_state(self, wheel_name): 
 72          """ 
 73          Current state of the wheel providing wheel name 
 74          @type wheel_name: str 
 75          @param wheel_name: the wheel name 
 76   
 77          @rtype: uint 
 78          @return: an integer representing how far the wheel has turned 
 79          """ 
 80          return self._get_item_state(wheel_name) 
 81   
 82 -    def get_button_state(self, button_name): 
 83          """ 
 84          Current button state by providing button name 
 85          @type button_name: str 
 86          @param button_name: the button name 
 87   
 88          @rtype: uint 
 89          @return: an integer representing button values 
 90                   Valid states: 
 91                   {0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
 92          """ 
 93          return self._get_item_state(button_name) 
 94   
 95 -    def button_string_lookup(self, button_value): 
 96          """ 
 97          Returns strings corresponding to the button state. 
 98   
 99          @type button_value: int 
100          @param button_value: the value to lookup 
101   
102          @rtype: str 
103          @return: 'INVALID_VALUE' if out of range, or if valid: 
104                   {0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
105          """ 
106          if button_value in self._button_lookup: 
107              return self._button_lookup[button_value] 
108          else: 
109              return 'INVALID_VALUE' 
110   
111 -    def register_callback(self, callback_function, signal_name, poll_rate=10): 
112          """ 
113          Registers a supplied callback to a change in state of supplied 
114          signal_name's value. Spawns a thread that will call the callback with 
115          the updated value. 
116   
117          @type callback_function: function 
118          @param callback_function: function handle for callback function 
119          @type signal_name: str 
120          @param signal_name: the name of the signal to poll for value change 
121          @type poll_rate: int 
122          @param poll_rate: the rate at which to poll for a value change (in a separate 
123                  thread) 
124   
125          @rtype: str 
126          @return: callback_id retuned if the callback was registered, and an 
127                   empty string if the requested signal_name does not exist in the 
128                   Navigator 
129          """ 
130          return self._navigator_io.register_callback( 
131                                   callback_function=callback_function, 
132                                   signal_name=signal_name, 
133                                   poll_rate=poll_rate) 
134   
135 -    def deregister_callback(self, callback_id): 
136          """ 
137          Deregisters a callback based on the supplied callback_id. 
138   
139          @type callback_id: str 
140          @param callback_id: the callback_id string to deregister 
141   
142          @rtype: bool 
143          @return: returns bool True if the callback was successfully 
144                   deregistered, and False otherwise. 
145          """ 
146          return self._navigator_io.deregister_callback(callback_id) 
147   
148 -    def _get_item_state(self, item_name): 
149          return self._navigator_io.get_signal_value(item_name) 
150