Source Code for Module intera_interface.lights

 1  # Copyright (c) 2013-2017, Rethink Robotics Inc. 
 2  # 
 3  # Licensed under the Apache License, Version 2.0 (the "License"); 
 4  # you may not use this file except in compliance with the License. 
 5  # You may obtain a copy of the License at 
 6  # 
 7  #     http://www.apache.org/licenses/LICENSE-2.0 
 8  # 
 9  # Unless required by applicable law or agreed to in writing, software 
10  # distributed under the License is distributed on an "AS IS" BASIS, 
11  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
12  # See the License for the specific language governing permissions and 
13  # limitations under the License. 
14   
15  import rospy 
16  from intera_io import IODeviceInterface 
17   
18   
19 -class Lights(object): 
20      """ 
21      Interface class for the lights on the Intera robots. 
22      """ 
23   
24 -    def __init__(self): 
25          """ 
26          Constructor. 
27   
28          """ 
29          self._lights_io = IODeviceInterface("robot", "robot") 
30   
31 -    def list_all_lights(self): 
32          """ 
33          Returns a list of strings describing all available lights 
34   
35          @rtype: list [str] 
36          @return: a list of string representing light names 
37                   Each light name of the following format: 
38                   '<assembly>_<color>_light' 
39          """ 
40          return [name for name in self._lights_io.list_signal_names() if "light" in name] 
41   
42 -    def set_light_state(self, name, on=True): 
43          """ 
44          Sets the named light the desired state (on=True, off=False) 
45   
46          @type name: str 
47          @param name: Light name of the following format: 
48                       '<assembly>_<color>_light' 
49          @type on: bool 
50          @param on: value to set the light (on=True, off=False) 
51   
52          @rtype: bool 
53          @return: True if the light state is set, False otherwise 
54          """ 
55          return self._lights_io.set_signal_value(name, on) 
56   
57 -    def get_light_state(self, name): 
58          """ 
59          Returns a boolean describing whether the requested light is 'ON'. 
60          (True: on, False: off) 
61   
62          @type name: str 
63          @param name: Light name of the following format: 
64                       '<assembly>_<color>_light' 
65          @rtype: bool 
66          @return:  a variable representing light state: (True: on, False: off) 
67          """ 
68          return self._lights_io.get_signal_value(name) 
69