Source Code for Module intera_interface.navigator

  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 threading 
 16  import uuid 
 17   
 18  import rospy 
 19   
 20  import intera_dataflow 
 21  from intera_io import IODeviceInterface 
 22   
 23 -class Navigator(object): 
 24      """ 
 25      Interface class for a Navigator on the Intera Research Robot. 
 26   
 27      Signals: 
 28          button_square_changed   - OFF/CLICK/LONG_PRESS/DOUBLE_CLICK 
 29          button_ok_changed 
 30          button_back_changed 
 31          button_show_changed 
 32          button_triangle_changed 
 33          button_circle_changed 
 34          wheel_changed           - Wheel value 
 35   
 36      """ 
 37   
 38 -    def __init__(self): 
 39          """ 
 40          Constructor. 
 41   
 42          """ 
 43          self._navigator_io = IODeviceInterface("robot", "navigator") 
 44          self._button_lookup = {0:'OFF',        1:'CLICK', 
 45                                 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
 46   
 47 -    def list_all_items(self): 
 48          """ 
 49          Returns a list of strings describing all available navigator items 
 50   
 51          @rtype: list 
 52          @return: a list of string representing navigator items 
 53                   Each item name of the following format: 
 54                   '<assembly>_button_<function>' 
 55          """ 
 56          return self._navigator_io.list_signal_names() 
 57   
 58 -    def get_wheel_state(self, wheel_name): 
 59          """ 
 60          Current state of the wheel providing wheel name 
 61          @type wheel_name: str 
 62          @param wheel_name: the wheel name 
 63   
 64          @rtype: uint 
 65          @return: an integer representing how far the wheel has turned 
 66          """ 
 67          return self._get_item_state(wheel_name) 
 68   
 69 -    def get_button_state(self, button_name): 
 70          """ 
 71          Current button state by providing button name 
 72          @type button_name: str 
 73          @param button_name: the button name 
 74   
 75          @rtype: uint 
 76          @return: an integer representing button values 
 77                   Valid states: 
 78                   {0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
 79          """ 
 80          return self._get_item_state(button_name) 
 81   
 82 -    def button_string_lookup(self, button_value): 
 83          """ 
 84          Returns strings corresponding to the button state. 
 85   
 86          @type button_value: int 
 87          @param button_value: the value to lookup 
 88   
 89          @rtype: str 
 90          @return: 'INVALID_VALUE' if out of range, or if valid: 
 91                   {0:'OFF', 1:'CLICK', 2:'LONG_PRESS', 3:'DOUBLE_CLICK'} 
 92          """ 
 93          if button_value in self._button_lookup: 
 94              return self._button_lookup[button_value] 
 95          else: 
 96              return 'INVALID_VALUE' 
 97   
 98 -    def register_callback(self, callback_function, signal_name, poll_rate=10): 
 99          """ 
100          Registers a supplied callback to a change in state of supplied 
101          signal_name's value. Spawns a thread that will call the callback with 
102          the updated value. 
103   
104          @type callback_function: function 
105          @param callback_function: function handle for callback function 
106          @type signal_name: str 
107          @param signal_name: the name of the signal to poll for value change 
108          @type poll_rate: int 
109          @param poll_rate: the rate at which to poll for a value change (in a separate 
110                  thread) 
111   
112          @rtype: str 
113          @return: callback_id retuned if the callback was registered, and an 
114                   empty string if the requested signal_name does not exist in the 
115                   Navigator 
116          """ 
117          return self._navigator_io.register_callback( 
118                                   callback_function=callback_function, 
119                                   signal_name=signal_name, 
120                                   poll_rate=poll_rate) 
121   
122 -    def deregister_callback(self, callback_id): 
123          """ 
124          Deregisters a callback based on the supplied callback_id. 
125   
126          @type callback_id: str 
127          @param callback_id: the callback_id string to deregister 
128   
129          @rtype: bool 
130          @return: returns bool True if the callback was successfully 
131                   deregistered, and False otherwise. 
132          """ 
133          return self._navigator_io.deregister_callback(callback_id) 
134   
135 -    def _get_item_state(self, item_name): 
136          return self._navigator_io.get_signal_value(item_name) 
137