Source Code for Module intera_io.io_command

 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 -class IOCommand(object): 
16      ''' 
17      Container for a generic io command 
18      ''' 
19 -    def __init__(self, op, args=None): 
20          self.op = op 
21          self.args = args if args else {} 
22   
23 -class SetCommand(IOCommand): 
24      ''' 
25      Container for a port or signal set command 
26      ''' 
27 -    def __init__(self, args=None): 
28          super(SetCommand, self).__init__('set', args) 
29   
30 -    def _set(self, components, component_name, 
31               data_type, dimensions, *component_value): 
32          ''' 
33          add a set component command 
34          ''' 
35          self.args.setdefault(components, {}) 
36          self.args[components][component_name] = { 
37              'format' : {'type' : data_type}, 
38              'data'   : [val for val in component_value] 
39          } 
40          if dimensions > 1: 
41              self.args[components][component_name]['format']['dimensions'] = [dimensions] 
42   
43 -    def set_signal(self, signal_name, data_type, *signal_value): 
44          ''' 
45          add a set signal command 
46          ''' 
47          dimensions = len(signal_value) 
48          self._set('signals', signal_name, data_type, dimensions, *signal_value) 
49          return self 
50   
51 -    def set_port(self, port_name, data_type, *port_value): 
52          ''' 
53          add a set port command 
54          ''' 
55          dimensions = len(port_value) 
56          self._set('ports', port_name, data_type, dimensions, *port_value) 
57          return self 
58