#!/usr/bin/env python
# coding=utf-8
[docs]class PoseObject:
"""
Pose object which stores x, y, z, roll, pitch & yaw parameters
"""
def __init__(self, x, y, z, roll, pitch, yaw):
# X (meter)
self.x = float(x)
# Y (meter)
self.y = float(y)
# Z (meter)
self.z = float(z)
# Roll (radian)
self.roll = float(roll)
# Pitch (radian)
self.pitch = float(pitch)
# Yaw (radian)
self.yaw = float(yaw)
def __str__(self):
position = "x = {:.4f}, y = {:.4f}, z = {:.4f}".format(self.x, self.y, self.z)
orientation = "roll = {:.3f}, pitch = {:.3f}, yaw = {:.3f}".format(self.roll, self.pitch, self.yaw)
return position + "\n" + orientation
def __repr__(self):
return self.__str__()
[docs] def copy_with_offsets(self, x_offset=0., y_offset=0., z_offset=0., roll_offset=0., pitch_offset=0., yaw_offset=0.):
"""
Create a new pose from copying from copying actual pose with offsets
:rtype: PoseObject
"""
return PoseObject(self.x + x_offset,
self.y + y_offset,
self.z + z_offset,
self.roll + roll_offset,
self.pitch + pitch_offset,
self.yaw + yaw_offset)
[docs] def to_list(self):
"""
Return a list [x, y, z, roll, pitch, yaw] corresponding to the pose's parameters
:rtype: list[float]
"""
list_pos = [self.x, self.y, self.z, self.roll, self.pitch, self.yaw]
return list(map(float, list_pos))
[docs]class HardwareStatusObject:
"""
Object used to store every hardware information
"""
def __init__(self, rpi_temperature, hardware_version, connection_up,
error_message, calibration_needed, calibration_in_progress,
motor_names, motor_types,
motors_temperature, motors_voltage, hardware_errors):
# Number representing the rpi temperature
self.rpi_temperature = rpi_temperature
# Number representing the hardware version
self.hardware_version = hardware_version
# Boolean indicating if the connection with the robot is up
self.connection_up = connection_up
# Error message status on error
self.error_message = error_message
# Boolean indicating if a calibration is needed
self.calibration_needed = calibration_needed
# Boolean indicating if calibration is in progress
self.calibration_in_progress = calibration_in_progress
# Following list describe each motor
# Row 0 for first motor, row 1 for second motor, row 2 for third motor, row 3 for fourth motor
# List of motor names
self.motor_names = motor_names
# List of motor types
self.motor_types = motor_types
# List of motors_temperature
self.motors_temperature = motors_temperature
# List of motors_voltage
self.motors_voltage = motors_voltage
# List of hardware errors
self.hardware_errors = hardware_errors
def __str__(self):
list_string_ret = list()
list_string_ret.append("Temp (°C) : {}".format(self.rpi_temperature))
list_string_ret.append("Hardware version : {}".format(self.hardware_version))
list_string_ret.append("Connection Up : {}".format(self.connection_up))
list_string_ret.append("Error Message : {}".format(self.error_message))
list_string_ret.append("Calibration Needed : {}".format(self.calibration_needed))
list_string_ret.append("Calibration in progress : {}".format(self.calibration_in_progress))
list_string_ret.append("MOTORS INFOS : Motor1, Motor2, Motor3, Motor4, Motor5, Motor6,")
list_string_ret.append("Names : {}".format(self.motor_names))
list_string_ret.append("Types : {}".format(self.motor_types))
list_string_ret.append("Temperatures : {}".format(self.motors_temperature))
list_string_ret.append("Voltages : {}".format(self.motors_voltage))
list_string_ret.append("Hardware errors : {}".format(self.hardware_errors))
return "\n".join(list_string_ret)
def __repr__(self):
return self.__str__()
[docs]class DigitalPinObject:
"""
Object used to store information on digital pins
"""
def __init__(self, pin_id, name, mode, state):
# Pin ID
self.pin_id = pin_id
# Name
self.name = name
# Input or output
self.mode = mode
# High or Low
self.state = state
def __str__(self):
string_ret = "Pin : {}".format(self.pin_id)
string_ret += ", Name : {}".format(self.name)
string_ret += ", Mode : {}".format(self.mode)
string_ret += ", State : {}".format(self.state)
return string_ret
def __repr__(self):
return self.__str__()
[docs]class AnalogPinObject:
"""
Object used to store information on digital pins
"""
def __init__(self, pin_id, name, mode, value):
# Pin ID
self.pin_id = pin_id
# Name
self.name = name
# Input or output
self.mode = mode
# Tension
self.value = value
def __str__(self):
string_ret = "Pin : {}".format(self.pin_id)
string_ret += ", Name : {}".format(self.name)
string_ret += ", Mode : {}".format(self.mode)
string_ret += ", State : {}".format(self.value)
return string_ret
def __repr__(self):
return self.__str__()
