Merge pull request #75 from clearpathrobotics/lcamero/0.3-attachments

0.3 Attachments

clearpath_config/platform/attachments/dd100.py

@@ -37,17 +37,30 @@ class DD100TopPlate(BaseAttachment):
  PACS = "pacs"
  MODELS = [PACS]
  PARENT = "default_mount"
+ HEIGHT = 0.1
 
  def __init__(
  self,
  name: str = ATTACHMENT_MODEL,
  model: str = PACS,
  enabled: bool = BaseAttachment.ENABLED,
+ height: float = HEIGHT,
  parent: str = PARENT,
  xyz: List[float] = Accessory.XYZ,
  rpy: List[float] = Accessory.RPY
  ) -> None:
  super().__init__(name, model, enabled, parent, xyz, rpy)
+ self.height = height
+
+ def to_dict(self) -> dict:
+ d = super().to_dict()
+ d['height'] = self.height
+ return d
+
+ def from_dict(self, d: dict) -> None:
+ super().from_dict(d)
+ if 'height' in d:
+ self.height = d['height']
 
 
 # DD100 Attachments

clearpath_config/platform/attachments/dd150.py

@@ -28,26 +28,25 @@
 from clearpath_config.common.types.accessory import Accessory
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.types.attachment import BaseAttachment, PlatformAttachment
+from clearpath_config.platform.attachments.dd100 import DD100TopPlate
 from typing import List
 
 
-class DD150TopPlate(BaseAttachment):
+class DD150TopPlate(DD100TopPlate):
  PLATFORM = Platform.DD150
  ATTACHMENT_MODEL = "%s.top_plate" % PLATFORM
- PACS = "pacs"
- MODELS = [PACS]
- PARENT = "default_mount"
 
  def __init__(
  self,
  name: str = ATTACHMENT_MODEL,
- model: str = PACS,
+ model: str = DD100TopPlate.PACS,
  enabled: bool = BaseAttachment.ENABLED,
- parent: str = PARENT,
+ height: float = DD100TopPlate.HEIGHT,
+ parent: str = DD100TopPlate.PARENT,
  xyz: List[float] = Accessory.XYZ,
  rpy: List[float] = Accessory.RPY
  ) -> None:
- super().__init__(name, model, enabled, parent, xyz, rpy)
+ super().__init__(name, model, enabled, height, parent, xyz, rpy)
 
 
 # DD150 Attachments

clearpath_config/platform/attachments/do100.py

@@ -28,26 +28,25 @@
 from clearpath_config.common.types.accessory import Accessory
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.types.attachment import BaseAttachment, PlatformAttachment
+from clearpath_config.platform.attachments.dd100 import DD100TopPlate
 from typing import List
 
 
-class DO100TopPlate(BaseAttachment):
+class DO100TopPlate(DD100TopPlate):
  PLATFORM = Platform.DO100
  ATTACHMENT_MODEL = "%s.top_plate" % PLATFORM
- PACS = "pacs"
- MODELS = [PACS]
- PARENT = "default_mount"
 
  def __init__(
  self,
  name: str = ATTACHMENT_MODEL,
- model: str = PACS,
+ model: str = DD100TopPlate.PACS,
  enabled: bool = BaseAttachment.ENABLED,
- parent: str = PARENT,
+ height: float = DD100TopPlate.HEIGHT,
+ parent: str = DD100TopPlate.PARENT,
  xyz: List[float] = Accessory.XYZ,
  rpy: List[float] = Accessory.RPY
  ) -> None:
- super().__init__(name, model, enabled, parent, xyz, rpy)
+ super().__init__(name, model, enabled, height, parent, xyz, rpy)
 
 
 # DO100 Attachments

clearpath_config/platform/attachments/do150.py

@@ -28,26 +28,25 @@
 from clearpath_config.common.types.accessory import Accessory
 from clearpath_config.common.types.platform import Platform
 from clearpath_config.platform.types.attachment import BaseAttachment, PlatformAttachment
+from clearpath_config.platform.attachments.dd100 import DD100TopPlate
 from typing import List
 
 
-class DO150TopPlate(BaseAttachment):
+class DO150TopPlate(DD100TopPlate):
  PLATFORM = Platform.DO150
  ATTACHMENT_MODEL = "%s.top_plate" % PLATFORM
- PACS = "pacs"
- MODELS = [PACS]
- PARENT = "default_mount"
 
  def __init__(
  self,
  name: str = ATTACHMENT_MODEL,
- model: str = PACS,
+ model: str = DD100TopPlate.PACS,
  enabled: bool = BaseAttachment.ENABLED,
- parent: str = PARENT,
+ height: float = DD100TopPlate.HEIGHT,
+ parent: str = DD100TopPlate.PARENT,
  xyz: List[float] = Accessory.XYZ,
  rpy: List[float] = Accessory.RPY
  ) -> None:
- super().__init__(name, model, enabled, parent, xyz, rpy)
+ super().__init__(name, model, enabled, height, parent, xyz, rpy)
 
 
 # DO150 Attachments

clearpath_config/platform/attachments/r100.py

@@ -31,34 +31,125 @@
 from clearpath_config.platform.types.attachment import BaseAttachment, PlatformAttachment
 
 
-class R100ArmMount(BaseAttachment):
+class R100FAMS(BaseAttachment):
  PLATFORM = Platform.R100
- ATTACHMENT_MODEL = "%s.arm_mount" % PLATFORM
- FAMS = "fams"
- HAMS = "hams"
- TOWER = "tower"
- MODELS = [FAMS, HAMS, TOWER]
- DEFAULT = TOWER
+ ATTACHMENT_MODEL = "%s.fams" % PLATFORM
+ DEFAULT = "default"
+ MODELS = [DEFAULT]
  PARENT = "default_mount"
+ TABLE_HEIGHT = 0.3
 
  def __init__(
  self,
  name: str = ATTACHMENT_MODEL,
  model: str = DEFAULT,
+ table_height: float = TABLE_HEIGHT,
  enabled: bool = BaseAttachment.ENABLED,
  parent: str = PARENT,
  xyz: List[float] = Accessory.XYZ,
- rpy: List[float] = Accessory.RPY
+ rpy: List[float] = Accessory.RPY,
  ) -> None:
  super().__init__(name, model, enabled, parent, xyz, rpy)
+ self.table_height = table_height
+
+ def to_dict(self) -> dict:
+ d = super().to_dict()
+ d['table_height'] = self.table_height
+ return d
+
+ def from_dict(self, d: dict) -> None:
+ super().from_dict(d)
+ if 'table_height' in d:
+ self.table_height = d['table_height']
+ return d
+
+
+class R100HAMS(BaseAttachment):
+ PLATFORM = Platform.R100
+ ATTACHMENT_MODEL = "%s.hams" % PLATFORM
+ DEFAULT = "default"
+ MODELS = [DEFAULT]
+ PARENT = "default_mount"
+ TABLE_HEIGHT = 0.6
+ MOUNT_HEIGHT = 0.3
+
+ def __init__(
+ self,
+ name: str = ATTACHMENT_MODEL,
+ model: str = DEFAULT,
+ table_height: float = TABLE_HEIGHT,
+ mount_height: float = MOUNT_HEIGHT,
+ enabled: bool = BaseAttachment.ENABLED,
+ parent: str = PARENT,
+ xyz: List[float] = Accessory.XYZ,
+ rpy: List[float] = Accessory.RPY,
+ ) -> None:
+ super().__init__(name, model, enabled, parent, xyz, rpy)
+ self.table_height = table_height
+ self.mount_height = mount_height
+
+ def to_dict(self) -> dict:
+ d = super().to_dict()
+ d['table_height'] = self.table_height
+ d['mount_height'] = self.mount_height
+ return d
+
+ def from_dict(self, d: dict) -> None:
+ super().from_dict(d)
+ if 'table_height' in d:
+ self.table_height = d['table_height']
+ if 'mount_height' in d:
+ self.mount_height = d['mount_height']
+ return d
+
+
+class R100Tower(BaseAttachment):
+ PLATFORM = Platform.R100
+ ATTACHMENT_MODEL = "%s.tower" % PLATFORM
+ DEFAULT = "default"
+ MODELS = [DEFAULT]
+ PARENT = "default_mount"
+ LEFT_HEIGHT = 0.0
+ RIGHT_HEIGHT = 0.0
+
+ def __init__(
+ self,
+ name: str = ATTACHMENT_MODEL,
+ model: str = DEFAULT,
+ enabled: bool = BaseAttachment.ENABLED,
+ parent: str = PARENT,
+ left_height: float = LEFT_HEIGHT,
+ right_height: float = RIGHT_HEIGHT,
+ xyz: List[float] = Accessory.XYZ,
+ rpy: List[float] = Accessory.RPY,
+ ) -> None:
+ super().__init__(name, model, enabled, parent, xyz, rpy)
+ self.left_height = left_height
+ self.right_height = right_height
+
+ def to_dict(self) -> dict:
+ d = super().to_dict()
+ d['left_height'] = self.left_height
+ d['right_height'] = self.right_height
+
+ def from_dict(self, d: dict) -> None:
+ super().from_dict(d)
+ if 'left_height' in d:
+ self.left_height = d['left_height']
+ if 'right_height' in d:
+ self.right_height = d['right_height']
 
 
 # R100 Attachments
 class R100Attachment(PlatformAttachment):
  PLATFORM = Platform.R100
  # Arm Mount
- ARM_MOUNT = R100ArmMount.ATTACHMENT_MODEL
+ HAMS = R100HAMS.ATTACHMENT_MODEL
+ FAMS = R100FAMS.ATTACHMENT_MODEL
+ TOWER = R100Tower.ATTACHMENT_MODEL
 
  TYPES = {
- ARM_MOUNT: R100ArmMount
+ HAMS: R100HAMS,
+ FAMS: R100FAMS,
+ TOWER: R100Tower
  }