cuff.py 文件源码

def __init__(self, limb="right"):
        """
        Constructor.

        @type limb: str
        @param limb: limb side to interface
        """
        params = RobotParams()
        limb_names = params.get_limb_names()
        if limb not in limb_names:
            rospy.logerr("Cannot detect Cuff's limb {0} on this robot."
                         " Valid limbs are {1}. Exiting Cuff.init().".format(
                                                            limb, limb_names))
            return
        self.limb = limb
        self.device = None
        self.name = "cuff"
        self.cuff_config_sub = rospy.Subscriber('/io/robot/cuff/config', IODeviceConfiguration, self._config_callback)
        # Wait for the cuff status to be true
        intera_dataflow.wait_for(
            lambda: not self.device is None, timeout=5.0,
            timeout_msg=("Failed find cuff on limb '{0}'.".format(limb))
            )
        self._cuff_io = IODeviceInterface("robot", self.name)