-
Notifications
You must be signed in to change notification settings - Fork 0
/
ManipulatorCommonInterface_Common_idl.py
187 lines (146 loc) · 10.6 KB
/
ManipulatorCommonInterface_Common_idl.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
# Python stubs generated by omniidl from idl/ManipulatorCommonInterface_Common.idl
import omniORB, _omnipy
from omniORB import CORBA, PortableServer
_0_CORBA = CORBA
_omnipy.checkVersion(3,0, __file__)
# #include "BasicDataType.idl"
import BasicDataType_idl
_0_RTC = omniORB.openModule("RTC")
_0_RTC__POA = omniORB.openModule("RTC__POA")
# #include "ManipulatorCommonInterface_DataTypes.idl"
import ManipulatorCommonInterface_DataTypes_idl
_0_JARA_ARM = omniORB.openModule("JARA_ARM")
_0_JARA_ARM__POA = omniORB.openModule("JARA_ARM__POA")
#
# Start of module "JARA_ARM"
#
__name__ = "JARA_ARM"
_0_JARA_ARM = omniORB.openModule("JARA_ARM", r"idl/ManipulatorCommonInterface_Common.idl")
_0_JARA_ARM__POA = omniORB.openModule("JARA_ARM__POA", r"idl/ManipulatorCommonInterface_Common.idl")
# enum AlarmType
_0_JARA_ARM.FAULT = omniORB.EnumItem("FAULT", 0)
_0_JARA_ARM.WARNING = omniORB.EnumItem("WARNING", 1)
_0_JARA_ARM.UNKNOWN = omniORB.EnumItem("UNKNOWN", 2)
_0_JARA_ARM.AlarmType = omniORB.Enum("IDL:JARA_ARM/AlarmType:1.0", (_0_JARA_ARM.FAULT, _0_JARA_ARM.WARNING, _0_JARA_ARM.UNKNOWN,))
_0_JARA_ARM._d_AlarmType = (omniORB.tcInternal.tv_enum, _0_JARA_ARM.AlarmType._NP_RepositoryId, "AlarmType", _0_JARA_ARM.AlarmType._items)
_0_JARA_ARM._tc_AlarmType = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._d_AlarmType)
omniORB.registerType(_0_JARA_ARM.AlarmType._NP_RepositoryId, _0_JARA_ARM._d_AlarmType, _0_JARA_ARM._tc_AlarmType)
# struct Alarm
_0_JARA_ARM.Alarm = omniORB.newEmptyClass()
class Alarm (omniORB.StructBase):
_NP_RepositoryId = "IDL:JARA_ARM/Alarm:1.0"
def __init__(self, code, type, description):
self.code = code
self.type = type
self.description = description
_0_JARA_ARM.Alarm = Alarm
_0_JARA_ARM._d_Alarm = (omniORB.tcInternal.tv_struct, Alarm, Alarm._NP_RepositoryId, "Alarm", "code", omniORB.tcInternal.tv_ulong, "type", omniORB.typeMapping["IDL:JARA_ARM/AlarmType:1.0"], "description", (omniORB.tcInternal.tv_string,0))
_0_JARA_ARM._tc_Alarm = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._d_Alarm)
omniORB.registerType(Alarm._NP_RepositoryId, _0_JARA_ARM._d_Alarm, _0_JARA_ARM._tc_Alarm)
del Alarm
# typedef ... AlarmSeq
class AlarmSeq:
_NP_RepositoryId = "IDL:JARA_ARM/AlarmSeq:1.0"
def __init__(self, *args, **kw):
raise RuntimeError("Cannot construct objects of this type.")
_0_JARA_ARM.AlarmSeq = AlarmSeq
_0_JARA_ARM._d_AlarmSeq = (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:JARA_ARM/Alarm:1.0"], 0)
_0_JARA_ARM._ad_AlarmSeq = (omniORB.tcInternal.tv_alias, AlarmSeq._NP_RepositoryId, "AlarmSeq", (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:JARA_ARM/Alarm:1.0"], 0))
_0_JARA_ARM._tc_AlarmSeq = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._ad_AlarmSeq)
omniORB.registerType(AlarmSeq._NP_RepositoryId, _0_JARA_ARM._ad_AlarmSeq, _0_JARA_ARM._tc_AlarmSeq)
del AlarmSeq
# typedef ... LimitSeq
class LimitSeq:
_NP_RepositoryId = "IDL:JARA_ARM/LimitSeq:1.0"
def __init__(self, *args, **kw):
raise RuntimeError("Cannot construct objects of this type.")
_0_JARA_ARM.LimitSeq = LimitSeq
_0_JARA_ARM._d_LimitSeq = (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:JARA_ARM/LimitValue:1.0"], 0)
_0_JARA_ARM._ad_LimitSeq = (omniORB.tcInternal.tv_alias, LimitSeq._NP_RepositoryId, "LimitSeq", (omniORB.tcInternal.tv_sequence, omniORB.typeMapping["IDL:JARA_ARM/LimitValue:1.0"], 0))
_0_JARA_ARM._tc_LimitSeq = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._ad_LimitSeq)
omniORB.registerType(LimitSeq._NP_RepositoryId, _0_JARA_ARM._ad_LimitSeq, _0_JARA_ARM._tc_LimitSeq)
del LimitSeq
# struct ManipInfo
_0_JARA_ARM.ManipInfo = omniORB.newEmptyClass()
class ManipInfo (omniORB.StructBase):
_NP_RepositoryId = "IDL:JARA_ARM/ManipInfo:1.0"
def __init__(self, manufactur, type, axisNum, cmdCycle, isGripper):
self.manufactur = manufactur
self.type = type
self.axisNum = axisNum
self.cmdCycle = cmdCycle
self.isGripper = isGripper
_0_JARA_ARM.ManipInfo = ManipInfo
_0_JARA_ARM._d_ManipInfo = (omniORB.tcInternal.tv_struct, ManipInfo, ManipInfo._NP_RepositoryId, "ManipInfo", "manufactur", (omniORB.tcInternal.tv_string,0), "type", (omniORB.tcInternal.tv_string,0), "axisNum", omniORB.typeMapping["IDL:JARA_ARM/ULONG:1.0"], "cmdCycle", omniORB.typeMapping["IDL:JARA_ARM/ULONG:1.0"], "isGripper", omniORB.tcInternal.tv_boolean)
_0_JARA_ARM._tc_ManipInfo = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._d_ManipInfo)
omniORB.registerType(ManipInfo._NP_RepositoryId, _0_JARA_ARM._d_ManipInfo, _0_JARA_ARM._tc_ManipInfo)
del ManipInfo
_0_JARA_ARM.CONST_BINARY_00000001 = 1
_0_JARA_ARM.CONST_BINARY_00000010 = 2
_0_JARA_ARM.CONST_BINARY_00000100 = 4
_0_JARA_ARM.CONST_BINARY_00001000 = 8
# interface ManipulatorCommonInterface_Common
_0_JARA_ARM._d_ManipulatorCommonInterface_Common = (omniORB.tcInternal.tv_objref, "IDL:JARA_ARM/ManipulatorCommonInterface_Common:1.0", "ManipulatorCommonInterface_Common")
omniORB.typeMapping["IDL:JARA_ARM/ManipulatorCommonInterface_Common:1.0"] = _0_JARA_ARM._d_ManipulatorCommonInterface_Common
_0_JARA_ARM.ManipulatorCommonInterface_Common = omniORB.newEmptyClass()
class ManipulatorCommonInterface_Common :
_NP_RepositoryId = _0_JARA_ARM._d_ManipulatorCommonInterface_Common[1]
def __init__(self, *args, **kw):
raise RuntimeError("Cannot construct objects of this type.")
_nil = CORBA.Object._nil
_0_JARA_ARM.ManipulatorCommonInterface_Common = ManipulatorCommonInterface_Common
_0_JARA_ARM._tc_ManipulatorCommonInterface_Common = omniORB.tcInternal.createTypeCode(_0_JARA_ARM._d_ManipulatorCommonInterface_Common)
omniORB.registerType(ManipulatorCommonInterface_Common._NP_RepositoryId, _0_JARA_ARM._d_ManipulatorCommonInterface_Common, _0_JARA_ARM._tc_ManipulatorCommonInterface_Common)
# ManipulatorCommonInterface_Common operations and attributes
ManipulatorCommonInterface_Common._d_clearAlarms = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], ), None)
ManipulatorCommonInterface_Common._d_getActiveAlarm = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], omniORB.typeMapping["IDL:JARA_ARM/AlarmSeq:1.0"]), None)
ManipulatorCommonInterface_Common._d_getFeedbackPosJoint = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], omniORB.typeMapping["IDL:JARA_ARM/JointPos:1.0"]), None)
ManipulatorCommonInterface_Common._d_getManipInfo = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], omniORB.typeMapping["IDL:JARA_ARM/ManipInfo:1.0"]), None)
ManipulatorCommonInterface_Common._d_getSoftLimitJoint = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], omniORB.typeMapping["IDL:JARA_ARM/LimitSeq:1.0"]), None)
ManipulatorCommonInterface_Common._d_getState = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], omniORB.typeMapping["IDL:JARA_ARM/ULONG:1.0"]), None)
ManipulatorCommonInterface_Common._d_servoOFF = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], ), None)
ManipulatorCommonInterface_Common._d_servoON = ((), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], ), None)
ManipulatorCommonInterface_Common._d_setSoftLimitJoint = ((omniORB.typeMapping["IDL:JARA_ARM/LimitSeq:1.0"], ), (omniORB.typeMapping["IDL:JARA_ARM/RETURN_ID:1.0"], ), None)
# ManipulatorCommonInterface_Common object reference
class _objref_ManipulatorCommonInterface_Common (CORBA.Object):
_NP_RepositoryId = ManipulatorCommonInterface_Common._NP_RepositoryId
def __init__(self):
CORBA.Object.__init__(self)
def clearAlarms(self, *args):
return _omnipy.invoke(self, "clearAlarms", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_clearAlarms, args)
def getActiveAlarm(self, *args):
return _omnipy.invoke(self, "getActiveAlarm", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getActiveAlarm, args)
def getFeedbackPosJoint(self, *args):
return _omnipy.invoke(self, "getFeedbackPosJoint", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getFeedbackPosJoint, args)
def getManipInfo(self, *args):
return _omnipy.invoke(self, "getManipInfo", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getManipInfo, args)
def getSoftLimitJoint(self, *args):
return _omnipy.invoke(self, "getSoftLimitJoint", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getSoftLimitJoint, args)
def getState(self, *args):
return _omnipy.invoke(self, "getState", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getState, args)
def servoOFF(self, *args):
return _omnipy.invoke(self, "servoOFF", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_servoOFF, args)
def servoON(self, *args):
return _omnipy.invoke(self, "servoON", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_servoON, args)
def setSoftLimitJoint(self, *args):
return _omnipy.invoke(self, "setSoftLimitJoint", _0_JARA_ARM.ManipulatorCommonInterface_Common._d_setSoftLimitJoint, args)
__methods__ = ["clearAlarms", "getActiveAlarm", "getFeedbackPosJoint", "getManipInfo", "getSoftLimitJoint", "getState", "servoOFF", "servoON", "setSoftLimitJoint"] + CORBA.Object.__methods__
omniORB.registerObjref(ManipulatorCommonInterface_Common._NP_RepositoryId, _objref_ManipulatorCommonInterface_Common)
_0_JARA_ARM._objref_ManipulatorCommonInterface_Common = _objref_ManipulatorCommonInterface_Common
del ManipulatorCommonInterface_Common, _objref_ManipulatorCommonInterface_Common
# ManipulatorCommonInterface_Common skeleton
__name__ = "JARA_ARM__POA"
class ManipulatorCommonInterface_Common (PortableServer.Servant):
_NP_RepositoryId = _0_JARA_ARM.ManipulatorCommonInterface_Common._NP_RepositoryId
_omni_op_d = {"clearAlarms": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_clearAlarms, "getActiveAlarm": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getActiveAlarm, "getFeedbackPosJoint": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getFeedbackPosJoint, "getManipInfo": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getManipInfo, "getSoftLimitJoint": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getSoftLimitJoint, "getState": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_getState, "servoOFF": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_servoOFF, "servoON": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_servoON, "setSoftLimitJoint": _0_JARA_ARM.ManipulatorCommonInterface_Common._d_setSoftLimitJoint}
ManipulatorCommonInterface_Common._omni_skeleton = ManipulatorCommonInterface_Common
_0_JARA_ARM__POA.ManipulatorCommonInterface_Common = ManipulatorCommonInterface_Common
omniORB.registerSkeleton(ManipulatorCommonInterface_Common._NP_RepositoryId, ManipulatorCommonInterface_Common)
del ManipulatorCommonInterface_Common
__name__ = "JARA_ARM"
#
# End of module "JARA_ARM"
#
__name__ = "ManipulatorCommonInterface_Common_idl"
_exported_modules = ( "JARA_ARM", )
# The end.