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actuators

ActuatorBase #

Bases: BaseModel

Base model for actuators

Source code in cogip/models/actuators.py 
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class ActuatorBase(BaseModel):
    """Base model for actuators"""

    enabled: bool = Field(
        False,
        title="Enabled",
        description="An actuator is enabled if it has been initialized with its current value",
    )

ActuatorsKindEnum #

Bases: IntEnum

Enum defining actuators kind

Source code in cogip/models/actuators.py 
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class ActuatorsKindEnum(IntEnum):
    """Enum defining actuators kind"""

    servo = 0
    positional_actuator = 1
    bool_sensor = 2

BoolSensor #

Bases: BaseModel

Model defining bool sensor state

Source code in cogip/models/actuators.py 
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class BoolSensor(BaseModel):
    """Model defining bool sensor state"""

    kind: Literal[ActuatorsKindEnum.bool_sensor] = ActuatorsKindEnum.bool_sensor
    id: Annotated[
        BoolSensorEnum,
        Field(
            title="Id",
            description="Bool sensor identifier",
        ),
    ]
    state: Annotated[
        bool,
        Field(
            title="State",
            description="Bool sensor state",
        ),
    ] = False

BoolSensorEnum #

Bases: IntEnum

Enum defining bool sensors IDs

Source code in cogip/models/actuators.py 
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class BoolSensorEnum(IntEnum):
    """Enum defining bool sensors IDs"""

    BOTTOM_GRIP_LEFT = 0
    BOTTOM_GRIP_RIGHT = 1
    TOP_GRIP_LEFT = 2
    TOP_GRIP_RIGHT = 3
    MAGNET_LEFT = 4
    MAGNET_RIGHT = 5

PositionalActuator #

Bases: ActuatorBase, PositionalActuatorCommand

Full model for positional actuators

Source code in cogip/models/actuators.py 
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class PositionalActuator(ActuatorBase, PositionalActuatorCommand):
    "Full model for positional actuators"

    pass

PositionalActuatorCommand #

Bases: BaseModel

Model defining a command to send to positional actuators

Source code in cogip/models/actuators.py 
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class PositionalActuatorCommand(BaseModel):
    """Model defining a command to send to positional actuators"""

    kind: Literal[ActuatorsKindEnum.positional_actuator] = ActuatorsKindEnum.positional_actuator
    id: PositionalActuatorEnum = Field(..., title="Id", description="Positional Actuator identifier")
    command: int = Field(
        0,
        ge=-100,
        le=999,
        title="Position Command",
        description="Current positional actuator position command",
    )

    @field_validator("kind", mode="before")
    @classmethod
    def validate_kind(cls, v: str) -> ActuatorsKindEnum:
        try:
            value = ActuatorsKindEnum[v]
        except KeyError:
            try:
                value = ActuatorsKindEnum(v)
            except Exception:
                raise ValueError("Not a ActuatorsKindEnum")
        if value != ActuatorsKindEnum.positional_actuator:
            raise ValueError("Not ActuatorsKindEnum.positional_actuator value")
        return value

    @field_validator("id", mode="before")
    @classmethod
    def validate_id(cls, v: str) -> PositionalActuatorEnum:
        try:
            return PositionalActuatorEnum[v]
        except KeyError:
            try:
                return PositionalActuatorEnum(v)
            except Exception:
                raise ValueError("Not a PositionalActuatorEnum")

    def pb_copy(self, message: PB_PositionalActuatorCommand) -> None:
        """Copy values to Protobuf message"""
        message.id = self.id
        message.command = self.command

pb_copy(message) #

Copy values to Protobuf message

Source code in cogip/models/actuators.py 
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def pb_copy(self, message: PB_PositionalActuatorCommand) -> None:
    """Copy values to Protobuf message"""
    message.id = self.id
    message.command = self.command

PositionalActuatorEnum #

Bases: IntEnum

Enum defining positional actuators IDs

Source code in cogip/models/actuators.py 
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class PositionalActuatorEnum(IntEnum):
    """Enum defining positional actuators IDs"""

    MOTOR_BOTTOM_LIFT = 0
    MOTOR_TOP_LIFT = 1
    ANALOGSERVO_BOTTOM_GRIP_LEFT = 2
    ANALOGSERVO_BOTTOM_GRIP_RIGHT = 3
    ANALOGSERVO_TOP_GRIP_LEFT = 4
    ANALOGSERVO_TOP_GRIP_RIGHT = 5
    CART_MAGNET_LEFT = 6
    CART_MAGNET_RIGHT = 7
    ANALOGSERVO_PAMI = 8

Servo #

Bases: ActuatorBase, ServoCommand

Full model for servos

Source code in cogip/models/actuators.py 
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class Servo(ActuatorBase, ServoCommand):
    "Full model for servos"

    position: int = Field(
        0,
        ge=0,
        le=999,
        title="Position",
        description="Current servo position",
    )

ServoCommand #

Bases: BaseModel

Model defining a command to send to servos

Source code in cogip/models/actuators.py 
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class ServoCommand(BaseModel):
    """Model defining a command to send to servos"""

    kind: Literal[ActuatorsKindEnum.servo] = ActuatorsKindEnum.servo
    id: ServoEnum = Field(
        ...,
        title="Id",
        description="Servo identifier",
    )
    command: int = Field(
        0,
        ge=0,
        le=999,
        title="Position Command",
        description="Current servo position command",
    )

    @field_validator("kind", mode="before")
    @classmethod
    def validate_kind(cls, v: str) -> ActuatorsKindEnum:
        try:
            value = ActuatorsKindEnum[v]
        except KeyError:
            try:
                value = ActuatorsKindEnum(v)
            except Exception:
                raise ValueError("Not a ActuatorsKindEnum")
        if value != ActuatorsKindEnum.servo:
            raise ValueError("Not ActuatorsKindEnum.servo value")
        return value

    @field_validator("id", mode="before")
    @classmethod
    def validate_id(cls, v: str) -> ServoEnum:
        try:
            return ServoEnum[v]
        except KeyError:
            try:
                return ServoEnum(v)
            except Exception:
                raise ValueError("Not a ServoEnum")

    def pb_copy(self, message: PB_ServoCommand) -> None:
        """Copy values to Protobuf message"""
        message.id = self.id
        message.command = self.command

pb_copy(message) #

Copy values to Protobuf message

Source code in cogip/models/actuators.py 
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def pb_copy(self, message: PB_ServoCommand) -> None:
    """Copy values to Protobuf message"""
    message.id = self.id
    message.command = self.command

ServoEnum #

Bases: IntEnum

Enum defining servo IDs

Source code in cogip/models/actuators.py 
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class ServoEnum(IntEnum):
    """Enum defining servo IDs"""

    LXSERVO_LEFT_CART = 0
    LXSERVO_RIGHT_CART = 1
    LXSERVO_ARM_PANEL = 2