From 973b6ae5a1e29feb2f7a361ae1c083045d362643 Mon Sep 17 00:00:00 2001
From: Patrick Goebel <patrick@pirobot.org>
Date: Sun, 13 Dec 2015 16:36:05 -0800
Subject: [PATCH] Added controllers.py

---
 .../src/ros_arduino_python/controllers.py     | 73 +++++++++++++++++++
 1 file changed, 73 insertions(+)
 create mode 100644 ros_arduino_python/src/ros_arduino_python/controllers.py

diff --git a/ros_arduino_python/src/ros_arduino_python/controllers.py b/ros_arduino_python/src/ros_arduino_python/controllers.py
new file mode 100644
index 0000000..96f191a
--- /dev/null
+++ b/ros_arduino_python/src/ros_arduino_python/controllers.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2010-2011 Vanadium Labs LLC. 
+# All right reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of Vanadium Labs LLC nor the names of its 
+#     contributors may be used to endorse or promote products derived 
+#     from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+## @file controllers.py Base class and support functions for a controllers.
+
+## @brief Controllers interact with ArbotiX hardware.
+class Controller:
+
+    ## @brief Constructs a Controller instance.
+    ##
+    ## @param device The arbotix instance.
+    ## 
+    ## @param name The controller name.
+    def __init__(self, device, name):
+        self.name = name
+        self.device = device
+        self.pause = False
+
+        # output for joint states publisher
+        self.joint_names = list()
+        self.joint_positions = list()
+        self.joint_velocities = list()
+
+    ## @brief Start the controller, do any hardware setup needed.
+    def startup(self):
+        pass
+
+    ## @brief Do any read/writes to device.
+    def update(self):
+        pass
+
+    ## @brief Stop the controller, do any hardware shutdown needed.
+    def shutdown(self):
+        pass
+
+    ## @brief Is the controller actively sending commands to joints?
+    def active(self):
+        return False
+        
+    ## @brief Get a diagnostics message for this joint.
+    ##
+    ## @return Diagnostics message. 
+    def getDiagnostics(self):
+        msg = DiagnosticStatus()
+        msg.name = self.name
+        msg.level = DiagnosticStatus.OK
+        msg.message = "OK"
+        return msg