Interface

HardwareInterface

Bases: ABC

Abstract base class for hardware interfaces.

This class provides a template for creating hardware interfaces that can control robots or other hardware devices.

Source code in mbodied/hardware/interface.py

class HardwareInterface(ABC):
    """Abstract base class for hardware interfaces.

    This class provides a template for creating hardware interfaces that can
    control robots or other hardware devices.
    """

    @abstractmethod
    def __init__(self, **kwargs):
        """Initializes the hardware interface.

        Args:
            kwargs: Additional arguments to pass to the hardware interface.
        """
        raise NotImplementedError

    @abstractmethod
    def do(self, *args, **kwargs) -> None:  # noqa
        """Executes motion.

        Args:
            args: Arguments to pass to the hardware interface.
            kwargs: Additional arguments to pass to the hardware interface.
        """
        raise NotImplementedError

    async def async_do(self, *args, **kwargs) -> None:
        """Asynchronously executes motion.

        Args:
            args: Arguments to pass to the hardware interface.
            kwargs: Additional arguments to pass to the hardware interface.
        """
        return await asyncio.to_thread(self.do, *args, **kwargs)

    def fetch(self, *args, **kwargs) -> None:
        """Fetches data from the hardware.

        Args:
            args: Arguments to pass to the hardware interface.
            kwargs: Additional arguments to pass to the hardware interface.
        """
        raise NotImplementedError

    def capture(self, *args, **kwargs) -> None:
        """Captures continuous data from the hardware.

        Args:
            args: Arguments to pass to the hardware interface.
            kwargs: Additional arguments to pass to the hardware interface.
        """
        raise NotImplementedError

__init__(**kwargs) abstractmethod

Initializes the hardware interface.

Parameters:

Name	Type	Description	Default
kwargs		Additional arguments to pass to the hardware interface.	{}

Source code in mbodied/hardware/interface.py

@abstractmethod
def __init__(self, **kwargs):
    """Initializes the hardware interface.

    Args:
        kwargs: Additional arguments to pass to the hardware interface.
    """
    raise NotImplementedError

async_do(*args, **kwargs) async

Asynchronously executes motion.

Parameters:

Name	Type	Description	Default
args		Arguments to pass to the hardware interface.	()
kwargs		Additional arguments to pass to the hardware interface.	{}

Source code in mbodied/hardware/interface.py

async def async_do(self, *args, **kwargs) -> None:
    """Asynchronously executes motion.

    Args:
        args: Arguments to pass to the hardware interface.
        kwargs: Additional arguments to pass to the hardware interface.
    """
    return await asyncio.to_thread(self.do, *args, **kwargs)

capture(*args, **kwargs)

Captures continuous data from the hardware.

Parameters:

Name	Type	Description	Default
args		Arguments to pass to the hardware interface.	()
kwargs		Additional arguments to pass to the hardware interface.	{}

Source code in mbodied/hardware/interface.py

def capture(self, *args, **kwargs) -> None:
    """Captures continuous data from the hardware.

    Args:
        args: Arguments to pass to the hardware interface.
        kwargs: Additional arguments to pass to the hardware interface.
    """
    raise NotImplementedError

do(*args, **kwargs) abstractmethod

Executes motion.

Parameters:

Name	Type	Description	Default
args		Arguments to pass to the hardware interface.	()
kwargs		Additional arguments to pass to the hardware interface.	{}

Source code in mbodied/hardware/interface.py

@abstractmethod
def do(self, *args, **kwargs) -> None:  # noqa
    """Executes motion.

    Args:
        args: Arguments to pass to the hardware interface.
        kwargs: Additional arguments to pass to the hardware interface.
    """
    raise NotImplementedError

fetch(*args, **kwargs)

Fetches data from the hardware.

Parameters:

Name	Type	Description	Default
args		Arguments to pass to the hardware interface.	()
kwargs		Additional arguments to pass to the hardware interface.	{}

Source code in mbodied/hardware/interface.py

def fetch(self, *args, **kwargs) -> None:
    """Fetches data from the hardware.

    Args:
        args: Arguments to pass to the hardware interface.
        kwargs: Additional arguments to pass to the hardware interface.
    """
    raise NotImplementedError