Source code for embodichain.lab.devices.device

# ----------------------------------------------------------------------------
# Copyright (c) 2021-2025 DexForce Technology Co., Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ----------------------------------------------------------------------------

import abc  # for abstract base class definitions




class Device(metaclass=abc.ABCMeta):
    """
    Base class for all robot controllers.
    Defines basic interface for all controllers to adhere to.
    """



    @abc.abstractmethod
    def start_control(self):
        """
        Method that should be called externally before controller can
        start receiving commands.
        """
        raise NotImplementedError




    @abc.abstractmethod
    def stop_control(self):
        """
        Method that should be called externally to stop the controller.
        """
        raise NotImplementedError




    @abc.abstractmethod
    def get_controller_state(self):
        """Returns the current state of the device, a dictionary of pos, orn, grasp, and reset."""
        raise NotImplementedError