:mod:`reachy.io.luos`
=====================

.. py:module:: reachy.io.luos

.. autoapi-nested-parse::

   Wrapper module on top of pyluos Robot object.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.io.luos.SharedLuosIO
   reachy.io.luos.OrbitaDisk
   reachy.io.luos.Fan



Functions
~~~~~~~~~

.. autoapisummary::

   reachy.io.luos.attempt_luos_connection



Attributes
~~~~~~~~~~

.. autoapisummary::

   reachy.io.luos.logger


.. data:: logger
   

   

.. function:: attempt_luos_connection(port, trials=5)

   Try to connect to a Luos Gate.


.. class:: SharedLuosIO(luos_port)


   Bases: :py:obj:`reachy.io.io.IO`

   Abstraction class for pyluos Robot object. Create a new connection with a Luos gate.

   :param luos_port: name of the serial port used (e.g. '/dev/ttyUSB0')
   :type luos_port: str

   .. note:: If a connection on the same port already exists, the same IO will be used.

   The class is reponsible for holding active connections with Luos gate. A same gate can be shared among multiple IOs.

   .. attribute:: opened_io
      

      

   .. method:: __repr__(self)

      Shared IO representation.


   .. method:: with_gate(cls, name, port_template)
      :classmethod:

      Open a connection on the specified Luos gate.

      :param name: name (or alias) of the searched Luos gate.
      :type name: str
      :param port_template: template name for the possible serial ports (e.g. '/dev/ttyUSB*')
      :type port_template: str


   .. method:: close_all_cached_gates(cls)
      :classmethod:

      Close all connections to the Luos gate.


   .. method:: gate_name(self)
      :property:

      Retrieve the name of the Luos gate.


   .. method:: close(self)

      Close the IO.

      .. warning:: You are responsible for handling correctly closing if you are using multiple connections on the same IO.


   .. method:: find_module(self, module_name)

      Retrieve a specified Luos module on the IO given its name.

      :param module_name: name (or alias) of the researched module
      :type module_name: str


   .. method:: find_dxl(self, dxl_name, dxl_config)

      Retrieve a specified Dynamixel motor on the IO given its id.

      :param dxl_config: configuration of the searched dynamixel (including its id)
      :type dxl_config: dict


   .. method:: find_fan(self, fan_name)

      Get a specific fan from its name.


   .. method:: find_orbita_disks(self)

      Retrieve the three Luos modules controlling each Orbita disk.


   .. method:: find_camera(self, camera_index)

      Retrieve a camera.



.. class:: OrbitaDisk(name, luos_disk)


   Bases: :py:obj:`object`

   Orbita Disk Wrapper around luos controlled motor module.

   .. method:: __repr__(self) -> str

      Get the OrbitaDisk string representation.


   .. method:: setup(self)

      Prepare the luos disk before controlling it.

      Enable position control, retrieve position and temperature.


   .. method:: compliant(self)
      :property:

      Get the disk compliancy.


   .. method:: rot_position(self)
      :property:

      Get the current angle position (in deg.).


   .. method:: target_rot_position(self)
      :property:

      Get the current target angle position (in deg.).


   .. method:: temperature(self)
      :property:

      Get the current motor temperature in C.



.. class:: Fan(name, mod)


   Bases: :py:obj:`object`

   Fan module for motor cooling.

   .. method:: __repr__(self)

      Fan representation.


   .. method:: status(self)
      :property:

      Get the fan mode ('on' or 'off').


   .. method:: on(self)

      Turn the fan on.


   .. method:: off(self)

      Turn the fan off.