*ijfdZddlZddlmZmZddlmZddlmZerddl m Z GddeZ dS) z4Abstract base class for teleoperation input methods.N)ABCabstractmethod) TYPE_CHECKING)try_open_footpedal)RobotControllerc4eZdZdZeedefdZeddZeddZ edd Z eedefd Z dd Z dd Z dd ZdddZdddefdZdddefdZddZedefdZedefdZdS)TeleopInterfacezShared interface for all teleoperation input methods. To add a new input method, subclass this, implement all abstract methods, and instantiate it from the CLI or calling code. returncdS)z@Short identifier used in metadata (e.g. 'leader', 'spacemouse').Nselfs 1/home/robot-lab/raiden_cmu/raiden/control/base.pynamezTeleopInterface.namerobot_controllerrNcdS)zQDevice-specific setup after robots are ready (attach hardware, warm up IK, etc.).Nr rrs rsetupzTeleopInterface.setuprrcdS)zStart the control loop threads.Nr rs rstartzTeleopInterface.startrrcdS)zStop the control loop threads.Nr rs rstopzTeleopInterface.stop!rrcdS)z9Status message printed when teleoperation becomes active.Nr r s rbannerzTeleopInterface.banner%rrc.|dS)a(Open session-level peripherals (footpedal, etc.). Called once per session before the first episode. Default: opens the foot pedal with subtask-boundary semantics. Subclasses that need additional session-level setup should call ``super().open()`` first. N)#_open_footpedal_for_subtask_latchesr s ropenzTeleopInterface.open.s 0022222rclt|dd"|jd|_dSdS)zClose session-level peripherals. Called once at session end. Default: closes the foot pedal if it was opened by ``open()``. _footpedalN)getattrr!closer s rr#zTeleopInterface.close8s= 4t , , 8 O ! ! # # #"DOOO 9 8rc tj_d_t _jdSdt ddffd }j|jtddS)aInitialise the subtask Event and bind the pedal callback. A single ``threading.Event`` is set on each press; the recorder thread polls it, captures the camera clock once, and fans the timestamp out to ``add_event_marker`` and (when audio is enabled) to ``AudioRecorder.mark_boundary``. The callback is gated on ``_recording_controller is not None`` so presses outside an active recording are ignored (no soft-pause, no start/stop). N_coder cLjjdSdSN)_recording_controller_pedal_subtaskset)r%rs r_cbz@TeleopInterface._open_footpedal_for_subtask_latches.._cbTs/)5#'')))))65ru7 ✓ FootPedal ready: press to mark a subtask boundary) threadingEventr)r(rr!inton_pressrprint)rr+s` rrz3TeleopInterface._open_footpedal_for_subtask_latchesBs(o//&*",.. ? " F *s *t * * * * * *   %%%  GHHHHHrc||_dS)aNotify the interface whether a recording episode is active. Pass the controller when an episode starts; pass None when it ends. Used by interfaces that want to gate pedal latches on the recording-active state. Default: no-op. N)r(rs rset_active_recordingz$TeleopInterface.set_active_recording\s&6"""rcn|jr|jdSdS)aReturn True if the operator pressed the subtask-boundary pedal during an active recording. Consumed by the recorder to capture a timestamp once (passed to both ``add_event_marker`` and ``AudioRecorder.mark_boundary`` so the two consumers see bit-identical timestamps). Default implementation drains ``_pedal_subtask`` (initialised in ``open()``). TF)r)is_setclearrs r poll_subtaskzTeleopInterface.poll_subtaskes:   % % ' '    % % ' ' '4urcdS)zReturn True on a session-level trigger event (leader-arm button, etc.). Used to start/stop episodes on interfaces with hardware buttons. Default: never triggers.Fr rs rpollzTeleopInterface.pollts urcZ||||dS)a#Discard any latched pedal events so they don't bleed across phases. ``threading.Event``-backed pedal latches stay set until polled; without an explicit drain at episode boundaries a stray press queued during a previous wait would auto-mark the next episode. N)r8r6rs rdrain_pedal_eventsz"TeleopInterface.drain_pedal_eventszs2 "### *+++++rcdS)z9True if this mode requires leader arms to be initialised.Fr r s r uses_leaderszTeleopInterface.uses_leaderss urc|jS)zTrue if recording should start on a leader-arm button press. False means keyboard / Enter key is used instead. )r<r s rwaits_for_button_startz&TeleopInterface.waits_for_button_starts   r)rrr N)r Nr')__name__ __module__ __qualname____doc__propertyrstrrrrrrrr#rr2boolr6r8r:r<r>r rrr r s OcOOO^XO```^`...^.---^-HHHH^XH3333####IIII466666 -> 4    %64 ,,,,dX!!!!X!!!rr ) rBr,abcrrtypingrraiden.robot.footpedalrraiden.robot.controllerrr r rrrJs::######## 5555558777777B!B!B!B!B!cB!B!B!B!B!r