Source code for brace.Server.Core.SafetyControl

from abc import abstractmethod
from collections.abc import Iterable
from typing import Any
from brace.Server.Core.MeasurementLists import IMeasurementLists



class ISafetyControl():
    """ Layer that handles constraints for safety and conversions (bytestrings and other messages) for output actuators. """



    @abstractmethod
    def runSafetyControl(self, measurementLists: IMeasurementLists, deltaTimeAll: Iterable[float], outputDes: Iterable[float]) -> Iterable[float]:
        """
            Runs safety control on the outputDes and returns out a list of outputs within safety boundaries.
            
            :param measurementLists: MeasurementList for this leg (and safety check). May use this for determining safety parameters.
            :type measurementLists: IMeasurementLists
            :param deltaTimeAll: An iterable containing the times between timesteps.
            :type deltaTimeAll: Iterable[float]
            :param outputDes: An iterable returned from the ControlLogic for desired output values.
            :type outputDes: Iterable[float]
            :return: An iterable of same size from outputDes containing altered outputDes values (called outputIn).
            :rtype: Iterable[float]
        """
        pass




    @abstractmethod
    def runOutputConversion(self, outputIn: Iterable[float]) -> Iterable[Any]:
        """
            Translates the outputIn values to format accepted by the output communications interfaces. 
            
            :param outputIn: An iterable containing the outputIn values from runSafetyControl
            :type outputIn: Iterable[float]
            :return: An iterable containing the converted outputIn commands.
            :rtype: Iterable[Any]
        """
        pass