Add initial support for flagging unsupported accessories (e.g. Kinova…

… arms, whose binary drivers don't exist in Jazzy yet)

clearpath_config/common/types/accessory.py

@@ -30,7 +30,7 @@
 
 class Accessory():
     # Defaults
-    PARENT = "default_mount"
+    PARENT = 'default_mount'
     XYZ = [0.0, 0.0, 0.0]
     RPY = [0.0, 0.0, 0.0]
 
@@ -41,6 +41,11 @@ def __init__(
             xyz: List[float] = XYZ,
             rpy: List[float] = RPY
             ) -> None:
+
+        self.assert_is_supported()
+        if self.is_deprecated:
+            print(f'{type(self)} is deprecated')
+
         self.name = str()
         self.parent = str()
         self.xyz = list()
@@ -126,6 +131,40 @@ def assert_valid_triplet(tri: List[float], msg: str = None) -> None:
         # Triplet must be all floats
         assert all([isinstance(i, float) for i in tri])
 
+    @staticmethod
+    def assert_is_supported():
+        """
+        Override this method to temporarily disable accessories that are not currently supported.
+
+        When disabling an accessory, raise a
+        clearpath_config.common.types.exception.UnsupportedAccessoryException
+        with a suitable mesage (e.g. "SpamEggs driver is not yet released for ROS 2 Jazzy")
+
+        @return None
+
+        @exception  Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException
+                    if the accessory is not supported
+        """
+        pass
+
+    @property
+    def is_suppported(self):
+        try:
+            self.assert_is_supported()
+            return True
+        except:
+            return False
+
+    @property
+    def is_deprecated(self):
+        """
+        Override this method to indicate that this accessory has been deprecated and may be
+        removed at a future date.
+
+        When flagging an accessory for deprecation, simply override it to return True
+        """
+        return False
+
 
 class IndexedAccessory(Accessory):
 

clearpath_config/common/types/exception.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+"""
+Various exceptions specific to the clearpath_config system
+
+See specific classes below for details
+"""
+# Software License Agreement (BSD)
+#
+# @author    Chris Iverach-Brereton <[email protected]>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+class UnsupportedAccessoryException(AssertionError):
+    """
+    Indicates that an accessory is not supported in the current release
+
+    The accessory may become available in the future.
+    """
+    def __init__(self, message):
+        """
+        Create a new exception
+
+        @param message  A message indicating why this accessory is not yet supported
+        """
+        super().__init__(message)
+
+
+class UnsupportedPlatformException(AssertionError):
+    """
+    Indicates that a platform is not supported in the current release
+
+    The platform may become available in the future.
+    """
+    def __init__(self, message):
+        """
+        Create a new exception
+
+        @param message  A message indicating why this platform is not yet supported
+        """
+        super().__init__(message)

clearpath_config/manipulators/types/arms.py

@@ -27,6 +27,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 from typing import List
 from clearpath_config.common.types.accessory import Accessory
+from clearpath_config.common.types.exception import UnsupportedAccessoryException
 from clearpath_config.common.types.ip import IP
 from clearpath_config.common.types.port import Port
 from clearpath_config.manipulators.types.grippers import Gripper
@@ -120,14 +121,26 @@ def from_dict(self, d: dict) -> None:
 class KinovaGen3Dof6(BaseArm):
     MANIPULATOR_MODEL = "kinova_gen3_6dof"
 
+    @classmethod
+    def assert_is_supported(self):
+        raise UnsupportedAccessoryException("Kinova Gen3 is not yet supported for Jazzy")
+
 
 class KinovaGen3Dof7(BaseArm):
     MANIPULATOR_MODEL = "kinova_gen3_7dof"
 
+    @classmethod
+    def assert_is_supported(self):
+        raise UnsupportedAccessoryException("Kinova Gen3 is not yet supported for Jazzy")
+
 
 class KinovaGen3Lite(BaseArm):
     MANIPULATOR_MODEL = "kinova_gen3_lite"
 
+    @classmethod
+    def assert_is_supported(self):
+        raise UnsupportedAccessoryException("Kinova Gen3 Lite is not yet supported for Jazzy")
+
 
 class Arm():
     KINOVA_GEN3_6DOF = KinovaGen3Dof6.MANIPULATOR_MODEL