Source Code for Script script-demo_rawPosable_py

  1  #!/usr/bin/python 
  2   
  3  import ckbot.logical as L 
  4  import cmd 
  5  from sys import stdout as STDOUT 
  6  from time import sleep, time as now 
  7   
  8 -class RawPosable( cmd.Cmd ): 
  9 -  def __init__(self): 
 10      cmd.Cmd.__init__(self) 
 11      self.c = L.Cluster() 
 12      self.p = [] 
 13      self.ngs = None 
 14      self.prompt = "RawPose> " 
 15       
 16 -  def do_populate(self,line): 
 17      try: 
 18        n = eval(line) 
 19      except Error,err: 
 20        print err 
 21        return 
 22      if type(n) != tuple: 
 23        n = (n,) 
 24      self.c.populate(*n) 
 25      self.ngs = [ 
 26          (m.name,m.get_pos,m.set_pos)  
 27          for m in self.c.itermodules() 
 28      ] 
 29      self.ngs.sort() 
 30       
 31 -  def do_who(self,line): 
 32      print self.c.p.scan() 
 33       
 34 -  def do_EOF(self,line): 
 35      self.do_off('') 
 36      return True 
 37       
 38 -  def do_off(self,line=''): 
 39      for m in self.c.itermodules(): 
 40        if hasattr(m,'go_slack'): 
 41          try: 
 42            m.go_slack() 
 43          except Error,err: 
 44            print Error,err 
 45     
 46 -  def do_drop(self,line=''): 
 47      if self.p: 
 48        self.p.pop(-1) 
 49      print "%d poses remain" % len(self.p) 
 50       
 51 -  def emptyline(self): 
 52      if self.ngs is None: 
 53        print "poplate the cluster first!" 
 54        return 
 55      print "Adding pose",len(self.p)+1 
 56      v = [x[1]() for x in self.ngs] 
 57      print " ".join(["%6s " % n for n,g,s in self.ngs ]) 
 58      print " ".join(["%6d " % vi for vi in v]) 
 59      self.p.append( v ) 
 60   
 61 -  def do_execute(self,line=''): 
 62      if not line.strip(): 
 63        dt = 0.1 
 64      else: 
 65        dt = eval(line) 
 66      err = None 
 67      try: 
 68        t0 = now() 
 69        for pose in self.p: 
 70          print "%6.2f " % (now()-t0), 
 71          print " ".join(["%6s " % n for n,g,s in self.ngs ]) 
 72          print "%6s" % ':', 
 73          print " ".join(["%6d " % vi for vi in pose]) 
 74          STDOUT.flush() 
 75          for v,(n,_,s) in zip(pose,self.ngs): 
 76            s(v) 
 77          sleep(dt) 
 78      except Error,err: 
 79        pass 
 80      self.do_off() 
 81      if err: 
 82        raise err 
 83         
 84 -  def postcmd(self,stop,line): 
 85      self.c.p.update() 
 86      try: 
 87        m = self.c.itermodules().next() 
 88        v = m.get_voltage() 
 89        if v<16: 
 90          print "Voltage:",v 
 91        if v<14: 
 92          print "*** LOW VOLTAGE *** force quit!" 
 93          self.do_off() 
 94          stop = True 
 95      except StopIteration: 
 96        pass 
 97      return stop 
 98       
 99  if __name__=="__main__": 
100    app = RawPosable() 
101    try: 
102      app.cmdloop() 
103    finally: 
104      app.do_off() 
105