def handle_message(self, msg):
msg_time = msg.timestamp * 1e-3 # convert from milliseconds
# Since the plugin can remain open during multiple simulations, we
# clear the lists of times if we receive a message with a time earlier
# than the last time received (which indicates that a new simulation
# has been run).
if self._msg_time and self._msg_time[-1] > msg_time:
self._real_time.clear()
self._msg_time.clear()
self._real_time.append(time.time())
self._msg_time.append(msg_time)
my_text = 'sim time: %.3f' % msg_time
if (len(self._real_time) >= self._num_msg_for_average):
self._real_time.pop(0)
self._msg_time.pop(0)
dt = self._msg_time[-1] - self._msg_time[0]
dt_real_time = self._real_time[-1] - self._real_time[0]
rt_ratio = dt / dt_real_time
my_text = my_text + ', real time factor: %.2f' % rt_ratio
else:
my_text = my_text + ', real time factor: (still computing)'
updateText(my_text, 'text')
def remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
self._subscriber = None
updateText('', 'text')
def remove_subscriber(self):
if (self._subscriber is None):
return
lcmUtils.removeSubscriber(self._subscriber)
self._subscriber = None
updateText('', 'Simulation time [s]')
def update_screen_text(self):
folder = om.getOrCreateContainer(self._folder_name)
my_text = 'Point contact vector: {}'.format(
ContactVisModes.get_mode_string(self.magnitude_mode))
# TODO(SeanCurtis-TRI): Figure out how to anchor this in the bottom-
# right corner as opposed to floating in the middle.
w = applogic.getCurrentRenderView().size.width()
vis.updateText(my_text, 'contact_text',
**{'position': (w/2, 10), 'parent': folder})
def __init__(self, robotStateJointController, view, cameraview,
mapServerSource):
self.robotStateJointController = robotStateJointController
self.view = view
self.cameraview = cameraview
self.mapServerSource = mapServerSource
self.lastCameraMessageTime = 0
self.lastScanBundleMessageTime = 0
self.lastBlackoutLengths = []
self.lastBlackoutLength = 0
self.inBlackout = False
self.averageBlackoutLength = 0.0
self.txt = vis.updateText("DATA AGE: 0 sec",
"Data Age Text",
view=self.view)
self.txt.addProperty('Show Avg Duration', False)
self.txt.setProperty('Visible', False)
self.updateTimer = TimerCallback(self.UPDATE_RATE)
self.updateTimer.callback = self.update
self.updateTimer.start()
def handle_message(self, msg):
msg_time = msg.timestamp * 1e-3 # convert from milliseconds
self._real_time.append(time.time())
self._msg_time.append(msg_time)
my_text = 'sim time: %.3f' % msg_time
if (len(self._real_time) >= self._num_msg_for_average):
self._real_time.pop(0)
self._msg_time.pop(0)
dt = self._msg_time[-1] - self._msg_time[0]
dt_real_time = self._real_time[-1] - self._real_time[0]
rt_ratio = dt / dt_real_time
my_text = my_text + ', real time factor: %.2f' % rt_ratio
updateText(my_text, 'text')
def __init__(self, robotStateJointController, view, cameraview, mapServerSource):
self.robotStateJointController = robotStateJointController
self.view = view
self.cameraview = cameraview
self.mapServerSource = mapServerSource
self.lastCameraMessageTime = 0
self.lastScanBundleMessageTime = 0
self.lastBlackoutLengths = []
self.lastBlackoutLength = 0
self.inBlackout = False
self.averageBlackoutLength = 0.0
self.txt = vis.updateText("DATA AGE: 0 sec", "Data Age Text", view=self.view)
self.txt.addProperty('Show Avg Duration', False)
self.txt.setProperty('Visible', False)
self.updateTimer = TimerCallback(self.UPDATE_RATE)
self.updateTimer.callback = self.update
self.updateTimer.start()
def showText(self, neckPitch):
if not self.view:
return
self.textObj = vis.updateText('Neck pitch: %d' % neckPitch, 'Neck Pitch Annotation', parent='spindle axis')
def showText(self, neckPitch):
if not self.view:
return
self.textObj = vis.updateText('Neck pitch: %d' % neckPitch, 'Neck Pitch Annotation', parent='spindle axis')
def onViewerDraw(msg):
t = msg.timestamp * 1e-3
vis.updateText('sim time: %.3f' % t, 'sim time')