def __init__(self, _name='ibuki'):
print "protocol: using ibuki."
self._name = _name
self.param_config = utils.read_yaml('xilva_core', self._name)
self.directions = np.array(self.get_directions())
self.defaults = np.array(self.get_defaults())
self.maxlimit, self.minlimit = np.array(self.get_limits())
self.mapping = np.array(self.get_mapping())
self.groups = self.get_groups()
def __init__(self):
self.param_config = utils.read_yaml('xilva_core', 'ibuki_gazebo')
"relationships"
self.mapping = self.param_config['mapping']
self.angles = np.array([])
"the selected angles are joints that are used in all fascia system"
self.selected_angles = np.array([])
"the line angles are joint angles that are used in a specific line"
"<parameters>"
self.myu = 0.05
self.pub_msg = Evans()
self.sub = rospy.Subscriber('/silva/slave_local/vfp', Evans,
self.callback)
# self.sub = rospy.Subscriber('/silva/slave_local/vfp', Evans, self.callback)
self.pub = rospy.Publisher(topics.slave[2], Evans, queue_size=2)
self._msgid = 1
self._payload = []
def callback(msg, args):
instance = args
instance._name = msg.name
instance._level = msg.level
instance._msgid = msg.msgid
instance._payload = msg.payload
"4. publish the output using the protocol"
if __name__ == "__main__":
param_config = utils.read_yaml('xilva_core', 'config')
_RATE = param_config['rate']
nh = rospy.init_node('X_encoder')
rate = rospy.Rate(_RATE)
message = Received_msg()
"activate logging"
logtext = logs.Roslog('X_encoder')
"receive the mixer message from the bus"
sub = rospy.Subscriber(topics.comm['bus'], Evans, callback, message)
"decide the protocol to use"
if (dev_name == "ibuki_gazebo"):
protocol = xprotocols.ibuki_gazebo()
robot = Ibuki()
# -*- coding: utf-8 -*-
import rospy
from xilva_core.msg import EvansString
import socket, errno, sys, os
import modules.utils as utils
import modules.logging as logs
network_flag = 0
if __name__ == "__main__":
nh = rospy.init_node('ibuki_netlistener', anonymous = True)
logtext = logs.Roslog('ibuki_netlistener')
param_config = utils.read_yaml('xilva_core', 'ibuki')
_IP = param_config['IP']
_PORT = param_config['PORT']
parts_name = ['neck', 'arml', 'armr', 'handl', 'handr', 'headl', 'headc', 'headr', 'hip', 'wheel']
rate =rospy.Rate(1)
while not rospy.is_shutdown():
for dev_name in parts_name:
response = os.system("ping -c 1 " +_IP[dev_name]+" -w 1 >/dev/null 2>&1")
if response != 0:
"interrupt 0 in the future"
network_flag = 99
rospy.logwarn('network erros')
# rospy.logwarn(logtext(2))
else:
def report_log(self, _code):
log_content = utils.read_yaml('xilva_core', 'logtexts')[_code]
log_text = "code" + str(_code) + ',' + self._name + ":" + log_content
return log_text