class RoboRealmInterface:
def __init__(self, rr_x=1000, rr_y=1000):
self.rr = CreateObject("RoboRealm.API.1")
self.rr_x = rr_x
self.rr_y = rr_y
def connect(self):
self.rr.Startup()
def get_robot_positions(self):
robots_id = [
str(name.strip()[1:5])
for name in self.rr.GetArrayVariable("FIDUCIAL_NAME_ARRAY")[0]
]
robots_x = self.rr.GetFloatArrayVariable("FIDUCIAL_X_COORD_ARRAY")[0]
robots_y = self.rr.GetFloatArrayVariable("FIDUCIAL_Y_COORD_ARRAY")[0]
robots_orient = self.rr.GetFloatArrayVariable(
"FIDUCIAL_ORIENTATION_ARRAY")[0]
if (len(robots_id) is not len(robots_x)) or (len(robots_id) is not len(
robots_y)) or (len(robots_y) is not len(robots_orient)):
print("ERROR: API data length mismatch: ({0},{1},{2},{3})".format(
len(robots_id), len(robots_x), len(robots_y),
len(robots_orient)))
return {}
res = {}
for i in range(len(robots_id)):
res[robots_id[i]] = (robots_x[i], robots_y[i], robots_orient[i])
# print ("RoboRealm Data")
# print res
# print ('')
return res
def wait_image(self):
self.rr.WaitImage()
def disconnect(self):
self.rr.Disconnect()
