def main():
rospy.init_node('csvout_cync_inhand_node')
while(True):
input_data = raw_input("input interval range(0,50): ")
if 0 < float(input_data) < 50:
interval = float(input_data)
print("interval sets ", interval)
break
elif input_data == "q":
print("exit")
rospy.signal_shutdown('finish')
else:
print("ERROR: invalid value")
# storing = Storing_dydata()
# mycsv_l = CSVoutput("thick_l(000).csv")
runvel = 0.01
file_name = "test" + str(interval) + "-" + str(runvel) + "_"
msg_list = [["/dynamixel_param/", dynamixel_param_msg()], ["/fingervision/fv_filter1_objinfo/", Filter1ObjInfo()], ["/dynamixel_data/", dynamixel_msg()]]
mycsv = CSVoutput(file_name, msg_list)
# start_record_client("l")
# start_record_client("r")
# print "start record!"
#subscribe設定
sub_fv_filtered1_objinfo = Subscribe("Filter1ObjInfo")
sub_dynamixel_data = Subscribe("dynamixel_data")
rospy.sleep(0.5)
rospy.Subscriber("/dynamixel_param", dynamixel_param_msg, lambda msg:mycsv.Storing([msg, sub_fv_filtered1_objinfo.req, sub_dynamixel_data.req]))
# set_interval_client(interval)
Go2itv_client(interval, runvel)
time_start = time.time()
print "ready OK!"
# while True:
# s = raw_input('type "q" to finish: ')
# print s=="q"
# if s=="q":
# mycsv.Write()
# # stop_record_client("l")
# # stop_record_client("r")
# break
while True:
if time.time()-time_start > 20:
mycsv.Write()
break
rospy.sleep(0.01)
set_interval_client(16.0)
rospy.signal_shutdown('finish')
rospy.spin()
class Updater:
def __init__(self):
self.load_config()
self.anime = Anime(self.cache_dir)
self.downloader = Subscribe(self.list_path, self.cache_dir, self.aria2_url, self.aria2_dir)
def load_config(self):
self.main_dir = os.path.abspath(os.path.dirname(__file__))
try:
with open(os.path.join(self.main_dir,"config.json"), 'r', encoding='utf8') as f:
config = json.load(f)
self.log_dir = path_format(config["log_dir"])
if not os.path.isdir(self.log_dir):
raise Exception("log dir not exist!")
# aria2 parameter
self.aria2_dir = path_format(config["download_dir"])
self.aria2_url = config["aria2"]
# two log files
self.error_log = self.log_dir + "error.log"
self.update_log = self.log_dir + "update.log"
logs._init(self.error_log, self.update_log)
# list file path
self.list_path = self.log_dir + "mylist.json"
if not os.path.isfile(self.list_path):
raise Exception("list.json not exist!")
# cache dir path: ./log/cache/
self.cache_dir = self.log_dir + "cache/"
if not os.path.isdir(self.cache_dir):
os.makedirs(self.cache_dir)
except Exception as e:
print("[error] init: {}".format(e))
os._exit(1)
def update(self):
self.anime.update()
def download(self):
self.downloader.download()
def addsub():
data =json.loads(request.data)
# print(data)
Subscribe().subscribe(data['subemail'], data['events'])
return jsonify("nothing")
#! /usr/bin/python3
'''
@Author: Shuying Li <*****@*****.**>
@Date: 2020-02-14 16:16:53
@LastEditTime: 2020-06-28 12:42:03
@LastEditors: Shuying Li <*****@*****.**>
@Description:
@FilePath: /v2ray_cli/v2ray_cli.py
'''
import os
import configparser
from subscribe import Subscribe
cfg_pathname = "./cfg.conf"
json_template_pathname = "./config.json.template"
if __name__ == "__main__":
cfg = configparser.ConfigParser()
cfg.read(cfg_pathname, encoding='UTF-8')
if cfg["subscribe"]["url"] == "":
url = input("Please Enter The Subscription Address: ")
cfg["subscribe"] = {"url": url}
with open(cfg_pathname, 'w') as cfg_file:
cfg.write(cfg_file)
else:
url = cfg["subscribe"]["url"]
sub = Subscribe(url, json_template_pathname)
def __init__(self):
self.load_config()
self.anime = Anime(self.cache_dir)
self.downloader = Subscribe(self.list_path, self.cache_dir, self.aria2_url, self.aria2_dir)
from rub import Rubbing, PID
import yaml
from subscribe import Subscribe
from inhand_statemachine_util import Inhand
# from inhand_util import Inhand
file_name = "/home/suzuki/ros_ws/ay_tools/fingervision/suzuki/rubbing_hand/scripts/init_pos.yaml"
#ROSのpublisher設定
data_pub = rospy.Publisher("dynamixel_data", dynamixel_msg, queue_size=1)
param_pub = rospy.Publisher("dynamixel_param",
dynamixel_param_msg,
queue_size=1)
#subscribe設定
sub_fv_prox = Subscribe("ProxVision")
sub_fv_filtered1_objinfo = Subscribe("Filter1ObjInfo")
sub_fv_smaf = Subscribe("fv_smaf")
#Setup the device
DXL_ID = [1, 2, 3, 4] #Note: value and
# BAUDRATE= 57600
# BAUDRATE= 115200
BAUDRATE = 2e6
DXL_TYPE = 'XM430-W350'
dev = '/dev/ttyUSB0'
dxl = [
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev)
def __init__(self, client):
"""Just remember who created this."""
self.client = client
self.sub = Subscribe()
class CommandHandler(object):
implements(IMessageHandlersProvider, IPresenceHandlersProvider)
def __init__(self, client):
"""Just remember who created this."""
self.client = client
self.sub = Subscribe()
def get_message_handlers(self):
return [
("normal", self.message),
]
def get_presence_handlers(self):
"""Return list of (presence_type, presence_handler) tuples.
The handlers returned will be called when matching presence stanza is
received in a client session."""
return [
(None, self.presence),
("unavailable", self.presence),
("subscribe", self.presence_control),
("subscribed", self.presence_control),
("unsubscribe", self.presence_control),
("unsubscribed", self.presence_control),
]
def message(self,stanza):
subject=stanza.get_subject()
body=stanza.get_body()
t=stanza.get_type()
print u'Message from %s received.' % (unicode(stanza.get_from(),)),
if subject:
print u'Subject: "%s".' % (subject,),
if body:
print u'Body: "%s".' % (body,),
if t:
print u'Type: "%s".' % (t,)
else:
print u'Type: "normal".'
if stanza.get_type()=="headline":
# 'headline' messages should never be replied to
return True
if subject:
subject=u"Re: "+subject
# run command
# todo: 只进队列让worker线程处理，不回复；因为是同步阻塞IO模型
body = self.run(unicode(stanza.get_from(),), body)
m=Message(
to_jid=stanza.get_from(),
from_jid=stanza.get_to(),
stanza_type=stanza.get_type(),
subject=subject,
body=body)
if body:
p = Presence(status=body)
return [m, p]
return m
def presence(self,stanza):
"""Handle 'available' (without 'type') and 'unavailable' <presence/>."""
msg=u"%s has become " % (stanza.get_from())
t=stanza.get_type()
if t=="unavailable":
msg+=u"unavailable"
else:
msg+=u"available"
show=stanza.get_show()
if show:
msg+=u"(%s)" % (show,)
status=stanza.get_status()
if status:
msg+=u": "+status
print msg
def presence_control(self,stanza):
"""Handle subscription control <presence/> stanzas -- acknowledge
them."""
msg=unicode(stanza.get_from())
t=stanza.get_type()
if t=="subscribe":
msg+=u" has requested presence subscription."
elif t=="subscribed":
msg+=u" has accepted our presence subscription request."
elif t=="unsubscribe":
msg+=u" has canceled his subscription of our."
elif t=="unsubscribed":
msg+=u" has canceled our subscription of his presence."
print msg
return stanza.make_accept_response()
def run(self, from_jid, cmd):
gtalk = from_jid[:from_jid.find('/')]
matches = re.match('^add\s+(.+?)$(?i)', cmd)
if(matches):
return self.sub.add(gtalk, matches.group(1))
matches = re.match('^delete\s+(.+?)$(?i)', cmd)
if(matches):
return self.sub.delete(gtalk, matches.group(1))
matches = re.match('^list$(?i)', cmd)
if(matches):
return self.sub.list(gtalk)
return self.sub.default(gtalk)
