# Python standard library import ctypes import platform import sys # cisst if platform.system() == 'Linux': sys.setdlopenflags(sys.getdlopenflags() | ctypes.RTLD_GLOBAL) import time import os import cisstMultiTaskPython as mts import cisstParameterTypesPython as prm print 'starting sawMedtronicStealthlinkClientComponent.py...' manager = mts.mtsManagerLocal.GetInstance('localhost', 'TREK') stealth = mts.mtsComponentWithManagement('stealthProxy') print 'Created stealthProxy' manager.AddComponent(stealth) print 'added stealthProxy Component to local manager' time.sleep(1.0) # print 'Before adding Controller Interface' # stealth.AddInterfaceRequiredAndConnect(('ProcessServer', 'Stealthlink', 'Controller')) # print 'After adding Controller Interface' # time.sleep(1.0) print 'Before adding Pointer Interface' #import rpdb2; rpdb2.start_embedded_debugger('password') stealth.AddInterfaceRequiredAndConnect(('ProcessServer', 'Stealthlink', 'Pointer')) print 'After adding Pointer Interface' time.sleep(1.0)
import sys import time if platform.system() == 'Linux': sys.setdlopenflags(sys.getdlopenflags() | 8) # RTLD_GLOBAL = 0x08 import cisstMultiTaskPython as mts name = 'My Tracker' period = 0.01 configuration = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'configClaronMicronTracker.xml') manager = mts.mtsManagerLocal.GetInstance() manager.CreateAllAndWait(5.0) manager.StartAllAndWait(5.0) proxy = mts.mtsComponentWithManagement('{}Proxy'.format(name)) manager.AddComponent(proxy) proxy.CreateAndWait(5.0) time.sleep(0.5) services = proxy.GetManagerComponentServices() result = services.Load('sawClaronMicronTracker') assert result, 'Failed to load {} using component services'.format('sawClaronMicronTracker') args = mts.mtsTaskPeriodicConstructorArg(name, period) result = services.ComponentCreate('mtsMicronTracker', args) assert result, 'Failed to create {} of type {}'.format(name, 'mtsMicronTracker') component = manager.GetComponent(name) # component.Configure(configuration)
import sys import time if platform.system() == "Linux": sys.setdlopenflags(sys.getdlopenflags() | 8) # RTLD_GLOBAL = 0x08 import cisstMultiTaskPython as mts name = "My Tracker" period = 0.01 configuration = os.path.join(os.path.dirname(os.path.abspath(__file__)), "configClaronMicronTracker.xml") manager = mts.mtsManagerLocal.GetInstance() manager.CreateAllAndWait(5.0) manager.StartAllAndWait(5.0) proxy = mts.mtsComponentWithManagement("{}Proxy".format(name)) manager.AddComponent(proxy) proxy.CreateAndWait(5.0) time.sleep(0.5) services = proxy.GetManagerComponentServices() result = services.Load("sawClaronMicronTracker") assert result, "Failed to load {} using component services".format("sawClaronMicronTracker") args = mts.mtsTaskPeriodicConstructorArg(name, period) result = services.ComponentCreate("mtsMicronTracker", args) assert result, "Failed to create {} of type {}".format(name, "mtsMicronTracker") component = manager.GetComponent(name) # component.Configure(configuration)
# Python standard library import ctypes import platform import sys # cisst if platform.system() == 'Linux': sys.setdlopenflags(sys.getdlopenflags() | ctypes.RTLD_GLOBAL) import time import os import cisstMultiTaskPython as mts import cisstParameterTypesPython as prm print 'starting sawMedtronicStealthlinkClientComponent.py...' manager = mts.mtsManagerLocal.GetInstance('localhost', 'TREK') stealth = mts.mtsComponentWithManagement('stealthProxy') print 'Created stealthProxy' manager.AddComponent(stealth) print 'added stealthProxy Component to local manager' time.sleep(1.0) # print 'Before adding Controller Interface' # stealth.AddInterfaceRequiredAndConnect(('ProcessServer', 'Stealthlink', 'Controller')) # print 'After adding Controller Interface' # time.sleep(1.0) print 'Before adding Pointer Interface' #import rpdb2; rpdb2.start_embedded_debugger('password') stealth.AddInterfaceRequiredAndConnect( ('ProcessServer', 'Stealthlink', 'Pointer')) print 'After adding Pointer Interface'
cisstCommon.cmnLogger.SetMaskFunction(cisstCommon.CMN_LOG_ALLOW_VERBOSE) cisstCommon.cmnLogger.SetMaskDefaultLog(cisstCommon.CMN_LOG_ALLOW_VERBOSE) cisstCommon.cmnLogger.AddChannelToStdOut( cisstCommon.CMN_LOG_ALLOW_ERRORS_AND_WARNINGS) def log(): os.system('tail cisstLog.txt') import cisstMultiTaskPython as cisstMultiTask import numpy LCM = cisstMultiTask.mtsManagerLocal_GetInstance() print 'Creating UR client' URclient = cisstMultiTask.mtsComponentWithManagement('URclient') LCM.AddComponent(URclient) LCM.CreateAll() LCM.StartAll() Manager = URclient.GetManagerComponentServices() print 'Loading sawUniversalRobotController' if not Manager.Load('sawUniversalRobotController'): print 'Failed to load sawUniversalRobotController (see cisstLog.txt)' print 'Creating UR server (mtsUniversalRobotScriptRT)' # Or, could use LCM.CreateComponentDynamically Manager.ComponentCreate('mtsUniversalRobotScriptRT', 'URserver') URserver = LCM.GetComponent('URserver') print 'Configuring UR server.' ipAddr = raw_input('Enter IP address: ')